Added function for computing the visibility of a point cloud and corrected a few bugs (abs instead of fabs, and missing vertex index for the vertices of the first tetrahedron)
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@ -42,6 +42,7 @@ class ConvexHull
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public:
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typedef typename InputMesh::ScalarType ScalarType;
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typedef typename InputMesh::CoordType CoordType;
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typedef typename InputMesh::VertexPointer InputVertexPointer;
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typedef typename InputMesh::VertexIterator InputVertexIterator;
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typedef typename CHMesh::VertexIterator CHVertexIterator;
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@ -109,7 +110,7 @@ private:
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for (int i = 0; i < 3; i++)
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{
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(*chVi).P().Import(v[i]->P());
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indexInputVertex[chVi] = 0;
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indexInputVertex[chVi] = vcg::tri::Index(mesh, v[i]);
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chVi++;
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}
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CHFaceIterator fi = vcg::tri::Allocator<CHMesh>::AddFace(convexHull, 0, 1, 2);
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@ -122,11 +123,11 @@ private:
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for (vi = mesh.vert.begin(); vi != mesh.vert.end(); vi++)
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{
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float tempDist = ((*vi).P() - (*fi).P(0)).dot((*fi).N());
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if (abs(tempDist) > absDist)
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if (fabs(tempDist) > absDist)
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{
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distance = tempDist;
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v4 = &(*vi);
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absDist = abs(distance);
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absDist = fabs(distance);
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}
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}
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@ -150,7 +151,7 @@ private:
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fi = vcg::tri::Allocator<CHMesh>::AddFace(convexHull, &convexHull.vert[3], convexHull.face[0].V2(1), convexHull.face[0].V2(0));
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(*fi).N() = vcg::NormalizedTriangleNormal(*fi);
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vcg::tri::UpdateTopology<CHMesh>::FaceFace(convexHull);
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};
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}
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public:
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@ -281,7 +282,7 @@ public:
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std::vector<InputVertexPointer> vertexToTest(listVertexPerFace[indices[0]].size() + listVertexPerFace[indices[1]].size());
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typename std::vector<InputVertexPointer>::iterator tempIt = std::set_union(listVertexPerFace[indices[0]].begin(), listVertexPerFace[indices[0]].end(), listVertexPerFace[indices[1]].begin(), listVertexPerFace[indices[1]].end(), vertexToTest.begin());
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vertexToTest.resize(tempIt - vertexToTest.begin());
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ScalarType maxDist = 0;
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Pair newInfo = std::make_pair((InputVertexPointer)NULL , 0.0f);
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for (int ii = 0; ii < vertexToTest.size(); ii++)
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{
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@ -328,8 +329,85 @@ public:
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vcg::tri::Clean<CHMesh>::RemoveUnreferencedVertex(convexHull);
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return true;
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}
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/**
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* @brief ComputePointVisibility
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* Select the <b>visible points</b> in a point cloud, as viewed from a given viewpoint.
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* It uses the Qhull implementation of che convex hull in the vcglibrary
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* The algorithm used (Katz, Tal and Basri 2007) determines visibility without
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* reconstructing a surface or estimating normals.
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* A point is considered visible if its transformed point lies on the convex hull
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* of a trasformed points cloud from the original mesh points.
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*
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* @param m The point cloud
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* @param visible The mesh that will contain the visible hull
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* @param viewpoint
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* @param logR Bounds the radius of the sphere used to select visible points.
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* It is used to adjust the radius of the sphere (calculated as distance between
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* the center and the farthest point from it) according to the following equation:
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* radius = radius * pow(10,threshold);
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* As the radius increases more points are marked as visible.
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* Use a big threshold for dense point clouds, a small one for sparse clouds.
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*/
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static void ComputePointVisibility(InputMesh& m, CHMesh& visible, CoordType viewpoint, ScalarType logR=2)
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{
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visible.Clear();
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tri::RequireCompactness(m);
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InputMesh flipM;
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tri::Allocator<InputMesh>::AddVertices(flipM,m.vn);
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ScalarType maxDist=0;
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InputVertexIterator ci=flipM.vert.begin();
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for(InputVertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
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{
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ci->P()=vi->P()-viewpoint;
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maxDist = std::max(maxDist,Norm(ci->P()));
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++ci;
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}
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ScalarType R = maxDist*pow(10,logR);
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printf("Using R = %f logR = %f maxdist=%f \n",R,logR,maxDist);
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for(InputVertexIterator vi=flipM.vert.begin();vi!=flipM.vert.end();++vi)
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{
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ScalarType d = Norm(vi->P());
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vi->P() = vi->P() + vi->P()*ScalarType(2.0*(R - d)/d);
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}
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tri::Allocator<InputMesh>::AddVertex(flipM,CoordType(0,0,0));
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assert(m.vn+1 == flipM.vn);
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ComputeConvexHull(flipM,visible);
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assert(flipM.vert[m.vn].P()==Point3f(0,0,0));
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int vpInd=-1; // Index of the viewpoint in the ConvexHull mesh
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int selCnt=0;
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typename CHMesh:: template PerVertexAttributeHandle<size_t> indexInputVertex = Allocator<InputMesh>::template GetPerVertexAttribute<size_t>(visible, std::string("indexInput"));
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for(int i=0;i<visible.vn;++i)
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{
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size_t ind = indexInputVertex[i];
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if(ind==m.vn) vpInd = i;
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else
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{
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visible.vert[i].P() = m.vert[ind].P();
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m.vert[ind].SetS();
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m.vert[ind].C() = Color4b::LightBlue;
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selCnt++;
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}
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}
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printf("Selected %i visible points\n",selCnt);
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assert(vpInd != -1);
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// Final pass delete all the faces of the convex hull incident in the viewpoint
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for(int i=0;i<visible.fn;++i)
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{
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if( (Index(visible,visible.face[i].V(0)) == vpInd) ||
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(Index(visible,visible.face[i].V(1)) == vpInd) ||
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(Index(visible,visible.face[i].V(2)) == vpInd) )
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tri::Allocator<CHMesh>::DeleteFace(visible,visible.face[i]);
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}
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tri::Allocator<CHMesh>::CompactEveryVector(visible);
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tri::Clean<CHMesh>::FlipMesh(visible);
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}
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};
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} // end namespace tri
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