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added functions: 

- GetKClosest
     - DoRay
This commit is contained in:
Nico Pietroni 2005-09-30 13:15:48 +00:00
parent a3c311feda
commit baf89ec27c
1 changed files with 103 additions and 58 deletions
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157
vcg/space/index/grid_closest.h
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@ -24,66 +24,68 @@
History History
$Log: not supported by cvs2svn $ $Log: not supported by cvs2svn $
Revision 1.2 2005/09/28 08:27:11 cignoni
Added a control to avoid multiple check of the same cells during radial expansion
Still miss some code to properly initialize when point is out of the BBox of the grid.
Revision 1.1 2005/09/27 15:09:38 cignoni Revision 1.1 2005/09/27 15:09:38 cignoni
First Version First Version
****************************************************************************/ ****************************************************************************/
///** Returns the closest posistion of a point p and its distance ///** Returns the closest posistion of a point _p and its distance
//@param p a 3d point //@param _p a 3d point
//@param max_dist maximum distance not to search beyond. //@param _maxDist maximum distance not to search beyond.
//@param dist_funct (templated type) a functor object used to calculate distance from a grid object to the point p. //@param _getPointDistance (templated type) a functor object used to calculate distance from a grid object to the point _p.
//@param dist the returned closest distance //@param _minDist the returned closest distance
//@param res the returned closest point //@param _closestPt the returned closest point
//@return The closest element //@return The closest element
//*/ //*/
///* ///*
// A DISTFUNCT object must implement an operator () with signature: // A DISTFUNCT object must implement an operator () with signature:
// bool operator () (const ObjType& obj, const CoordType & p, ScalarType & min_dist, CoordType & res); // bool operator () (const ObjType& obj, const CoordType & _p, ScalarType & min_dist, CoordType & _closestPt);
//*/ //*/
#ifndef __VCGLIB_GRID_CLOSEST #ifndef __VCGLIB_GRID_CLOSEST
#define __VCGLIB_GRID_CLOSEST #define __VCGLIB_GRID_CLOSEST
#include <vcg/space/index/space_iterators.h>
namespace vcg{ namespace vcg{
template <class SPATIAL_INDEX,class DISTFUNCTOR, class TMARKER> template <class SPATIAL_INDEX,class OBJPOINTDISTFUNCTOR, class OBJMARKER>
typename SPATIAL_INDEX::ObjPtr GetClosest( const typename SPATIAL_INDEX::CoordType & p, typename SPATIAL_INDEX::ObjPtr GridClosest(SPATIAL_INDEX &Si,OBJPOINTDISTFUNCTOR _getPointDistance,
const typename SPATIAL_INDEX::ScalarType & max_dist, OBJMARKER & _marker,const typename SPATIAL_INDEX::CoordType & _p,
DISTFUNCTOR & dist_funct, const typename SPATIAL_INDEX::ScalarType & _maxDist,typename SPATIAL_INDEX::ScalarType & _minDist,
typename SPATIAL_INDEX::ScalarType & dist, typename SPATIAL_INDEX:: CoordType &_closestPt)
typename SPATIAL_INDEX:: CoordType & res,
TMARKER tm,
SPATIAL_INDEX &Si)
{ {
typedef SPATIAL_INDEX::ObjPtr ObjPtr; typedef SPATIAL_INDEX::ObjPtr ObjPtr;
typedef SPATIAL_INDEX SpatialIndex; typedef SPATIAL_INDEX SpatialIndex;
typedef SPATIAL_INDEX::CoordType CoordType; typedef SPATIAL_INDEX::CoordType CoordType;
typedef SPATIAL_INDEX::ScalarType ScalarType; typedef SPATIAL_INDEX::ScalarType ScalarType;
// Initialize min_dist with max_dist to exploit early rejection test. // Initialize min_dist with _maxDist to exploit early rejection test.
dist = max_dist; _minDist = _maxDist;
ScalarType dx = ( (p[0]-Si.bbox.min[0])/Si.voxel[0] ); ScalarType dx = ( (_p[0]-Si.bbox.min[0])/Si.voxel[0] );
ScalarType dy = ( (p[1]-Si.bbox.min[1])/Si.voxel[1] ); ScalarType dy = ( (_p[1]-Si.bbox.min[1])/Si.voxel[1] );
ScalarType dz = ( (p[2]-Si.bbox.min[2])/Si.voxel[2] ); ScalarType dz = ( (_p[2]-Si.bbox.min[2])/Si.voxel[2] );
int ix = int( dx ); int ix = int( dx );
int iy = int( dy ); int iy = int( dy );
int iz = int( dz ); int iz = int( dz );
if (ix<0) ix=0; if (ix<0) ix=0;
if (iy<0) iy=0; if (iy<0) iy=0;
if (iz<0) iz=0; if (iz<0) iz=0;
if (ix>=Si.siz[0]-1) ix=Si.siz[0]-1; if (ix>=Si.siz[0]-1) ix=Si.siz[0]-1;
if (iy>=Si.siz[1]-1) iy=Si.siz[1]-1; if (iy>=Si.siz[1]-1) iy=Si.siz[1]-1;
if (iz>=Si.siz[2]-1) iz=Si.siz[2]-1; if (iz>=Si.siz[2]-1) iz=Si.siz[2]-1;
if (!Si.bbox.IsIn(p)){ if (!Si.bbox.IsIn(_p)){
assert (0);///the grid has to be extended until the point assert (0);///the grid has to be extended until the point
} }
double voxel_min=Si.voxel[0]; double voxel_min=Si.voxel[0];
if (voxel_min<Si.voxel[1]) voxel_min=Si.voxel[1]; if (voxel_min<Si.voxel[1]) voxel_min=Si.voxel[1];
if (voxel_min<Si.voxel[2]) voxel_min=Si.voxel[2]; if (voxel_min<Si.voxel[2]) voxel_min=Si.voxel[2];
@ -104,7 +106,7 @@ namespace vcg{
//ScalarType min_dist=1e10; //ScalarType min_dist=1e10;
ObjPtr winner=NULL; ObjPtr winner=NULL;
tm.UnMarkAll(); _marker.UnMarkAll();
SpatialIndex::CellIterator first,last; SpatialIndex::CellIterator first,last;
SpatialIndex::CellIterator l; SpatialIndex::CellIterator l;
@ -117,16 +119,16 @@ namespace vcg{
if (!(**l).IsD()) if (!(**l).IsD())
{ {
ObjPtr elem=&(**l); ObjPtr elem=&(**l);
if(!tm.IsMarked(elem)) if(!_marker.IsMarked(elem))
{ {
//if (!l->Elem()->IsD() && l->Elem()->Dist(p,min_dist,t_res)) { //if (!l->Elem()->IsD() && l->Elem()->Dist(_p,min_dist,t_res)) {
//if (!l->Elem()->IsD() && dist_funct(*(l->Elem()), p, min_dist, t_res)) { // <-- NEW: use of distance functor //if (!l->Elem()->IsD() && _getPointDistance(*(l->Elem()), _p, min_dist, t_res)) { // <-- NEW: use of distance functor
if (dist_funct((**l), p,dist, t_res)) // <-- NEW: use of distance functor if (_getPointDistance((**l), _p,_minDist, t_res)) // <-- NEW: use of distance functor
{ {
winner=elem; winner=elem;
res=t_res; _closestPt=t_res;
} }
tm.Mark(elem); _marker.Mark(elem);
} }
} }
}; };
@ -134,13 +136,13 @@ namespace vcg{
//return winner; //return winner;
// the portion of the grid that have already been checked. // the portion of the grid that have already been checked.
Point3i done_min, done_max; Point3i done_min, done_max;
// the new box that we want to traverse: todo is a superset of done. // the new box that we want to traverse: todo is a superset of done.
Point3i todo_min=Point3i(ix,iy,iz), todo_max=Point3i(ix,iy,iz); Point3i todo_min=Point3i(ix,iy,iz), todo_max=Point3i(ix,iy,iz);
// we should traverse only (todo - done). // we should traverse only (todo - done).
while (dist>radius) { while (_minDist>radius) {
done_min=todo_min; done_max=todo_max; done_min=todo_min; done_max=todo_max;
todo_min[0]--; if (todo_min[0]<0) todo_min[0]=0; todo_min[0]--; if (todo_min[0]<0) todo_min[0]=0;
todo_min[1]--; if (todo_min[1]<0) todo_min[1]=0; todo_min[1]--; if (todo_min[1]<0) todo_min[1]=0;
@ -152,33 +154,76 @@ namespace vcg{
for (ix=todo_min[0]; ix<=todo_max[0]; ix++) for (ix=todo_min[0]; ix<=todo_max[0]; ix++)
for (iy=todo_min[1]; iy<=todo_max[1]; iy++) for (iy=todo_min[1]; iy<=todo_max[1]; iy++)
for (iz=todo_min[2]; iz<=todo_max[2]; iz++) for (iz=todo_min[2]; iz<=todo_max[2]; iz++)
if(ix<done_min[0] || ix>done_max[0] || // this test is to avoid to re-process already analyzed cells. if(ix<done_min[0] || ix>done_max[0] || // this test is to avoid to re-process already analyzed cells.
iy<done_min[1] || iy>done_max[1] || iy<done_min[1] || iy>done_max[1] ||
iz<done_min[2] || iz>done_max[2] ) iz<done_min[2] || iz>done_max[2] )
{
Si.Grid( ix, iy, iz, first, last );
for(l=first;l!=last;++l)
{ {
if (!(**l).IsD()) Si.Grid( ix, iy, iz, first, last );
for(l=first;l!=last;++l)
{ {
ObjPtr elem=&(**l); if (!(**l).IsD())
if( ! tm.IsMarked(elem))
{ {
//if (!l->Elem()->IsD() && l->Elem()->Dist(p,min_dist,t_res)) { ObjPtr elem=&(**l);
if (dist_funct((**l), p, dist, t_res)) if( ! _marker.IsMarked(elem))
{ {
winner=elem; //if (!l->Elem()->IsD() && l->Elem()->Dist(_p,min_dist,t_res)) {
res=t_res; if (_getPointDistance((**l), _p, _minDist, t_res))
}; {
tm.Mark(elem); winner=elem;
_closestPt=t_res;
};
_marker.Mark(elem);
}
} }
} };
}; }
}
}; };
return winner; return winner;
}; };
template <class SPATIALINDEXING,class OBJPOINTDISTFUNCTOR, class OBJMARKER,
class OBJPTRCONTAINER, class DISTCONTAINER, class POINTCONTAINER>
unsigned int GridGetKClosest(SPATIALINDEXING &_Si,OBJPOINTDISTFUNCTOR & _getPointDistance,
OBJMARKER & _marker, const unsigned int _k, const typename SPATIALINDEXING::CoordType & _p,
const typename SPATIALINDEXING::ScalarType & _maxDist,OBJPTRCONTAINER & _objectPtrs,
DISTCONTAINER & _distances, POINTCONTAINER & _points)
{
typedef vcg::ClosestIterator<SPATIALINDEXING,OBJPOINTDISTFUNCTOR,OBJMARKER> ClosestIteratorType;
ClosestIteratorType Cli=ClosestIteratorType(_Si,_getPointDistance);
Cli.SetMarker(_marker);
Cli.Init(_p,_maxDist);
unsigned int i=0;
_objectPtrs.clear();
_distances.clear();
_points.clear();
while ((!Cli.End())&&(i<_k))
{
_objectPtrs.push_back(&(*Cli));
_distances.push_back(Cli.Dist());
_points.push_back(Cli.NearestPoint());
++Cli;
i++;
}
return (i);
};
template <class SPATIALINDEXING,class OBJRAYISECTFUNCTOR, class OBJMARKER>
typename SPATIALINDEXING::ObjPtr GridDoRay(SPATIALINDEXING &_Si,OBJRAYISECTFUNCTOR &_rayIntersector,
OBJMARKER &_marker, const Ray3<typename SPATIALINDEXING::ScalarType> & _ray,
const typename SPATIALINDEXING::ScalarType & _maxDist,typename SPATIALINDEXING::ScalarType & _t)
{
typedef vcg::RayIterator<SPATIALINDEXING,OBJRAYISECTFUNCTOR,OBJMARKER> RayIteratorType;
RayIteratorType RayIte=RayIteratorType(_Si,_rayIntersector);
RayIte.SetMarker(_marker);
RayIte.Init(_ray);
if (!RayIte.End())
{
_t=RayIte.Dist();
return(&(*RayIte));
}
return 0;
}
}//end namespace vcg }//end namespace vcg
#endif #endif