void FindContacts_Single(void *fc)
{
ContactFinder *cf = (ContactFinder*)fc;
map<ArbiterKey, Arbiter> &arbitersf = *cf->_arbiters;
cf->last = min(cf->last, (i32)cf->potentials->size());
for(int i=cf->first;i<cf->last;++i)
{
World::PotentiallyColliding pc = cf->potentials->at(i);
//Arbiter arb(pc.body1, pc.body2);
Arbiter arb(pc.body1, pc.body2);
ArbiterKey arbKey(pc.body1, pc.body2);
if(arb.DoCollision())
{
ArbIter iter = arbitersf.find(arbKey);
if(iter != arbitersf.end())
{
iter->second.Update(arb.contacts, arb.numContacts);
}
else
{
cf->addList->push_back(Arbiter_ADD(arb, arbKey));
}
}
else
{
cf->eraseList->push_back(Arbiter_ERASE(arbKey));
}
}
};
avtImage_p
avtVolumeFilter::RenderImage(avtImage_p opaque_image,
const WindowAttributes &window)
{
if (atts.GetRendererType() == VolumeAttributes::RayCastingSLIVR){
return RenderImageRaycastingSLIVR(opaque_image,window);
}
//
// We need to create a dummy pipeline with the volume renderer that we
// can force to execute within our "Execute". Start with the source.
//
avtSourceFromAVTDataset termsrc(GetTypedInput());
//
// Set up the volume renderer.
//
avtRayTracer *software = new avtRayTracer;
software->SetInput(termsrc.GetOutput());
software->InsertOpaqueImage(opaque_image);
software->SetRayCastingSLIVR(false);
unsigned char vtf[4*256];
atts.GetTransferFunction(vtf);
avtOpacityMap om(256);
if ((atts.GetRendererType() == VolumeAttributes::RayCasting) && (atts.GetSampling() == VolumeAttributes::Trilinear))
om.SetTable(vtf, 256, atts.GetOpacityAttenuation()*2.0 - 1.0, atts.GetRendererSamples());
else
om.SetTable(vtf, 256, atts.GetOpacityAttenuation());
double actualRange[2];
bool artificialMin = atts.GetUseColorVarMin();
bool artificialMax = atts.GetUseColorVarMax();
if (!artificialMin || !artificialMax)
{
GetDataExtents(actualRange, primaryVariable);
UnifyMinMax(actualRange, 2);
}
double range[2];
range[0] = (artificialMin ? atts.GetColorVarMin() : actualRange[0]);
range[1] = (artificialMax ? atts.GetColorVarMax() : actualRange[1]);
if (atts.GetScaling() == VolumeAttributes::Log)
{
if (artificialMin)
if (range[0] > 0)
range[0] = log10(range[0]);
if (artificialMax)
if (range[1] > 0)
range[1] = log10(range[1]);
}
else if (atts.GetScaling() == VolumeAttributes::Skew)
{
if (artificialMin)
{
double newMin = vtkSkewValue(range[0], range[0], range[1],
atts.GetSkewFactor());
range[0] = newMin;
}
if (artificialMax)
{
double newMax = vtkSkewValue(range[1], range[0], range[1],
atts.GetSkewFactor());
range[1] = newMax;
}
}
om.SetMin(range[0]);
om.SetMax(range[1]);
if (atts.GetRendererType() == VolumeAttributes::RayCastingIntegration)
{
if (!artificialMin)
range[0] = 0.;
if (!artificialMax)
{
/* Don't need this code, because the rays will be in depth ... 0->1.
double bounds[6];
GetSpatialExtents(bounds);
UnifyMinMax(bounds, 6);
double diag = sqrt((bounds[1]-bounds[0])*(bounds[1]-bounds[0]) +
(bounds[3]-bounds[2])*(bounds[3]-bounds[2]) +
(bounds[5]-bounds[4])*(bounds[5]-bounds[4]));
range[1] = (actualRange[1]*diag) / 2.;
*/
range[1] = (actualRange[1]) / 4.;
}
}
//
// Determine which variables to use and tell the ray function.
//
VarList vl;
avtDataset_p input = GetTypedInput();
avtDatasetExaminer::GetVariableList(input, vl);
int primIndex = -1;
int opacIndex = -1;
int gradIndex = -1;
int count = 0;
char gradName[128];
const char *gradvar = atts.GetOpacityVariable().c_str();
if (strcmp(gradvar, "default") == 0)
gradvar = primaryVariable;
// This name is explicitly sent to the avtGradientExpression in
// the avtVolumePlot.
SNPRINTF(gradName, 128, "_%s_gradient", gradvar);
for (int i = 0 ; i < vl.nvars ; i++)
{
if ((strstr(vl.varnames[i].c_str(), "vtk") != NULL) &&
(strstr(vl.varnames[i].c_str(), "avt") != NULL))
continue;
if (vl.varnames[i] == primaryVariable)
{
primIndex = count;
}
if (vl.varnames[i] == atts.GetOpacityVariable())
{
opacIndex = count;
}
if (vl.varnames[i] == gradName)
{
gradIndex = count;
}
count += vl.varsizes[i];
}
if (primIndex == -1)
{
if (vl.nvars <= 0)
{
debug1 << "Could not locate primary variable "
<< primaryVariable << ", assuming that we are running "
<< "in parallel and have more processors than domains."
<< endl;
}
else
{
EXCEPTION1(InvalidVariableException, primaryVariable);
}
}
if (opacIndex == -1)
{
if (atts.GetOpacityVariable() == "default")
{
opacIndex = primIndex;
}
else if (vl.nvars <= 0)
{
debug1 << "Could not locate opacity variable "
<< atts.GetOpacityVariable().c_str() << ", assuming that we "
<< "are running in parallel and have more processors "
<< "than domains." << endl;
}
else
{
EXCEPTION1(InvalidVariableException,atts.GetOpacityVariable());
}
}
if ( atts.GetRendererType() != VolumeAttributes::RayCastingIntegration &&
atts.GetLightingFlag() &&
gradIndex == -1)
{
if (vl.nvars <= 0)
{
debug1 << "Could not locate gradient variable, assuming that we "
<< "are running in parallel and have more processors "
<< "than domains." << endl;
}
else
{
EXCEPTION1(InvalidVariableException,gradName);
}
}
int newPrimIndex = UnifyMaximumValue(primIndex);
if (primIndex >= 0 && newPrimIndex != primIndex)
{
//
// We shouldn't ever have different orderings for our variables.
//
EXCEPTION1(InvalidVariableException, primaryVariable);
}
primIndex = newPrimIndex;
int newOpacIndex = UnifyMaximumValue(opacIndex);
if (opacIndex >= 0 && newOpacIndex != opacIndex)
{
//
// We shouldn't ever have different orderings for our variables.
//
EXCEPTION1(InvalidVariableException, atts.GetOpacityVariable());
}
opacIndex = newOpacIndex;
int newGradIndex = UnifyMaximumValue(gradIndex);
if (gradIndex >= 0 && newGradIndex != gradIndex)
{
//
// We shouldn't ever have different orderings for our variables.
//
EXCEPTION1(InvalidVariableException, gradName);
}
gradIndex = newGradIndex;
//
// Set up lighting
//
avtFlatLighting fl;
avtLightingModel *lm = &fl;
double gradMax = 0.0, lightingPower = 1.0;
if (atts.GetLowGradientLightingReduction() != VolumeAttributes::Off)
{
gradMax = atts.GetLowGradientLightingClampValue();
if (atts.GetLowGradientLightingClampFlag() == false)
{
double gradRange[2] = {0,0};
GetDataExtents(gradRange, gradName);
gradMax = gradRange[1];
}
switch (atts.GetLowGradientLightingReduction())
{
case VolumeAttributes::Lowest: lightingPower = 1./16.; break;
case VolumeAttributes::Lower: lightingPower = 1./8.; break;
case VolumeAttributes::Low: lightingPower = 1./4.; break;
case VolumeAttributes::Medium: lightingPower = 1./2.; break;
case VolumeAttributes::High: lightingPower = 1.; break;
case VolumeAttributes::Higher: lightingPower = 2.; break;
case VolumeAttributes::Highest: lightingPower = 4.; break;
default: break;
}
}
avtPhong phong(gradMax, lightingPower);
if (atts.GetLightingFlag())
{
lm = &phong;
}
else
{
lm = &fl;
}
avtOpacityMap *om2 = NULL;
if (primIndex == opacIndex)
{
// Note that we are forcing the color variables range onto the
// opacity variable.
om2 = &om;
}
else
{
om2 = new avtOpacityMap(256);
om2->SetTable(vtf, 256, atts.GetOpacityAttenuation());
double range[2];
bool artificialMin = atts.GetUseOpacityVarMin();
bool artificialMax = atts.GetUseOpacityVarMax();
if (!artificialMin || !artificialMax)
{
InputSetActiveVariable(atts.GetOpacityVariable().c_str());
avtDatasetExaminer::GetDataExtents(input, range);
UnifyMinMax(range, 2);
InputSetActiveVariable(primaryVariable);
}
range[0] = (artificialMin ? atts.GetOpacityVarMin() : range[0]);
range[1] = (artificialMax ? atts.GetOpacityVarMax() : range[1]);
om2->SetMin(range[0]);
om2->SetMax(range[1]);
// LEAK!!
}
avtCompositeRF *compositeRF = new avtCompositeRF(lm, &om, om2);
if (atts.GetRendererType() == VolumeAttributes::RayCasting && atts.GetSampling() == VolumeAttributes::Trilinear){
compositeRF->SetTrilinearSampling(true);
double *matProp = atts.GetMaterialProperties();
double materialPropArray[4];
materialPropArray[0] = matProp[0];
materialPropArray[1] = matProp[1];
materialPropArray[2] = matProp[2];
materialPropArray[3] = matProp[3];
compositeRF->SetMaterial(materialPropArray);
}
else
compositeRF->SetTrilinearSampling(false);
avtIntegrationRF *integrateRF = new avtIntegrationRF(lm);
compositeRF->SetColorVariableIndex(primIndex);
compositeRF->SetOpacityVariableIndex(opacIndex);
if (atts.GetLightingFlag())
compositeRF->SetGradientVariableIndex(gradIndex);
integrateRF->SetPrimaryVariableIndex(primIndex);
integrateRF->SetRange(range[0], range[1]);
if (atts.GetSampling() == VolumeAttributes::KernelBased)
{
software->SetKernelBasedSampling(true);
compositeRF->SetWeightVariableIndex(count);
}
if (atts.GetRendererType() == VolumeAttributes::RayCasting && atts.GetSampling() == VolumeAttributes::Trilinear)
software->SetTrilinear(true);
else
software->SetTrilinear(false);
if (atts.GetRendererType() == VolumeAttributes::RayCastingIntegration)
software->SetRayFunction(integrateRF);
else
software->SetRayFunction(compositeRF);
software->SetSamplesPerRay(atts.GetSamplesPerRay());
const int *size = window.GetSize();
software->SetScreen(size[0], size[1]);
const View3DAttributes &view = window.GetView3D();
avtViewInfo vi;
CreateViewInfoFromViewAttributes(vi, view);
avtDataObject_p inputData = GetInput();
int width_,height_,depth_;
if (GetLogicalBounds(inputData, width_,height_,depth_))
{
// if we have logical bounds, compute the slices automatically
double viewDirection[3];
int numSlices;
viewDirection[0] = (view.GetViewNormal()[0] > 0)? view.GetViewNormal()[0]: -view.GetViewNormal()[0];
viewDirection[1] = (view.GetViewNormal()[1] > 0)? view.GetViewNormal()[1]: -view.GetViewNormal()[1];
viewDirection[2] = (view.GetViewNormal()[2] > 0)? view.GetViewNormal()[2]: -view.GetViewNormal()[2];
numSlices = (width_*viewDirection[0] + height_*viewDirection[1] + depth_*viewDirection[2]) * atts.GetRendererSamples();
if (atts.GetRendererType() == VolumeAttributes::RayCasting && atts.GetSampling() == VolumeAttributes::Trilinear)
software->SetSamplesPerRay(numSlices);
}
software->SetView(vi);
if (atts.GetRendererType() == VolumeAttributes::RayCastingIntegration)
{
integrateRF->SetDistance(view.GetFarPlane()-view.GetNearPlane());
integrateRF->SetWindowSize(size[0], size[1]);
}
double view_dir[3];
view_dir[0] = vi.focus[0] - vi.camera[0];
view_dir[1] = vi.focus[1] - vi.camera[1];
view_dir[2] = vi.focus[2] - vi.camera[2];
double mag = sqrt(view_dir[0]*view_dir[0] + view_dir[1]*view_dir[1]
+ view_dir[2]*view_dir[2]);
if (mag != 0.) // only 0 if focus and camera are the same
{
view_dir[0] /= mag;
view_dir[1] /= mag;
view_dir[2] /= mag;
}
lm->SetViewDirection(view_dir);
lm->SetViewUp(vi.viewUp);
lm->SetLightInfo(window.GetLights());
const RenderingAttributes &render_atts = window.GetRenderAtts();
if (render_atts.GetSpecularFlag())
{
lm->SetSpecularInfo(render_atts.GetSpecularFlag(),
render_atts.GetSpecularCoeff(),
render_atts.GetSpecularPower());
}
//
// Set the volume renderer's background color and mode from the
// window attributes.
//
software->SetBackgroundMode(window.GetBackgroundMode());
software->SetBackgroundColor(window.GetBackground());
software->SetGradientBackgroundColors(window.GetGradBG1(),
window.GetGradBG2());
//
// We have to set up a sample point "arbitrator" to allow small cells
// to be included in the final picture.
//
avtOpacityMapSamplePointArbitrator arb(om2, opacIndex);
avtRay::SetArbitrator(&arb);
//
// Do the funny business to force an update.
//
avtDataObject_p dob = software->GetOutput();
dob->Update(GetGeneralContract());
if (atts.GetRendererType() == VolumeAttributes::RayCastingIntegration)
integrateRF->OutputRawValues("integration.data");
//
// Free up some memory and clean up.
//
delete software;
avtRay::SetArbitrator(NULL);
delete compositeRF;
delete integrateRF;
//
// Copy the output of the volume renderer to our output.
//
avtImage_p output;
CopyTo(output, dob);
return output;
}
//--------------------------------------------------------------
void ofApp::setup(){
ofSetLogLevel(OF_LOG_VERBOSE);
glEnable(GL_DEPTH_TEST);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> clouds;
mesh.load(ofToDataPath("out.ply"));
cloud = ofxPCL::toPCL<ofxPCL::PointXYZCloud>(mesh);
textures.resize(2);
textures.at(0).loadImage(ofToDataPath("tex0.jpg"));
textures.at(1).loadImage(ofToDataPath("tex1.jpg"));
pcl::SacModel model_type = pcl::SACMODEL_PLANE;
float distance_threshold = 30;
int min_points_limit = 10;
int max_segment_count = 30;
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
pcl::PointIndices::Ptr inliers(new pcl::PointIndices());
pcl::SACSegmentation<pcl::PointXYZ> seg;
seg.setOptimizeCoefficients(false);
seg.setModelType(model_type);
seg.setMethodType(pcl::SAC_RANSAC);
seg.setDistanceThreshold(distance_threshold);
seg.setMaxIterations(500);
pcl::PointCloud<pcl::PointXYZ>::Ptr temp(new pcl::PointCloud<pcl::PointXYZ>(*cloud));
const size_t original_szie = temp->points.size();
pcl::ExtractIndices<pcl::PointXYZ> extract;
int segment_count = 0;
while (temp->size() > original_szie * 0.3)
{
if (segment_count > max_segment_count) break;
segment_count++;
seg.setInputCloud(temp);
seg.segment(*inliers, *coefficients);
if (inliers->indices.size() < min_points_limit)
break;
pcl::PointCloud<pcl::PointXYZ>::Ptr filterd_point_cloud(new pcl::PointCloud<pcl::PointXYZ>);
extract.setInputCloud(temp);
extract.setIndices(inliers);
extract.setNegative(false);
extract.filter(*filterd_point_cloud);
if (filterd_point_cloud->points.size() > 0)
{
clouds.push_back(filterd_point_cloud);
}
extract.setNegative(true);
extract.filter(*temp);
ofMesh m;
pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
ofxPCL::normalEstimation(filterd_point_cloud, cloud_with_normals);
m = ofxPCL::triangulate(cloud_with_normals, 100);
m.clearColors();
jointMesh.addVertices(m.getVertices());
jointMesh.addColors(m.getColors());
ofVec3f center = m.getCentroid();
ofVec3f planeNormal(coefficients->values[0], coefficients->values[1], coefficients->values[2]);
ofVec3f tangent, bitangent;
ofVec3f arb(0, 1, 0);
tangent = arb.cross(planeNormal).normalize();
bitangent = planeNormal.cross(tangent).normalize();
for(int j = 0; j < m.getNumVertices(); j++) {
float x = m.getVertex(j).dot(tangent) * 0.001;
x = x - (long)x;
if(x < 0) x += 1;
float y = m.getVertex(j).dot(bitangent) * 0.001;
y = y - (long)y;
if(y < 0) y += 1;
m.addTexCoord(ofVec2f(x, y));
}
meshes.push_back(m);
}
ofxPCL::convert(temp, meshResidual);
ofLogVerbose() << clouds.size() << " meshes extracted";
center = jointMesh.getCentroid();
}