GenericIndexedMesh* Neighbourhood::triangulateOnPlane(bool duplicateVertices/*=false*/, PointCoordinateType maxEdgeLength/*=0*/)
{
if (m_associatedCloud->size()<CC_LOCAL_MODEL_MIN_SIZE[TRI])
{
//can't compute LSF plane with less than 3 points!
return 0;
}
//project the points on this plane
GenericIndexedMesh* mesh = 0;
std::vector<CCVector2> points2D;
if (projectPointsOn2DPlane<CCVector2>(points2D))
{
Delaunay2dMesh* dm = new Delaunay2dMesh();
//triangulate the projected points
if (!dm->build(points2D,0))
{
delete dm;
return 0;
}
//change the default mesh's reference
if (duplicateVertices)
{
ChunkedPointCloud* cloud = new ChunkedPointCloud();
unsigned count = m_associatedCloud->size();
if (!cloud->reserve(count))
{
delete dm;
delete cloud;
return 0;
}
for (unsigned i=0; i<count; ++i)
cloud->addPoint(*m_associatedCloud->getPoint(i));
dm->linkMeshWith(cloud,true);
}
else
{
dm->linkMeshWith(m_associatedCloud,false);
}
//remove triangles with too long edges
if (maxEdgeLength > 0)
{
dm->removeTrianglesLongerThan(maxEdgeLength);
if (dm->size() == 0)
{
//no more triangles?
delete dm;
dm = 0;
}
}
mesh = static_cast<GenericIndexedMesh*>(dm);
}
return mesh;
}
GenericIndexedMesh* Neighbourhood::triangulateFromQuadric(unsigned nStepX, unsigned nStepY)
{
if (nStepX<2 || nStepY<2)
return 0;
//qaudric fit
const PointCoordinateType* Q = getQuadric(); //Q: Z = a + b.X + c.Y + d.X^2 + e.X.Y + f.Y^2
if (!Q)
return 0;
const PointCoordinateType& a = Q[0];
const PointCoordinateType& b = Q[1];
const PointCoordinateType& c = Q[2];
const PointCoordinateType& d = Q[3];
const PointCoordinateType& e = Q[4];
const PointCoordinateType& f = Q[5];
const uchar X = m_quadricEquationDirections.x;
const uchar Y = m_quadricEquationDirections.y;
const uchar Z = m_quadricEquationDirections.z;
//gravity center (should be ok if the quadric is ok)
const CCVector3* G = getGravityCenter();
assert(G);
//bounding box
CCVector3 bbMin, bbMax;
m_associatedCloud->getBoundingBox(bbMin,bbMax);
CCVector3 bboxDiag = bbMax - bbMin;
//Sample points on Quadric and triangulate them!
PointCoordinateType spanX = bboxDiag.u[X];
PointCoordinateType spanY = bboxDiag.u[Y];
PointCoordinateType stepX = spanX/(nStepX-1);
PointCoordinateType stepY = spanY/(nStepY-1);
ChunkedPointCloud* vertices = new ChunkedPointCloud();
if (!vertices->reserve(nStepX*nStepY))
{
delete vertices;
return 0;
}
SimpleMesh* quadMesh = new SimpleMesh(vertices,true);
if (!quadMesh->reserve((nStepX-1)*(nStepY-1)*2))
{
delete quadMesh;
return 0;
}
for (unsigned x=0; x<nStepX; ++x)
{
CCVector3 P;
P.x = bbMin[X] + stepX * x - G->u[X];
for (unsigned y=0; y<nStepY; ++y)
{
P.y = bbMin[Y] + stepY * y - G->u[Y];
P.z = a+b*P.x+c*P.y+d*P.x*P.x+e*P.x*P.y+f*P.y*P.y;
CCVector3 Pc;
Pc.u[X] = P.x;
Pc.u[Y] = P.y;
Pc.u[Z] = P.z;
Pc += *G;
vertices->addPoint(Pc);
if (x>0 && y>0)
{
unsigned iA = (x-1) * nStepY + y-1;
unsigned iB = iA+1;
unsigned iC = iA+nStepY;
unsigned iD = iB+nStepY;
quadMesh->addTriangle(iA,iC,iB);
quadMesh->addTriangle(iB,iC,iD);
}
}
}
return quadMesh;
}
GenericIndexedMesh* Neighbourhood::triangulateOnPlane( bool duplicateVertices/*=false*/,
PointCoordinateType maxEdgeLength/*=0*/,
char* errorStr/*=0*/)
{
if (m_associatedCloud->size() < CC_LOCAL_MODEL_MIN_SIZE[TRI])
{
//can't compute LSF plane with less than 3 points!
if (errorStr)
strcpy(errorStr,"Not enough points");
return 0;
}
//safety check: Triangle lib will crash if the points are all the same!
if (computeLargestRadius() < ZERO_TOLERANCE)
{
return 0;
}
//project the points on this plane
GenericIndexedMesh* mesh = 0;
std::vector<CCVector2> points2D;
if (projectPointsOn2DPlane<CCVector2>(points2D))
{
Delaunay2dMesh* dm = new Delaunay2dMesh();
//triangulate the projected points
if (!dm->buildMesh(points2D,0,errorStr))
{
delete dm;
return 0;
}
//change the default mesh's reference
if (duplicateVertices)
{
ChunkedPointCloud* cloud = new ChunkedPointCloud();
unsigned count = m_associatedCloud->size();
if (!cloud->reserve(count))
{
if (errorStr)
strcpy(errorStr,"Not enough memory");
delete dm;
delete cloud;
return 0;
}
for (unsigned i=0; i<count; ++i)
cloud->addPoint(*m_associatedCloud->getPoint(i));
dm->linkMeshWith(cloud,true);
}
else
{
dm->linkMeshWith(m_associatedCloud,false);
}
//remove triangles with too long edges
if (maxEdgeLength > 0)
{
dm->removeTrianglesWithEdgesLongerThan(maxEdgeLength);
if (dm->size() == 0)
{
//no more triangles?
if (errorStr)
strcpy(errorStr,"Not triangle left after pruning");
delete dm;
dm = 0;
}
}
mesh = static_cast<GenericIndexedMesh*>(dm);
}
return mesh;
}
