//**********************************************************************************
//test of polyhedron intersection callable from python shell
bool do_Polyhedras_Intersect(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2){
const Se3r& se31=state1.se3;
const Se3r& se32=state2.se3;
Polyhedra* A = static_cast<Polyhedra*>(cm1.get());
Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
//move and rotate 1st the CGAL structure Polyhedron
Matrix3r rot_mat = (se31.orientation).toRotationMatrix();
Vector3r trans_vec = se31.position;
Transformation t_rot_trans(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PA = A->GetPolyhedron();
std::transform( PA.points_begin(), PA.points_end(), PA.points_begin(), t_rot_trans);
//move and rotate 2st the CGAL structure Polyhedron
rot_mat = (se32.orientation).toRotationMatrix();
trans_vec = se32.position;
t_rot_trans = Transformation(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PB = B->GetPolyhedron();
std::transform( PB.points_begin(), PB.points_end(), PB.points_begin(), t_rot_trans);
//calculate plane equations
std::transform( PA.facets_begin(), PA.facets_end(), PA.planes_begin(),Plane_equation());
std::transform( PB.facets_begin(), PB.facets_end(), PB.planes_begin(),Plane_equation());
//call test
return do_intersect(PA,PB);
}
// Add semantics to Interior room polyhedra
void set_semantic_InteriorLoD4(Polyhedron& polyhe) {
std::transform( polyhe.facets_begin(), polyhe.facets_end(),polyhe.planes_begin(),Plane_Newel_equation());
for (Polyhedron::Facet_iterator fIt = polyhe.facets_begin(); fIt != polyhe.facets_end(); ++fIt) { // Iterate over faces
Kernel::FT z = fIt->plane().orthogonal_vector().z();
if (z <= -HORIZONTAL_ANGLE_RANGE) fIt->semanticBLA = "FloorSurface";
else if (z >= HORIZONTAL_ANGLE_RANGE) fIt->semanticBLA = "CeilingSurface";
else fIt->semanticBLA = "InteriorWallSurface";
} }
bool is_weakly_convex(Polyhedron const& p) {
for (typename Polyhedron::Edge_const_iterator i = p.edges_begin(); i != p.edges_end(); ++i) {
typename Polyhedron::Plane_3 p(i->opposite()->vertex()->point(), i->vertex()->point(), i->next()->vertex()->point());
if (p.has_on_positive_side(i->opposite()->next()->vertex()->point()) &&
CGAL::squared_distance(p, i->opposite()->next()->vertex()->point()) > 1e-8) {
return false;
}
}
// Also make sure that there is only one shell:
boost::unordered_set<typename Polyhedron::Facet_const_handle, typename CGAL::Handle_hash_function> visited;
// c++11
// visited.reserve(p.size_of_facets());
std::queue<typename Polyhedron::Facet_const_handle> to_explore;
to_explore.push(p.facets_begin()); // One arbitrary facet
visited.insert(to_explore.front());
while (!to_explore.empty()) {
typename Polyhedron::Facet_const_handle f = to_explore.front();
to_explore.pop();
typename Polyhedron::Facet::Halfedge_around_facet_const_circulator he, end;
end = he = f->facet_begin();
CGAL_For_all(he,end) {
typename Polyhedron::Facet_const_handle o = he->opposite()->facet();
if (!visited.count(o)) {
visited.insert(o);
to_explore.push(o);
}
}
}
void geometryUtils::subdivide(Polyhedron& P) {
if (P.size_of_facets() == 0)
return;
// We use that new vertices/halfedges/facets are appended at the end.
std::size_t nv = P.size_of_vertices();
Vertex_iterator last_v = P.vertices_end();
--last_v; // the last of the old vertices
Edge_iterator last_e = P.edges_end();
--last_e; // the last of the old edges
Facet_iterator last_f = P.facets_end();
--last_f; // the last of the old facets
Facet_iterator f = P.facets_begin(); // create new center vertices
do {
geometryUtils::subdivide_create_center_vertex(P, f);
} while (f++ != last_f);
std::vector<Point_3> pts; // smooth the old vertices
pts.reserve(nv); // get intermediate space for the new points
++last_v; // make it the past-the-end position again
std::transform(P.vertices_begin(), last_v, std::back_inserter(pts),
Smooth_old_vertex());
std::copy(pts.begin(), pts.end(), P.points_begin());
Edge_iterator e = P.edges_begin(); // flip the old edges
++last_e; // make it the past-the-end position again
while (e != last_e) {
Halfedge_handle h = e;
++e; // careful, incr. before flip since flip destroys current edge
geometryUtils::subdivide_flip_edge(P, h);
};
CGAL_postcondition(P.is_valid());
};
polyhedron cgal_to_polyhedron( const Nef_polyhedron &NP ){
Polyhedron P;
polyhedron ret;
if( NP.is_simple() ){
NP.convert_to_polyhedron(P);
std::vector<double> coords;
std::vector<int> tris;
int next_id = 0;
std::map< Polyhedron::Vertex*, int > vid;
for( Polyhedron::Vertex_iterator iter=P.vertices_begin(); iter!=P.vertices_end(); iter++ ){
coords.push_back( CGAL::to_double( (*iter).point().x() ) );
coords.push_back( CGAL::to_double( (*iter).point().y() ) );
coords.push_back( CGAL::to_double( (*iter).point().z() ) );
vid[ &(*iter) ] = next_id++;
}
for( Polyhedron::Facet_iterator iter=P.facets_begin(); iter!=P.facets_end(); iter++ ){
Polyhedron::Halfedge_around_facet_circulator j = iter->facet_begin();
tris.push_back( CGAL::circulator_size(j) );
do {
tris.push_back( std::distance(P.vertices_begin(), j->vertex()) );
} while ( ++j != iter->facet_begin());
}
ret.initialize_load_from_mesh( coords, tris );
} else {
std::cout << "resulting polyhedron is not simple!" << std::endl;
}
return ret;
}
void renewAttrs( Polyhedron & poly )
{
// assign IDs to vertices
for ( Vertex_iterator vi = poly.vertices_begin(); vi != poly.vertices_end(); ++vi ) {
vi->nCuts() = 0;
}
// assign IDs to faces: the dual vertex and the dual coordinates-the center coordinates
for ( Facet_iterator fi = poly.facets_begin(); fi != poly.facets_end(); ++fi ) {
fi->piece() = NO_INDEX;
Vector3 sum( 0.0, 0.0, 0.0 );
Halfedge_facet_circulator hfc = fi->facet_begin();
do {
sum = sum + ( hfc->vertex()->point() - CGAL::ORIGIN );
} while ( ++hfc != fi->facet_begin() );
sum = sum / ( double )CGAL::circulator_size( hfc );
fi->center() = CGAL::ORIGIN + sum;
}
// assign the same IDs to the identical/ opposite halfedges
for ( Halfedge_iterator hi = poly.halfedges_begin(); hi != poly.halfedges_end(); ++hi ) {
hi->label() = DEFAULT_LABEL;
hi->match() = DEFAULT_LABEL;
hi->cycle() = NO_INDEX;
hi->connect() = true;
hi->visit() = false;
hi->path() = NO_INDEX;
hi->orient() = true;
// We individually handle hi->fixed
}
}
int main()
{
std::vector<Point_3> points;
points.push_back(Point_3(2.0f, 3.535533905932738f, 3.535533905932737f));
points.push_back(Point_3(4.0f, 2.0f, 0.0f));
points.push_back(Point_3(0.0f, 2.0f, 0.0f));
points.push_back(Point_3(1.0f, 0.0f, 0.0f));
points.push_back(Point_3(4.0f, 1.414213562373095f, 1.414213562373095f));
points.push_back(Point_3(0.0f, 1.414213562373095f, 1.414213562373095f));
points.push_back(Point_3(3.0f, 0.0f, 0.0f));
points.push_back(Point_3(2.0f, 5.0f, 0.0f));
Polyhedron P;
CGAL::convex_hull_3(points.begin(), points.end(), P);
std::cout << "- Number of vertices = " << P.size_of_vertices() << std::endl;
std::cout << "- Number of edges = " << P.size_of_halfedges()/2 << std::endl;
std::cout << "- Number of faces = " << P.size_of_facets() << std::endl;
for ( Facet_iterator i = P.facets_begin(); i != P.facets_end(); ++i)
{
Halfedge_facet_circulator j = i->facet_begin();
CGAL_assertion( CGAL::circulator_size(j) >= 3);
std::cout << CGAL::circulator_size(j) << ' ';
do{
//std::cout << ' ' << std::distance(P.vertices_begin(), j->vertex());
std::cout << " (" << j->vertex()->point().x() << ' ' << j->vertex()->point().y() << ' ' << j->vertex()->point().z() << ')' << ", ";
} while ( ++j != i->facet_begin());
std::cout << std::endl;
}
return 0;
}
void mergeCoplanar(Polyhedron& p,bool step2) {
int facetsBefore = p.size_of_facets();
p.normalize_border();
if(!p.size_of_border_halfedges()) {
// Calculate normals only once in advace! so all tris should be coplanar with the original
std::transform( p.facets_begin(), p.facets_end(),p.planes_begin(),Plane_equation()); // Calculate plane equations (only works on tri<- = bs)=true
bool coplanarFound = true;
std::vector<Polyhedron::Halfedge_handle> skipHEs;
while (coplanarFound) {
coplanarFound = false; // Set coplanarFound false
int percCount = 1;
for (Polyhedron::Halfedge_iterator hit = p.halfedges_begin(); hit != p.halfedges_end(); ++hit,++percCount){ // Loop through all halfedges
if (is_coplanar(hit,true)){ // If coplanar and equals semantics
Polyhedron::Halfedge_handle removeMe = hit;
while (CGAL::circulator_size(removeMe->vertex_begin()) < 3) // Mover handle to beginning of linestring
removeMe = removeMe->next();
bool jcnh = false;
if (!step2) jcnh = joinCreatesNoHole (hit);
else jcnh = joinCreatesNoHole2(hit);
if (jcnh){ // If no holes will be created
std::cout << "\rFacets before/after: "<<facetsBefore<<" -> "<< p.size_of_facets()<<". ("<<100*percCount/p.size_of_halfedges()<<"%)";
while (CGAL::circulator_size(removeMe->opposite()->vertex_begin()) < 3) // Join vertexes until at the other end of linestring
if (removeMe->facet_degree()>3 && removeMe->opposite()->facet_degree()>3)
removeMe = (p.join_vertex(removeMe))->next()->opposite();
else // One of the faces turned into a triangle ->remove center vertex
break;
if (CGAL::circulator_size(removeMe->opposite()->vertex_begin()) < 3) // Remove remained of the border
p.erase_center_vertex(removeMe->opposite()); // if two segments remain remove center point
else
p.join_facet(removeMe); // if one segment remains join facets
coplanarFound = true;
break;
} else { // simplify border, but how to do this safely? not optimal solution implemented. Should do: add inward offseted point of intersection etc.
if (std::find(skipHEs.begin(), skipHEs.end(),hit)!=skipHEs.end()) { // Skip if hit in skipList
while (CGAL::circulator_size(removeMe->opposite()->vertex_begin()) < 3) { // Join vertexes until at the other end of linestring
if (removeMe->facet_degree()>3 && removeMe->opposite()->facet_degree()>3)
if (triDoesNotIntersectFacet(removeMe)) // if tri reMe,reME->prev does not intersect left or right facet
removeMe = (p.join_vertex(removeMe))->next()->opposite(); // remove removeME
else {
skipHEs.push_back(removeMe);
skipHEs.push_back(removeMe->opposite());
removeMe = removeMe->prev(); // move removeME one halfedge back
}
else break; // stop if only a triangle remains or at other end
}
skipHEs.push_back(removeMe);
skipHEs.push_back(removeMe->opposite());
} } } } } }
//if (!step2) mergeCoplanar(p,true);
//else
std::cout << "\rFacets before/after: "<<facetsBefore<<" -> "<< p.size_of_facets()<<". (100%)"<<std::endl;
}
static int number_of_degenerate_facets(Polyhedron& p, const double threshold)
{
int count = 0;
for (typename Polyhedron::Facet_iterator facet = p.facets_begin();
facet != p.facets_end(); facet++)
{
dolfin_assert(facet->is_triangle());
if ( facet_is_degenerate<Polyhedron>(facet, threshold) )
count++;
}
return count;
}
int main()
{
std::list<Weighted_point> l;
FT shrinkfactor = 0.5;
l.push_front(Weighted_point(Bare_point(0, 0, 0), 1));
l.push_front(Weighted_point(Bare_point(0, 1, 0), 2));
l.push_front(Weighted_point(Bare_point(0, 0, 2), 1));
Skin_surface_3 skin_surface(l.begin(), l.end(), shrinkfactor);
Polyhedron p;
CGAL::mesh_skin_surface_3(skin_surface, p);
for (Polyhedron::Facet_iterator fit = p.facets_begin(); fit != p.facets_end(); ++fit) {
// Retrieve the generating simplex from the regular triangulation
const Skin_surface_3::Simplex &s = fit->containing_simplex();
// Get the weighted points from the simplex
Skin_surface_3::Weighted_point wp[4];
switch (s.dimension()) {
case 0: {
Skin_surface_3::Vertex_handle vh = s;
wp[0] = vh->point();
break;
}
case 1: {
Skin_surface_3::Edge e = s;
wp[0] = e.first->vertex(e.second)->point();
wp[1] = e.first->vertex(e.third)->point();
break;
}
case 2: {
Skin_surface_3::Facet f = s;
wp[0] = f.first->vertex((f.second + 1) & 3)->point();
wp[1] = f.first->vertex((f.second + 2) & 3)->point();
wp[2] = f.first->vertex((f.second + 3) & 3)->point();
break;
}
case 3: {
Skin_surface_3::Cell_handle ch = s;
wp[0] = ch->vertex(0)->point();
wp[1] = ch->vertex(1)->point();
wp[2] = ch->vertex(2)->point();
wp[3] = ch->vertex(3)->point();
break;
}
}
}
return 0;
}
int main(int argc, char** argv)
{
typedef boost::property_map<
Polyhedron,
CGAL::face_index_t
>::const_type Face_index_map;
std::ifstream in((argc>1)?argv[1]:"cube.off");
Polyhedron P;
in >> P ;
// initialize facet indices
std::size_t i = 0;
for(Polyhedron::Facet_iterator it = P.facets_begin(); it != P.facets_end(); ++it, ++i)
{
it->id() = i;
}
// Ad hoc property_map to store normals. Face_index_map is used to
// map face_descriptors to a contiguous range of indices. See
// http://www.boost.org/libs/property_map/doc/vector_property_map.html
// for details.
boost::vector_property_map<Vector, Face_index_map>
normals(get(CGAL::face_index, P));
calculate_face_normals(
P // Graph
, get(CGAL::vertex_point, P) // map from vertex_descriptor to point
, normals // map from face_descriptor to Vector_3
);
std::cout << "Normals" << std::endl;
for(Polyhedron::Facet_iterator it = P.facets_begin(); it != P.facets_end(); ++it) {
// Facet_iterator is a face_descriptor, so we can use it as the
// key here
std::cout << normals[it] << std::endl;
}
return 0;
}
//------------------------------------------------------------------------------
// Initialize the dual center
//------------------------------------------------------------------------------
void initAttrs( Polyhedron & poly )
{
// assign IDs to vertices
int vID = 0;
for ( Vertex_iterator vi = poly.vertices_begin(); vi != poly.vertices_end(); ++vi ) {
vi->id() = vID++;
vi->label() = DEFAULT_LABEL;
vi->nCuts() = 0;
}
cerr << "Total number of vertices = " << vID << endl;
// assign IDs to faces: the dual vertex and the dual coordinates-the center coordinates
int fID = 0;
for ( Facet_iterator fi = poly.facets_begin(); fi != poly.facets_end(); ++fi ) {
fi->id() = fID++;
// fi->label() = DEFAULT_LABEL;
fi->piece() = NO_INDEX;
Vector3 sum( 0.0, 0.0, 0.0 );
Halfedge_facet_circulator hfc = fi->facet_begin();
do {
sum = sum + ( hfc->vertex()->point() - CGAL::ORIGIN );
} while ( ++hfc != fi->facet_begin() );
sum = sum / ( double )CGAL::circulator_size( hfc );
fi->center() = CGAL::ORIGIN + sum;
// cerr << " Barycenter No. " << fid-1 << " : " << bary[ fid-1 ] << endl;
}
cerr << "Total number of facets = " << fID << endl;
// initialize the halfedge IDs
for ( Halfedge_iterator hi = poly.halfedges_begin(); hi != poly.halfedges_end(); ++hi ) {
hi->id() = NO_INDEX;
}
// assign the same IDs to the identical/ opposite halfedges
int eID = 0;
for ( Halfedge_iterator hi = poly.halfedges_begin(); hi != poly.halfedges_end(); ++hi ) {
if ( hi->id() == NO_INDEX ) {
assert( hi->opposite()->id() == NO_INDEX );
hi->id() = eID;
hi->opposite()->id() = eID;
eID++;
hi->label() = hi->opposite()->label() = DEFAULT_LABEL;
hi->match() = hi->opposite()->match() = DEFAULT_LABEL;
hi->cycle() = hi->opposite()->cycle() = NO_INDEX;
hi->weight() = hi->opposite()->weight() = 0.0;
hi->connect() = hi->opposite()->connect() = true;
hi->visit() = hi->opposite()->visit() = false;
// We individually handle hi->fixed
}
}
cerr << "Total number of edges = " << eID << endl;
}
// Remove small triangles with different semantics
void remove_singularSemantics(Polyhedron& exteriorPolyhe) {
double SMALL_TRIANGLE_LIMIT = 0.1;
Polyhedron::Facet_iterator exfIt; // Iterate over exterior faces
while (true) {
bool newSemFound = false;
for (exfIt = exteriorPolyhe.facets_begin(); exfIt != exteriorPolyhe.facets_end(); ++exfIt) {
if (exfIt->area < SMALL_TRIANGLE_LIMIT) {
std::map<std::string,double> semCountList;
std::map<std::string,double>::iterator semCount;
Polyhedron::Facet::Halfedge_around_facet_circulator itHDS = exfIt->facet_begin();
double maxArea = 0;
std::string newSem;
do {
if (is_coplanar(itHDS,false)) {
std::string otherSem = itHDS->opposite()->facet()->semanticBLA;
// Compute sum of area
if (is_coplanar(itHDS->opposite()->next(),true) ||
is_coplanar(itHDS->opposite()->prev(),true)) {
semCount = semCountList.find(otherSem);
if (semCount == semCountList.end())
semCountList[otherSem] = 1; // Might not be needed
else
++(semCountList[otherSem]);
}
}
} while (++itHDS != exfIt->facet_begin());
for (semCount = semCountList.begin();semCount!=semCountList.end();++semCount) {
if (semCount->second > maxArea) {
maxArea = semCount->second;
newSem = semCount->first;
} else if (semCount->second == maxArea &&
((exfIt->semanticBLA=="Anything"&&semCount->first!="Anything")||semCount->first==exfIt->semanticBLA))
newSem = semCount->first;
}
if (maxArea > 0 && newSem!=exfIt->semanticBLA) {
exfIt->semanticBLA = newSem;
newSemFound = true;
break; // Dafuq? is this correct?
}
}
}
if (!newSemFound) break; // Really?
}
}
double lloyd_step (std::vector<Point> &points)
{
std::vector<Plane> planes;
for (size_t i = 0; i < points.size(); ++i)
planes.push_back(tangent_plane(points[i]));
Polyhedron P;
CGAL::internal::halfspaces_intersection(planes.begin(),
planes.end(), P, K());
size_t N = points.size();
points.clear();
double totarea = 0.0;
double vararea = 0.0;
for (Polyhedron::Facet_iterator it = P.facets_begin();
it != P.facets_end(); ++it)
{
Polyhedron::Halfedge_around_facet_circulator
h0 = it->facet_begin(), hf = h0--, hs = hf;
hs ++;
double farea = 0.0;
Vector fcentroid (CGAL::NULL_VECTOR);
while(1)
{
const Point &a = h0->vertex()->point(),
&b = hf->vertex()->point(),
&c = hs->vertex()->point();
Vector v =
CGAL::cross_product(b -a, c - a);
double tarea = .5 * sqrt(v.squared_length());
farea += tarea;
fcentroid = fcentroid + (tarea/3.0) * ((a - CGAL::ORIGIN) +
(b - CGAL::ORIGIN) +
(c - CGAL::ORIGIN));
if (hs == h0)
break;
++hs; ++hf;
}
totarea += farea;
vararea += pow(4.0 * M_PI / N - farea, 2.0);
fcentroid = fcentroid/farea;
points.push_back(project_back(CGAL::ORIGIN + fcentroid));
}
std::cerr << "area = " << totarea << ", "
<< "vararea = " << vararea << "\n";
return vararea/totarea;
}
int main() {
Point_3 p( 1, 0, 0);
Point_3 q( 0, 1, 0);
Point_3 r( 0, 0, 1);
Point_3 s( 0, 0, 0);
Polyhedron P;
P.make_tetrahedron( p, q, r, s);
std::transform( P.facets_begin(), P.facets_end(), P.planes_begin(),
Plane_equation());
CGAL::set_pretty_mode( std::cout);
std::copy( P.planes_begin(), P.planes_end(),
std::ostream_iterator<Plane_3>( std::cout, "\n"));
return 0;
}
//------------------------------------------------------------------------------
// Compute and store the results of dual graphs into appropriate variables
//
// computeDual( mesh, whole, bary, mid );
//------------------------------------------------------------------------------
void computeDual( Polyhedron & poly, Graph & dual,
vector< Point3 > & bary, vector< Point3 > & mid )
{
// initialize the array of face barycenters: refer to the point at which the gravitational forces exerted by 2 objects are equal
bary.clear();
bary.resize( poly.size_of_facets() );
// initialize the dual graph with dual vertices
dual.clear();
int fid = 0;
for ( Facet_iterator fi = poly.facets_begin(); fi != poly.facets_end(); ++fi ) {
// add a vertex: each face equals to each dual vertex
add_vertex( dual );
bary[ fid++ ] = fi->center();
// cerr << " Barycenter No. " << fid-1 << " : " << bary[ fid-1 ] << endl;
}
int size_of_edges = poly.size_of_halfedges() / 2; //redundant
// initialize the array of midpoints
mid.clear();
mid.resize( size_of_edges );
// initialize the array of lengths
// length.clear();
// length.resize( size_of_edges );
// construct the connecitivity of the dual graph
for ( Halfedge_iterator hi = poly.halfedges_begin(); hi != poly.halfedges_end(); ++hi ) {
int origID = hi->facet()->id(); // the face
int destID = hi->opposite()->facet()->id(); // the neighbor face
Point3 origCoord = hi->vertex()->point();
Point3 destCoord = hi->opposite()->vertex()->point();
Vector3 dispVec = origCoord - destCoord;
Point3 midCoord = destCoord + 0.5 * dispVec;
// double curLength = sqrt( dispVec.squared_length() ); // the length between two connected vertices
#ifdef DEBUG
cerr << origID << " -- " << destID << endl;
#endif // DEBUG
if ( origID < destID )
add_edge( origID, destID, hi->id(), dual );
mid[ hi->id() ] = midCoord;
hi->mid() = hi->opposite()->mid() = midCoord;
hi->weight() = hi->opposite()->weight() = 1.0;
}
}
IGL_INLINE void igl::copyleft::cgal::polyhedron_to_mesh(
const Polyhedron & poly,
Eigen::MatrixXd & V,
Eigen::MatrixXi & F)
{
using namespace std;
V.resize(poly.size_of_vertices(),3);
F.resize(poly.size_of_facets(),3);
typedef typename Polyhedron::Vertex_const_iterator Vertex_iterator;
std::map<Vertex_iterator,size_t> vertex_to_index;
{
size_t v = 0;
for(
typename Polyhedron::Vertex_const_iterator p = poly.vertices_begin();
p != poly.vertices_end();
p++)
{
V(v,0) = p->point().x();
V(v,1) = p->point().y();
V(v,2) = p->point().z();
vertex_to_index[p] = v;
v++;
}
}
{
size_t f = 0;
for(
typename Polyhedron::Facet_const_iterator facet = poly.facets_begin();
facet != poly.facets_end();
++facet)
{
typename Polyhedron::Halfedge_around_facet_const_circulator he =
facet->facet_begin();
// Facets in polyhedral surfaces are at least triangles.
assert(CGAL::circulator_size(he) == 3 && "Facets should be triangles");
size_t c = 0;
do {
//// This is stooopidly slow
// F(f,c) = std::distance(poly.vertices_begin(), he->vertex());
F(f,c) = vertex_to_index[he->vertex()];
c++;
} while ( ++he != facet->facet_begin());
f++;
}
}
}
void intersection( const Polyhedron& P) {
std::vector<Box> boxes;
boxes.reserve( P.size_of_facets());
for ( Facet_const_iterator i = P.facets_begin(); i != P.facets_end(); ++i){
boxes.push_back(
Box( i->halfedge()->vertex()->point().bbox()
+ i->halfedge()->next()->vertex()->point().bbox()
+ i->halfedge()->next()->next()->vertex()->point().bbox(),
i));
}
std::vector<const Box*> box_ptr;
box_ptr.reserve( P.size_of_facets());
for ( std::vector<Box>::iterator j = boxes.begin(); j != boxes.end(); ++j){
box_ptr.push_back( &*j);
}
CGAL::box_self_intersection_d( box_ptr.begin(), box_ptr.end(),
Intersect_facets(), std::ptrdiff_t(2000));
}
int main(int argc, const char **argv )
{
std::vector<Point> points;
CGAL::Random_points_on_sphere_3<Point> g;
size_t N = 0;
if (argc > 1)
N = atof(argv[1]);
N = std::max(size_t(100), N);
for (size_t i = 0; i < N; ++i)
points.push_back(rescale(*g++));
for (size_t n = 0; n < 100; ++n)
{
std::cerr << "step " << n << ":\n\t";
lloyd_step(points);
}
Polyhedron P;
CGAL::convex_hull_3(points.begin(), points.end(), P);
CGAL::set_ascii_mode( std::cout);
std::cout << "OFF" << std::endl << P.size_of_vertices() << ' '
<< P.size_of_facets() << " 0" << std::endl;
std::copy( P.points_begin(), P.points_end(),
std::ostream_iterator<Point>( std::cout, "\n"));
for ( Facet_iterator i = P.facets_begin(); i != P.facets_end(); ++i) {
Halfedge_facet_circulator j = i->facet_begin();
// Facets in polyhedral surfaces are at least triangles.
CGAL_assertion( CGAL::circulator_size(j) >= 3);
std::cout << CGAL::circulator_size(j) << ' ';
do {
std::cout << ' ' << std::distance(P.vertices_begin(), j->vertex());
} while ( ++j != i->facet_begin());
std::cout << std::endl;
}
std::ofstream os ("test.cloud");
std::copy(points.begin(), points.end(),
std::ostream_iterator<Point>(os, "\n"));
}
Input_facets_AABB_tree* get_aabb_tree(Scene_polyhedron_item* item)
{
QVariant aabb_tree_property = item->property(aabb_property_name);
if(aabb_tree_property.isValid()) {
void* ptr = aabb_tree_property.value<void*>();
return static_cast<Input_facets_AABB_tree*>(ptr);
}
else {
Polyhedron* poly = item->polyhedron();
if(poly) {
Input_facets_AABB_tree* tree =
new Input_facets_AABB_tree(poly->facets_begin(),
poly->facets_end());
item->setProperty(aabb_property_name,
QVariant::fromValue<void*>(tree));
return tree;
}
else return 0;
}
}
static void remove_small_triangles(Polyhedron& p, const double threshold)
{
int n = number_of_degenerate_facets(p, threshold);
while (n > 0)
{
for (typename Polyhedron::Facet_iterator facet = p.facets_begin();
facet != p.facets_end(); facet++)
{
dolfin_assert(facet->is_triangle());
if (get_triangle_area<Polyhedron>(facet) < threshold)
{
// cout << "Small triangle detected" << endl;
// print_facet<Polyhedron>(facet);
remove_triangle<Polyhedron>(p, facet);
n = number_of_degenerate_facets<Polyhedron>(p, threshold);
break;
}
}
}
}
ofMesh & ofxCGALSkinSurface::makeSkinSurfaceMesh() {
std::list<Weighted_point> l;
FT shrinkfactor = shrinkFactor;
for(int i=0; i<points.size(); i++) {
float px = points[i].point.x;
float py = points[i].point.y;
float pz = points[i].point.z;
float radius = points[i].radius;
l.push_front(Weighted_point(Bare_point(px, py, pz), radius * radius));
}
Skin_surface_3 skin_surface(l.begin(), l.end(), shrinkfactor);
Polyhedron p;
CGAL::mesh_skin_surface_3(skin_surface, p);
if(bSubdiv == true) {
CGAL::subdivide_skin_surface_mesh_3(skin_surface, p);
}
mesh.clear();
map<Point_3, int> point_indices;
int count = 0;
for (auto it=p.vertices_begin(); it!=p.vertices_end(); ++it) {
auto& p = it->point();
mesh.addVertex(ofVec3f(p.x(), p.y(), p.z()));
point_indices[p] = count++;
}
for (auto it=p.facets_begin(); it!=p.facets_end(); ++it) {
mesh.addIndex(point_indices[it->halfedge()->vertex()->point()]);
mesh.addIndex(point_indices[it->halfedge()->next()->vertex()->point()]);
mesh.addIndex(point_indices[it->halfedge()->prev()->vertex()->point()]);
}
}
int main() {
//std::cout<<CGBench::BendBench::Run(CGBench::VMag::M1)<<std::endl;
//CGBench::BenchLanuch(CGBench::VMag::M3,CGBench::VMag::M3);
/*std::ofstream of("C:\\123.off");
std::vector <Point_3> arr;
arr.push_back(Point_3 (2,0,2));
arr.push_back(Point_3 (6,0,3));
arr.push_back(Point_3 (8,0,4));
arr.push_back(Point_3 (3,0,5));
arr.push_back(Point_3 (5,0,6));
arr.push_back(Point_3 (8,0,7));
arr.push_back(Point_3 (0,1.75,8));
arr.push_back(Point_3 (0,1.50,8));
arr.push_back(Point_3 (0,1.25,8));
arr.push_back(Point_3 (0,1,8));
arr.push_back(Point_3 (0,1,7));
arr.push_back(Point_3 (0,1,6));
arr.push_back(Point_3 (0,1,5));
arr.push_back(Point_3 (0,1,4));
arr.push_back(Point_3 (0,1,3));
arr.push_back(Point_3 (0,1.25,3));
arr.push_back(Point_3 (0,1.50,3));
arr.push_back(Point_3 (0,1.75,3));
Point_3* Center = new Point_3(0,0,0);*/
//Arc_2 s(30,270,30,true);
//Circle_2 s(4,20);
//Ellipse_2 s(6,4,30);
//Plane_3 s(30,30,10,10);
//Rectangle_2 s(20,10);
//Box_3 s(20,20,20,15,15,15);
//Capsule_3 s(30,200,10,10);
//ChamferCyl_3 s(60,100,30,10,5,5,15);
//Cone_3 s(2,5,10,3,3,3);
//Cylinder_3 s(3,20,20,9,30);
//Lathe_3 s(arr,Center,Z_ax,20,360);
//Pyramid_3 s(100,200,200,4,4,4);
//Sphere_3 s(20,50);
//Spindle_3 s(10,30,20,10,5,15);
//Spring_3 s(20,2.5,200,10,10,40);
//Torus_3 s(20,5,0,0,30,40);
//Tube_3 s(14,13,15,20,20,10);
//Polyhedron P;
//P = s.Draw();
//Traingulate trg;
//P=s.Draw();
//std::transform(P.facets_begin(), P.facets_end(), P.planes_begin(), Normal_vector());
/*Eigen::Transform3d T;
Eigen::Vector3d Original(0,0,10);
T.setIdentity();
T.pretranslate (-Original);
trg.ApplyTransformToPolyhedron(P,T);*/
//Traingulate tr;
//tr.Do(P);
//Bevel Be(400,-4,1.25);
//Be.Do(P);
//Bridge Br(18,20);
//Br.Do(P);
//Extrude Ex(45,15);
//Ex.Do(P);
//Outline Ou(45,1.5);
//Ou.Do(P);
//Bend Ben(90,s.Center,Y_ax,false,20,-20);
//Ben.Do(P);
//Bulge Bu(40,s.Center,Z_ax,BRadial,false,45,-45);
//Bu.Do(P);
//Cylindrical_Wave CylWa(2,8,12,s.Center,Z_ax);
//CylWa.Do(P);
//Linear_Wave LiWaX(1,10,0,s.Center,Z_ax,X_ax);
//LiWaX.Do(P);
//Linear_Wave LiWaY(2,10,0,s.Center,Z_ax,Y_ax);
//LiWaY.Do(P);
/*ChamferCyl_3 n(1,50,5,10,10,10,40);
Spindle_3 p(5,30,5,10,20,40);
Polyhedron P;
Polyhedron E;
E = p.Draw();
P = n.Draw();
Morph Mor(E,50);
Mor.Do(P);*/
//Noise No(5,0.3,0,s.Center,Z_ax);
//No.Do(P);
//Skew Sk(30,s.Center,Z_ax,false,20,-20);
//Sk.Do(P);
//Smooth Sm(1);
//Sm.Do(P);
//Spherify Sph(50);
//Sph.Do(P);
//Squeeze Sq(-30,s.Center,Z_ax,false,10,0);
//Sq.Do(P);
//Stretch St(-20,s.Center,Z_ax,true,50,-50);
//St.Do(P);
//Taper Ta(3,s.Center,X_ax,false,20,-20);
//Ta.Do(P);
//Twist Tw(270,s.Center,Z_ax,true,-5,15);
//Tw.Do(P);
/*Box_3 B(20, 30, 60, 20, 30, 30);
Polyhedron P = B.Draw();
Twist Tw1(270, B.Center, Z_ax, true, 30, 10);
Twist Tw2(-270, B.Center, Z_ax, true, -10, -30);
Stretch St(30, B.Center, Z_ax, true, 20,-20);
Squeeze Sq(15, B.Center, Z_ax);
Tw1.Do(P);
Tw2.Do(P);
Sq.Do(P);
St.Do(P);*/
std::ofstream of("C:\\123.off");
Box_3 B(20, 30, 60, 20, 30, 30);
Polyhedron P = B.Draw();
Twist Tw1(270, B.Center, Z_ax, true, 30, 10);
Twist Tw2(-270, B.Center, Z_ax, true, -10, -30);
Stretch St(30, B.Center, Z_ax, true, 20,-20);
Squeeze Sq(15, B.Center, Z_ax);
Tw1.Do(P);
Tw2.Do(P);
Sq.Do(P);
St.Do(P);
//// Write polyhedron in Object File Format (OFF).
CGAL::set_ascii_mode( of );
of << "OFF" << std::endl << P.size_of_vertices() << ' ' << P.size_of_facets() << " 0" << std::endl;
std::copy( P.points_begin(), P.points_end(), std::ostream_iterator<Point_3>( of, "\n"));
for ( Facet_iterator i = P.facets_begin(); i != P.facets_end(); ++i)
{
Halfedge_facet_circulator j = i->facet_begin();
// Facets in polyhedral surfaces are at least triangles.
CGAL_assertion( CGAL::circulator_size(j) >= 3);
of << CGAL::circulator_size(j) << ' ';
do
{
of << ' ' << std::distance(P.vertices_begin(), j->vertex());
} while ( ++j != i->facet_begin());
of << std::endl;
}
/* Write polyhedron in (OBJ).
CGAL::set_ascii_mode( oof );
oof << "# " << P.size_of_vertices() << ' ' << std::endl <<"# "<< P.size_of_facets() << std::endl;
oof<<"v ";
std::copy( P.points_begin(), P.points_end(), std::ostream_iterator<Point_3>( oof, "\nv "));
oof<<"_ _ _\n";
for ( Facet_iterator i = P.facets_begin(); i != P.facets_end(); ++i)
{
Halfedge_facet_circulator j = i->facet_begin();
// Facets in polyhedral surfaces are at least triangles.
//CGAL_assertion( CGAL::circulator_size(j) >= 3);
oof << 'f' << ' ';
do
{
oof << ' ' << std::distance(P.vertices_begin(), j->vertex())+1;
} while ( ++j != i->facet_begin());
oof << std::endl;
}
*/
return 0;
}
void PoissonSurfaceReconstruction::reconstruct(std::vector<Eigen::Vector3d> &points, std::vector<Eigen::Vector3d> &normals, TriangleMesh &mesh){
assert(points.size() == normals.size());
std::cout << "creating points with normal..." << std::endl;
std::vector<Point_with_normal> points_with_normal;
points_with_normal.resize((int)points.size());
for(int i=0; i<(int)points.size(); i++){
Vector vec(normals[i][0], normals[i][1], normals[i][2]);
//Point_with_normal pwn(points[i][0], points[i][1], points[i][2], vec);
//points_with_normal[i] = pwn;
points_with_normal[i] = Point_with_normal(points[i][0], points[i][1], points[i][2], vec);
}
std::cout << "constructing poisson reconstruction function..." << std::endl;
Poisson_reconstruction_function function(points_with_normal.begin(), points_with_normal.end(),
CGAL::make_normal_of_point_with_normal_pmap(PointList::value_type()));
std::cout << "computing implicit function..." << std::endl;
if( ! function.compute_implicit_function() ) {
std::cout << "compute implicit function is failure" << std::endl;
return;
}
//return EXIT_FAILURE;
// Computes average spacing
std::cout << "compute average spacing..." << std::endl;
FT average_spacing = CGAL::compute_average_spacing(points_with_normal.begin(), points_with_normal.end(),
6 /* knn = 1 ring */);
// Gets one point inside the implicit surface
// and computes implicit function bounding sphere radius.
Point inner_point = function.get_inner_point();
Sphere bsphere = function.bounding_sphere();
FT radius = std::sqrt(bsphere.squared_radius());
// Defines the implicit surface: requires defining a
// conservative bounding sphere centered at inner point.
FT sm_sphere_radius = 5.0 * radius;
FT sm_dichotomy_error = distance_criteria*average_spacing/1000.0; // Dichotomy error must be << sm_distance
//FT sm_dichotomy_error = distance_criteria*average_spacing/10.0; // Dichotomy error must be << sm_distance
std::cout << "reconstructed surface" << std::endl;
Surface_3 reconstructed_surface(function,
Sphere(inner_point,sm_sphere_radius*sm_sphere_radius),
sm_dichotomy_error/sm_sphere_radius);
// Defines surface mesh generation criteria
CGAL::Surface_mesh_default_criteria_3<STr> criteria(angle_criteria, // Min triangle angle (degrees)
radius_criteria*average_spacing, // Max triangle size
distance_criteria*average_spacing); // Approximation error
std::cout << "generating surface mesh..." << std::endl;
// Generates surface mesh with manifold option
STr tr; // 3D Delaunay triangulation for surface mesh generation
C2t3 c2t3(tr); // 2D complex in 3D Delaunay triangulation
CGAL::make_surface_mesh(c2t3, // reconstructed mesh
reconstructed_surface, // implicit surface
criteria, // meshing criteria
CGAL::Manifold_tag()); // require manifold mesh
if(tr.number_of_vertices() == 0){
std::cout << "surface mesh generation is failed" << std::endl;
return;
}
Polyhedron surface;
CGAL::output_surface_facets_to_polyhedron(c2t3, surface);
// convert CGAL::surface to TriangleMesh //
std::cout << "converting CGA::surface to TriangleMesh..." << std::endl;
std::vector<Eigen::Vector3d> pts;
std::vector<std::vector<int> > faces;
pts.resize(surface.size_of_vertices());
faces.resize(surface.size_of_facets());
Polyhedron::Point_iterator pit;
int index = 0;
for(pit=surface.points_begin(); pit!=surface.points_end(); ++pit){
pts[index][0] = pit->x();
pts[index][1] = pit->y();
pts[index][2] = pit->z();
index ++;
}
index = 0;
Polyhedron::Face_iterator fit;
for(fit=surface.facets_begin(); fit!=surface.facets_end(); ++fit){
std::vector<int > face(3);
Halfedge_facet_circulator j = fit->facet_begin();
int f_index = 0;
do {
face[f_index] = std::distance(surface.vertices_begin(), j->vertex());
f_index++;
} while ( ++j != fit->facet_begin());
faces[index] = face;
index++;
}
mesh.createFromFaceVertex(pts, faces);
}
/*
* mexFunction(): entry point for the mex function
*/
void mexFunction(int nlhs, mxArray *plhs[],
int nrhs, const mxArray *prhs[]) {
// interface to deal with input arguments from Matlab
enum InputIndexType {IN_TRI, IN_X, IN_METHOD, IN_ITER, InputIndexType_MAX};
MatlabImportFilter::Pointer matlabImport = MatlabImportFilter::New();
matlabImport->ConnectToMatlabFunctionInput(nrhs, prhs);
// check that we have all input arguments
matlabImport->CheckNumberOfArguments(2, InputIndexType_MAX);
// register the inputs for this function at the import filter
MatlabInputPointer inTRI = matlabImport->RegisterInput(IN_TRI, "TRI");
MatlabInputPointer inX = matlabImport->RegisterInput(IN_X, "X");
MatlabInputPointer inMETHOD = matlabImport->RegisterInput(IN_METHOD, "METHOD");
MatlabInputPointer inITER = matlabImport->RegisterInput(IN_ITER, "ITER");
// interface to deal with outputs to Matlab
enum OutputIndexType {OUT_TRI, OUT_N, OutputIndexType_MAX};
MatlabExportFilter::Pointer matlabExport = MatlabExportFilter::New();
matlabExport->ConnectToMatlabFunctionOutput(nlhs, plhs);
// check number of outputs the user is asking for
matlabExport->CheckNumberOfArguments(0, OutputIndexType_MAX);
// register the outputs for this function at the export filter
typedef MatlabExportFilter::MatlabOutputPointer MatlabOutputPointer;
MatlabOutputPointer outTRI = matlabExport->RegisterOutput(OUT_TRI, "TRI");
MatlabOutputPointer outN = matlabExport->RegisterOutput(OUT_N, "N");
// if any of the inputs is empty, the output is empty too
if (mxIsEmpty(prhs[IN_TRI]) || mxIsEmpty(prhs[IN_X])) {
matlabExport->CopyEmptyArrayToMatlab(outTRI);
matlabExport->CopyEmptyArrayToMatlab(outN);
return;
}
// polyhedron to contain the input mesh
Polyhedron mesh;
PolyhedronBuilder<Polyhedron> builder(matlabImport, inTRI, inX);
mesh.delegate(builder);
// get size of input matrix with the points
mwSize nrowsTri = mxGetM(inTRI->pm);
mwSize nrowsX = mxGetM(inX->pm);
#ifdef DEBUG
std::cout << "Number of facets read = " << mesh.size_of_facets() << std::endl;
std::cout << "Number of vertices read = " << mesh.size_of_vertices() << std::endl;
#endif
if (nrowsTri != mesh.size_of_facets()) {
mexErrMsgTxt(("Input " + inTRI->name + ": Number of triangles read into mesh different from triangles provided at the input").c_str());
}
if (nrowsX != mesh.size_of_vertices()) {
mexErrMsgTxt(("Input " + inX->name + ": Number of vertices read into mesh different from vertices provided at the input").c_str());
}
// sort halfedges such that the non-border edges precede the
// border edges. We need to do this before any halfedge iterator
// operations are valid
mesh.normalize_border();
#ifdef DEBUG
std::cout << "Number of border halfedges = " << mesh.size_of_border_halfedges() << std::endl;
#endif
// number of holes we have filled
mwIndex n = 0;
// a closed mesh with no holes will have no border edges. What we do
// is grab a border halfedge and close the associated hole. This
// makes the rest of the iterators invalid, so we have to normalize
// the mesh again. Then we iterate, looking for a new border
// halfedge, filling the hole, etc.
//
// Note that confusingly, mesh.border_halfedges_begin() gives a
// pointer to the halfedge that is NOT a border in a border
// edge. The border halfedge is instead
// mesh.border_halfedges_begin()->opposite()
while (!mesh.is_closed()) {
// exit if user pressed Ctrl+C
ctrlcCheckPoint(__FILE__, __LINE__);
// get the first hole we can find, and close it
mesh.fill_hole(mesh.border_halfedges_begin()->opposite());
// increase the counter of number of holes we have filled
n++;
// renormalize mesh so that halfedge iterators are again valid
mesh.normalize_border();
}
// split all facets to triangles
CGAL::triangulate_polyhedron<Polyhedron>(mesh);
// copy output with number of holes filled
std::vector<double> nout(1, n);
matlabExport->CopyVectorOfScalarsToMatlab<double, std::vector<double> >(outN, nout, 1);
// allocate memory for Matlab outputs
double *tri = matlabExport->AllocateMatrixInMatlab<double>(outTRI, mesh.size_of_facets(), 3);
// extract the triangles of the solution
// snippet adapted from CgalMeshSegmentation.cpp
// vertices coordinates. Assign indices to the vertices by defining
// a map between their handles and the index
std::map<Vertex_handle, int> V;
int inum = 0;
for(Vertex_iterator vit = mesh.vertices_begin(); vit != mesh.vertices_end(); ++vit) {
// save to internal list of vertices
V[vit] = inum++;
}
// triangles given as (i,j,k), where each index corresponds to a vertex in x
mwIndex row = 0;
for (Facet_iterator fit = mesh.facets_begin(); fit != mesh.facets_end(); ++fit, ++row) {
if (fit->facet_degree() != 3) {
std::cerr << "Facet has " << fit->facet_degree() << " edges" << std::endl;
mexErrMsgTxt("Facet does not have 3 edges");
}
// go around the half-edges of the facet, to extract the vertices
Halfedge_around_facet_circulator heit = fit->facet_begin();
int idx = 0;
do {
// extract triangle indices and save to Matlab output
// note that Matlab indices go like 1, 2, 3..., while C++ indices go like 0, 1, 2...
tri[row + idx * mesh.size_of_facets()] = 1 + V[heit->vertex()];
idx++;
} while (++heit != fit->facet_begin());
}
}
void groupSemanticFacets(Polyhedron& polyhe,sfsVec& semFacetSetsVector,sfsVec& openSFSVector,std::map<int,std::vector<int>>& openingMap){
bool skip;
// Group non-openings
for (Polyhedron::Facet_iterator fIt=polyhe.facets_begin();fIt!=polyhe.facets_end();++fIt) {
if (fIt->semanticBLA == "Window" || fIt->semanticBLA == "Door") continue; // Skip openings
skip = false; // Check of facet has already been processed
for (unsigned int i=0;i<semFacetSetsVector.size();++i) {
if (semFacetSetsVector[i].first == fIt->semanticBLA // Check sem of set
&& (semFacetSetsVector[i].second.find(fIt)!=semFacetSetsVector[i].second.end())) { // if in set -> skip
skip = true;
break;
}
}
if (skip) continue;
std::set<Polyhedron::Facet_handle> fhSet;
connectedSemFacets(fIt,fIt->semanticBLA,false,fhSet,false); // Get list of all (in)directly connected facets
semFacetSetsVector.push_back(sfsPair(fIt->semanticBLA,fhSet)); // Store connected facet list
}
// Group and match openings
for (Polyhedron::Facet_iterator fIt=polyhe.facets_begin();fIt!=polyhe.facets_end();++fIt) {
if (!(fIt->semanticBLA == "Window" || fIt->semanticBLA == "Door")) continue; // Skip non-openings
skip = false; // Check of facet has already been processed
for (unsigned int i=0;i<openSFSVector.size();++i) {
if (openSFSVector[i].first == fIt->semanticBLA // Check sem of set
&& (openSFSVector[i].second.find(fIt)!=openSFSVector[i].second.end())) { // if in set -> skip
skip = true;
break;
}
}
if (skip) continue;
// Store opening facets
std::set<Polyhedron::Facet_handle> fhSet;
connectedSemFacets(fIt,fIt->semanticBLA,false,fhSet,false);
openSFSVector.push_back(sfsPair(fIt->semanticBLA,fhSet));
// Match/Find Surface containing the opening
bool found = false;
bool setRoof = false;
Polyhedron::Facet_handle otherFace;
otherFace->semanticBLA;
Polyhedron::Facet::Halfedge_around_facet_circulator itHDS;
for (std::set<Polyhedron::Facet_handle>::iterator setIt=fhSet.begin();setIt!=fhSet.end();++setIt) {
itHDS = (*setIt)->facet_begin(); // Loop over the edges
do {
if (itHDS->opposite()->facet()->semanticBLA=="Wall" || itHDS->opposite()->facet()->semanticBLA=="WallSurface") {
otherFace = itHDS->opposite()->facet(); // Prefer wall surfaces
found = true;
break;
} else if (itHDS->opposite()->facet()->semanticBLA=="Roof" || itHDS->opposite()->facet()->semanticBLA=="RoofSurface") {
otherFace = itHDS->opposite()->facet(); // Prefer wall surfaces
setRoof = true;
} else if (!setRoof // Roof is better than other (except wall)
&& itHDS->opposite()->facet()->semanticBLA!="Window"
&& itHDS->opposite()->facet()->semanticBLA!="Door"
&& itHDS->opposite()->facet()->semanticBLA!="Install"
&& itHDS->opposite()->facet()->semanticBLA!="BuildingInstallation")
otherFace = itHDS->opposite()->facet();
} while (++itHDS != (*setIt)->facet_begin());
if (found) break; // Break when wall or roof found
}
int openingContainer = 0; // Index of container surface
for (unsigned int i=0;i<semFacetSetsVector.size();++i) {
if (semFacetSetsVector[i].first == otherFace->semanticBLA // Check sem of set
&& (semFacetSetsVector[i].second.find(otherFace)!=semFacetSetsVector[i].second.end())) { // if in set -> skip
openingContainer = i;
break;
}
}
openingMap[openingContainer].push_back(openSFSVector.size()-1); // Add opening reference to container vector
}
}
void apply_semanticRequirements(Polyhedron& exteriorPolyhe) {
std::map<std::string,std::vector<bool>> semanticNormals;
semanticNormals["Roof"] = std::vector<bool>(3,true);
semanticNormals["Roof"][2] = false; // down
semanticNormals["Ground"] = std::vector<bool>(3,false);
semanticNormals["Ground"][2] = true;
semanticNormals["Ceiling"] = std::vector<bool>(3,false);
semanticNormals["Ceiling"][2] = true;
semanticNormals["Floor"] = std::vector<bool>(3,false);
semanticNormals["Floor"][0] = true;
semanticNormals["Wall"] = std::vector<bool>(3,true);
semanticNormals["Window"] = std::vector<bool>(3,true);
semanticNormals["Door"] = std::vector<bool>(3,true);
semanticNormals["Closure"] = std::vector<bool>(3,true);
semanticNormals[TO_DIST_SEMANTIC] = std::vector<bool>(3,true);
//semanticNormals["Anything"] = std::vector<bool>(3,true);
std::map<std::string,int> semanticEnum;
semanticEnum["Roof"] = 1;
semanticEnum["Window"] = 2;
semanticEnum["Door"] = 3;
semanticEnum["Wall"] = 4;
semanticEnum["Ground"] = 5;
semanticEnum["Ceiling"] = 6;
semanticEnum["Floor"] = 7;
semanticEnum["Closure"] = 8;
semanticEnum["Anything"] = 9;
//semanticEnum["Install"] = 10;
Vector_3 ortVec;
Polyhedron::Facet_iterator exfIt; // Iterate over exterior faces
for (exfIt = exteriorPolyhe.facets_begin(); exfIt != exteriorPolyhe.facets_end(); ++exfIt) {
int minSem = 99;
for (std::vector<std::string>::iterator svIt=exfIt->equidistSems.begin();svIt!=exfIt->equidistSems.end();++svIt) { // Add equidist semantics
std::map<std::string,int>::iterator seIt = semanticEnum.find(*svIt);
if (seIt!=semanticEnum.end()) { // ......
if (seIt->second<minSem) {
minSem = seIt->second;
exfIt->semanticBLA = *svIt;
}
}else { // This seems wrong...
exfIt->semanticBLA = *svIt;
break;
}
}
pointVector facetPoints = comp_facetPoints(exfIt);
CGAL::normal_vector_newell_3(facetPoints.begin(),facetPoints.end(),ortVec); // Calculate normal vector, ortVec set to zero in newell
if (!normalizeVector(ortVec)) continue;
std::map<std::string,std::vector<bool>>::iterator snIt = semanticNormals.find(exfIt->semanticBLA);
if (snIt!=semanticNormals.end()) {
if (!snIt->second[0] && ortVec.z() > HORIZONTAL_ANGLE_RANGE)
exfIt->semanticBLA = DEFAULT_UP_SEMANTIC;
else if (!snIt->second[1] && ortVec.z() <= HORIZONTAL_ANGLE_RANGE && ortVec.z() >= -HORIZONTAL_ANGLE_RANGE)
exfIt->semanticBLA = DEFAULT_HOR_SEMANTIC;
else if (!snIt->second[2] && ortVec.z() <= -HORIZONTAL_ANGLE_RANGE)
exfIt->semanticBLA = DEFAULT_DOWN_SEMANTIC;
} else {
if (ortVec.z() > HORIZONTAL_ANGLE_RANGE)
exfIt->semanticBLA = DEFAULT_UP_SEMANTIC;
else if (ortVec.z() <= HORIZONTAL_ANGLE_RANGE && ortVec.z() >= -HORIZONTAL_ANGLE_RANGE)
exfIt->semanticBLA = DEFAULT_HOR_SEMANTIC;
else if (ortVec.z() <= -HORIZONTAL_ANGLE_RANGE)
exfIt->semanticBLA = DEFAULT_DOWN_SEMANTIC;
}
}
// Set semantics of facets created due to closing (too far from original geometry)
for (exfIt = exteriorPolyhe.facets_begin(); exfIt != exteriorPolyhe.facets_end(); ++exfIt) {
if (exfIt->semanticBLA==TO_DIST_SEMANTIC) {
std::set<Polyhedron::Facet_handle> fhSet;
connectedSemFacets(exfIt,TO_DIST_SEMANTIC,false,fhSet);
bool canBeUp = indirectlyTouchingFindSem(DEFAULT_UP_SEMANTIC,fhSet);
bool canBeDown = indirectlyTouchingFindSem(DEFAULT_DOWN_SEMANTIC,fhSet);
assignCeilVloor(fhSet,canBeUp,canBeDown);
}
}
}
// a helper method for running different iterators
void running_iterators( Polyhedron& P) {
if ( P.size_of_facets() == 0)
return;
std::size_t nv = P.size_of_vertices();
std::cout << "The number of vertices in the Polyhedron: " << nv << std::endl;
std::cout << "The number of facets in the Polyhedron: " << P.size_of_facets() << std::endl;
std::cout << "The number of half edges in the Polyhedron: " << P.size_of_halfedges() << std::endl;
std::cout << std:: endl;
Polyhedron::Vertex_iterator last_v = P.vertices_end();
-- last_v; // the last of the old vertices
Polyhedron::Edge_iterator last_e = P.edges_end();
-- last_e; // the last of the old edges
Polyhedron::Facet_iterator last_f = P.facets_end();
-- last_f; // the last of the old facets
int k = 0;
Polyhedron::Facet_iterator f = P.facets_begin();
do {
std::cout << "Printing a facet index: " << k++ << std::endl;
f->halfedge();
} while ( f++ != last_f);
std::cout << std::endl;
// -------------------------------------------------
// traverse the vertices
// -------------------------------------------------
std::cout << "Printing the vertex indices: " << std::endl;
int n=0;
for (Polyhedron::Vertex_iterator vi = P.vertices_begin(); vi != P.vertices_end(); ++vi)
{
Kernel::Point_3 p;
p = vi->point();
std::cout << "Vertex index: " << n++ << std::endl;
std::cout << "p.x() = " << p.x() << std::endl;
std::cout << "p.y() = " << p.y() << std::endl;
std::cout << "p.z() = " << p.z() << std::endl;
}
std::cout << std::endl;
// -------------------------------------------------
// traverse the edges
// -------------------------------------------------
std::cout << "Iterating over the edges.... " << std::endl;
n=0;
for (Polyhedron::Edge_iterator ei = P.edges_begin(); ei != P.edges_end(); ++ei)
{
ei->next();
Kernel::Point_3 p;
p = ei->vertex()->point();
std::cout << "For edge index: " << n++ << std::endl;
std::cout << "p.x() = " << p.x() << std::endl;
std::cout << "p.y() = " << p.y() << std::endl;
std::cout << "p.z() = " << p.z() << std::endl;
}
std::cout << std::endl;
// -----------------------------------------------
// Do something else with the edge iterators
// -----------------------------------------------
Polyhedron::Edge_iterator e = P.edges_begin();
++ last_e; // make it the past-the-end position again
while ( e != last_e) {
Polyhedron::Halfedge_handle h = e;
++e;
};
CGAL_postcondition( P.is_valid());
}
int main()
{
Point p(1.0, 0.0, 0.0);
Point q(0.0, 1.0, 0.0);
Point r(0.0, 0.0, 1.0);
Point s(0.0, 0.0, 0.0);
Polyhedron polyhedron;
polyhedron.make_tetrahedron(p, q, r, s);
// constructs AABB tree
Tree tree(polyhedron.facets_begin(),polyhedron.facets_end(),polyhedron);
// constructs segment query
Point a(-0.2, 0.2, -0.2);
Point b(1.3, 0.2, 1.3);
Segment segment_query(a,b);
// tests intersections with segment query
if(tree.do_intersect(segment_query))
std::cout << "intersection(s)" << std::endl;
else
std::cout << "no intersection" << std::endl;
// computes #intersections with segment query
std::cout << tree.number_of_intersected_primitives(segment_query)
<< " intersection(s)" << std::endl;
// computes first encountered intersection with segment query
// (generally a point)
Segment_intersection intersection =
tree.any_intersection(segment_query);
if(intersection)
{
// gets intersection object
if(boost::get<Point>(&(intersection->first)))
std::cout << "intersection object is a point" << std::endl;
}
// computes all intersections with segment query (as pairs object - primitive_id)
std::list<Segment_intersection> intersections;
tree.all_intersections(segment_query, std::back_inserter(intersections));
// computes all intersected primitives with segment query as primitive ids
std::list<Primitive_id> primitives;
tree.all_intersected_primitives(segment_query, std::back_inserter(primitives));
// constructs plane query
Vector vec(0.0,0.0,1.0);
Plane plane_query(a,vec);
// computes first encountered intersection with plane query
// (generally a segment)
Plane_intersection plane_intersection = tree.any_intersection(plane_query);
if(plane_intersection)
{
if(boost::get<Segment>(&(plane_intersection->first)))
std::cout << "intersection object is a segment" << std::endl;
}
return EXIT_SUCCESS;
}
void set_semantic_AABB_C2V(Polyhedron& exteriorPolyhe,PolVector& polyVec) {
if (exteriorPolyhe.is_pure_triangle()) {
std::transform( exteriorPolyhe.facets_begin(), exteriorPolyhe.facets_end(),exteriorPolyhe.planes_begin(),Plane_equation());
std::vector<std::string> semList;
std::vector<std::shared_ptr<AAbbTree>> treeList;
// Build Trees. One for each semantic
for(PolVector::iterator pvIt = polyVec.begin();pvIt!=polyVec.end();++pvIt) {// Get AABB trees of all semantics
if (pvIt->is_pure_triangle()) {
std::string semP = pvIt->facets_begin()->semanticBLA;
std::vector<std::string>::iterator strIt = std::find(semList.begin(), semList.end(),semP);
if (strIt==semList.end()) { // If new sematic
semList.push_back(semP); // Add sem
std::shared_ptr<AAbbTree> tree = std::make_shared<AAbbTree>(pvIt->facets_begin(),pvIt->facets_end()); // Create tree
tree->accelerate_distance_queries(); // accelerate
treeList.push_back(tree); // Add tree
} else // If not new
treeList[strIt-semList.begin()]->insert(pvIt->facets_begin(),pvIt->facets_end()); // Append to tree
} else std::cerr << "ERROR: Not pure triangle (set_semantic_AABB2C2V)" << std::endl;
}
// For each facet calculate the least distance to each tree
std::string semListStr = boost::algorithm::join((semList), " ");
int percCount = 1;
Polyhedron::Facet_iterator exfIt; // Iterate over exterior faces
for (exfIt = exteriorPolyhe.facets_begin(); exfIt != exteriorPolyhe.facets_end(); ++exfIt,++percCount) {
std::cout << "\r"<<semListStr<<". ("<<100*percCount/exteriorPolyhe.size_of_facets()<<"%)";
Vector_3 orthVec = exfIt->plane().orthogonal_vector();
normalizeVector(orthVec); //if (!normalizeVector(ortVec)) continue;
std::vector<distSemFace> dsfList(semList.size());
Point_3 centerPoint = comp_facetCentroid(exfIt); // Compute centroid
std::vector<Kernel::FT> leastSemDistances;
for (int intIt=0;intIt<(int)treeList.size();++intIt) { // Loop over all trees
AAbbTree::Point_and_primitive_id pp = treeList[intIt]->closest_point_and_primitive(centerPoint);
dsfList[intIt].dist = CGAL::squared_distance(centerPoint,pp.first); // Store distance semantic and facet for each tree
dsfList[intIt].sem = semList[intIt];
dsfList[intIt].fh = pp.second;
}
std::sort(dsfList.begin(),dsfList.end(),by_dist());
exfIt->leastSqDistance = dsfList[0].dist; // least sqrt distance
if (exfIt->isMinkFacet = dsfList[0].dist > SEMANTIC_DISTANCE_THRESHOLD) {
exfIt->semanticBLA = TO_DIST_SEMANTIC; // Default semantic if too distant
continue;
} else
exfIt->semanticBLA = dsfList[0].sem; // Semantics of closest
Vector_3 faceNormal;
Kernel::FT faceSqArea;
double minAngle = 10;
Kernel::FT maxArea= 0;
for (std::vector<distSemFace>::iterator slIt = dsfList.begin();slIt != dsfList.end();++slIt)// HANDLE ANYTHING AS LESS IMPORTANT
if (slIt->dist < dsfList[0].dist+OVERLAP_DIST_THRESHOLD) { // Check if Equidistant
pointVector facetPoints = comp_facetPoints(exfIt);
CGAL::normal_vector_newell_3(facetPoints.begin(),facetPoints.end(),faceNormal); // Calculate normal vector, ortVec set to zero in newell
double angle = comp_angle(orthVec,faceNormal);
if (angle!=-1 && angle < minAngle+OVERLAP_ANGLE_THRESHOLD) {
if (minAngle >= angle+OVERLAP_ANGLE_THRESHOLD) exfIt->equidistSems.clear();
if (angle < minAngle) minAngle = angle;
faceSqArea = comp_facetSquaredArea(facetPoints);
if (faceSqArea>maxArea-OVERLAP_AREA_THRESHOLD) {
if (maxArea<=faceSqArea-OVERLAP_AREA_THRESHOLD) exfIt->equidistSems.clear();
if (faceSqArea>maxArea) maxArea = faceSqArea;
exfIt->equidistSems.push_back(slIt->sem); // Add equidist semantics
}
}
}
}
std::cout << "\r"<<semListStr<<". (100%)" << std::endl;
}else std::cerr << "ERROR: Not pure triangle (set_semantic_AABB2C2V)" << std::endl;
}
