//**********************************************************************************
//test of polyhedron intersection callable from python shell
bool do_Polyhedras_Intersect(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2){
const Se3r& se31=state1.se3;
const Se3r& se32=state2.se3;
Polyhedra* A = static_cast<Polyhedra*>(cm1.get());
Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
//move and rotate 1st the CGAL structure Polyhedron
Matrix3r rot_mat = (se31.orientation).toRotationMatrix();
Vector3r trans_vec = se31.position;
Transformation t_rot_trans(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PA = A->GetPolyhedron();
std::transform( PA.points_begin(), PA.points_end(), PA.points_begin(), t_rot_trans);
//move and rotate 2st the CGAL structure Polyhedron
rot_mat = (se32.orientation).toRotationMatrix();
trans_vec = se32.position;
t_rot_trans = Transformation(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PB = B->GetPolyhedron();
std::transform( PB.points_begin(), PB.points_end(), PB.points_begin(), t_rot_trans);
//calculate plane equations
std::transform( PA.facets_begin(), PA.facets_end(), PA.planes_begin(),Plane_equation());
std::transform( PB.facets_begin(), PB.facets_end(), PB.planes_begin(),Plane_equation());
//call test
return do_intersect(PA,PB);
}
//**********************************************************************************
//print polyhedron in actual position
void PrintPolyhedraActualPos(const shared_ptr<Shape>& cm1,const State& state1){
const Se3r& se3=state1.se3;
Polyhedra* A = static_cast<Polyhedra*>(cm1.get());
A->Initialize();
//move and rotate CGAL structure Polyhedron
Matrix3r rot_mat = (se3.orientation).toRotationMatrix();
Vector3r trans_vec = se3.position;
Transformation t_rot_trans(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PA = A->GetPolyhedron();
std::transform( PA.points_begin(), PA.points_end(), PA.points_begin(), t_rot_trans);
PrintPolyhedron(PA);
}
void geometryUtils::subdivide(Polyhedron& P) {
if (P.size_of_facets() == 0)
return;
// We use that new vertices/halfedges/facets are appended at the end.
std::size_t nv = P.size_of_vertices();
Vertex_iterator last_v = P.vertices_end();
--last_v; // the last of the old vertices
Edge_iterator last_e = P.edges_end();
--last_e; // the last of the old edges
Facet_iterator last_f = P.facets_end();
--last_f; // the last of the old facets
Facet_iterator f = P.facets_begin(); // create new center vertices
do {
geometryUtils::subdivide_create_center_vertex(P, f);
} while (f++ != last_f);
std::vector<Point_3> pts; // smooth the old vertices
pts.reserve(nv); // get intermediate space for the new points
++last_v; // make it the past-the-end position again
std::transform(P.vertices_begin(), last_v, std::back_inserter(pts),
Smooth_old_vertex());
std::copy(pts.begin(), pts.end(), P.points_begin());
Edge_iterator e = P.edges_begin(); // flip the old edges
++last_e; // make it the past-the-end position again
while (e != last_e) {
Halfedge_handle h = e;
++e; // careful, incr. before flip since flip destroys current edge
geometryUtils::subdivide_flip_edge(P, h);
};
CGAL_postcondition(P.is_valid());
};
void Polyhedron_demo_convex_hull_plugin::on_actionConvexHull_triggered()
{
const Scene_interface::Item_id index = scene->mainSelectionIndex();
Scene_polyhedron_item* poly_item =
qobject_cast<Scene_polyhedron_item*>(scene->item(index));
Scene_points_with_normal_item* pts_item =
qobject_cast<Scene_points_with_normal_item*>(scene->item(index));
Scene_polylines_item* lines_item =
qobject_cast<Scene_polylines_item*>(scene->item(index));
if(poly_item || pts_item || lines_item)
{
// wait cursor
QApplication::setOverrideCursor(Qt::WaitCursor);
QTime time;
time.start();
std::cout << "Convex hull...";
// add convex hull as new polyhedron
Polyhedron *pConvex_hull = new Polyhedron;
if ( poly_item ){
Polyhedron* pMesh = poly_item->polyhedron();
CGAL::convex_hull_3(pMesh->points_begin(),pMesh->points_end(),*pConvex_hull);
}
else{
if (pts_item)
CGAL::convex_hull_3(pts_item->point_set()->begin(),pts_item->point_set()->end(),*pConvex_hull);
else{
std::size_t nb_points=0;
for(std::list<std::vector<Kernel::Point_3> >::const_iterator it = lines_item->polylines.begin();
it != lines_item->polylines.end();
++it) nb_points+=it->size();
std::vector<Kernel::Point_3> all_points;
all_points.reserve( nb_points );
for(std::list<std::vector<Kernel::Point_3> >::const_iterator it = lines_item->polylines.begin();
it != lines_item->polylines.end();
++it) std::copy(it->begin(), it->end(),std::back_inserter( all_points ) );
CGAL::convex_hull_3(all_points.begin(),all_points.end(),*pConvex_hull);
}
}
std::cout << "ok (" << time.elapsed() << " ms)" << std::endl;
Scene_polyhedron_item* new_item = new Scene_polyhedron_item(pConvex_hull);
new_item->setName(tr("%1 (convex hull)").arg(scene->item(index)->name()));
new_item->setColor(Qt::magenta);
new_item->setRenderingMode(FlatPlusEdges);
scene->addItem(new_item);
// default cursor
QApplication::restoreOverrideCursor();
}
}
void test_impl(Tree& tree, Polyhedron& p, const double duration)
{
tree.accelerate_distance_queries(p.points_begin(),p.points_end());
typedef Tree_vs_naive<Tree, Polyhedron, K, Type> Tester;
Tester tester(tree, p);
tester.test_all_distance_methods(duration);
}
//**********************************************************************************
//returns min coordinates
Vector3r MinCoord(const shared_ptr<Shape>& cm1,const State& state1){
const Se3r& se3=state1.se3;
Polyhedra* A = static_cast<Polyhedra*>(cm1.get());
//move and rotate CGAL structure Polyhedron
Matrix3r rot_mat = (se3.orientation).toRotationMatrix();
Vector3r trans_vec = se3.position;
Transformation t_rot_trans(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PA = A->GetPolyhedron();
std::transform( PA.points_begin(), PA.points_end(), PA.points_begin(), t_rot_trans);
Vector3r minccord = trans_vec;
for(Polyhedron::Vertex_iterator vi = PA.vertices_begin(); vi != PA.vertices_end(); ++vi){
if (vi->point()[0]<minccord[0]) minccord[0]=vi->point()[0];
if (vi->point()[1]<minccord[1]) minccord[1]=vi->point()[1];
if (vi->point()[2]<minccord[2]) minccord[2]=vi->point()[2];
}
return minccord;
}
void CMISView::test()
{
myObj.writeToOFF("tmp/myoff.off");
std::ifstream in("tmp/myoff.off");
Polyhedron polyhedron;
in>>polyhedron;
Point_3 q=*polyhedron.points_begin();
AABBTree tree(faces(polyhedron).first, faces(polyhedron).second, polyhedron);
tree.accelerate_distance_queries();
// query point
Point_3 query(0.0, 0.0, 0.0);
// computes squared distance from query
FT sqd = tree.squared_distance(q);
double tmp=sqd;
std::cout << "squared distance: " << tmp << std::endl;
}
int main(int argc, const char **argv )
{
std::vector<Point> points;
CGAL::Random_points_on_sphere_3<Point> g;
size_t N = 0;
if (argc > 1)
N = atof(argv[1]);
N = std::max(size_t(100), N);
for (size_t i = 0; i < N; ++i)
points.push_back(rescale(*g++));
for (size_t n = 0; n < 100; ++n)
{
std::cerr << "step " << n << ":\n\t";
lloyd_step(points);
}
Polyhedron P;
CGAL::convex_hull_3(points.begin(), points.end(), P);
CGAL::set_ascii_mode( std::cout);
std::cout << "OFF" << std::endl << P.size_of_vertices() << ' '
<< P.size_of_facets() << " 0" << std::endl;
std::copy( P.points_begin(), P.points_end(),
std::ostream_iterator<Point>( std::cout, "\n"));
for ( Facet_iterator i = P.facets_begin(); i != P.facets_end(); ++i) {
Halfedge_facet_circulator j = i->facet_begin();
// Facets in polyhedral surfaces are at least triangles.
CGAL_assertion( CGAL::circulator_size(j) >= 3);
std::cout << CGAL::circulator_size(j) << ' ';
do {
std::cout << ' ' << std::distance(P.vertices_begin(), j->vertex());
} while ( ++j != i->facet_begin());
std::cout << std::endl;
}
std::ofstream os ("test.cloud");
std::copy(points.begin(), points.end(),
std::ostream_iterator<Point>(os, "\n"));
}
int main() {
//std::cout<<CGBench::BendBench::Run(CGBench::VMag::M1)<<std::endl;
//CGBench::BenchLanuch(CGBench::VMag::M3,CGBench::VMag::M3);
/*std::ofstream of("C:\\123.off");
std::vector <Point_3> arr;
arr.push_back(Point_3 (2,0,2));
arr.push_back(Point_3 (6,0,3));
arr.push_back(Point_3 (8,0,4));
arr.push_back(Point_3 (3,0,5));
arr.push_back(Point_3 (5,0,6));
arr.push_back(Point_3 (8,0,7));
arr.push_back(Point_3 (0,1.75,8));
arr.push_back(Point_3 (0,1.50,8));
arr.push_back(Point_3 (0,1.25,8));
arr.push_back(Point_3 (0,1,8));
arr.push_back(Point_3 (0,1,7));
arr.push_back(Point_3 (0,1,6));
arr.push_back(Point_3 (0,1,5));
arr.push_back(Point_3 (0,1,4));
arr.push_back(Point_3 (0,1,3));
arr.push_back(Point_3 (0,1.25,3));
arr.push_back(Point_3 (0,1.50,3));
arr.push_back(Point_3 (0,1.75,3));
Point_3* Center = new Point_3(0,0,0);*/
//Arc_2 s(30,270,30,true);
//Circle_2 s(4,20);
//Ellipse_2 s(6,4,30);
//Plane_3 s(30,30,10,10);
//Rectangle_2 s(20,10);
//Box_3 s(20,20,20,15,15,15);
//Capsule_3 s(30,200,10,10);
//ChamferCyl_3 s(60,100,30,10,5,5,15);
//Cone_3 s(2,5,10,3,3,3);
//Cylinder_3 s(3,20,20,9,30);
//Lathe_3 s(arr,Center,Z_ax,20,360);
//Pyramid_3 s(100,200,200,4,4,4);
//Sphere_3 s(20,50);
//Spindle_3 s(10,30,20,10,5,15);
//Spring_3 s(20,2.5,200,10,10,40);
//Torus_3 s(20,5,0,0,30,40);
//Tube_3 s(14,13,15,20,20,10);
//Polyhedron P;
//P = s.Draw();
//Traingulate trg;
//P=s.Draw();
//std::transform(P.facets_begin(), P.facets_end(), P.planes_begin(), Normal_vector());
/*Eigen::Transform3d T;
Eigen::Vector3d Original(0,0,10);
T.setIdentity();
T.pretranslate (-Original);
trg.ApplyTransformToPolyhedron(P,T);*/
//Traingulate tr;
//tr.Do(P);
//Bevel Be(400,-4,1.25);
//Be.Do(P);
//Bridge Br(18,20);
//Br.Do(P);
//Extrude Ex(45,15);
//Ex.Do(P);
//Outline Ou(45,1.5);
//Ou.Do(P);
//Bend Ben(90,s.Center,Y_ax,false,20,-20);
//Ben.Do(P);
//Bulge Bu(40,s.Center,Z_ax,BRadial,false,45,-45);
//Bu.Do(P);
//Cylindrical_Wave CylWa(2,8,12,s.Center,Z_ax);
//CylWa.Do(P);
//Linear_Wave LiWaX(1,10,0,s.Center,Z_ax,X_ax);
//LiWaX.Do(P);
//Linear_Wave LiWaY(2,10,0,s.Center,Z_ax,Y_ax);
//LiWaY.Do(P);
/*ChamferCyl_3 n(1,50,5,10,10,10,40);
Spindle_3 p(5,30,5,10,20,40);
Polyhedron P;
Polyhedron E;
E = p.Draw();
P = n.Draw();
Morph Mor(E,50);
Mor.Do(P);*/
//Noise No(5,0.3,0,s.Center,Z_ax);
//No.Do(P);
//Skew Sk(30,s.Center,Z_ax,false,20,-20);
//Sk.Do(P);
//Smooth Sm(1);
//Sm.Do(P);
//Spherify Sph(50);
//Sph.Do(P);
//Squeeze Sq(-30,s.Center,Z_ax,false,10,0);
//Sq.Do(P);
//Stretch St(-20,s.Center,Z_ax,true,50,-50);
//St.Do(P);
//Taper Ta(3,s.Center,X_ax,false,20,-20);
//Ta.Do(P);
//Twist Tw(270,s.Center,Z_ax,true,-5,15);
//Tw.Do(P);
/*Box_3 B(20, 30, 60, 20, 30, 30);
Polyhedron P = B.Draw();
Twist Tw1(270, B.Center, Z_ax, true, 30, 10);
Twist Tw2(-270, B.Center, Z_ax, true, -10, -30);
Stretch St(30, B.Center, Z_ax, true, 20,-20);
Squeeze Sq(15, B.Center, Z_ax);
Tw1.Do(P);
Tw2.Do(P);
Sq.Do(P);
St.Do(P);*/
std::ofstream of("C:\\123.off");
Box_3 B(20, 30, 60, 20, 30, 30);
Polyhedron P = B.Draw();
Twist Tw1(270, B.Center, Z_ax, true, 30, 10);
Twist Tw2(-270, B.Center, Z_ax, true, -10, -30);
Stretch St(30, B.Center, Z_ax, true, 20,-20);
Squeeze Sq(15, B.Center, Z_ax);
Tw1.Do(P);
Tw2.Do(P);
Sq.Do(P);
St.Do(P);
//// Write polyhedron in Object File Format (OFF).
CGAL::set_ascii_mode( of );
of << "OFF" << std::endl << P.size_of_vertices() << ' ' << P.size_of_facets() << " 0" << std::endl;
std::copy( P.points_begin(), P.points_end(), std::ostream_iterator<Point_3>( of, "\n"));
for ( Facet_iterator i = P.facets_begin(); i != P.facets_end(); ++i)
{
Halfedge_facet_circulator j = i->facet_begin();
// Facets in polyhedral surfaces are at least triangles.
CGAL_assertion( CGAL::circulator_size(j) >= 3);
of << CGAL::circulator_size(j) << ' ';
do
{
of << ' ' << std::distance(P.vertices_begin(), j->vertex());
} while ( ++j != i->facet_begin());
of << std::endl;
}
/* Write polyhedron in (OBJ).
CGAL::set_ascii_mode( oof );
oof << "# " << P.size_of_vertices() << ' ' << std::endl <<"# "<< P.size_of_facets() << std::endl;
oof<<"v ";
std::copy( P.points_begin(), P.points_end(), std::ostream_iterator<Point_3>( oof, "\nv "));
oof<<"_ _ _\n";
for ( Facet_iterator i = P.facets_begin(); i != P.facets_end(); ++i)
{
Halfedge_facet_circulator j = i->facet_begin();
// Facets in polyhedral surfaces are at least triangles.
//CGAL_assertion( CGAL::circulator_size(j) >= 3);
oof << 'f' << ' ';
do
{
oof << ' ' << std::distance(P.vertices_begin(), j->vertex())+1;
} while ( ++j != i->facet_begin());
oof << std::endl;
}
*/
return 0;
}
void PoissonSurfaceReconstruction::reconstruct(std::vector<Eigen::Vector3d> &points, std::vector<Eigen::Vector3d> &normals, TriangleMesh &mesh){
assert(points.size() == normals.size());
std::cout << "creating points with normal..." << std::endl;
std::vector<Point_with_normal> points_with_normal;
points_with_normal.resize((int)points.size());
for(int i=0; i<(int)points.size(); i++){
Vector vec(normals[i][0], normals[i][1], normals[i][2]);
//Point_with_normal pwn(points[i][0], points[i][1], points[i][2], vec);
//points_with_normal[i] = pwn;
points_with_normal[i] = Point_with_normal(points[i][0], points[i][1], points[i][2], vec);
}
std::cout << "constructing poisson reconstruction function..." << std::endl;
Poisson_reconstruction_function function(points_with_normal.begin(), points_with_normal.end(),
CGAL::make_normal_of_point_with_normal_pmap(PointList::value_type()));
std::cout << "computing implicit function..." << std::endl;
if( ! function.compute_implicit_function() ) {
std::cout << "compute implicit function is failure" << std::endl;
return;
}
//return EXIT_FAILURE;
// Computes average spacing
std::cout << "compute average spacing..." << std::endl;
FT average_spacing = CGAL::compute_average_spacing(points_with_normal.begin(), points_with_normal.end(),
6 /* knn = 1 ring */);
// Gets one point inside the implicit surface
// and computes implicit function bounding sphere radius.
Point inner_point = function.get_inner_point();
Sphere bsphere = function.bounding_sphere();
FT radius = std::sqrt(bsphere.squared_radius());
// Defines the implicit surface: requires defining a
// conservative bounding sphere centered at inner point.
FT sm_sphere_radius = 5.0 * radius;
FT sm_dichotomy_error = distance_criteria*average_spacing/1000.0; // Dichotomy error must be << sm_distance
//FT sm_dichotomy_error = distance_criteria*average_spacing/10.0; // Dichotomy error must be << sm_distance
std::cout << "reconstructed surface" << std::endl;
Surface_3 reconstructed_surface(function,
Sphere(inner_point,sm_sphere_radius*sm_sphere_radius),
sm_dichotomy_error/sm_sphere_radius);
// Defines surface mesh generation criteria
CGAL::Surface_mesh_default_criteria_3<STr> criteria(angle_criteria, // Min triangle angle (degrees)
radius_criteria*average_spacing, // Max triangle size
distance_criteria*average_spacing); // Approximation error
std::cout << "generating surface mesh..." << std::endl;
// Generates surface mesh with manifold option
STr tr; // 3D Delaunay triangulation for surface mesh generation
C2t3 c2t3(tr); // 2D complex in 3D Delaunay triangulation
CGAL::make_surface_mesh(c2t3, // reconstructed mesh
reconstructed_surface, // implicit surface
criteria, // meshing criteria
CGAL::Manifold_tag()); // require manifold mesh
if(tr.number_of_vertices() == 0){
std::cout << "surface mesh generation is failed" << std::endl;
return;
}
Polyhedron surface;
CGAL::output_surface_facets_to_polyhedron(c2t3, surface);
// convert CGAL::surface to TriangleMesh //
std::cout << "converting CGA::surface to TriangleMesh..." << std::endl;
std::vector<Eigen::Vector3d> pts;
std::vector<std::vector<int> > faces;
pts.resize(surface.size_of_vertices());
faces.resize(surface.size_of_facets());
Polyhedron::Point_iterator pit;
int index = 0;
for(pit=surface.points_begin(); pit!=surface.points_end(); ++pit){
pts[index][0] = pit->x();
pts[index][1] = pit->y();
pts[index][2] = pit->z();
index ++;
}
index = 0;
Polyhedron::Face_iterator fit;
for(fit=surface.facets_begin(); fit!=surface.facets_end(); ++fit){
std::vector<int > face(3);
Halfedge_facet_circulator j = fit->facet_begin();
int f_index = 0;
do {
face[f_index] = std::distance(surface.vertices_begin(), j->vertex());
f_index++;
} while ( ++j != fit->facet_begin());
faces[index] = face;
index++;
}
mesh.createFromFaceVertex(pts, faces);
}
