void correctPlanarPolygon( vector<Pt3dr> &aPolygon )
{
if (aPolygon.size() < 3) ELISE_ERROR_EXIT("aPolygon.size() = " << aPolygon.size() << " < 3");
Pt3dr u = vunit(aPolygon[1] - aPolygon[0]), minV = vunit(aPolygon[2] - aPolygon[0]);
size_t minI = 2;
REAL minScal = ElAbs(scal(u, minV));
for (size_t i = 3; i < aPolygon.size(); i++)
{
Pt3dr v = vunit(aPolygon[i] - aPolygon[0]);
REAL d = ElAbs(scal(u, v));
if (d < minScal)
{
minScal = d;
minI = i;
minV = v;
}
}
cout << "minI = " << minI << endl;
cout << "minScal = " << minScal << endl;
cout << "minV = " << minV << endl;
Pt3dr n = u ^ minV;
cout << "minV = " << minV << endl;
ElMatrix<REAL> planToGlobalMatrix = MatFromCol(u, minV, n);
if (planToGlobalMatrix.Det() < 1e-10) ELISE_ERROR_EXIT("matrix is not inversible");
ElRotation3D planToGlobalRot(aPolygon[0], planToGlobalMatrix, true);
ElRotation3D globalToPlanRot = planToGlobalRot.inv();
//~ const size_t nbVertices = aPolygon.size();
//~ ostringstream ss;
//~ static int ii = 0;
//~ const REAL extrudSize = 1e4;
//~ ss << "polygon_" << (ii++) << ".ply";
//~ ofstream f(ss.str().c_str());
//~ f << "ply" << endl;
//~ f << "format ascii 1.0" << endl;
//~ f << "element vertex " << 4 * nbVertices << endl;
//~ f << "property float x" << endl;
//~ f << "property float y" << endl;
//~ f << "property float z" << endl;
//~ f << "property uchar red" << endl;
//~ f << "property uchar green" << endl;
//~ f << "property uchar blue" << endl;
//~ f << "element face " << nbVertices << endl;
//~ f << "property list uchar int vertex_indices" << endl;
//~ f << "end_header" << endl;
REAL zDiffSum = 0.;
for (size_t i = 0; i < aPolygon.size(); i++)
{
Pt3dr p = globalToPlanRot.ImAff(aPolygon[i]);
zDiffSum += ElAbs(p.z);
aPolygon[i] = planToGlobalRot.ImAff(Pt3dr(p.x, p.y, 0.));
//~ Pt3dr p0 = (i == 0) ? aPolygon[aPolygon.size() - 1] : aPolygon[i - 1], p1 = aPolygon[i], p2 = p1 + n * extrudSize, p3 = p0 + n * extrudSize;
//~ f << p0.x << ' ' << p0.y << ' ' << p0.z << " 128 128 128" << endl;
//~ f << p1.x << ' ' << p1.y << ' ' << p1.z << " 128 128 128" << endl;
//~ f << p2.x << ' ' << p2.y << ' ' << p2.z << " 128 128 128" << endl;
//~ f << p3.x << ' ' << p3.y << ' ' << p3.z << " 128 128 128" << endl;
}
//~ for (size_t i = 0; i < aPolygon.size(); i++)
//~ f << 4 << ' ' << i * 4 << ' ' << i * 4 + 1 << ' ' << i * 4 + 2 << ' ' << i* 4 + 3 << endl;
//~ f.close();
cout << "zDiffSum = " << zDiffSum << endl;
}
cNewO_CombineCple::cNewO_CombineCple(const cStructMergeTieP< cFixedSizeMergeTieP<2,Pt2dr> > & aMap,ElRotation3D * aTestSol) :
mCurStep (1<<NbPow2),
mNbStepTeta (4 * NbDecoup0PIS2 * mCurStep),
mCurRot (3,3),
mW (0)
{
// REDONDANT AVEC FONCTION GLOBALES FAITE APRES .... PackReduit
/******************************************************/
/* */
/* A- Selection des sommets */
/* */
/******************************************************/
//------------------------------------------------------------------------
// A- 1- Preselrection purement aleatoire d'un nombre raisonnable depoints
//------------------------------------------------------------------------
const std::list<tMerge *> & aLM = aMap.ListMerged();
RMat_Inertie aMat;
{
cRandNParmiQ aSelec(NbMaxInit, (int)aLM.size());
for (std::list<tMerge *>::const_iterator itM=aLM.begin() ; itM!=aLM.end() ; itM++)
{
if (aSelec.GetNext())
{
mVAllCdt.push_back(cCdtCombTiep(*itM));
Pt2dr aP1 = (*itM)->GetVal(0);
aMat.add_pt_en_place(aP1.x,aP1.y);
}
}
}
aMat = aMat.normalize();
int aNbSomTot = int(mVAllCdt.size());
double aSurfType = sqrt (aMat.s11()* aMat.s22() - ElSquare(aMat.s12()));
double aDistType = sqrt(aSurfType/aNbSomTot);
double aSzW = 800;
if (1)
{
mP0W = aMap.ValInf(0);
Pt2dr aP1 = aMap.ValSup(0);
Pt2dr aSz = aP1-mP0W;
mP0W = mP0W - aSz * 0.1;
aP1 = aP1 + aSz * 0.1;
aSz = aP1-mP0W;
mScaleW = aSzW /ElMax(aSz.x,aSz.y) ;
mW = Video_Win::PtrWStd(round_ni(aSz*mScaleW));
}
//------------------------------------------------------------------------
// A-2 Calcul d'une fonction de deponderation
//------------------------------------------------------------------------
for (int aKS1 = 0 ; aKS1 <aNbSomTot ; aKS1++)
{
for (int aKS2 = aKS1 ; aKS2 <aNbSomTot ; aKS2++)
{
// sqrt pour attenuer la ponderation
double aDist = sqrt(dist48( mVAllCdt[aKS1].mP1-mVAllCdt[aKS2].mP1) / 2.0);
// aDist=1;
// double aDist = (dist48( mVAllCdt[aKS1].mP1-mVAllCdt[aKS2].mP1) / 2.0);
double aPds = 1 / (aDistType+aDist);
mVAllCdt[aKS1].mPdsOccup += aPds;
mVAllCdt[aKS2].mPdsOccup += aPds;
}
if (mW)
mW->draw_circle_abs(ToW( mVAllCdt[aKS1].mP1),2.0,mW->pdisc()(P8COL::blue));
}
for (int aKSom = 0 ; aKSom <aNbSomTot ; aKSom++)
{
cCdtCombTiep & aCdt = mVAllCdt[aKSom];
aCdt.mPdsOccup *= ElSquare(aCdt.mMerge->NbArc());
}
int aNbSomSel = ElMin(aNbSomTot,NbTieP);
//------------------------------------------------------------------------
// A-3 Calcul de aNbSomSel points biens repartis
//------------------------------------------------------------------------
ElTimer aChrono;
for (int aKSel=0 ; aKSel<aNbSomSel ; aKSel++)
{
// Recherche du cdt le plus loin
double aMaxDMin = 0;
cCdtCombTiep * aBest = 0;
for (int aKSom = 0 ; aKSom <aNbSomTot ; aKSom++)
{
cCdtCombTiep & aCdt = mVAllCdt[aKSom];
double aDist = aCdt.mDMin * aCdt.mPdsOccup;
if ((!aCdt.mTaken) && (aDist > aMaxDMin))
{
aMaxDMin = aDist;
aBest = & aCdt;
}
}
ELISE_ASSERT(aBest!=0,"cNewO_CombineCple");
for (int aKSom = 0 ; aKSom <aNbSomTot ; aKSom++)
{
cCdtCombTiep & aCdt = mVAllCdt[aKSom];
aCdt.mDMin = ElMin(aCdt.mDMin,dist48(aCdt.mP1-aBest->mP1));
}
aBest->mQ1 = vunit(Pt3dr(aBest->mP1.x,aBest->mP1.y,1.0));
Pt2dr aP2 = aBest->mMerge->GetVal(1);
aBest->mQ2Init = vunit(Pt3dr(aP2.x,aP2.y,1.0));
mVCdtSel.push_back(aBest);
if (mW)
mW->draw_circle_abs(ToW( aBest->mP1),3.0,mW->pdisc()(P8COL::red));
}
/******************************************************/
/* */
/* B- Calcul des arcs */
/* */
/******************************************************/
// B-1 Au max le nombre d'arc possible
int aNbA = NbCple;
while (aNbA > ((aNbSomSel * (aNbSomSel-1)) /2)) aNbA--;
int aNbIter = (aNbA-1) / aNbSomSel + 1;
cRandNParmiQ aSelec(aNbA- (aNbIter-1) * aNbSomSel,aNbSomSel);
int aNbAMaj = aNbIter * aNbSomSel;
std::vector<int> aPermut = RandPermut(aNbA);
// B-2 Recherche des arsc
int aKA=0;
for (int aCptAMaj = 0 ; aCptAMaj < aNbAMaj ; aCptAMaj++)
{
// Tous les sommets sont equi repartis, sauf a la fin on choisit a hasard
bool aSelK = true;
if ( (aCptAMaj/aNbSomSel)== (aNbIter-1)) // Si derniere iter, test special
{
aSelK = aSelec.GetNext();
}
if (aSelK)
{
int aKP1 = (aCptAMaj%aNbSomSel);
double aTeta = (aPermut[aKA] * 2 * PI) / aNbA;
Pt2dr aDir = Pt2dr::FromPolar(1.0,aTeta);
// std::cout << "teta " << aTeta << "\n";
double aBestSc=-1.0;
int aBestK=-1;
for (int aKP2 = 0 ; aKP2 < aNbSomSel ; aKP2++)
{
if (aKP2!=aKP1)
{
Pt2dr aV = (mVCdtSel[aKP2]->mP1- mVCdtSel[aKP1]->mP1) / aDir;
Pt2dr aU = vunit(aV);
// Favorise les llongs arc et homogeneise les directions
double aSc = NRrandom3() * euclid(aV) * (1/(1+ElSquare(5.0*aU.y)));
if ((aSc>aBestSc) && (aKP2!=aKP1))
{
aBestSc= aSc;
aBestK = aKP2;
}
}
}
ELISE_ASSERT((aBestK>=0),"No Best Arc");
mLArcs.push_back(Pt2di(aKP1,aBestK));
if (mW)
{
mW->draw_seg(ToW( mVCdtSel[aKP1]->mP1),ToW( mVCdtSel[aBestK]->mP1),mW->pdisc()(P8COL::green));
}
aKA++;
}
}
/******************************************************/
/* */
/* */
/* */
/******************************************************/
if (mW) mW->clik_in();
if (aTestSol)
{
ElRotation3D aR = * aTestSol;
// Le sens corret a ete retabli (j'espere !!)
// SetCurRot(aR.Mat());
// std::cout << "Test Externe : " << CalculCostCur() <<"\n";
// aR = aR.inv();
SetCurRot(aR.Mat());
std::cout << "Test Externe I : " << CalculCostCur() <<"\n";
std::cout << "CostBase " << CostOneBase(aR.tr()) << "\n";
// ElRotation3D *
}
std::cout << "cNewO_CombineCple::cNewO_CombineCple " << aNbSomTot << "\n";
Pt3di aP;
std::list<Pt3di> aLPMin;
double aCostMin = 1e10;
Pt3di aPMin(1000,1000,1000);
for (aP.x = -NbDecoup0PIS2 ; aP.x <= NbDecoup0PIS2 ; aP.x ++)
{
std::cout << "DECx " << aP.x << "\n";
for (aP.y = -NbDecoup0PIS2 ; aP.y <= NbDecoup0PIS2 ; aP.y ++)
{
for (aP.z = - (2*NbDecoup0PIS2) ; aP.z < (2*NbDecoup0PIS2) ; aP.z ++)
{
double aVC = GetCost(aP*mCurStep);
bool IsMinLoc = (aVC < GetCost((aP+Pt3di( 1,0,0)) * mCurStep))
&& (aVC < GetCost((aP+Pt3di(-1,0,0)) * mCurStep))
&& (aVC < GetCost((aP+Pt3di(0, 1,0)) * mCurStep))
&& (aVC < GetCost((aP+Pt3di(0,-1,0)) * mCurStep))
&& (aVC < GetCost((aP+Pt3di(0,0, 1)) * mCurStep))
&& (aVC < GetCost((aP+Pt3di(0,0,-1)) * mCurStep));
int aDelta = 2;
for (int aDx=-aDelta ; (aDx<=aDelta) && IsMinLoc ; aDx++)
{
for (int aDy=-aDelta ; (aDy<=aDelta) && IsMinLoc ; aDy++)
{
for (int aDz=-aDelta ; (aDz<=aDelta) && IsMinLoc ; aDz++)
{
if ((aDx!=0) || (aDy!=0) || (aDz!=0))
{
IsMinLoc = IsMinLoc && (aVC<GetCost( (aP+Pt3di(aDx,aDy,aDz))*mCurStep));
}
}
}
}
if (IsMinLoc)
{
std::cout << " IisssMinn " << aP << " " << aVC << "\n";
aLPMin.push_back(aP*mCurStep);
}
if (aVC<aCostMin)
{
aPMin = aP*mCurStep;
aCostMin = aVC;
}
}
}
}
std::cout << "COST " << aCostMin << " PMIN " << PInt2Tetas(aPMin ) << " NbMinLoc " << aLPMin.size() << "\n";
Pt3dr aTeta = PInt2Tetas(aPMin);
ElMatrix<double> aR = ElMatrix<double>::Rotation(aTeta.z,aTeta.y,aTeta.x);
for (int aY=0 ; aY<3 ; aY++)
{
for (int aX=0 ; aX<3 ; aX++)
{
std::cout << aR(aX,aY) << " ";
}
std::cout << "\n";
}
/*
std::cout << "Sssz " << aLPMin.size() << "\n";
if ( aLPMin.size()>0) std::cout << "PP00 " << *(aLPMin.begin()) << "\n";
*/
}
void cMEPCoCentrik::Test(const ElPackHomologue & aPack,const ElMatrix<REAL> & aMat,const ElRotation3D * aRef,double anEcart)
{
if (mShow)
{
std::cout << " ============== ROTATION PURE =============\n";
}
ComputePlanBase(aMat);
Pt3dr aN1 = ComputeBase();
Pt3dr aN2 = ComputeNormBase();
Pt3dr aN3 = vunit(aN1^aN2);
ElRotation3D aRInit(aN3,aMat,true);
mSolVraiR = OneTestMatr(aMat,aN3,anEcart);
mCostVraiR = ProjCostMEP(aPack,mSolVraiR,0.1);
mPMed = MedianNuage(aPack,mSolVraiR);
if (mPMed.z < 0)
{
if (mShow) std::cout << " ------------- Z Neg in Pur rot : swap -------------\n";
mSolVraiR = ElRotation3D(-mSolVraiR.tr(),mSolVraiR.Mat(),true);
mPMed = MedianNuage(aPack,mSolVraiR);
aN3 = -aN3;
}
if ( mShow)
{
if (aRef)
{
std::cout << "Ref " << vunit(aRef->tr()) << " Norm " << aN3 << "\n";
std::cout << "COST REF " << ProjCostMEP(aPack,*aRef,0.1)* mFoc << "\n";
ElRotation3D aSol2 = OneTestMatr(aRef->Mat(),aRef->tr(),anEcart);
std::cout << "C REFOPT " << ProjCostMEP(aPack,aSol2,0.1)* mFoc << "\n";
// ShowMatr("REF/Mat",aRef->Mat()*aMat.transpose());
}
std::cout << " ###### Co-Centrik COST-Init " << ProjCostMEP(aPack,aRInit,0.1)* mFoc << "\n";
std::cout << "Sol , Cost " << mCostVraiR * mFoc << " Tr " << mSolVraiR.tr() << " Med " << mPMed << "\n";
}
// ShowMatr("REF/Sol",aRef->Mat()*aSol.Mat().transpose());
if (mDoPly)
{
std::list<std::string> aVCom;
std::vector<const cElNuage3DMaille *> aVNuage;
cElNuage3DMaille::PlyPutFile
(
"Base.ply",
aVCom,
aVNuage,
&mPtsPly,
&mColPly,
true
);
}
}