Mesh::Mesh(VertexList const& vertices)
: m_id(afth::UUID::v4())
{
size_t size = vertices.size() * 3;
float* arr = new float[size];
VertexList::const_iterator it = vertices.begin(), end = vertices.end();
for (size_t i = 0; it != end; ++it, i += 3)
{
std::memcpy(arr + i, (*it).coordinates().arr().data(), 3 * sizeof(float));
}
//glGenVertexArrays(1, &m_vertexArray);
//glGenBuffers(1, &m_vertexBuffer);
//glBindBuffer(GL_ARRAY_BUFFER, m_vertexBuffer);
//glBufferData(GL_ARRAY_BUFFER, size * sizeof(float), arr, GL_STATIC_DRAW);
//glBindVertexArray(m_vertexArray);
//GLint positionIndex = glGetAttribLocation(glProgramUniform1, "position");
//glEnableVertexAttribArray(0);
//glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, 0);
//glBindBuffer(GL_ARRAY_BUFFER, 0);
//glBindVertexArray(0);
delete [] arr;
}
void IncrementalDelaunayTriangulator::insertSites(const VertexList& vertices)
{
for (VertexList::const_iterator x=vertices.begin();
x != vertices.end(); ++x) {
insertSite(*x);
}
}
void Reprojector::projectCloud( IplImage *image )
{
cvZero( image );
if( !this->projVertices.size() )
return;
VertexList tempList;
tempList.resize( this->projVertices.size() );
transform3DTo2D( this->projVertices.size(), &( this->projVertices[0] ), &( tempList[0] ), this->cxProjector, this->cyProjector, this->focalLengthProjector, false );
unsigned short val = 0;
unsigned short *tempPtr = NULL;
for( VertexList::const_iterator it = tempList.begin(); it != tempList.end(); ++it )
{
unsigned int x = it->X;
unsigned int y = it->Y;
unsigned short depth = -( it->Z );
if( x >= image->width || y >= image->height )
continue;
val = depth;
tempPtr = (unsigned short*)( image->imageData ) + x + y * image->width;
if( !( *tempPtr ) || *tempPtr > val ) //z-test
*tempPtr = val;
}
}
void print_out (VertexList V)
{
// print out
for (VertexList::iterator i = V.begin(); i != V.end(); ++i)
{
cout << i->first << " spe:" << i->second.spe << " pi:" << i->second.pi << endl;
}
}
void VertexListToBufP(std::vector<float> &dst,const VertexList &list){
dst.clear();
dst.reserve(list.size()*3);
for(VertexList::const_iterator i = list.begin();i!=list.end();i++){
dst.push_back((*i).pos.x);
dst.push_back((*i).pos.y);
dst.push_back((*i).pos.z);
}
}
// copyVertexListToPointList a vector for Vec3 into a vector of Point's.
void copyVertexListToPointList(const VertexList& in,PointList& out)
{
out.reserve(in.size());
for(VertexList::const_iterator itr=in.begin();
itr!=in.end();
++itr)
{
out.push_back(Point(0,*itr));
}
}
void smallestEnclosingSphere(SrPoint3D* sp,int nsp,VertexList& vertexList,const VertexIterator& end,SrSphere3D& sphere)
{
createSphere(sp, nsp,sphere);
if( nsp==4 )
return;
VertexIterator iterator = vertexList.begin();
for( ; end != iterator ; )
{
const SrPoint3D& p = *iterator;
if( isOut(p,sphere) )
{
sp[ nsp ] = p;
smallestEnclosingSphere( sp, nsp + 1 , vertexList , iterator , sphere);
vertexList.splice(vertexList.begin(),vertexList,iterator++ );
}
else
{
iterator++;
}
}
}
void ProgressiveTriangleGeometry::FindEdgeToCollapse(VertexList& /*org_vertex_list*/,
TriangleList& /*org_triangle_list*/, VertexList& vertex_list, TriangleList& triangle_list, Edge& edge) {
if (triangle_list.empty())
return;
float current_error = 0.0f;
float current_max_error = 0.0f;
edge.v1_ = 0;
edge.v2_ = 0;
edge.triangle_list_.clear();
// Calculate mean error.
VertexList::iterator v_iter;
for (v_iter = vertex_list.begin();
v_iter != vertex_list.end();
++v_iter) {
if (v_iter == vertex_list.begin()) {
current_max_error = (*v_iter)->error_;
} else if((*v_iter)->error_ > current_max_error) {
current_max_error = (*v_iter)->error_;
}
current_error += (*v_iter)->error_;
}
current_error /= (float)vertex_list.size();
float min_error = 0.0f;
float min_error1 = 0.0f; // Temporary error value storage for _edge->v1_.
float min_error2 = 0.0f; // Temporary error value storage for _edge->v2_.
bool first = true;
// Test vertex collaps on all triangles.
TriangleList::iterator tri_iter;
for (tri_iter = triangle_list.begin();
tri_iter != triangle_list.end();
++tri_iter) {
Triangle* triangle = *tri_iter;
vec3 diff1;
vec3 diff2;
Vertex mid;
// Test V1 and V2.
mid.x() = (triangle->v1_->x() + triangle->v2_->x()) * 0.5f;
mid.y() = (triangle->v1_->y() + triangle->v2_->y()) * 0.5f;
mid.z() = (triangle->v1_->z() + triangle->v2_->z()) * 0.5f;
// Calculate the distance between the new, merged position,
// and the original vertex position.
diff1.Set(mid.x() - triangle->v1_->twin_->x(),
mid.y() - triangle->v1_->twin_->y(),
mid.z() - triangle->v1_->twin_->z());
diff2.Set(mid.x() - triangle->v2_->twin_->x(),
mid.y() - triangle->v2_->twin_->y(),
mid.z() - triangle->v2_->twin_->z());
float error1 = diff1.GetLength() + triangle->v1_->error_;
float error2 = diff2.GetLength() + triangle->v2_->error_;
float error = (error1 + error2 + current_error) / 3.0f;
if (first == true || error < min_error) {
edge.v1_ = triangle->v1_;
edge.v2_ = triangle->v2_;
min_error1 = error1;
min_error2 = error2;
min_error = error;
first = false;
}
// Test V2 and V3.
mid.x() = (triangle->v2_->x() + triangle->v3_->x()) * 0.5f;
mid.y() = (triangle->v2_->y() + triangle->v3_->y()) * 0.5f;
mid.z() = (triangle->v2_->z() + triangle->v3_->z()) * 0.5f;
// Calculate the distance between the new, merged position,
// and the original vertex position.
diff1.Set(mid.x() - triangle->v2_->twin_->x(),
mid.y() - triangle->v2_->twin_->y(),
mid.z() - triangle->v2_->twin_->z());
diff2.Set(mid.x() - triangle->v3_->twin_->x(),
mid.y() - triangle->v3_->twin_->y(),
mid.z() - triangle->v3_->twin_->z());
error1 = diff1.GetLength() + triangle->v1_->error_;
error2 = diff2.GetLength() + triangle->v2_->error_;
error = (error1 + error2 + current_error) / 3.0f;
if (error < min_error) {
edge.v1_ = triangle->v1_;
edge.v2_ = triangle->v2_;
min_error = error;
min_error1 = error1;
min_error2 = error2;
}
// Test V3 and V1.
mid.x() = (triangle->v3_->x() + triangle->v1_->x()) * 0.5f;
mid.y() = (triangle->v3_->y() + triangle->v1_->y()) * 0.5f;
mid.z() = (triangle->v3_->z() + triangle->v1_->z()) * 0.5f;
// Calculate the distance between the new, merged position,
// and the original vertex position.
diff1.Set(mid.x() - triangle->v3_->twin_->x(),
mid.y() - triangle->v3_->twin_->y(),
mid.z() - triangle->v3_->twin_->z());
diff2.Set(mid.x() - triangle->v1_->twin_->x(),
mid.y() - triangle->v1_->twin_->y(),
mid.z() - triangle->v1_->twin_->z());
error1 = diff1.GetLength() + triangle->v1_->error_;
error2 = diff2.GetLength() + triangle->v2_->error_;
error = (error1 + error2 + current_error) / 3.0f;
if (error < min_error) {
edge.v1_ = triangle->v1_;
edge.v2_ = triangle->v2_;
min_error = error;
min_error1 = error1;
min_error2 = error2;
}
if (min_error == 0.0f && edge.v1_ != 0 && edge.v2_ != 0)
break;
}
edge.v1_->error_ = min_error1;
edge.v2_->error_ = min_error2;
// Now add all triangles to _edge that share the two vertices
// _edge->v1_ and _edge->v2_.
for (tri_iter = triangle_list.begin();
tri_iter != triangle_list.end();
++tri_iter) {
Triangle* triangle = *tri_iter;
if (triangle->HaveVertex(edge.v1_) &&
triangle->HaveVertex(edge.v2_)) {
edge.triangle_list_.push_back(triangle);
}
}
}
