SurfaceMeshModel *SurfaceMeshModel::clone(std::vector<Surface_mesh::Face> subset)
{
/// Remove possible duplicates
std::sort( subset.begin(), subset.end() );
subset.erase( unique( subset.begin(), subset.end() ), subset.end() );
SurfaceMeshModel * m = new SurfaceMeshModel("clone.obj", this->name + "_clone");
Vector3VertexProperty points = vertex_coordinates();
QSet<int> vertSet;
QMap<Vertex,Vertex> vmap;
foreach(Face f, subset){
if(!is_valid(f)) continue;
Surface_mesh::Vertex_around_face_circulator vit = vertices(f),vend=vit;
do{ vertSet.insert(Vertex(vit).idx()); } while(++vit != vend);
}
foreach(int vidx, vertSet){
vmap[Vertex(vidx)] = Vertex(vmap.size());
m->add_vertex( points[Vertex(vidx)] );
}
void filter_depthscan::applyFilter(RichParameterSet* /*pars*/){
glEnable(GL_DEPTH_TEST);
/// Window size
int w = drawArea()->width();
int h = drawArea()->height();
/// Create a model to store scans & add it
SurfaceMeshModel* model = new SurfaceMeshModel();
document()->addModel(model);
#if 0
/// Query buffer precision
QGLFormat format = drawArea()->format();
format.setDepthBufferSize(32);
drawArea()->setFormat(format);
GLint bits;
glGetIntegerv(GL_DEPTH_BITS, &bits);
qDebug() << "depth buffer precision" << bits;
#endif
#if 0
drawArea()->updateGL();
#else
/// Render essentials
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
glMultMatrixd( document()->transform.data() );
foreach(StarlabModel* model, document()->models())
if(model->isVisible && model->renderer()!=NULL ){
drawArea()->qglColor(model->color);
model->renderer()->render();
}
glPopMatrix();
#endif
/// QGLViewer version will take ****ages**** to give you something
#if 0
for(int winX=0; winX<w; winX++){
for(int winY=0; winY<h; winY++){
qDebug() << winX << winY;
bool found=false;
qglviewer::Vec p = drawArea()->camera()->pointUnderPixel(QPoint(winX, winY),found);
if(found) model->add_vertex( Vector3(p[0], p[1], p[2]) );
}
}
/// Pure OpenGL version
#else
/// Fetch the depth buffer (BOTTLENECK!!!!)
/// http://stackoverflow.com/questions/516778/get-depth-buffer-from-qglpixelbuffer
std::vector<GLfloat> winZv(w*h);
GLfloat* winZ = winZv.data();
glReadPixels(0, 0, w, h, GL_DEPTH_COMPONENT, GL_FLOAT, winZ);
/// Fetch view matrices
GLint viewport[4];
GLdouble modelview[16];
GLdouble projection[16];
glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
glGetDoublev( GL_PROJECTION_MATRIX, projection );
glGetIntegerv( GL_VIEWPORT, viewport );
/// Position of point in 3D space
GLdouble posX, posY, posZ;
/// Unproject depth buffer
for(int winX=0; winX<w; winX++){
for(int winY=0; winY<h; winY++){
float depth = winZ[w*winY + winX];
if(depth<1){
gluUnProject(winX, winY, depth, modelview, projection, viewport, &posX, &posY, &posZ);
model->add_vertex( Vector3(posX, posY, posZ) );
}
}
}
/// Don't affect visualization
drawArea()->updateGL();
#endif
}
void filter_depthscan::applyFilter(RichParameterSet* pars){
typedef qglviewer::Vec QGLVec;
/// Window size
int w = drawArea()->width();
int h = drawArea()->height();
/// Create query octree
SurfaceMeshModel* selection = SurfaceMesh::safe_cast( model() );
Octree octree( selection );
if(selection->n_faces()==0)
throw StarlabException("Cannot scan a point cloud, need n_faces()>0");
/// Need face normals for angle rejection
if(!selection->has_face_normals())
SurfaceMesh::NormalsHelper(selection).compute_face_normals();
Vector3FaceProperty fnormals = selection->face_normals();
/// Create a model to store scans & add it
SurfaceMeshModel* scan = new SurfaceMeshModel("","Scan");
document()->addModel(scan);
drawArea()->setRenderer(scan,"Flat Shading");
scan->color = QColor(125,0,0);
/// assert( step>1 )
int step = qMax( pars->getInt("density"),1 );
/// angle: [0,90]
double angle = qBound(0.0, (double) pars->getFloat("maxangle"), 90.0);
double mincosangle = cos( angle * M_PI / 180 );
/// scan noise
double znoise = pars->getFloat("znoise");
/// Fetch normals?
// bool getNormals = pars->getBool("getnormal");
/// Size of matrices
int nrows = std::floor( double(h) / step );
int ncols = std::floor( double(w) / step );
/// Layers containing point coordinates
Matrix<XYZ_View, Dynamic, Dynamic> X(ncols,nrows);
/// Perform scan
for(int winX=0,i=0; i<ncols; winX+=step, i++){
for(int winY=0,j=0; j<nrows; winY+=step, j++){
QGLVec _orig, _dir;
drawArea()->camera()->convertClickToLine( QPoint(winX, winY), _orig, _dir );
Vector3 orig(_orig[0],_orig[1],_orig[2]);
Vector3 dir(_dir[0],_dir[1],_dir[2]);
dir.normalize(); ///< just to be sure
int isectHit = -1;
Eigen::Vector3d ipoint = octree.closestIntersectionPoint( Ray(orig, dir), &isectHit );
X(i,j).xyz[0] = std::numeric_limits<Scalar>::quiet_NaN();
if(isectHit>=0){
Vector3 fnormal = fnormals[ Face(isectHit) ];
double cosangle = std::abs(dot( fnormal, dir ));
if(cosangle>mincosangle){
ipoint += dir*randn(0.0,znoise);
/// Save point
X(i,j).xyz = ipoint;
X(i,j).view = dir;
}
}
}
}
DepthTriangulator(scan).execute(X, mincosangle);
scan->update_vertex_normals();
/// Inform user
showMessage("Scanned #P=%d points", scan->n_vertices());
}
void filter::applyFilter(RichParameterSet* pars){
/// Draw the input vertices if overlay was required
if(pars->getBool(overlayInput)){
Vector3VertexProperty points = mesh()->get_vertex_property<Vector3>(VPOINT);
foreach(Vertex v, mesh()->vertices())
drawArea()->drawPoint(points[v],1,Qt::red);
}
QElapsedTimer timer;
#ifdef MATLAB
/// Compute voronoi mapping and measures
MatlabVoronoiHelper mat(mesh, drawArea);
timer.start(); // Don't count matlab startup in timing
mat.createVertexIndexes();
mat.meshVerticesToVariable("points");
mat.meshNormalsToVariable("normals");
mat.computeVoronoiDiagramOf("points");
mat.searchVoronoiPoles("poleof","scorr");
mat.getMedialSpokeAngleAndRadii("Vangle","Vradii");
/// Export angle/radii from medial to surface
mat.eval("vangle=Vangle(poleof);");
mat.eval("vradii=Vradii(poleof);");
mat.variableToVertexScalarProperty("vangle",VANGLE);
mat.variableToVertexScalarProperty("vradii",VRADII);
mat.eval("points = loci(poleof,:);");
/// Should we apply the transform?
string propname = pars->getBool(embedVertices)?VPOINT:VPOLE;
mat.variableToVector3VertexProperty("points",propname);
#endif
#if 1
bool isEmbed = pars->getBool(embedVertices);
timer.start();
VoronoiHelper h(mesh(), drawArea());
h.computeVoronoiDiagram();
h.searchVoronoiPoles();
h.getMedialSpokeAngleAndRadii();
h.setToMedial(isEmbed);
#endif
qDebug() << "[VOROMAT]" << timer.elapsed() << "ms";
/// Colorize one of the exposed properties
if( pars->getBool(colorizeRadii) || pars->getBool(colorizeAngle) ){
drawArea()->setRenderer(mesh(),"Smooth");
string propname;
if( pars->getBool(colorizeRadii) ) propname = VRADII;
if( pars->getBool(colorizeAngle) ) propname = VANGLE;
ColorizeHelper(mesh(),unsignedColorMap).vscalar_to_vcolor(propname);
// qDebug() << ScalarStatisticsHelper(mesh).statistics(propname);
}
#if 1
Vector3VertexProperty points = mesh()->get_vertex_property<Vector3>(VPOINT);
ScalarVertexProperty vradii = mesh()->get_vertex_property<Scalar>(VRADII);
SurfaceMeshModel* model = new SurfaceMeshModel("", "cloud");
document()->addModel(model);
foreach(Vertex v, mesh()->vertices()){
if(vradii[v]<3.14*.9)
model->add_vertex( points[v] );
}
#endif
}
