/**
* Count the amount of camera's each voxel in the space appears on,
* if that amount equals the amount of cameras, add that voxel to the
* visible_voxels vector
*/
void Reconstructor::update()
{
m_visible_voxels.clear();
std::vector<Voxel*> visible_voxels;
int v;
#pragma omp parallel for private(v) shared(visible_voxels)
for (v = 0; v < (int) m_voxels_amount; ++v)
{
int camera_counter = 0;
Voxel* voxel = m_voxels[v];
for (size_t c = 0; c < m_cameras.size(); ++c)
{
if (voxel->valid_camera_projection[c])
{
const Point point = voxel->camera_projection[c];
//If there's a white pixel on the foreground image at the projection point, add the camera
if (m_cameras[c]->getForegroundImage().at<uchar>(point) == 255) ++camera_counter;
}
}
// If the voxel is present on all cameras
if (camera_counter == m_cameras.size())
{
int minLabel = 0;
float minDist = norm(m_clusterCenters[0] - Point2f(voxel->x, voxel->y));
for (int i = 1; i < 4; ++i) {
float dist = norm(m_clusterCenters[i] - Point2f(voxel->x, voxel->y));
if (dist < minDist) {
minLabel = i;
minDist = dist;
}
}
voxel->label = minLabel;
#pragma omp critical //push_back is critical
if (minDist < 600 || !m_clustered)
visible_voxels.push_back(voxel);
}
}
m_visible_voxels.insert(m_visible_voxels.end(), visible_voxels.begin(), visible_voxels.end());
//Build surface
int sizeh = m_height / m_step;
int sizew = m_edge / m_step;
PolyVox::SimpleVolume<uint8_t> volData(PolyVox::Region(PolyVox::Vector3DInt32(0, 0, 0), PolyVox::Vector3DInt32(sizew, sizew, sizeh)));
for (size_t v = 0; v < visible_voxels.size(); v++)
{
volData.setVoxelAt(visible_voxels[v]->x / m_step + sizew / 2, visible_voxels[v]->y / m_step + sizew / 2, visible_voxels[v]->z / m_step + 1, 255);
}
PolyVox::MarchingCubesSurfaceExtractor<PolyVox::SimpleVolume<uint8_t>> surfaceExtractor(&volData, volData.getEnclosingRegion(), &m_mesh);
surfaceExtractor.execute();
}
void extractSmoothMesh(Volume& volume, const Region& region, Mesh& resultMesh)
{
MarchingCubesSurfaceExtractor< SimpleVolume<MaterialDensityPair88> > surfaceExtractor(&volume, region, &resultMesh);
surfaceExtractor.execute();
}
void extractCubicMesh(Volume& volume, const Region& region, Mesh& resultMesh)
{
CubicSurfaceExtractorWithNormals< SimpleVolume<MaterialDensityPair88> > surfaceExtractor(&volume, region, &resultMesh);
surfaceExtractor.execute();
}