IfcSchema::IfcProductDefinitionShape* IfcGeom::tesselate(const TopoDS_Shape& shape, double deflection) {
BRepMesh_IncrementalMesh(shape, deflection);
IfcSchema::IfcFace::list::ptr faces(new IfcSchema::IfcFace::list);
for (TopExp_Explorer exp(shape, TopAbs_FACE); exp.More(); exp.Next()) {
const TopoDS_Face& face = TopoDS::Face(exp.Current());
TopLoc_Location loc;
Handle(Poly_Triangulation) tri = BRep_Tool::Triangulation(face, loc);
if (!tri.IsNull()) {
const TColgp_Array1OfPnt& nodes = tri->Nodes();
std::vector<IfcSchema::IfcCartesianPoint*> vertices;
for (int i = 1; i <= nodes.Length(); ++i) {
gp_Pnt pnt = nodes(i).Transformed(loc);
std::vector<double> xyz; xyz.push_back(pnt.X()); xyz.push_back(pnt.Y()); xyz.push_back(pnt.Z());
IfcSchema::IfcCartesianPoint* cpnt = new IfcSchema::IfcCartesianPoint(xyz);
vertices.push_back(cpnt);
}
const Poly_Array1OfTriangle& triangles = tri->Triangles();
for (int i = 1; i <= triangles.Length(); ++i) {
int n1, n2, n3;
triangles(i).Get(n1, n2, n3);
IfcSchema::IfcCartesianPoint::list::ptr points(new IfcSchema::IfcCartesianPoint::list);
points->push(vertices[n1 - 1]);
points->push(vertices[n2 - 1]);
points->push(vertices[n3 - 1]);
IfcSchema::IfcPolyLoop* loop = new IfcSchema::IfcPolyLoop(points);
IfcSchema::IfcFaceOuterBound* bound = new IfcSchema::IfcFaceOuterBound(loop, face.Orientation() != TopAbs_REVERSED);
IfcSchema::IfcFaceBound::list::ptr bounds(new IfcSchema::IfcFaceBound::list);
bounds->push(bound);
IfcSchema::IfcFace* face2 = new IfcSchema::IfcFace(bounds);
faces->push(face2);
}
}
}
IfcSchema::IfcOpenShell* shell = new IfcSchema::IfcOpenShell(faces);
IfcSchema::IfcConnectedFaceSet::list::ptr shells(new IfcSchema::IfcConnectedFaceSet::list);
shells->push(shell);
IfcSchema::IfcFaceBasedSurfaceModel* surface_model = new IfcSchema::IfcFaceBasedSurfaceModel(shells);
IfcSchema::IfcRepresentation::list::ptr reps(new IfcSchema::IfcRepresentation::list);
IfcSchema::IfcRepresentationItem::list::ptr items(new IfcSchema::IfcRepresentationItem::list);
items->push(surface_model);
IfcSchema::IfcShapeRepresentation* rep = new IfcSchema::IfcShapeRepresentation(
0, std::string("Facetation"), std::string("SurfaceModel"), items);
reps->push(rep);
IfcSchema::IfcProductDefinitionShape* shapedef = new IfcSchema::IfcProductDefinitionShape(boost::none, boost::none, reps);
return shapedef;
}
Mesh_Ptr Mesh_File_Reader::read(
const Label & name,
bool load_vertices,
bool load_triangles,
bool load_triangle_strips,
bool load_mapping
) /* throw IO_Error */
{
Mesh_Ptr mesh_ptr(new Mesh());
Mesh &mesh = *mesh_ptr.get();
Filename binary_filename(_mesh_path / (name + ".bin"));
if(!boost::filesystem::exists(binary_filename))
{
Filename vertex_filename, triangle_filename,
triangle_strip_filename, mapping_filename;
if (load_vertices)
vertex_filename = _mesh_path / (name + ".vert");
if (load_triangles)
triangle_filename = _mesh_path / (name + ".tri");
if (load_triangle_strips)
triangle_strip_filename = _mesh_path / (name + ".strip");
if (load_mapping)
mapping_filename = _mesh_path / (name + ".map");
Mesh_ASCII_File_Parser parser;
parser.read_mesh(
vertex_filename,
triangle_filename,
triangle_strip_filename,
mapping_filename,
vertex_count(mesh),
triangle_count(mesh),
triangle_strip_length(mesh),
vertices(mesh),
vertex_sections(mesh),
vertex_relative_distances(mesh),
triangles(mesh),
triangle_strip(mesh));
} else {
Mesh_Binary_File_Parser parser;
parser.read_mesh(
binary_filename,
load_vertices,
load_triangles,
load_triangle_strips,
load_mapping,
vertex_count(mesh),
triangle_count(mesh),
triangle_strip_length(mesh),
vertices(mesh),
vertex_sections(mesh),
vertex_relative_distances(mesh),
triangles(mesh),
triangle_strip(mesh));
}
return mesh_ptr;
}
void EdgeCell::drawRawTopology(Time time, ViewSettings & viewSettings)
{
bool screenRelative = viewSettings.screenRelative();
if(screenRelative)
{
triangles(viewSettings.edgeTopologyWidth() / viewSettings.zoom(), time).draw();
}
else
{
triangles(viewSettings.edgeTopologyWidth(), time).draw();
}
}
//Draw textures within the m_texture_planes[plane_id].
void mgTLData::drawt_texture_image_part(
const MGTextureImages& teximage, //texture image data.
const double back_color[4], //back ground color data.
int plane_id //indicates if only parts of texture data be drawn.
//let i1=m_texture_planes[plane_id]->index(), and i2=m_texture_planes[plane_id+1]->index().
//Then rects of m_rects[i1] to m_rects[i2-1] are to be drawn.
)const{
mgGDL::draw_texture_image_set_up(back_color);
const mgTLTriangles& tris=triangles();
mgTLTriangles::const_triIterator first=tris.begin(), last=tris.end();;
const std::vector<mgTLTexPlane*>& texplanes=tlrects().texture_planes();
int ntpls=texplanes.size();
if(plane_id<ntpls){
int i1=texplanes[plane_id]->index();
const mgTLRect& recti=rect(i1);
int tri_id1=rect(i1).triangle_id();
first+=tri_id1;
if(plane_id<ntpls-1){
int i2=texplanes[plane_id+1]->index();
int tri_id2=rect(i2).triangle_id();
last=first+(tri_id2-tri_id1);
}
}
draw_texture(teximage,first,last);
mgGDL::draw_texture_image_end_up();
}
std::vector<Triangle> PenultimateTriangle::connectInnerPoints()
{
std::vector<Triangle> triangles(3);
Point p1=getVertex(0);
Point p2=getVertex(1);
Point p3=getVertex(2);
Point fp1=inners.at(0);
Point fp2=inners.at(1);
Point fp3=inners.at(2);
double ttt=attributes.at("ttt");
double nnn=attributes.at("nnn");
if ( (ttt>0.0 && nnn>0.0) || (ttt<0.0 && nnn<0.0) )
{
//std::cout << "\n\n\n" << ttt << " " << nnn << "\n\n\n";
triangles.at(0)=Triangle(p1,fp2,p2);
triangles.at(1)=Triangle(p2,fp3,p3);
triangles.at(2)=Triangle(p3,fp1,p1);
}
else
{
//std::cout << "\n\n\n" << ttt << " " << nnn << "\n\n\n";
triangles.at(0)=Triangle(p2,fp1,p1);
triangles.at(1)=Triangle(p3,fp2,p2);
triangles.at(2)=Triangle(p1,fp3,p3);
}
return triangles;
}
std::vector< std::vector <Point> > cubeProcessing(Cube c, std::vector< std::vector<int> > rotations, float res) {
std::vector<int> markedVertices;
int nbPointsInside = 0;
bool swap = false;
for (int i = 0; i < c.listOfPoints.size(); i++) {
if (insideModel(c.listOfPoints[i])) {
markedVertices.push_back(1);
nbPointsInside++;
} else {
markedVertices.push_back(0);
}
}
if (nbPointsInside > 4) {
for (int i = 0; i < 8; i++) {
markedVertices[i] = (markedVertices[i] == 1)?0:1;
}
}
int code = -1;
for (int i = 0; i < rotations.size(); i++) {
code = computeRotatedCode(markedVertices, rotations[i]);
if (acceptable(code)) {
std::vector< std::vector <Point> > cubeTriangles = triangles(code, res, rotations[i], c);
if (nbPointsInside <= 4) {
return cubeTriangles;
} else {
return invertTriangles(cubeTriangles);
}
}
}
}
Node *AbsoluteTransformator::toAbsolute(Node *relativeRoot, glm::mat4 transform) {
if (relativeRoot == nullptr) new Group();
glm::mat4 newTransform = relativeRoot->transform() * transform;
Node *absoluteRoot;
if (relativeRoot->children().size() > 0) {
Group *absoluteGroup = new Group();
for (auto child : relativeRoot->children()) {
Node *absoluteChild = toAbsolute(static_cast<Node *>(child), newTransform);
if (absoluteChild != nullptr) {
absoluteGroup->append(absoluteChild);
}
}
absoluteRoot = absoluteGroup;
} else {
PolygonalDrawable *poly = dynamic_cast<PolygonalDrawable *>(relativeRoot);
if (poly == nullptr) {
absoluteRoot = new Group();
} else {
auto relativeGeometry = poly->geometry();
auto vertices = relativeGeometry->copyVertices();
auto absoluteGeometry = new TriangleObject();
p_TriangleList triangles = absoluteGeometry->triangles();
for (auto index : relativeGeometry->indices()) {
glm::vec4 homogenous = newTransform * glm::vec4(vertices.at(index), 1.0f);
triangles->push_back(homogenous.xyz * (1 / homogenous.w));
}
absoluteRoot = absoluteGeometry;
}
}
absoluteRoot->setName(relativeRoot->name());
absoluteRoot->setReferenceFrame(Node::RF_Absolute);
return absoluteRoot;
}
void testA2VColor()
{
std::cout << "a2vectorTest testA2VColor" << std::endl;
aam::Vertices2DList vertices(TOTAL_POINTS_NUMBER);
aam::Vertices2DList basePoints(TOTAL_POINTS_NUMBER);
for (int i = 0; i < TOTAL_POINTS_NUMBER; i++)
{
vertices[i].y = verticesAData[2 * i];
vertices[i].x = verticesAData[2 * i + 1];
basePoints[i].y = basePointsData[2 * i];
basePoints[i].x = basePointsData[2 * i + 1];
}
std::vector<cv::Vec3i> triangles(TRIANGLES_NUMBER);
for (int i = 0; i < TRIANGLES_NUMBER; i++)
{
triangles[i] = cv::Vec3i(&trianglesData[i * 3]);
}
try
{
cv::Mat im = cv::imread("data/01-1m.jpg");
cv::Mat_<cv::Vec<aam::RealType, 3> > colorImage =
cv::Mat_<cv::Vec<aam::RealType, 3> >(im) / 255.0;
cv::Mat objectPixels = cv::imread("data/object_pixels.bmp",
cv::IMREAD_GRAYSCALE);
int nCount = cv::countNonZero(objectPixels);
cv::Mat J;
aam::RealMatrix grayVector;
aam::AAMFunctions2D::appearance2Vector(colorImage, vertices,
basePoints,
objectPixels, nCount, triangles, J, grayVector);
// cv::imshow("test", J);
// cv::waitKey(0);
if (J.cols != objectPixels.cols || J.rows != objectPixels.rows)
{
std::cout << "%TEST_FAILED% time=0 testname=testA2VColor (a2vectorTest) message=Invalid output texture size" << std::endl;
}
else if (J.channels() != 3)
{
std::cout << "%TEST_FAILED% time=0 testname=testA2VColor (a2vectorTest) message=Invalid output texture channels count" << std::endl;
}
else if (grayVector.cols != 1 || grayVector.rows != 3 * 52314)
{
std::cout << "%TEST_FAILED% time=0 testname=testA2VColor (a2vectorTest) message=Invalid output vector size" << std::endl;
}
}
catch (std::exception& e)
{
std::cout << "%TEST_FAILED% time=0 testname=testA2VColor (a2vectorTest) message=Exception occured: " <<
e.what() << std::endl;
}
}
/* A more complex drawing function, using 2 separate viewports */
void draw_multi()
{
GLint viewport[4];
glScissor(0, 0, window_w, window_h);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
/* First viewport with triangles, teapot or torus, etc. */
glViewport((GLint)(window_w * 0.05), (GLint)(window_h * 0.525),
(GLsizei)(window_w * 0.9), (GLsizei)(window_h * 0.45));
glScissor((GLint)(window_w * 0.05), (GLint)(window_h * 0.525),
(GLsizei)(window_w * 0.9), (GLsizei)(window_h * 0.45));
glClearColor(0.2, 0.2, 0.2, 0.);
glGetIntegerv(GL_VIEWPORT, viewport);
gl2psBeginViewport(viewport);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(-1.3,1.3, -1.3,1.3, -1.3,1.3);
glMatrixMode(GL_MODELVIEW);
objects();
triangles();
extras();
text();
gl2psEndViewport();
/* Second viewport with cube, image, etc. */
glViewport((GLint)(window_w * 0.05), (GLint)(window_h * 0.025),
(GLsizei)(window_w * 0.9), (GLsizei)(window_h * 0.45));
glScissor((GLint)(window_w * 0.05), (GLint)(window_h * 0.025),
(GLsizei)(window_w * 0.9), (GLsizei)(window_h * 0.45));
glClearColor(0.8, 0.8, 0.8, 0.);
glGetIntegerv(GL_VIEWPORT, viewport);
gl2psBeginViewport(viewport);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(-1.3,1.3, -1.3,1.3, -1.3,1.3);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glRotatef(rotation, 1., 1., 1.);
image(-0.8, -0.3, GL_TRUE);
cube();
extras();
image(-0.8, 0.4, GL_FALSE);
glPopMatrix();
gl2psEndViewport();
glClearColor(0.5, 0.5, 0.5, 0.);
glFlush();
}
// OpenGL display for shading.
void mgTLData::draw_texture(
const MGTextureImage& teximage
)const{
const mgTLTriangles& tris=triangles();
for(mgTLTriangles::const_triIterator i=tris.begin(); i!=tris.end(); ++i){
draw_texture_image_tri(**i,teximage.box());
}
}
void ColladaSerializer::ColladaExporter::ColladaGeometries::write(const std::string mesh_id, const std::string& default_material_name, const std::vector<double>& positions, const std::vector<double>& normals, const std::vector<int>& indices, const std::vector<int> material_ids, const std::vector<IfcGeom::Material>& materials) {
// The goal of the IfcGeom::Iterator is to filter out empty geometries, but
// since this function would crash trying to deference the material_ids in
// that case, a hard return statement is added just in case.
if (indices.empty()) return;
openMesh(mesh_id);
// The normals vector can be empty for example when the WELD_VERTICES setting is used.
// IfcOpenShell does not provide them with multiple face normals collapsed into a single vertex.
const bool has_normals = !normals.empty();
addFloatSource(mesh_id, COLLADASW::LibraryGeometries::POSITIONS_SOURCE_ID_SUFFIX, positions);
if (has_normals) {
addFloatSource(mesh_id, COLLADASW::LibraryGeometries::NORMALS_SOURCE_ID_SUFFIX, normals);
}
COLLADASW::VerticesElement vertices(mSW);
vertices.setId(mesh_id + COLLADASW::LibraryGeometries::VERTICES_ID_SUFFIX );
vertices.getInputList().push_back(COLLADASW::Input(COLLADASW::InputSemantic::POSITION, "#" + mesh_id + COLLADASW::LibraryGeometries::POSITIONS_SOURCE_ID_SUFFIX));
vertices.add();
std::vector<int>::const_iterator index_range_start = indices.begin();
std::vector<int>::const_iterator material_it = material_ids.begin();
int previous_material_id = -1;
for (std::vector<int>::const_iterator it = indices.begin(); ; it += 3) {
const int current_material_id = *(material_it++);
const int num_triangles = std::distance(index_range_start, it) / 3;
if ((previous_material_id != current_material_id && num_triangles > 0) || (it == indices.end())) {
COLLADASW::Triangles triangles(mSW);
triangles.setMaterial(materials[previous_material_id].name());
triangles.setCount(num_triangles);
int offset = 0;
triangles.getInputList().push_back(COLLADASW::Input(COLLADASW::InputSemantic::VERTEX,"#" + mesh_id + COLLADASW::LibraryGeometries::VERTICES_ID_SUFFIX, offset++ ) );
if (has_normals) {
triangles.getInputList().push_back(COLLADASW::Input(COLLADASW::InputSemantic::NORMAL,"#" + mesh_id + COLLADASW::LibraryGeometries::NORMALS_SOURCE_ID_SUFFIX, offset++ ) );
}
triangles.prepareToAppendValues();
for (std::vector<int>::const_iterator jt = index_range_start; jt != it; ++jt) {
const int idx = *jt;
if (has_normals) {
triangles.appendValues(idx, idx);
} else {
triangles.appendValues(idx);
}
}
triangles.finish();
index_range_start = it;
}
previous_material_id = current_material_id;
if (it == indices.end()) {
break;
}
}
closeMesh();
closeGeometry();
}
vector<Triangle> getTriangles(p2t::CDT &cdt, double z)
{
vector<p2t::Triangle*> ptriangles = cdt.GetTriangles();
vector<Triangle> triangles(ptriangles.size());
for (guint i=0; i < ptriangles.size(); i++) {
triangles[i] = getTriangle(ptriangles[i], z);
}
return triangles;
}
void Surface::tessellate()
{
TopLoc_Location loc;
Handle_Poly_Triangulation triangulation = BRep_Tool::Triangulation( m_face, loc );
if ( triangulation.IsNull() )
{
return;
}
int num_triangles = triangulation->NbTriangles();
const TColgp_Array1OfPnt& nodes = triangulation->Nodes();
const Poly_Array1OfTriangle& triangles = triangulation->Triangles();
const TColgp_Array1OfPnt2d& uvNodes = triangulation->UVNodes();
m_surfaceUVRep.resize( 2 * 3 * num_triangles );
m_surfacePointIndecies.resize( 3 * num_triangles );
Standard_Integer n1, n2, n3 = 0;
Standard_Integer num_invalid_triangles = 0;
Standard_Integer current_triangle = 0;
for ( Standard_Integer i = 0; i < num_triangles; i++ )
{
Poly_Triangle triangle = triangles( i + 1 );
bool face_reversed = (m_face.Orientation() == TopAbs_REVERSED);
if ( face_reversed )
triangle.Get( n1, n3, n2 );
else
triangle.Get( n1, n2, n3 );
if (triangleIsValid(nodes(n1), nodes(n2), nodes(n3)))
{
gp_Pnt2d uv1 = uvNodes.Value(n1);
gp_Pnt2d uv2 = uvNodes.Value(n2);
gp_Pnt2d uv3 = uvNodes.Value(n3);
m_surfacePointIndecies.push_back( 3 * current_triangle + 0 );
m_surfaceUVRep[ 6 * current_triangle + 0 ] = uv1.X();
m_surfaceUVRep[ 6 * current_triangle + 1 ] = uv1.Y();
m_surfacePointIndecies.push_back( 3 * current_triangle + 1 );
m_surfaceUVRep[ 6 * current_triangle + 2 ] = uv2.X();
m_surfaceUVRep[ 6 * current_triangle + 3 ] = uv2.Y();
m_surfacePointIndecies.push_back( 3 * current_triangle + 2 );
m_surfaceUVRep[ 6 * current_triangle + 4 ] = uv3.X();
m_surfaceUVRep[ 6 * current_triangle + 5 ] = uv3.Y();
current_triangle++;
}
else
{
num_invalid_triangles++;
}
}
if (num_invalid_triangles > 0)
{
m_surfaceUVRep.resize(2 * 3 * (num_triangles - num_invalid_triangles));
}
}
/* A simple drawing function, using the default viewport */
void draw_single()
{
glScissor(0, 0, window_w, window_h);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
triangles();
extras();
objects();
text();
glFlush();
}
Ref<TriangleSoup> PolygonSoup::triangle_mesh() const {
if (!triangle_mesh_) {
Array<Vector<int,3> > triangles(half_edge_count-2*counts.size());
int offset=0, t=0;
for (int p=0;p<counts.size();p++) {
for (int i=0;i<counts[p]-2;i++)
triangles[t++].set(vertices[offset],vertices[offset+i+1],vertices[offset+i+2]);
offset+=counts[p];
}
triangle_mesh_ = new_<TriangleSoup>(triangles,nodes());
}
return ref(triangle_mesh_);
}
//#####################################################################
// Function Generate_Triangles
//#####################################################################
template<class T> TRIANGULATED_SURFACE<T>* Generate_Triangles(const SPHERE<VECTOR<T,3> >& sphere,int levels)
{
typedef VECTOR<T,3> TV;
TRIANGULATED_SURFACE<T>* surface=TRIANGULATED_SURFACE<T>::Create();
GEOMETRY_PARTICLES<TV>& particles=surface->particles;particles.array_collection->Add_Elements(6);
particles.X(1)=TV(-1,0,0);particles.X(2)=TV(1,0,0);particles.X(3)=TV(0,-1,0);
particles.X(4)=TV(0,1,0);particles.X(5)=TV(0,0,-1);particles.X(6)=TV(0,0,1);
ARRAY<VECTOR<int,3> >& triangles=surface->mesh.elements;triangles.Exact_Resize(8);
triangles(1).Set(1,6,4);triangles(2).Set(1,3,6);triangles(3).Set(6,2,4);triangles(4).Set(6,3,2);
triangles(5).Set(5,1,4);triangles(6).Set(5,3,1);triangles(7).Set(2,3,5);triangles(8).Set(2,5,4);
surface->mesh.number_nodes=6;
surface->mesh.Initialize_Neighbor_Nodes();
for(int i=1;i<=levels;i++) surface->Root_Three_Subdivide();
for(int p=1;p<=particles.array_collection->Size();p++) particles.X(p)=sphere.center+sphere.radius*particles.X(p).Normalized();
return surface;
}
double ClusteringCoefficient::exactGlobal(Graph& G) {
count z = G.upperNodeIdBound();
std::vector<count> triangles(z); // triangles including node u (every triangle is counted six times)
std::vector<std::vector<bool> > nodeMarker(omp_get_max_threads());
for (auto &nm : nodeMarker) {
nm.resize(z, false);
}
G.balancedParallelForNodes([&](node u){
size_t tid = omp_get_thread_num();
count tr = 0;
if (G.degree(u) > 1) {
G.forEdgesOf(u, [&](node u, node v) {
nodeMarker[tid][v] = true;
});
G.forEdgesOf(u, [&](node u, node v) {
G.forEdgesOf(v, [&](node v, node w) {
if (nodeMarker[tid][w]) {
tr += 1;
}
});
});
G.forEdgesOf(u, [&](node u, node v) {
nodeMarker[tid][v] = false;
});
}
triangles[u] = tr;
});
double denominator = G.parallelSumForNodes([&](node u){
return G.degree(u) * (G.degree(u) - 1);
});
double cc = G.parallelSumForNodes([&](node u){
return triangles[u];
});
cc /= denominator;
return cc;
}
PointOnFacesProjector::Result PointOnFacesProjector::projected(const gp_Pnt& point) const
{
// Find the closest node in the triangulations
internal::NodeBndBoxSelector selector(point);
if (d->m_ubTree.Select(selector) <= 0)
return PointOnFacesProjector::Result();
const int minNodeId = selector.minDistanceNodeIndex().first;
const Handle_Poly_Triangulation& triangulation = selector.minDistanceNodeIndex().second;
// Find the triangle where distance is minimum
const TColgp_Array1OfPnt& nodes = triangulation->Nodes();
const Poly_Array1OfTriangle& triangles = triangulation->Triangles();
double minDist = std::numeric_limits<double>::max();
const Poly_Triangle* minTriangle = NULL;
gp_Pnt projectedPnt;
for (int iTri = triangles.Lower(); iTri <= triangles.Upper(); iTri++) {
const Poly_Triangle& t = triangles(iTri);
int n1, n2, n3;
t.Get(n1, n2, n3);
if (minNodeId == n1 || minNodeId == n2 || minNodeId == n3) {
const std::pair<gp_Pnt, bool> projPntInfo = math::projectPointOnTriangle(point,
nodes(t(1)),
nodes(t(2)),
nodes(t(3)));
const double dist = point.SquareDistance(projPntInfo.first);
if (dist < minDist) {
minTriangle = &t;
minDist = dist;
projectedPnt = projPntInfo.first;
}
}
}
if (minTriangle != NULL) {
const TopoDS_Face* face = d->triangulationToFace(triangulation);
const TopAbs_Orientation faceOrientation = face != NULL ? face->Orientation() : TopAbs_FORWARD;
const gp_Vec triNormal = occ::MathTools::triangleNormal(nodes, *minTriangle, faceOrientation);
return PointOnFacesProjector::Result(face != NULL ? *face : TopoDS_Face(),
projectedPnt,
triNormal);
}
return PointOnFacesProjector::Result();
}
void ParallelogramLight::set(const QVector3D &origin, const QVector3D &u, const QVector3D &v)
{
QVector3D p0 = origin,
p1 = origin + u,
p2 = origin + v,
p3 = origin + u + v,
n = QVector3D::crossProduct(u, v).normalized();
Vertex* v0 = new Vertex(p0, n);
Vertex* v1 = new Vertex(p1, n);
Vertex* v2 = new Vertex(p2, n);
Vertex* v3 = new Vertex(p3, n);
Triangle* t0 = new Triangle(v0, v1, v3);
Triangle* t1 = new Triangle(v0, v3, v2);
QVector<Triangle*> triangles(2);
triangles[0] = t0;
triangles[1] = t1;
setTriangles(triangles);
}
Shape* constructShapeFromMsg(const shape_msgs::Mesh &shape_msg)
{
if (shape_msg.triangles.empty() || shape_msg.vertices.empty())
{
logWarn("Mesh definition is empty");
return NULL;
}
else
{
EigenSTL::vector_Vector3d vertices(shape_msg.vertices.size());
std::vector<unsigned int> triangles(shape_msg.triangles.size() * 3);
for (unsigned int i = 0 ; i < shape_msg.vertices.size() ; ++i)
vertices[i] = Eigen::Vector3d(shape_msg.vertices[i].x, shape_msg.vertices[i].y, shape_msg.vertices[i].z);
for (unsigned int i = 0 ; i < shape_msg.triangles.size() ; ++i)
{
unsigned int i3 = i * 3;
triangles[i3++] = shape_msg.triangles[i].vertex_indices[0];
triangles[i3++] = shape_msg.triangles[i].vertex_indices[1];
triangles[i3] = shape_msg.triangles[i].vertex_indices[2];
}
return createMeshFromVertices(vertices, triangles);
}
}
Triangles & KeyFace::triangles()
{
return triangles(time());
}
int main(int argc, char** argv) {
if(argc != 2) {
std::cerr<<"Invalid number of inputs. Enter a scene to load\n";
return -1;
}
std::cout<<"Divide and Conquer Ray Tracing - GPU Version 2.0\n";
std::cout<<"Using Thrust Major Version : "<<THRUST_MAJOR_VERSION<<" ; Thrust Minor Version : "<<THRUST_MINOR_VERSION<<"\n";
// load the ini file to get stuff
std::cout<<"Reading Ini File\n";
IniFile ifile;
ifile.parseIniFile("dacrt.ini");
ifile.printValues();
DacrtRunTimeParameters rtparams;
if(ifile.rtparams_set) {
rtparams.BUFFER_SIZE = ifile.buffer_size; rtparams.MAX_SEGMENTS = ifile.max_segments; rtparams.MAX_SEGMENT_THRESHOLD = ifile.max_segment_threshold;
rtparams.NUM_RAYS_PER_BLOCK = ifile.num_rays_per_block; rtparams.PARALLEL_RAY_THRESHOLD = ifile.parallel_ray_threshold; rtparams.PARALLEL_TRI_THRESHOLD = ifile.parallel_tri_threshold;
rtparams.TRI_SHARED_MEMORY_SPACE = ifile.shared_memory_tri_space;
rtparams.GRID_DIM_X = ifile.grid_dim_x; rtparams.GRID_DIM_Y = ifile.grid_dim_y; rtparams.GRID_DIM_Z = ifile.grid_dim_z;
}
Cuda::printCudaDevices();
Model* m = new Model(argv[1], ifile.data_layout);
m->printStats();
Scene* myscene = NULL;
Renderer* renderer = NULL;
if(ifile.data_layout == "soa") {
TriangleArray triangles(m->triangles[0], m->triangles[1], m->triangles[2]);
// add the transform code here
float angle = 15.0f;
Transform roty = rotateY(angle);
size_t NUM_FRAMES = (size_t)360.0f/angle;
#ifdef _MSC_VER
std::string filename = "output";
std::string aofilename = "aoutput";
//std::string logdir = ".\\logs\\";
#else
std::string filename = "./output";
//std::string logdir = "./logs/";
#endif
std::string filetype = ".jpg";
std::string logfile = ".csv";
for(size_t i = 0; i < 1; i++) {
myscene = new Scene(triangles, m->num_faces, ifile.data_layout, ifile.morton_tris);
if(!ifile.look_at_set) {
myscene->setCameraParams(ifile.eye_pt, ifile.width, ifile.height);
} else {
myscene->setCameraParams(ifile.eye_pt, ifile.look_at, ifile.width, ifile.height);
}
myscene->initScene(ifile.gpu_setup);
// Create the output file
std::stringstream fileno;
fileno << i;
std::string finalname = filename + fileno.str() + filetype;
std::string aofinalname = aofilename + fileno.str() + filetype;
//std::string logname = logdir + fileno.str() + logfile;
// Runtime parameters for dacrt algorithm
if(!ifile.rtparams_set) {
//renderer = new Renderer(myscene, ifile.data_layout, ifile.outputFileName.c_str(), ifile.morton_rays, ifile.shadow, ifile.secondary_rays, ifile.point_light, false, false); // setting secondary by default to false
renderer = new Renderer(myscene, ifile.data_layout, finalname.c_str(), aofinalname.c_str(), ifile.morton_rays, ifile.shadow, ifile.secondary_rays, ifile.point_light, false, false); // setting secondary by default to false
} else {
//renderer = new Renderer(myscene, ifile.data_layout, ifile.outputFileName.c_str(), ifile.morton_rays, ifile.shadow, ifile.secondary_rays, rtparams, ifile.point_light, ifile.gpu_setup);
renderer = new Renderer(myscene, ifile.data_layout, finalname.c_str(), aofinalname.c_str(), ifile.morton_rays, ifile.shadow, ifile.secondary_rays, rtparams, ifile.point_light, ifile.gpu_setup);
}
if(ifile.samples) {
renderer->render((Method)ifile.primary_ray_method, (Method)ifile.shadow_ray_method, (Method)ifile.secondary_ray_method, 1, 1, ifile.num_samples);
} else {
std::cout<<"No Samples set. Setting default value of 1\n";
renderer->render((Method)ifile.primary_ray_method, (Method)ifile.shadow_ray_method, (Method)ifile.secondary_ray_method, 1, 1, 1);
}
// rotate eye point
ifile.eye_pt = roty(ifile.eye_pt);
// free up memory here
if(myscene != NULL) delete myscene;
if(renderer != NULL) delete renderer;
//if(m != NULL) delete m;
}
} else if(ifile.data_layout == "aos") {
TriangleArrayAos triangles(m->triangles_aos);
myscene = new Scene(triangles, m->num_faces, ifile.data_layout, ifile.morton_tris);
myscene->setCameraParams(ifile.eye_pt, ifile.width, ifile.height);
myscene->initScene();
renderer = new Renderer(myscene, ifile.data_layout, ifile.outputFileName.c_str(), NULL, ifile.morton_rays, ifile.shadow, false, ifile.point_light);
renderer->render((Method)ifile.primary_ray_method, (Method)ifile.shadow_ray_method, (Method)ifile.secondary_ray_method);
} else {
std::cerr<<"SEVERE : Invalid data type!!\nExiting\n";
exit(-1);
}
//if(myscene != NULL) delete myscene;
//if(renderer != NULL) delete renderer;
if(m != NULL) delete m;
#ifdef _WIN32
_CrtDumpMemoryLeaks();
#endif
return 0;
}
/*
n: number of side subdivisions
n=2 -> 4 triangles, 2 sampling levels
n=3 -> 9 triangles
n=4 -> 16 triangles, 3 sampling levels
*/
std::vector<Triangle> getTrianglesForOctant(const int n) {
glm::vec3 v0 = glm::vec3(1, 0, 0);
glm::vec3 v1 = glm::vec3(0, 1, 0);
glm::vec3 v2 = glm::vec3(0, 0, 1);
glm::vec3 v0v1 = v1 - v0;
glm::vec3 v0v2 = v2 - v0;
glm::vec3 v1v2 = v2 - v1;
glm::vec3 planenormal = glm::cross(v0v1, v0v2);
printf("%2.3f %2.3f %2.3f \n", planenormal.x, planenormal.y, planenormal.z);
float incr = 1.0/n;
/*
std::vector<float> subdiv;
for (int i = 0; i < n; ++i) {
subdiv.push_back( i*incr );
}
std::vector<glm::vec2> v0v1_subdiv;
std::vector<glm::vec2> v0v2_subdiv;
std::vector<glm::vec2> v1v2_subdiv;
for (int i = 1; i < n; ++i) {
v0v1_subdiv.push_back( v0 + v0v1 * subdiv[i] );
v0v2_subdiv.push_back( v0 + v0v2 * subdiv[i] );
v1v2_subdiv.push_back( v1 + v1v2 * subdiv[i] );
}
std::vector<glm::vec2> lines;
lines.push_back(v0v1);
lines.push_back(v0v2);
lines.push_back(v1v2);
for (int i = 0; i < n-1; ++i) {
//v0v1 parallels
lines.push_back( v1v2_subdiv[i] - v0v2_subdiv[i] );
//v0v2 parallels
lines.push_back( v1v2_subdiv[i] - v0v1_subdiv[i] );
//v1v2 parallels
lines.push_back( v0v2_subdiv[i] - v0v1_subdiv[i] );
}
*/
const int nsquare = n*n;
std::vector<Triangle> triangles(nsquare);
int triangles_per_row = n;
int triangleId = 0;
for (int i = 0; i < n; ++i) { // rows
glm::vec3 rowBottomLeftOffset = v0 + v0v1 * (incr * i);
glm::vec3 rowTopLeftOffset = v0 + v0v1 * (incr * (i+1));
for (int j = 0; j < triangles_per_row; ++j) { //triangles per row, pointing up (es: 0, 2, 4, 6)
glm::vec3 triv0 = rowBottomLeftOffset + v0v2 * (incr * j);
glm::vec3 triv1 = rowTopLeftOffset + v0v2 * (incr*j);
glm::vec3 triv2 = rowBottomLeftOffset + v0v2 * (incr * (j + 1));
triangles[triangleId] = Triangle(triv0, triv1, triv2);
triangleId += 2;
}
triangleId = triangleId -(2*triangles_per_row) + 1;
for (int j = 0; j < triangles_per_row-1; ++j) { //triangles per row, pointing down (es: 1, 3, 5)
glm::vec3 triv0 = triangles[triangleId-1].v[1];
glm::vec3 triv1 = triangles[triangleId+1].v[1];
glm::vec3 triv2 = triangles[triangleId-1].v[2];
triangles[triangleId] = Triangle(triv0, triv1, triv2);
triangleId += 2;
}
--triangles_per_row;
}
for (int i = 0; i < triangles.size(); ++i) {
auto t = triangles[i];
printf("%d v0(%1.2f, %1.2f, %1.2f) v1(%1.2f, %1.2f, %1.2f) v2(%1.2f, %1.2f, %1.2f) c(%1.2f, %1.2f, %1.2f)\n\n",
i,
t.v[0].x, t.v[0].y, t.v[0].z,
t.v[1].x, t.v[1].y, t.v[1].z,
t.v[2].x, t.v[2].y, t.v[2].z,
t.centroid.x, t.centroid.y, t.centroid.z);
}
return triangles;
}
void operator()(MeshType const & input_mesh,
MeshType const & output_mesh,
viennagrid_plc plc_output_mesh,
PointType const & N)
{
typedef viennagrid::result_of::const_element_range<MeshType>::type ConstElementRangeType;
typedef viennagrid::result_of::iterator<ConstElementRangeType>::type ConstElementRangeIterator;
viennagrid::result_of::element_copy_map<>::type copy_map(output_mesh, false);
ConstElementRangeType triangles( input_mesh, 2 );
for (ConstElementRangeIterator tit = triangles.begin(); tit != triangles.end(); ++tit)
{
ElementType v[3];
PointType p[3];
double dp[3];
for (int pi = 0; pi != 3; ++pi)
{
v[pi] = viennagrid::vertices(*tit)[pi];
p[pi] = viennagrid::get_point( v[pi] );
dp[pi] = viennagrid::inner_prod( p[pi], N );
}
if ( !inside(dp[0]) && !inside(dp[1]) && !inside(dp[2]) )
{
// all points outside -> ignore
continue;
}
int on_plane_count = 0;
for (int pi = 0; pi != 3; ++pi)
if ( on_plane(dp[pi]) )
++on_plane_count;
if (on_plane_count == 3)
continue;
if (on_plane_count == 2)
{
// std::cout << "!!!!!!!!!!!!!!!!!!!!!!!! on_plane_count = 2" << std::endl;
int not_on_plane_index = !on_plane(dp[0]) ? 0 : !on_plane(dp[1]) ? 1 : 2;
if ( inside(dp[not_on_plane_index]) )
{
copy_map(*tit);
int oi0 = (not_on_plane_index == 0) ? 1 : 0;
int oi1 = (not_on_plane_index == 2) ? 1 : 2;
add_line(copy_map(v[oi0]), copy_map(v[oi1]));
}
// else
// std::cout << " outside -> skipping" << std::endl;
continue;
}
if (on_plane_count == 1)
{
// std::cout << "!!!!!!!!!!!!!!!!!!!!!!!! on_plane_count = 1" << std::endl;
int on_plane_index = on_plane(dp[0]) ? 0 : on_plane(dp[1]) ? 1 : 2;
int oi0 = (on_plane_index == 0) ? 1 : 0;
int oi1 = (on_plane_index == 2) ? 1 : 2;
if ( !inside(dp[oi0]) && !inside(dp[oi1]) )
continue;
if ( inside(dp[oi0]) && inside(dp[oi1]) )
{
copy_map(*tit);
continue;
}
// oi0 is inside
if ( !inside(dp[oi0]) )
std::swap(oi0, oi1);
ElementType v_ = get_vertex(output_mesh, N, v[oi0], v[oi1]);
viennagrid::make_triangle( output_mesh, copy_map(v[on_plane_index]), copy_map(v[oi0]), v_);
add_line(v_, copy_map(v[on_plane_index]));
continue;
}
if ( inside(dp[0]) && inside(dp[1]) && inside(dp[2]) )
{
// all points inside -> copy
copy_map(*tit);
continue;
}
int pos_count = 0;
for (int pi = 0; pi != 3; ++pi)
if ( inside(dp[pi]) )
++pos_count;
int pi = (dp[0]*dp[1] > 0) ? 2 : (dp[1]*dp[2] > 0) ? 0 : 1;
int oi0 = (pi == 0) ? 1 : 0;
int oi1 = (pi == 2) ? 1 : 2;
ElementType v1_ = get_vertex(output_mesh, N, v[pi], v[oi0]);
ElementType v2_ = get_vertex(output_mesh, N, v[pi], v[oi1]);
add_line(v1_, v2_);
if (pos_count == 1)
{
viennagrid::make_triangle( output_mesh, copy_map(v[pi]), v1_, v2_);
}
else
{
viennagrid::make_triangle( output_mesh, copy_map(v[oi0]), copy_map(v[oi1]), v1_);
viennagrid::make_triangle( output_mesh, copy_map(v[oi1]), v1_, v2_);
}
}
std::vector<viennagrid_int> line_ids;
std::map<ElementType, viennagrid_int> vertices_on_hyperplane;
for (LinesOnHyperplaneType::iterator it = lines_on_hyperplane.begin(); it != lines_on_hyperplane.end(); ++it)
{
vertices_on_hyperplane.insert( std::make_pair((*it).first, -1) );
vertices_on_hyperplane.insert( std::make_pair((*it).second, -1) );
}
for (std::map<ElementType, viennagrid_int>::iterator vit = vertices_on_hyperplane.begin(); vit != vertices_on_hyperplane.end(); ++vit)
{
PointType p = viennagrid::get_point( (*vit).first );
viennagrid_plc_vertex_create(plc_output_mesh, &p[0], &vit->second);
}
for (LinesOnHyperplaneType::iterator it = lines_on_hyperplane.begin(); it != lines_on_hyperplane.end(); ++it)
{
viennagrid_int line_id;
viennagrid_plc_line_create(plc_output_mesh,
vertices_on_hyperplane[(*it).first],
vertices_on_hyperplane[(*it).second],
&line_id);
line_ids.push_back(line_id);
}
viennagrid_plc_facet_create(plc_output_mesh, line_ids.size(), &line_ids[0], NULL);
}
/*--------------------------------------------------------*/
int main(int argc, char *argv[])
{
char *inp1name, *inp2name, *parfname, *outfname,
*corrname;
short *sat1, *sat2;
int i,
nobj1, nobj2,
nsub1, nsub2,
nmatch,
maxobj,
*index;
float *x1, *y1, *x2, *y2,
*mag1, *mag2,
*xs1, *ys1, *xs2, *ys2,
*xm1, *ym1, *xm2, *ym2,
coeffx[3], coeffy[3];
FILE *outf;
PARAMS par;
/* IO stuff */
if (argc != 6) usage();
parfname = argv[1];
inp1name = argv[2];
inp2name = argv[3];
outfname = argv[4];
corrname = argv[5];
read_params(parfname, &par);
nobj1=read_objects(inp1name, &x1, &y1, &mag1, &sat1);
if (par.verbose) printf("%d objects read from %s\n", nobj1, inp1name);
if (par.nsub > nobj1) par.nsub = nobj1;
nsub1=bright_end(nobj1, x1, y1, mag1, par.nsub, &xs1, &ys1, par.verbose);
nobj2=read_objects(inp2name, &x2, &y2, &mag2, &sat2);
if (par.verbose) printf("%d objects read from %s\n", nobj2, inp2name);
if (par.nsub > nobj2) par.nsub = nobj2;
nsub2=bright_end(nobj2, x2, y2, mag2, par.nsub, &xs2, &ys2, par.verbose);
printf("nsub1= %d\n", nsub1);
printf("nsub2= %d\n", nsub2);
par.nsub=(nsub1 < nsub2 ? nsub1 : nsub2);
if (par.verbose > 1) printf("par.nsub= %d\n", par.nsub);
free(mag1);
free(mag2);
if (par.verbose > 2)
{
printf("Coordinates of the brighest objects:\n");
printf(" X1 Y1 X2 Y2\n");
printf("--------------------------\n");
for (i=0; i<par.nsub; i++)
printf("%8.2f %8.2f %8.2f %8.2f\n", xs1[i], ys1[i], xs2[i], ys2[i]);
printf("--------------------------\n\n");
}
/* match nsub brightest stars for approximate transformation */
maxobj=(nobj1 > nobj2 ? nobj1 : nobj2);
if (par.verbose > 2) printf("maxobj= %d\n", maxobj);
if (!(index=(int *)calloc(maxobj, sizeof(int)))) errmess("calloc(index)");
triangles(xs1, ys1, xs2, ys2, par.nsub, par.nsub, index, par);
if (!(xm1=(float *)malloc(sizeof(float)))) errmess("malloc(xm1)");
if (!(ym1=(float *)malloc(sizeof(float)))) errmess("malloc(ym1)");
if (!(xm2=(float *)malloc(sizeof(float)))) errmess("malloc(xm2)");
if (!(ym2=(float *)malloc(sizeof(float)))) errmess("malloc(ym2)");
nmatch=0;
for (i=0; i<par.nsub; i++)
{
if (index[i] != -1)
{
if (!(xm1=(float *)realloc(xm1, (nmatch+1)*sizeof(float))))
errmess("realloc(xm1)");
if (!(ym1=(float *)realloc(ym1, (nmatch+1)*sizeof(float))))
errmess("realloc(ym1)");
if (!(xm2=(float *)realloc(xm2, (nmatch+1)*sizeof(float))))
errmess("realloc(xm2)");
if (!(ym2=(float *)realloc(ym2, (nmatch+1)*sizeof(float))))
errmess("realloc(ym2)");
xm1[nmatch]=xs1[i];
ym1[nmatch]=ys1[i];
xm2[nmatch]=xs2[index[i]];
ym2[nmatch]=ys2[index[i]];
nmatch++;
}
}
free(xs1);
free(ys1);
free(xs2);
free(ys2);
if (nmatch < 2)
{
printf("ERROR: nmatch < 2\n");
exit(2);
}
if (par.verbose) printf("%d objects matched by triangles()\n", nmatch);
/* linear fit to nmatch stars indentified by triangles */
xy_lin(xm1, ym1, xm2, ym2, nmatch, coeffx, coeffy);
free(xm1);
free(ym1);
free(xm2);
free(ym2);
if (par.verbose > 1)
{
printf("Linear transformation data:\n");
printf("----------------------\n");
for (i=0; i<3; i++)
printf("coeffx[%d]= %12g coeffy[%d]= %12g\n",
i, coeffx[i], i, coeffy[i]);
printf("----------------------\n");
}
nobj1=reject_saturated(nobj1, &x1, &y1, sat1);
nobj2=reject_saturated(nobj2, &x2, &y2, sat2);
if (par.verbose > 1)
{
printf("%d objects from %s left after reject_saturated()\n",
nobj1, inp1name);
printf("%d objects from %s left after reject_saturated()\n",
nobj2, inp2name);
}
free(sat1);
free(sat2);
/* using linear fit transform one list and look for close neighbors */
for (i=0; i<nobj1; i++)
maxobj=refine(coeffx, coeffy, x1, y1, x2, y2, nobj1, nobj2, index,
par.ptol);
if (par.verbose)
{
printf("%d objects left in the template list after refine()\n", maxobj);
printf("Writing matched list to %s\n\n", outfname);
}
if (!(outf=fopen(outfname, "w"))) errmess("outfname");
for (i=0; i<nobj1; i++)
if (index[i] != -1)
fprintf(outf, "%9.3f %10.3f %10.3f %10.3f\n",
x1[i], y1[i], x2[index[i]], y2[index[i]]);
fclose(outf);
free(index);
free(x1); free(y1);
free(x2); free(y2);
if (!(outf=fopen(corrname, "w"))) errmess(corrname);
fprintf(outf, "%d %d %s",
(int)(coeffx[2]+0.5), (int)(coeffy[2]+0.5), inp2name);
fclose(outf);
return(0);
}
PcaModel PcaModel::loadStatismoModel(path h5file, PcaModel::ModelType modelType)
{
logging::Logger logger = Loggers->getLogger("shapemodels");
PcaModel model;
// Load the shape or color model from the .h5 file
string h5GroupType;
if (modelType == ModelType::SHAPE) {
h5GroupType = "shape";
} else if (modelType == ModelType::COLOR) {
h5GroupType = "color";
}
H5::H5File h5Model;
try {
h5Model = H5::H5File(h5file.string(), H5F_ACC_RDONLY);
}
catch (H5::Exception& e) {
string errorMessage = "Could not open HDF5 file: " + string(e.getCDetailMsg());
logger.error(errorMessage);
throw errorMessage;
}
// Load either the shape or texture mean
string h5Group = "/" + h5GroupType + "/model";
H5::Group modelReconstructive = h5Model.openGroup(h5Group);
// Read the mean
H5::DataSet dsMean = modelReconstructive.openDataSet("./mean");
hsize_t dims[2];
dsMean.getSpace().getSimpleExtentDims(dims, NULL); // dsMean.getSpace() leaks memory... maybe a hdf5 bug, maybe vlenReclaim(...) could be a fix. No idea.
//H5::DataSpace dsp = dsMean.getSpace();
//dsp.close();
Loggers->getLogger("shapemodels").debug("Dimensions of the model mean: " + lexical_cast<string>(dims[0]));
model.mean = Mat(1, dims[0], CV_32FC1); // Use a row-vector, because of faster memory access and I'm not sure the memory block is allocated contiguously if we have multiple rows.
dsMean.read(model.mean.ptr<float>(0), H5::PredType::NATIVE_FLOAT);
model.mean = model.mean.t(); // Transpose it to a col-vector
dsMean.close();
// Read the eigenvalues
dsMean = modelReconstructive.openDataSet("./pcaVariance");
dsMean.getSpace().getSimpleExtentDims(dims, NULL);
Loggers->getLogger("shapemodels").debug("Dimensions of the pcaVariance: " + lexical_cast<string>(dims[0]));
model.eigenvalues = Mat(1, dims[0], CV_32FC1);
dsMean.read(model.eigenvalues.ptr<float>(0), H5::PredType::NATIVE_FLOAT);
model.eigenvalues = model.eigenvalues.t();
dsMean.close();
// Read the PCA basis matrix
dsMean = modelReconstructive.openDataSet("./pcaBasis");
dsMean.getSpace().getSimpleExtentDims(dims, NULL);
Loggers->getLogger("shapemodels").debug("Dimensions of the PCA basis matrix: " + lexical_cast<string>(dims[0]) + ", " + lexical_cast<string>(dims[1]));
model.pcaBasis = Mat(dims[0], dims[1], CV_32FC1);
dsMean.read(model.pcaBasis.ptr<float>(0), H5::PredType::NATIVE_FLOAT);
dsMean.close();
modelReconstructive.close(); // close the model-group
// Read the noise variance (not implemented)
/*dsMean = modelReconstructive.openDataSet("./noiseVariance");
float noiseVariance = 10.0f;
dsMean.read(&noiseVariance, H5::PredType::NATIVE_FLOAT);
dsMean.close(); */
// Read the triangle-list
string representerGroupName = "/" + h5GroupType + "/representer";
H5::Group representerGroup = h5Model.openGroup(representerGroupName);
dsMean = representerGroup.openDataSet("./reference-mesh/triangle-list");
dsMean.getSpace().getSimpleExtentDims(dims, NULL);
Loggers->getLogger("shapemodels").debug("Dimensions of the triangle-list: " + lexical_cast<string>(dims[0]) + ", " + lexical_cast<string>(dims[1]));
Mat triangles(dims[0], dims[1], CV_32SC1);
dsMean.read(triangles.ptr<int>(0), H5::PredType::NATIVE_INT32);
dsMean.close();
representerGroup.close();
model.triangleList.resize(triangles.rows);
for (unsigned int i = 0; i < model.triangleList.size(); ++i) {
model.triangleList[i][0] = triangles.at<int>(i, 0);
model.triangleList[i][1] = triangles.at<int>(i, 1);
model.triangleList[i][2] = triangles.at<int>(i, 2);
}
// Load the landmarks mappings:
// load the reference-mesh
representerGroup = h5Model.openGroup(representerGroupName);
dsMean = representerGroup.openDataSet("./reference-mesh/vertex-coordinates");
dsMean.getSpace().getSimpleExtentDims(dims, NULL);
Loggers->getLogger("shapemodels").debug("Dimensions of the reference-mesh vertex-coordinates matrix: " + lexical_cast<string>(dims[0]) + ", " + lexical_cast<string>(dims[1]));
Mat referenceMesh(dims[0], dims[1], CV_32FC1);
dsMean.read(referenceMesh.ptr<float>(0), H5::PredType::NATIVE_FLOAT);
dsMean.close();
representerGroup.close();
// convert to 3 vectors with the x, y and z coordinates for easy searching
vector<float> refx(referenceMesh.col(0).clone());
vector<float> refy(referenceMesh.col(1).clone());
vector<float> refz(referenceMesh.col(2).clone());
// load the landmarks info (mapping name <-> reference (x, y, z)-coords)
H5::Group landmarksGroup = h5Model.openGroup("/metadata/landmarks");
dsMean = landmarksGroup.openDataSet("./text");
H5std_string outputString;
Loggers->getLogger("shapemodels").debug("Reading landmark information from the model.");
dsMean.read(outputString, dsMean.getStrType());
dsMean.close();
landmarksGroup.close();
vector<string> landmarkLines;
boost::split(landmarkLines, outputString, boost::is_any_of("\n"), boost::token_compress_on);
for (const auto& l : landmarkLines) {
if (l == "") {
continue;
}
vector<string> line;
boost::split(line, l, boost::is_any_of(" "), boost::token_compress_on);
string name = line[0];
int visibility = lexical_cast<int>(line[1]);
float x = lexical_cast<float>(line[2]);
float y = lexical_cast<float>(line[3]);
float z = lexical_cast<float>(line[4]);
// Find the x, y and z values in the reference
const auto ivx = std::find(begin(refx), end(refx), x);
const auto ivy = std::find(begin(refy), end(refy), y);
const auto ivz = std::find(begin(refz), end(refz), z);
// TODO Check for .end()!
const auto vertexIdX = std::distance(begin(refx), ivx);
const auto vertexIdY = std::distance(begin(refy), ivy);
const auto vertexIdZ = std::distance(begin(refz), ivz);
// assert vx=vy=vz
// Hmm this is not perfect. If there's another vertex where 1 or 2 coords are the same, it fails.
// We should do the search differently: Find _all_ the vertices that are equal, then take the one that has the right x, y and z.
model.landmarkVertexMap.insert(make_pair(name, vertexIdX));
}
h5Model.close();
return model;
}
/**
* Default version of a function to check if we need any special
* pipeline stages, or whether prims/verts can go through untouched.
* Don't test for bypass clipping or vs modes, this function is just
* about the primitive pipeline stages.
*
* This can be overridden by the driver.
*/
boolean
draw_need_pipeline(const struct draw_context *draw,
const struct pipe_rasterizer_state *rasterizer,
unsigned int prim )
{
/* If the driver has overridden this, use that version:
*/
if (draw->render &&
draw->render->need_pipeline)
{
return draw->render->need_pipeline( draw->render,
rasterizer,
prim );
}
/* Don't have to worry about triangles turning into lines/points
* and triggering the pipeline, because we have to trigger the
* pipeline *anyway* if unfilled mode is active.
*/
if (lines(prim))
{
/* line stipple */
if (rasterizer->line_stipple_enable && draw->pipeline.line_stipple)
return TRUE;
/* wide lines */
if (rasterizer->line_width > draw->pipeline.wide_line_threshold)
return TRUE;
/* AA lines */
if (rasterizer->line_smooth && draw->pipeline.aaline)
return TRUE;
}
if (points(prim))
{
/* large points */
if (rasterizer->point_size > draw->pipeline.wide_point_threshold)
return TRUE;
/* AA points */
if (rasterizer->point_smooth && draw->pipeline.aapoint)
return TRUE;
/* point sprites */
if (rasterizer->point_sprite && draw->pipeline.point_sprite)
return TRUE;
}
if (triangles(prim))
{
/* polygon stipple */
if (rasterizer->poly_stipple_enable && draw->pipeline.pstipple)
return TRUE;
/* unfilled polygons */
if (rasterizer->fill_cw != PIPE_POLYGON_MODE_FILL ||
rasterizer->fill_ccw != PIPE_POLYGON_MODE_FILL)
return TRUE;
/* polygon offset */
if (rasterizer->offset_cw || rasterizer->offset_ccw)
return TRUE;
/* two-side lighting */
if (rasterizer->light_twoside)
return TRUE;
}
/* polygon cull - this is difficult - hardware can cull just fine
* most of the time (though sometimes CULL_NEITHER is unsupported.
*
* Generally this isn't a reason to require the pipeline, though.
*
if (rasterizer->cull_mode)
return TRUE;
*/
return FALSE;
}
void ReducedPolyDataReader::computeLevelSet(vtkUnstructuredGrid* m_Grid, vtkPolyData* poly)
{
// create triangles
poly->BuildCells();
QVector<Triangle> triangles(poly->GetNumberOfPolys());
for (vtkIdType id_poly = 0; id_poly < poly->GetNumberOfPolys(); ++id_poly) {
vtkIdType Npts, *pts;
poly->GetCellPoints(id_poly, Npts, pts);
if (Npts == 3) {
poly->GetPoint(pts[0], triangles[id_poly].a.data());
poly->GetPoint(pts[1], triangles[id_poly].b.data());
poly->GetPoint(pts[2], triangles[id_poly].c.data());
triangles[id_poly].id_a = pts[0];
triangles[id_poly].id_b = pts[1];
triangles[id_poly].id_c = pts[2];
triangles[id_poly].g1 = triangles[id_poly].b - triangles[id_poly].a;
triangles[id_poly].g2 = triangles[id_poly].c - triangles[id_poly].a;
triangles[id_poly].g3 = triangles[id_poly].g1.cross(triangles[id_poly].g2);
triangles[id_poly].A = 0.5*triangles[id_poly].g3.abs();
triangles[id_poly].g3.normalise();
triangles[id_poly].G.column(0, triangles[id_poly].g1);
triangles[id_poly].G.column(1, triangles[id_poly].g2);
triangles[id_poly].G.column(2, triangles[id_poly].g3);
triangles[id_poly].GI = triangles[id_poly].G.inverse();
triangles[id_poly].smallest_length = (triangles[id_poly].b - triangles[id_poly].a).abs();
triangles[id_poly].smallest_length = min(triangles[id_poly].smallest_length, (triangles[id_poly].c - triangles[id_poly].b).abs());
triangles[id_poly].smallest_length = min(triangles[id_poly].smallest_length, (triangles[id_poly].a - triangles[id_poly].c).abs());
} else {
EG_BUG;
}
}
//vtkDoubleArray *scalars = vtkDoubleArray::New();
EG_VTKSP(vtkDoubleArray, scalars);
scalars->SetNumberOfComponents(1);
scalars->SetName("g");
scalars->Allocate(m_Grid->GetNumberOfPoints());
QProgressDialog progress("Reducing triangulation", "Abort", 0, m_Grid->GetNumberOfPoints());
progress.setWindowModality(Qt::ApplicationModal);
for (vtkIdType id_node = 0; id_node < m_Grid->GetNumberOfPoints(); ++id_node) {
progress.setValue(id_node);
QApplication::processEvents();
if (progress.wasCanceled()) {
EG_ERR_RETURN("interrupted by user");
}
double g_levelset = 1e99;
vec3_t xp;
m_Grid->GetPoint(id_node, xp.data());
foreach (Triangle T, triangles) {
vec3_t xi(1e99,1e99,1e99);
vec3_t ri;
double scal = (xp - T.a)*T.g3;
vec3_t x1, x2;
if (scal > 0) {
x1 = xp + T.g3;
x2 = xp - scal*T.g3 - T.g3;
} else {
x1 = xp - T.g3;
x2 = xp - scal*T.g3 + T.g3;
}
double d = 1e99;
bool intersects_face = GeometryTools::intersectEdgeAndTriangle(T.a, T.b, T.c, x1, x2, xi, ri);
if (intersects_face) {
vec3_t dx = xp - xi;
d = fabs(dx*T.g3);
} else {
double kab = GeometryTools::intersection(T.a, T.b - T.a, xp, T.b - T.a);
double kac = GeometryTools::intersection(T.a, T.c - T.a, xp, T.c - T.a);
double kbc = GeometryTools::intersection(T.b, T.c - T.b, xp, T.c - T.b);
double dab = (T.a + kab*(T.b-T.a) - xp).abs();
double dac = (T.a + kac*(T.c-T.a) - xp).abs();
double dbc = (T.b + kbc*(T.c-T.b) - xp).abs();
bool set = false;
if ((kab >= 0) && (kab <= 1)) {
if (dab < d) {
xi = T.a + kab*(T.b-T.a);
d = dab;
set = true;
}
}
if ((kac >= 0) && (kac <= 1)) {
if (dac < d) {
xi = T.a + kac*(T.c-T.a);
d = dac;
set = true;
}
}
if ((kbc >= 0) && (kbc <= 1)) {
if (dbc < d) {
xi = T.b + kbc*(T.c-T.b);
d = dbc;
set = true;
}
}
double da = (T.a - xp).abs();
double db = (T.b - xp).abs();
double dc = (T.c - xp).abs();
if (da < d) {
xi = T.a;
d = da;
set = true;
}
if (db < d) {
xi = T.b;
d = db;
}
if (dc < d) {
xi = T.c;
d = dc;
set = true;
}
if (!set) {
EG_BUG;
}
}
if (xi[0] > 1e98) {
EG_BUG;
}
vec3_t dx = xp - xi;
if (d < fabs(g_levelset)) {
if (dx*T.g3 > 0) {
g_levelset = d;
} else {
g_levelset = -d;
}
}
}
scalars->InsertTuple1(id_node, g_levelset);
}
void WorldDownloadManager::extractMeshWorker(kinfu_msgs::KinfuTsdfRequestConstPtr req)
{
ROS_INFO("kinfu: Extract Mesh Worker started.");
// prepare with same header
kinfu_msgs::KinfuTsdfResponsePtr resp(new kinfu_msgs::KinfuTsdfResponse());
resp->tsdf_header = req->tsdf_header;
resp->reference_frame_id = m_reference_frame_name;
ROS_INFO("kinfu: Locking kinfu...");
if (!lockKinfu())
return; // shutting down or synchronization error
ROS_INFO("kinfu: Locked.");
pcl::PointCloud<pcl::PointXYZI>::Ptr kinfu_cloud = req->request_reset ?
m_kinfu->extractWorldAndReset() : m_kinfu->extractWorld();
unlockKinfu();
Eigen::Affine3f transformation = m_reverse_initial_transformation;
std::vector<Mesh::Ptr> meshes;
ROS_INFO("kinfu: Marching cubes...");
if (!marchingCubes(kinfu_cloud,meshes))
return; // ERROR
kinfu_cloud->clear(); // save some memory
std::vector<PointCloud::Ptr> clouds;
std::vector<TrianglesPtr> clouds_triangles;
ROS_INFO("kinfu: Divide triangles and points...");
for (uint i = 0; i < meshes.size(); i++)
{
clouds.push_back(PointCloud::Ptr(new PointCloud()));
clouds_triangles.push_back(TrianglesPtr(new Triangles()));
separateMesh(meshes[i],clouds[i],clouds_triangles[i]);
}
meshes.clear(); // save some memory
TrianglesPtr triangles(new Triangles());
PointCloud::Ptr cloud(new PointCloud());
ROS_INFO("kinfu: Merging points...");
mergePointCloudsAndMesh(clouds,cloud,&clouds_triangles,&(*triangles));
// if needed, transform
if (req->request_transformation)
{
ROS_INFO("kinfu: A custom transformation will be applied.");
Eigen::Affine3f tr = toEigenAffine(req->transformation_linear,req->transformation_translation);
transformation = tr * transformation;
}
ROS_INFO("kinfu: Applying transformation...");
pcl::transformPointCloud(*cloud,*cloud,transformation);
// if needed, crop
if (req->request_bounding_box)
{
ROS_INFO("kinfu: Cropping...");
TrianglesPtr out_triangles(new Triangles());
PointCloud::Ptr out_cloud(new PointCloud());
cropMesh(req->bounding_box_min,req->bounding_box_max,cloud,triangles,out_cloud,out_triangles);
cloud = out_cloud;
triangles = out_triangles;
}
ROS_INFO("kinfu: Publishing...");
pclPointCloudToMessage(cloud,resp->point_cloud);
resp->triangles.swap(*triangles);
m_pub.publish(resp);
ROS_INFO("kinfu: Extract Mesh Worker complete.");
}
void mgTLData::draw_texture(
const MGTextureImages& timages
)const{
const mgTLTriangles& tris=triangles();
draw_texture(timages,tris.begin(),tris.end());
}