void PlanePrimitiveShape::InBitmap(const std::pair< float, float > ¶m,
float epsilon, const GfxTL::AABox< GfxTL::Vector2Df > &bbox, size_t,
size_t, std::pair< int, int > *inBmp) const
{
inBmp->first = (int)std::floor((param.first - bbox.Min()[0]) / epsilon);
inBmp->second = (int)std::floor((param.second - bbox.Min()[1]) / epsilon);
}
void ConePrimitiveShape::InBitmap(const std::pair< float, float > ¶m,
float epsilon, const GfxTL::AABox< GfxTL::Vector2Df > &bbox,
size_t uextent, size_t vextent, std::pair< int, int > *inBmp) const
{
// convert u = length and v = arc length into bitmap coordinates
inBmp->first = std::floor((param.first - bbox.Min()[0]) / epsilon);
inBmp->second = std::floor((param.second - bbox.Min()[1]) / epsilon);
}
bool PlanePrimitiveShape::InSpace(size_t u, size_t v, float epsilon,
const GfxTL::AABox< GfxTL::Vector2Df > &bbox, size_t uextent,
size_t vextent, Vec3f *p, Vec3f *n) const
{
*p = Vec3f(((bbox.Min()[0] + epsilon * (float(u) + .5f)) * m_hcs[0] +
(bbox.Min()[1] + epsilon * (float(v) + .5f)) * m_hcs[1]).Data()) +
m_plane.getPosition();
*n = m_plane.getNormal();
return true;
}
void CylinderPrimitiveShape::WrapBitmap(
const GfxTL::AABox< GfxTL::Vector2Df > &bbox, float epsilon, bool *uwrap,
bool *vwrap) const
{
*uwrap = false;
if(bbox.Max()[1] - bbox.Min()[1]
>= 2 * M_PI * m_cylinder.Radius() - 2 * epsilon)
*vwrap = true; // wrap around angular component
else
*vwrap = false;
}
bool CylinderPrimitiveShape::InSpace(size_t u, size_t v, float epsilon,
const GfxTL::AABox< GfxTL::Vector2Df > &bbox, size_t uextent,
size_t vextent, Vec3f *p, Vec3f *n) const
{
GfxTL::Quaternion< float > q;
q.RotationRad((bbox.Min()[1] + epsilon * (v + .5f)) / m_cylinder.Radius(),
m_cylinder.AxisDirection()[0],
m_cylinder.AxisDirection()[1],
m_cylinder.AxisDirection()[2]);
Vec3f vvec;
q.Rotate(m_cylinder.AngularDirection(), &vvec);
*p = (bbox.Min()[0] + epsilon * (u + .5f)) * m_cylinder.AxisDirection() +
m_cylinder.Radius() * vvec + m_cylinder.AxisPosition();
*n = vvec;
return true;
}
void ConePrimitiveShape::PreWrapBitmap(
const GfxTL::AABox< GfxTL::Vector2Df > &bbox, float epsilon,
size_t uextent, size_t vextent, MiscLib::Vector< char > *bmp) const
{
if(m_cone.Angle() >= float(M_PI / 4))
return;
// for wrapping we copy the first pixel to the last one in each v column
for(size_t u = 0; u < uextent; ++u)
{
// determine the coordinates of the last pixel in the column
// get the radius of the column
float r = m_cone.RadiusAtLength(u * epsilon + bbox.Min()[0]);
size_t v = std::floor((2 * float(M_PI) * r - bbox.Min()[1]) / epsilon) + 1;
if(v >= vextent)
continue;
if((*bmp)[u])
(*bmp)[v * uextent + u] = (*bmp)[u]; // do the wrap
// if(!(*bmp)[u * vextent + v])
// (*bmp)[u * vextent + v] = (*bmp)[u * vextent]; // do the wrap
}
}
bool ConePrimitiveShape::InSpace(size_t u, size_t v, float epsilon,
const GfxTL::AABox< GfxTL::Vector2Df > &bbox, size_t uextent,
size_t vextent, Vec3f *p, Vec3f *n) const
{
float length, angle;
if(m_cone.Angle() >= float(M_PI / 4))
{
float uf = ((float(u) + .5f) * epsilon) + bbox.Min()[0];
float vf = ((float(v) + .5f) * epsilon) + bbox.Min()[1];
length = std::sqrt(uf * uf + vf * vf);
//angle = std::atan2(vf, uf);
angle = std::atan2(uf, vf);
//angle = std::acos(GfxTL::Math< float >::Clamp(vf / length, -1.f, 1.f));
}
else
{
length = ((float(u) + .5f) * epsilon) + bbox.Min()[0];
float arcLength = ((float(v) + .5f) * epsilon) + bbox.Min()[1];
angle = (arcLength / m_cone.RadiusAtLength(length)) + float(M_PI);
}
if(angle > 2 * float(M_PI))
return false;
//float angle = ((v * epsilon) / m_cone.RadiusAtLength(std::max(abs(bbox.Min()[0]), abs(bbox.Max()[0])))
// + bbox.Min()[1]);
GfxTL::Quaternion< float > q;
q.RotationRad(angle, m_cone.AxisDirection()[0],
m_cone.AxisDirection()[1], m_cone.AxisDirection()[2]);
Vec3f vvec;
q.Rotate(m_cone.AngularDirection(), &vvec);
*p = std::sin(m_cone.Angle()) * abs(length) * vvec +
std::cos(m_cone.Angle()) * length * m_cone.AxisDirection() +
m_cone.Center();
// TODO: this is very lazy and should be optimized!
m_cone.Normal(*p, n);
return true;
}
void LowStretchSphereParametrization::WrapComponents(const GfxTL::AABox< GfxTL::Vector2Df > &bbox,
float epsilon, size_t uextent, size_t vextent,
MiscLib::Vector< int > *componentImg,
MiscLib::Vector< std::pair< int, size_t > > *labels) const
{
// wraps are necessary only in v direction
// relabel the components
MiscLib::Vector< std::pair< int, size_t > > tempLabels(*labels);
// wrap along v
float vstartPrev, vendPrev, vstart = 0, vend = 0, vstartNext = 0, vendNext = 0;
size_t vsPrev, vePrev, vs = 0, ve = 0, vsNext = 0, veNext = 0;
float uangle = (bbox.Min()[0] + .5f * epsilon) / m_sphere->Radius();
float radius = std::sin(uangle) * m_sphere->Radius();
vstartNext = float(-M_PI) * radius;
vendNext = float(M_PI) * radius;
vsNext = std::min(vextent - 1, (size_t)std::max((intptr_t)0,
(intptr_t)((vstartNext - bbox.Min()[1]) / epsilon)));
veNext = (size_t)std::max((intptr_t)0, std::min((intptr_t)vextent - 1,
(intptr_t)((vendNext - bbox.Min()[1]) / epsilon)));
for(size_t u = 0; u < uextent; ++u)
{
vstartPrev = vstart; vstart = vstartNext;
vendPrev = vend; vend = vendNext;
vsPrev = vs; vs = vsNext;
vePrev = ve; ve = veNext;
// determine starting position in the next column
if(u < uextent - 1)
{
float uangleNext = ((u + 1.5f) * epsilon + bbox.Min()[0]) / m_sphere->Radius();
float radiusNext = std::sin(uangle) * m_sphere->Radius();
vstartNext = float(-M_PI) * radius;
vendNext = float(M_PI) * radius;
vsNext = std::min(vextent - 1, (size_t)std::max((intptr_t)0,
(intptr_t)((vstartNext - bbox.Min()[1]) / epsilon)));
veNext = (size_t)std::max((intptr_t)0, std::min((intptr_t)vextent - 1,
(intptr_t)((vendNext - bbox.Min()[1]) / epsilon)));
}
if(vstart <= bbox.Min()[1] - epsilon
|| vend >= bbox.Max()[1] + epsilon
|| !(*componentImg)[vs * uextent + u])
continue;
// check the three neighbors on the other side
if((*componentImg)[ve * uextent + u])
AssociateLabel((*componentImg)[vs * uextent + u],
(*componentImg)[ve * uextent + u], &tempLabels);
if(u > 0
&& vstartPrev > bbox.Min()[1] - epsilon
&& vendPrev < bbox.Min()[1] + epsilon
&& (*componentImg)[vePrev * uextent + u - 1])
AssociateLabel((*componentImg)[vs * uextent + u],
(*componentImg)[vePrev * uextent + u - 1], &tempLabels);
if(u < uextent - 1
&& vstartNext > bbox.Min()[1] - epsilon
&& vendNext < bbox.Min()[1] + epsilon
&& (*componentImg)[veNext * uextent + u + 1])
AssociateLabel((*componentImg)[vs * uextent + u],
(*componentImg)[veNext * uextent + u + 1], &tempLabels);
}
// condense labels
for(size_t i = tempLabels.size() - 1; i > 0; --i)
tempLabels[i].first = ReduceLabel(i, tempLabels);
MiscLib::Vector< int > condensed(tempLabels.size());
labels->clear();
labels->reserve(condensed.size());
int count = 0;
for(size_t i = 0; i < tempLabels.size(); ++i)
if(i == tempLabels[i].first)
{
labels->push_back(std::make_pair(count, tempLabels[i].second));
condensed[i] = count;
++count;
}
else
(*labels)[condensed[tempLabels[i].first]].second
+= tempLabels[i].second;
// set new component ids
for(size_t i = 0; i < componentImg->size(); ++i)
(*componentImg)[i] =
condensed[tempLabels[(*componentImg)[i]].first];
}
void ConePrimitiveShape::WrapComponents(
const GfxTL::AABox< GfxTL::Vector2Df > &bbox,
float epsilon, size_t uextent, size_t vextent,
MiscLib::Vector< int > *componentImg,
MiscLib::Vector< std::pair< int, size_t > > *labels) const
{
if(m_cone.Angle() >= float(M_PI / 4))
return;
// for wrapping we copy the first pixel to the last one in each v column
for(size_t u = 0; u < uextent; ++u)
{
// determine the coordinates of the last pixel in the column
// get the radius of the column
float r = m_cone.RadiusAtLength(u * epsilon + bbox.Min()[0]);
size_t v = std::floor((2 * float(M_PI) * r - bbox.Min()[1]) / epsilon) + 1;
if(v >= vextent)
continue;
if((*componentImg)[u])
(*componentImg)[v * uextent + u] = (*componentImg)[u]; // do the wrap
}
// relabel the components
MiscLib::Vector< std::pair< int, size_t > > tempLabels(*labels);
int curLabel = tempLabels.size() - 1;
for(size_t u = 0; u < uextent; ++u)
{
float r = m_cone.RadiusAtLength(u * epsilon + bbox.Min()[0]);
size_t v = std::floor((2 * float(M_PI) * r - bbox.Min()[1]) / epsilon) + 1;
if(v >= vextent)
continue;
if(!(*componentImg)[v * uextent + u])
continue;
// get the neighbors
int n[8];
size_t i = 0;
if(v >= 1)
{
size_t prevRow = (v - 1) * uextent;
if(u >= 1)
n[i++] = (*componentImg)[prevRow + u - 1];
n[i++] = (*componentImg)[prevRow + u];
if(u < uextent - 1)
n[i++] = (*componentImg)[prevRow + u + 1];
}
size_t row = v * uextent;
if(u >= 1)
n[i++] = (*componentImg)[row + u - 1];
if(u < uextent - 1)
n[i++] = (*componentImg)[row + u + 1];
if(v < vextent - 1)
{
size_t nextRow = (v + 1) * uextent;
if(u >= 1)
n[i++] = (*componentImg)[nextRow + u - 1];
n[i++] = (*componentImg)[nextRow + u];
if(u < uextent - 1)
n[i++] = (*componentImg)[nextRow + u + 1];
}
// associate labels
int l = (*componentImg)[v * uextent + u];
for(size_t j = 0; j < i; ++j)
if(n[j])
AssociateLabel(l, n[j], &tempLabels);
}
// condense labels
for(size_t i = tempLabels.size() - 1; i > 0; --i)
tempLabels[i].first = ReduceLabel(i, tempLabels);
MiscLib::Vector< int > condensed(tempLabels.size());
labels->clear();
labels->reserve(condensed.size());
int count = 0;
for(size_t i = 0; i < tempLabels.size(); ++i)
if(i == tempLabels[i].first)
{
labels->push_back(std::make_pair(count, tempLabels[i].second));
condensed[i] = count;
++count;
}
else
(*labels)[condensed[tempLabels[i].first]].second
+= tempLabels[i].second;
// set new component ids
for(size_t i = 0; i < componentImg->size(); ++i)
(*componentImg)[i] =
condensed[tempLabels[(*componentImg)[i]].first];
}
bool BitmapPrimitiveShape::Init(bool binary, std::istream *i)
{
if(binary)
{
GfxTL::AABox< GfxTL::Vector2Df > bbox;
size_t uextent, vextent;
// read number of components
size_t size;
i->read((char *)&size, sizeof(size));
if(size)
{
// read bbox
i->read((char *)&bbox, sizeof(bbox));
// read uextent and vextent
i->read((char *)&uextent, sizeof(uextent));
i->read((char *)&vextent, sizeof(vextent));
// read every component
for(size_t j = 0; j < size; ++j)
{
// read number of polys in component
size_t numPolys;
i->read((char *)&numPolys, sizeof(numPolys));
for(size_t k = 0; k < numPolys; ++k)
{
// read number of points in poly
size_t numPoints;
i->read((char *)&numPoints, sizeof(numPoints));
GfxTL::VectorXD< 2, size_t > pp;
for(size_t l = 0; l < numPoints; ++l)
i->read((char *)&pp, sizeof(pp));
}
}
}
}
else
{
GfxTL::AABox< GfxTL::Vector2Df > bbox;
size_t uextent, vextent;
// read number of components
size_t size;
(*i) >> size;
if(size)
{
// read bbox
(*i) >> bbox.Min()[0] >> bbox.Max()[0]
>> bbox.Min()[1] >> bbox.Max()[1];
// read uextent and vextent
(*i) >> uextent >> vextent;
// read every component
for(size_t j = 0; j < size; ++j)
{
// read number of polys in component
size_t numPolys;
(*i) >> numPolys;
for(size_t k = 0; k < numPolys; ++k)
{
// read number of points in poly
size_t numPoints;
(*i) >> numPoints;
GfxTL::VectorXD< 2, size_t > pp;
for(size_t l = 0; l < numPoints; ++l)
(*i) >> pp[0] >> pp[1];
}
}
}
}
return true;
}
size_t BitmapPrimitiveShape::ConnectedComponent(
const PointCloud &pc, float epsilon,
std::shared_ptr<MiscLib::Vector< size_t > >indices, bool doFiltering, float* borderRatio )
{
MiscLib::Vector< int > componentsImg;
MiscLib::Vector< std::pair< int, size_t > > labels;
BitmapInfo bitmapInfo;
if( AllConnectedComponents( pc, epsilon, bitmapInfo, indices, componentsImg, labels, doFiltering ) <= 1 )
return 0;
size_t size = indices->size();
MiscLib::Vector< size_t >::iterator begin = indices->begin();
// find the largest component
size_t maxComp = 1;
for(size_t i = 2; i < labels.size(); ++i)
if(labels[maxComp].second < labels[i].second)
maxComp = i;
GfxTL::AABox< GfxTL::Vector2Df > bbox;
bbox.Min() = GfxTL::Vector2Df(
std::numeric_limits< float >::infinity(),
std::numeric_limits< float >::infinity());
bbox.Max() = -bbox.Min();
// compute bbox and update indices
size_t offset = 0;
for(size_t i = 0; i < size; ++i)
{
if(componentsImg[bitmapInfo.bmpIdx[i]] == labels[maxComp].first)
{
std::swap(begin[offset], begin[i]);
offset++;
// update bounding box
if(bbox.Min()[0] > bitmapInfo.params[i].first)
bbox.Min()[0] = bitmapInfo.params[i].first;
if(bbox.Max()[0] < bitmapInfo.params[i].first)
bbox.Max()[0] = bitmapInfo.params[i].first;
if(bbox.Min()[1] > bitmapInfo.params[i].second)
bbox.Min()[1] = bitmapInfo.params[i].second;
if(bbox.Max()[1] < bitmapInfo.params[i].second)
bbox.Max()[1] = bitmapInfo.params[i].second;
}
}
// ratio between border and connected-comp size should be calculated if borderRatio is a valid pointer
if( borderRatio )
{
int borderPixels = 0;
int maxLabel = labels[maxComp].first;
int row = bitmapInfo.uextent;
int pos = 0;
char numNeighbours = 0;
int ccSize = 0;
// test neightbourhood for all bitmappixels that are not marginal
for( size_t v = 1; v < bitmapInfo.vextent-1; ++v )
{
for( size_t u = 1; u < bitmapInfo.uextent-1; ++u )
{
pos = row + u;
if( componentsImg[pos] == maxLabel )
{
ccSize++;
numNeighbours = bitmapInfo.bitmap[pos-1] + bitmapInfo.bitmap[pos+1] +
bitmapInfo.bitmap[pos-bitmapInfo.uextent-1] + bitmapInfo.bitmap[pos-bitmapInfo.uextent+1] +
bitmapInfo.bitmap[pos+bitmapInfo.uextent-1] + bitmapInfo.bitmap[pos+bitmapInfo.uextent+1] +
bitmapInfo.bitmap[pos-bitmapInfo.uextent] + bitmapInfo.bitmap[pos+bitmapInfo.uextent];
if( (int)numNeighbours != 8 )
++borderPixels;
}
}
row += bitmapInfo.uextent;
}
// check left/right margins
row = bitmapInfo.uextent;
for( size_t v = 1; v < bitmapInfo.vextent-1; ++v )
{
ccSize++;
if( componentsImg[row] == maxLabel )
++borderPixels;
ccSize++;
if( componentsImg[row+bitmapInfo.uextent-1] == maxLabel )
++borderPixels;
row += bitmapInfo.uextent;
}
// check top/bottom margins
row = ( bitmapInfo.vextent-1 ) * bitmapInfo.uextent;
for( size_t u = 0; u < bitmapInfo.uextent; ++u )
{
ccSize++;
if( componentsImg[u] == maxLabel )
++borderPixels;
ccSize++;
if( componentsImg[row + u] == maxLabel )
++borderPixels;
}
*borderRatio = static_cast<float>( borderPixels ) / static_cast<float>( ccSize );
}
m_extBbox = bbox;
return offset;
}
void CylinderPrimitiveShape::SetExtent(
const GfxTL::AABox< GfxTL::Vector2Df > &extBbox,
const MiscLib::Vector< int > &componentsImg, size_t uextent,
size_t vextent, float epsilon, int label)
{
if(extBbox.Min()[1] * m_cylinder.Radius() <= epsilon
&& extBbox.Max()[1] * m_cylinder.Radius()
>= 2 * M_PI * m_cylinder.Radius() - epsilon)
{
// component has been cut along angular direction
// run from both sides to find both ends
size_t row = 0, j = 0;
for(; j < vextent; ++j)
{
bool found = false;
for(size_t i = 0; i < uextent; ++i)
{
if(componentsImg[row + i] == label)
{
found = true;
break;
}
}
if(!found)
break;
row += uextent;
}
size_t maxj = j;
if(maxj == vextent) // cylinder is complete
{
m_clip = false;
return;
}
row = (vextent - 1) * uextent, j = 0;
for(; j < vextent; ++j)
{
bool found = false;
for(size_t i = 0; i < uextent; ++i)
{
if(componentsImg[row + i] == label)
{
found = true;
break;
}
}
if(!found)
break;
row -= uextent;
}
size_t minj = j;
// convert min and max to angular parameters
m_minPhi = minj * epsilon / m_cylinder.Radius() + extBbox.Min()[1];
m_maxPhi = maxj * epsilon / m_cylinder.Radius() + extBbox.Min()[1];
}
else
{
m_minPhi = extBbox.Min()[1];
m_maxPhi = extBbox.Max()[1];
}
m_clip = true;
}