GenericIndexedMesh* Neighbourhood::triangulateOnPlane(bool duplicateVertices/*=false*/, PointCoordinateType maxEdgeLength/*=0*/)
{
if (m_associatedCloud->size()<CC_LOCAL_MODEL_MIN_SIZE[TRI])
{
//can't compute LSF plane with less than 3 points!
return 0;
}
//project the points on this plane
GenericIndexedMesh* mesh = 0;
std::vector<CCVector2> points2D;
if (projectPointsOn2DPlane<CCVector2>(points2D))
{
Delaunay2dMesh* dm = new Delaunay2dMesh();
//triangulate the projected points
if (!dm->build(points2D,0))
{
delete dm;
return 0;
}
//change the default mesh's reference
if (duplicateVertices)
{
ChunkedPointCloud* cloud = new ChunkedPointCloud();
unsigned count = m_associatedCloud->size();
if (!cloud->reserve(count))
{
delete dm;
delete cloud;
return 0;
}
for (unsigned i=0; i<count; ++i)
cloud->addPoint(*m_associatedCloud->getPoint(i));
dm->linkMeshWith(cloud,true);
}
else
{
dm->linkMeshWith(m_associatedCloud,false);
}
//remove triangles with too long edges
if (maxEdgeLength > 0)
{
dm->removeTrianglesLongerThan(maxEdgeLength);
if (dm->size() == 0)
{
//no more triangles?
delete dm;
dm = 0;
}
}
mesh = static_cast<GenericIndexedMesh*>(dm);
}
return mesh;
}
GenericIndexedMesh* Neighbourhood::triangulateOnPlane( bool duplicateVertices/*=false*/,
PointCoordinateType maxEdgeLength/*=0*/,
char* errorStr/*=0*/)
{
if (m_associatedCloud->size() < CC_LOCAL_MODEL_MIN_SIZE[TRI])
{
//can't compute LSF plane with less than 3 points!
if (errorStr)
strcpy(errorStr,"Not enough points");
return 0;
}
//safety check: Triangle lib will crash if the points are all the same!
if (computeLargestRadius() < ZERO_TOLERANCE)
{
return 0;
}
//project the points on this plane
GenericIndexedMesh* mesh = 0;
std::vector<CCVector2> points2D;
if (projectPointsOn2DPlane<CCVector2>(points2D))
{
Delaunay2dMesh* dm = new Delaunay2dMesh();
//triangulate the projected points
if (!dm->buildMesh(points2D,0,errorStr))
{
delete dm;
return 0;
}
//change the default mesh's reference
if (duplicateVertices)
{
ChunkedPointCloud* cloud = new ChunkedPointCloud();
unsigned count = m_associatedCloud->size();
if (!cloud->reserve(count))
{
if (errorStr)
strcpy(errorStr,"Not enough memory");
delete dm;
delete cloud;
return 0;
}
for (unsigned i=0; i<count; ++i)
cloud->addPoint(*m_associatedCloud->getPoint(i));
dm->linkMeshWith(cloud,true);
}
else
{
dm->linkMeshWith(m_associatedCloud,false);
}
//remove triangles with too long edges
if (maxEdgeLength > 0)
{
dm->removeTrianglesWithEdgesLongerThan(maxEdgeLength);
if (dm->size() == 0)
{
//no more triangles?
if (errorStr)
strcpy(errorStr,"Not triangle left after pruning");
delete dm;
dm = 0;
}
}
mesh = static_cast<GenericIndexedMesh*>(dm);
}
return mesh;
}
GenericIndexedMesh* PointProjectionTools::computeTriangulation( GenericIndexedCloudPersist* theCloud,
CC_TRIANGULATION_TYPES type/*=GENERIC*/,
PointCoordinateType maxEdgeLength/*=0*/,
char* errorStr/*=0*/)
{
if (!theCloud)
{
if (errorStr)
strcpy(errorStr, "Invalid input cloud");
return 0;
}
switch(type)
{
case GENERIC:
{
unsigned count = theCloud->size();
std::vector<CCVector2> the2DPoints;
try
{
the2DPoints.resize(count);
}
catch (.../*const std::bad_alloc&*/) //out of memory
{
if (errorStr)
strcpy(errorStr, "Not enough memory");
break;
}
theCloud->placeIteratorAtBegining();
CCVector3 P;
for (unsigned i=0; i<count; ++i)
{
theCloud->getPoint(i,P);
the2DPoints[i].x = P.x;
the2DPoints[i].y = P.y;
}
Delaunay2dMesh* dm = new Delaunay2dMesh();
char triLibErrorStr[1024];
if (!dm->build(the2DPoints,0,false,triLibErrorStr))
{
if (errorStr)
strcpy(errorStr, triLibErrorStr);
delete dm;
return 0;
}
dm->linkMeshWith(theCloud,false);
//remove triangles with too long edges
if (maxEdgeLength > 0)
{
dm->removeTrianglesLongerThan(maxEdgeLength);
if (dm->size() == 0)
{
//no more triangles?
if (errorStr)
strcpy(errorStr, "No triangle left after pruning");
delete dm;
return 0;
}
}
return static_cast<GenericIndexedMesh*>(dm);
}
break;
case GENERIC_BEST_LS_PLANE:
{
Neighbourhood Yk(theCloud);
GenericIndexedMesh* mesh = Yk.triangulateOnPlane(false,maxEdgeLength,errorStr);
return mesh;
}
break;
default:
//shouldn't happen
assert(false);
break;
}
return 0;
}
GenericIndexedMesh* PointProjectionTools::computeTriangulation( GenericIndexedCloudPersist* cloud,
CC_TRIANGULATION_TYPES type/*=DELAUNAY_2D_AXIS_ALIGNED*/,
PointCoordinateType maxEdgeLength/*=0*/,
unsigned char dim/*=0*/,
char* errorStr/*=0*/)
{
if (!cloud)
{
if (errorStr)
strcpy(errorStr, "Invalid input cloud");
return nullptr;
}
switch(type)
{
case DELAUNAY_2D_AXIS_ALIGNED:
{
if (dim > 2)
{
if (errorStr)
strcpy(errorStr, "Invalid projection dimension");
return nullptr;
}
const unsigned char Z = static_cast<unsigned char>(dim);
const unsigned char X = Z == 2 ? 0 : Z+1;
const unsigned char Y = X == 2 ? 0 : X+1;
unsigned count = cloud->size();
std::vector<CCVector2> the2DPoints;
try
{
the2DPoints.resize(count);
}
catch (.../*const std::bad_alloc&*/) //out of memory
{
if (errorStr)
strcpy(errorStr, "Not enough memory");
break;
}
cloud->placeIteratorAtBeginning();
for (unsigned i=0; i<count; ++i)
{
const CCVector3* P = cloud->getPoint(i);
the2DPoints[i].x = P->u[X];
the2DPoints[i].y = P->u[Y];
}
Delaunay2dMesh* dm = new Delaunay2dMesh();
char triLibErrorStr[1024];
if (!dm->buildMesh(the2DPoints,0,triLibErrorStr))
{
if (errorStr)
strcpy(errorStr, triLibErrorStr);
delete dm;
return nullptr;
}
dm->linkMeshWith(cloud,false);
//remove triangles with too long edges
if (maxEdgeLength > 0)
{
dm->removeTrianglesWithEdgesLongerThan(maxEdgeLength);
if (dm->size() == 0)
{
//no more triangles?
if (errorStr)
strcpy(errorStr, "No triangle left after pruning");
delete dm;
return nullptr;
}
}
return static_cast<GenericIndexedMesh*>(dm);
}
break;
case DELAUNAY_2D_BEST_LS_PLANE:
{
Neighbourhood Yk(cloud);
GenericIndexedMesh* mesh = Yk.triangulateOnPlane(false,maxEdgeLength,errorStr);
return mesh;
}
break;
default:
//shouldn't happen
assert(false);
break;
}
return nullptr;
}