void HACD::ComputeEdgeCost(size_t e)
{
GraphEdge & gE = m_graph.m_edges[e];
long v1 = gE.m_v1;
long v2 = gE.m_v2;
if (m_graph.m_vertices[v2].m_ancestors.size()>m_graph.m_vertices[v1].m_ancestors.size())
{
gE.m_v1 = v2;
gE.m_v2 = v1;
std::swap(v1, v2);
}
GraphVertex & gV1 = m_graph.m_vertices[v1];
GraphVertex & gV2 = m_graph.m_vertices[v2];
#ifdef HACD_DEBUG
if (v1 == 308 && v2==276)
{
gV1.m_convexHull->m_mesh.Save("debug1.wrl");
gV2.m_convexHull->m_mesh.Save("debug2.wrl");
}
#endif
// create the edge's convex-hull
ICHull * ch = new ICHull(m_heapManager);
(*ch) = (*gV1.m_convexHull);
// update distPoints
#ifdef HACD_PRECOMPUTE_CHULLS
delete gE.m_convexHull;
gE.m_convexHull = 0;
#endif
std::map<long, DPoint> distPoints;
for(size_t p = 0; p < gV1.m_distPoints.Size(); ++p)
{
distPoints[gV1.m_distPoints[p].m_name] = gV1.m_distPoints[p];
}
std::map<long, DPoint>::iterator itDP1;
for(size_t p = 0; p < gV2.m_distPoints.Size(); ++p)
{
const DPoint & point = gV2.m_distPoints[p];
itDP1 = distPoints.find(point.m_name);
if (itDP1 == distPoints.end())
{
DPoint newPoint(point.m_name, 0, false, point.m_distOnly);
distPoints.insert(std::pair<long, DPoint>(point.m_name, newPoint));
if ( !point.m_distOnly )
{
ch->AddPoint(m_points[point.m_name], point.m_name);
}
}
else
{
if ( (itDP1->second).m_distOnly && !point.m_distOnly)
{
(itDP1->second).m_distOnly = false;
ch->AddPoint(m_points[point.m_name], point.m_name);
}
}
}
ch->SetDistPoints(&distPoints);
// create the convex-hull
while (ch->Process() == ICHullErrorInconsistent) // if we face problems when constructing the visual-hull. really ugly!!!!
{
// if (m_callBack) (*m_callBack)("\t Problem with convex-hull construction [HACD::ComputeEdgeCost]\n", 0.0, 0.0, 0);
ICHull * chOld = ch;
ch = new ICHull(m_heapManager);
CircularList<TMMVertex> & verticesCH = chOld->GetMesh().m_vertices;
size_t nV = verticesCH.GetSize();
long ptIndex = 0;
verticesCH.Next();
// add noise to avoid the problem
ptIndex = verticesCH.GetHead()->GetData().m_name;
ch->AddPoint(m_points[ptIndex]+ m_scale * 0.0001 * Vec3<Real>(rand() % 10 - 5, rand() % 10 - 5, rand() % 10 - 5), ptIndex);
for(size_t v = 1; v < nV; ++v)
{
ptIndex = verticesCH.GetHead()->GetData().m_name;
ch->AddPoint(m_points[ptIndex], ptIndex);
verticesCH.Next();
}
delete chOld;
}
#ifdef HACD_DEBUG
if (v1 == 438 && v2==468)
{
const long nPoints = static_cast<long>(m_nPoints);
std::map<long, DPoint>::iterator itDP(distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(distPoints.end());
for(; itDP != itDPEnd; ++itDP)
{
if (itDP->first >= nPoints)
{
long pt = itDP->first - nPoints;
ch->AddPoint(m_extraDistPoints[pt], itDP->first);
}
else if (itDP->first >= 0)
{
long pt = itDP->first;
ch->AddPoint(m_points[pt], itDP->first);
}
else
{
long pt = -itDP->first-1;
ch->AddPoint(m_facePoints[pt], itDP->first);
ch->AddPoint(m_facePoints[pt] + 10.0 * m_faceNormals[pt] , itDP->first);
}
}
printf("-***->\n");
ch->m_mesh.Save("debug.wrl");
}
#endif
double surf = gV1.m_surf + gV2.m_surf;
double concavity = 0.0;
double surfCH = ch->ComputeArea() / 2.0;
double volumeCH = ch->ComputeVolume();
double vol2Surf = volumeCH / surfCH;
double concavity_flat = sqrt(fabs(surfCH-surf));
double weightFlat = std::max(0.0, 1.0 - pow(- vol2Surf * 100.0 / (m_scale * m_flatRegionThreshold), 2.0));
// concavity_flat *= std::max(exp(- vol2Surf * 100.0 / (m_scale * m_flatRegionThreshold)) - exp(-1.0), 0.0);
concavity_flat *= weightFlat;
if(!ch->IsFlat())
{
concavity = Concavity(*ch, distPoints);
}
concavity += concavity_flat;
#ifdef HACD_PRECOMPUTE_CHULLS
gE.m_convexHull = ch;
#else
delete ch;
#endif
// compute boudary edges
double perimeter = 0.0;
if (m_alpha > 0.0)
{
std::set<unsigned long long> boudaryEdges1;
for(size_t edV1 = 0; edV1 < gV1.m_boudaryEdges.Size(); ++edV1)
{
boudaryEdges1.insert(gV1.m_boudaryEdges[edV1]);
}
std::set<unsigned long long> boudaryEdges2;
for(size_t edV2 = 0; edV2 < gV2.m_boudaryEdges.Size(); ++edV2)
{
boudaryEdges2.insert(gV2.m_boudaryEdges[edV2]);
}
std::set<unsigned long long> boudaryEdges;
std::set_symmetric_difference (boudaryEdges1.begin(),
boudaryEdges1.end(),
boudaryEdges2.begin(),
boudaryEdges2.end(),
std::inserter( boudaryEdges, boudaryEdges.begin() ) );
std::set<unsigned long long>::const_iterator itBE(boudaryEdges.begin());
std::set<unsigned long long>::const_iterator itBEEnd(boudaryEdges.end());
for(; itBE != itBEEnd; ++itBE)
{
perimeter += (m_points[static_cast<long>((*itBE) >> 32)] -
m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)]).GetNorm();
}
}
void HACD::ComputeEdgeCost(size_t e)
{
GraphEdge & gE = m_graph.m_edges[e];
long v1 = gE.m_v1;
long v2 = gE.m_v2;
if (m_graph.m_vertices[v2].m_distPoints.size()>m_graph.m_vertices[v1].m_distPoints.size())
{
gE.m_v1 = v2;
gE.m_v2 = v1;
//std::swap<long>(v1, v2);
std::swap(v1, v2);
}
GraphVertex & gV1 = m_graph.m_vertices[v1];
GraphVertex & gV2 = m_graph.m_vertices[v2];
// delete old convex-hull
delete gE.m_convexHull;
// create the edge's convex-hull
ICHull * ch = new ICHull;
gE.m_convexHull = ch;
(*ch) = (*gV1.m_convexHull);
// update distPoints
gE.m_distPoints = gV1.m_distPoints;
std::map<long, DPoint>::iterator itDP(gV2.m_distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(gV2.m_distPoints.end());
std::map<long, DPoint>::iterator itDP1;
for(; itDP != itDPEnd; ++itDP)
{
itDP1 = gE.m_distPoints.find(itDP->first);
if (itDP1 == gE.m_distPoints.end())
{
gE.m_distPoints[itDP->first].m_distOnly = (itDP->second).m_distOnly;
if ( !(itDP->second).m_distOnly )
{
ch->AddPoint(m_points[itDP->first], itDP->first);
}
}
else
{
if ( (itDP1->second).m_distOnly && !(itDP->second).m_distOnly)
{
gE.m_distPoints[itDP->first].m_distOnly = false;
ch->AddPoint(m_points[itDP->first], itDP->first);
}
}
}
ch->SetDistPoints(&gE.m_distPoints);
// create the convex-hull
while (ch->Process() == ICHullErrorInconsistent) // if we face problems when constructing the visual-hull. really ugly!!!!
{
// if (m_callBack) (*m_callBack)("\t Problem with convex-hull construction [HACD::ComputeEdgeCost]\n", 0.0, 0.0, 0);
ch = new ICHull;
CircularList<TMMVertex> & verticesCH = (gE.m_convexHull)->GetMesh().m_vertices;
size_t nV = verticesCH.GetSize();
long ptIndex = 0;
verticesCH.Next();
for(size_t v = 1; v < nV; ++v)
{
ptIndex = verticesCH.GetHead()->GetData().m_name;
ch->AddPoint(m_points[ptIndex], ptIndex);
verticesCH.Next();
}
delete gE.m_convexHull;
gE.m_convexHull = ch;
}
double volume = 0.0;
double concavity = 0.0;
if (ch->IsFlat())
{
bool insideHull;
std::map<long, DPoint>::iterator itDP(gE.m_distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(gE.m_distPoints.end());
for(; itDP != itDPEnd; ++itDP)
{
if (itDP->first >= 0)
{
concavity = std::max<double>(concavity, ch->ComputeDistance(itDP->first, m_points[itDP->first], m_normals[itDP->first], insideHull, false));
}
}
}
else
{
if (m_addNeighboursDistPoints)
{ // add distance points from adjacent clusters
std::set<long> eEdges;
std::set_union(gV1.m_edges.begin(),
gV1.m_edges.end(),
gV2.m_edges.begin(),
gV2.m_edges.end(),
std::inserter( eEdges, eEdges.begin() ) );
std::set<long>::const_iterator ed(eEdges.begin());
std::set<long>::const_iterator itEnd(eEdges.end());
long a, b, c;
for(; ed != itEnd; ++ed)
{
a = m_graph.m_edges[*ed].m_v1;
b = m_graph.m_edges[*ed].m_v2;
if ( a != v2 && a != v1)
{
c = a;
}
else if ( b != v2 && b != v1)
{
c = b;
}
else
{
c = -1;
}
if ( c > 0)
{
GraphVertex & gVC = m_graph.m_vertices[c];
std::map<long, DPoint>::iterator itDP(gVC.m_distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(gVC.m_distPoints.end());
std::map<long, DPoint>::iterator itDP1;
for(; itDP != itDPEnd; ++itDP)
{
itDP1 = gE.m_distPoints.find(itDP->first);
if (itDP1 == gE.m_distPoints.end())
{
if (itDP->first >= 0 && itDP1 == gE.m_distPoints.end() && ch->IsInside(m_points[itDP->first]))
{
gE.m_distPoints[itDP->first].m_distOnly = true;
}
else if (itDP->first < 0 && ch->IsInside(m_facePoints[-itDP->first-1]))
{
gE.m_distPoints[itDP->first].m_distOnly = true;
}
}
}
}
}
}
concavity = Concavity(*ch, gE.m_distPoints);
}
// compute boudary edges
double perimeter = 0.0;
double surf = 1.0;
if (m_alpha > 0.0)
{
gE.m_boudaryEdges.clear();
std::set_symmetric_difference (gV1.m_boudaryEdges.begin(),
gV1.m_boudaryEdges.end(),
gV2.m_boudaryEdges.begin(),
gV2.m_boudaryEdges.end(),
std::inserter( gE.m_boudaryEdges,
gE.m_boudaryEdges.begin() ) );
std::set<unsigned long long>::const_iterator itBE(gE.m_boudaryEdges.begin());
std::set<unsigned long long>::const_iterator itBEEnd(gE.m_boudaryEdges.end());
for(; itBE != itBEEnd; ++itBE)
{
perimeter += (m_points[static_cast<long>((*itBE) >> 32)] -
m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)]).GetNorm();
}
surf = gV1.m_surf + gV2.m_surf;
}
void HACD::InitializeDualGraph()
{
long i, j, k;
Vec3<Real> u, v, w, normal;
delete [] m_normals;
m_normals = new Vec3<Real>[m_nPoints];
if (m_addFacesPoints)
{
delete [] m_facePoints;
delete [] m_faceNormals;
m_facePoints = new Vec3<Real>[m_nTriangles];
m_faceNormals = new Vec3<Real>[m_nTriangles];
/*
m_facePoints = new Vec3<Real>[4*m_nTriangles];
m_faceNormals = new Vec3<Real>[4*m_nTriangles];
*/
}
memset(m_normals, 0, sizeof(Vec3<Real>) * m_nPoints);
RaycastMesh rm;
if (m_addExtraDistPoints)
{
rm.Initialize(m_nPoints, m_nTriangles, m_points, m_triangles, 15);
m_extraDistPoints = new Vec3<Real>[m_nTriangles];
m_extraDistNormals = new Vec3<Real>[m_nTriangles];
}
double progressOld = -1.0;
double progress = 0.0;
char msg[1024];
double ptgStep = 1.0;
m_area = 0.0;
for(unsigned long f = 0; f < m_nTriangles; f++)
{
progress = f * 100.0 / m_nTriangles;
if (fabs(progress-progressOld) > ptgStep && m_callBack)
{
sprintf(msg, "%3.2f %% \t \t \r", progress);
(*m_callBack)(msg, progress, 0.0, m_nTriangles);
progressOld = progress;
}
i = m_triangles[f].X();
j = m_triangles[f].Y();
k = m_triangles[f].Z();
m_graph.m_vertices[f].m_distPoints.PushBack(DPoint(i, 0, false, false));
m_graph.m_vertices[f].m_distPoints.PushBack(DPoint(j, 0, false, false));
m_graph.m_vertices[f].m_distPoints.PushBack(DPoint(k, 0, false, false));
ICHull * ch = new ICHull(m_heapManager);
m_graph.m_vertices[f].m_convexHull = ch;
ch->AddPoint(m_points[i], i);
ch->AddPoint(m_points[j], j);
ch->AddPoint(m_points[k], k);
ch->SetDistPoints(0);
u = m_points[j] - m_points[i];
v = m_points[k] - m_points[i];
w = m_points[k] - m_points[j];
normal = u ^ v;
m_normals[i] += normal;
m_normals[j] += normal;
m_normals[k] += normal;
m_graph.m_vertices[f].m_surf = normal.GetNorm();
m_area += m_graph.m_vertices[f].m_surf;
normal.Normalize();
m_graph.m_vertices[f].m_boudaryEdges.Insert(GetEdgeIndex(i,j));
m_graph.m_vertices[f].m_boudaryEdges.Insert(GetEdgeIndex(j,k));
m_graph.m_vertices[f].m_boudaryEdges.Insert(GetEdgeIndex(k,i));
if(m_addFacesPoints)
{
m_faceNormals[f] = normal;
m_facePoints[f] = (m_points[i] + m_points[j] + m_points[k]) / 3.0;
m_graph.m_vertices[f].m_distPoints.PushBack(DPoint(-static_cast<long>(f)-1, 0, false, true));
}
}
// Now we have all the points in the KD tree, optimize the distance points insertion by running them in parallel
// if possible.
if (m_addExtraDistPoints)
{
if (m_callBack)
(*m_callBack)("++ Also adding distance points\n", 0.0, 0.0, 0);
progressOld = -1.0;
progress = 0.0;
long completed = 0;
#ifdef THREAD_DIST_POINTS
#pragma omp parallel for
#endif
for(long f = 0; f < (long)m_nTriangles; f++)
{
Vec3<Real> seedPoint((m_points[i] + m_points[j] + m_points[k]) / 3.0);
Vec3<Real> hitPoint;
Vec3<Real> hitNormal;
normal = -normal;
size_t faceIndex = m_nTriangles;
Float dist;
long hitTriangle;
if (rm.Raycast(seedPoint,normal,hitTriangle,dist, hitPoint, hitNormal))
{
faceIndex = hitTriangle;
}
if (faceIndex < m_nTriangles )
{
m_extraDistPoints[f] = hitPoint;
m_extraDistNormals[f] = hitNormal;
m_graph.m_vertices[f].m_distPoints.PushBack(DPoint(m_nPoints+f, 0, false, true));
}
// Atomic update of the progress
#ifdef THREAD_DIST_POINTS
#pragma omp critical
#endif
{
completed++;
progress = completed * 100.0 / m_nTriangles;
if (fabs(progress-progressOld) > ptgStep && m_callBack)
{
sprintf(msg, "%3.2f %% \t \t \r", progress);
(*m_callBack)(msg, progress, 0.0, m_nTriangles);
progressOld = progress;
}
}
}
}
for (size_t v = 0; v < m_nPoints; v++)
{
m_normals[v].Normalize();
}
}
void HACD::InitializeDualGraph()
{
long i, j, k;
Vec3<Real> u, v, w, normal;
delete [] m_normals;
m_normals = new Vec3<Real>[m_nPoints];
if (m_addFacesPoints)
{
delete [] m_facePoints;
delete [] m_faceNormals;
m_facePoints = new Vec3<Real>[m_nTriangles];
m_faceNormals = new Vec3<Real>[m_nTriangles];
}
memset(m_normals, 0, sizeof(Vec3<Real>) * m_nPoints);
for(unsigned long f = 0; f < m_nTriangles; f++)
{
if (m_callBack) (*m_callBack)("+ InitializeDualGraph\n", f, m_nTriangles, 0);
if (gCancelRequest)
return;
i = m_triangles[f].X();
j = m_triangles[f].Y();
k = m_triangles[f].Z();
m_graph.m_vertices[f].m_distPoints[i].m_distOnly = false;
m_graph.m_vertices[f].m_distPoints[j].m_distOnly = false;
m_graph.m_vertices[f].m_distPoints[k].m_distOnly = false;
ICHull * ch = new ICHull;
m_graph.m_vertices[f].m_convexHull = ch;
ch->AddPoint(m_points[i], i);
ch->AddPoint(m_points[j], j);
ch->AddPoint(m_points[k], k);
ch->SetDistPoints(&m_graph.m_vertices[f].m_distPoints);
u = m_points[j] - m_points[i];
v = m_points[k] - m_points[i];
w = m_points[k] - m_points[j];
normal = u ^ v;
m_normals[i] += normal;
m_normals[j] += normal;
m_normals[k] += normal;
m_graph.m_vertices[f].m_surf = normal.GetNorm();
m_graph.m_vertices[f].m_perimeter = u.GetNorm() + v.GetNorm() + w.GetNorm();
normal.Normalize();
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(i,j));
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(j,k));
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(k,i));
if(m_addFacesPoints)
{
m_faceNormals[f] = normal;
m_facePoints[f] = (m_points[i] + m_points[j] + m_points[k]) / 3.0;
m_graph.m_vertices[f].m_distPoints[-static_cast<long>(f)-1].m_distOnly = true;
}
if (m_addExtraDistPoints)
{// we need a kd-tree structure to accelerate this part!
long i1, j1, k1;
Vec3<Real> u1, v1, normal1;
normal = -normal;
double distance = 0.0;
double distMin = 0.0;
size_t faceIndex = m_nTriangles;
Vec3<Real> seedPoint((m_points[i] + m_points[j] + m_points[k]) / 3.0);
long nhit = 0;
for(size_t f1 = 0; f1 < m_nTriangles; f1++)
{
i1 = m_triangles[f1].X();
j1 = m_triangles[f1].Y();
k1 = m_triangles[f1].Z();
u1 = m_points[j1] - m_points[i1];
v1 = m_points[k1] - m_points[i1];
normal1 = (u1 ^ v1);
if (normal * normal1 > 0.0)
{
nhit = IntersectRayTriangle(Vec3<double>(seedPoint.X(), seedPoint.Y(), seedPoint.Z()),
Vec3<double>(normal.X(), normal.Y(), normal.Z()),
Vec3<double>(m_points[i1].X(), m_points[i1].Y(), m_points[i1].Z()),
Vec3<double>(m_points[j1].X(), m_points[j1].Y(), m_points[j1].Z()),
Vec3<double>(m_points[k1].X(), m_points[k1].Y(), m_points[k1].Z()),
distance);
if ((nhit==1) && ((distMin > distance) || (faceIndex == m_nTriangles)))
{
distMin = distance;
faceIndex = f1;
}
}
}
if (faceIndex < m_nTriangles )
{
i1 = m_triangles[faceIndex].X();
j1 = m_triangles[faceIndex].Y();
k1 = m_triangles[faceIndex].Z();
m_graph.m_vertices[f].m_distPoints[i1].m_distOnly = true;
m_graph.m_vertices[f].m_distPoints[j1].m_distOnly = true;
m_graph.m_vertices[f].m_distPoints[k1].m_distOnly = true;
if (m_addFacesPoints)
{
m_graph.m_vertices[f].m_distPoints[-static_cast<long>(faceIndex)-1].m_distOnly = true;
}
}
}
}
for (size_t v = 0; v < m_nPoints; v++)
{
m_normals[v].Normalize();
}
}