optimized Closest iterator
added possibility to pass a point p that is outside the bbox of the indexing structure
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418bf58a24
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bccc1ad129
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@ -13,10 +13,10 @@
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namespace vcg{
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template <class Spatial_Idexing,class INTFUNCTOR,class TMARKER>
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class RayIterator
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{
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protected:
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template <class Spatial_Idexing,class INTFUNCTOR,class TMARKER>
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class RayIterator
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{
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protected:
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typedef typename Spatial_Idexing::ObjType ObjType;
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typedef typename Spatial_Idexing::ScalarType ScalarType;
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typedef typename vcg::Point3<ScalarType> CoordType;
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@ -115,7 +115,7 @@ protected:
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end=_controlEnd();
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}
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public:
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public:
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///contructor
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@ -226,7 +226,7 @@ public:
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protected:
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protected:
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///structure that mantain for the current cell pre-calculated data
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typedef struct Entry_Type
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@ -263,95 +263,62 @@ protected:
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ScalarType dist;
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CoordType t;
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};
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};
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template <class Spatial_Idexing,class DISTFUNCTOR,class TMARKER>
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class ClosestIterator
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{
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template <class Spatial_Idexing,class DISTFUNCTOR,class TMARKER>
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class ClosestIterator
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{
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typedef typename Spatial_Idexing::ObjType ObjType;
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typedef typename Spatial_Idexing::ScalarType ScalarType;
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typedef typename vcg::Point3<ScalarType> CoordType;
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typedef typename Spatial_Idexing::CellIterator CellIterator;
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///find the radius of curren sphere
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///considering more nearest cell to current radius
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void _FindSphereRadius()
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{
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//find diffence between the initial point
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//and the cell narest to the sphere
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CoordType min;
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CoordType max;
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Si.IPToP(explored.min,min);
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Si.IPToP(explored.max,max);
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CoordType diff_min=p-min;
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CoordType diff_max=p-max;
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ScalarType diffx=std::min<ScalarType>(fabs(diff_min.X()),fabs(diff_max.X()));
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ScalarType diffy=std::min<ScalarType>(fabs(diff_min.Y()),fabs(diff_max.Y()));
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ScalarType diffz=std::min<ScalarType>(fabs(diff_min.Z()),fabs(diff_max.Z()));
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ScalarType diff=std::min<ScalarType>(diffx,std::min<ScalarType>(diffy,diffz));
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//radius_min=0;
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radius=diff;
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//radius+=diff;
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if (radius>max_dist)
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radius=max_dist;
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}
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///control right cell value of current bounding box
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/// of explored cells
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void _ControlLimits()
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{
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vcg::Point3i dim=Si.siz;
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for (int i=0;i<3;i++)
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{
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if (explored.min.V(i)<-1)
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explored.min.V(i) = -1;
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if (explored.max.V(i)>Si.siz.V(i))
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explored.max.V(i) =Si.siz.V(i);
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}
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}
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bool _OutOfLimits(vcg::Point3i p)
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{
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for (int i=0;i<3;i++)
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if ((p.V(i)==-1)||(p.V(i)>=Si.siz.V(i)))
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return true ;
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return false;
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}
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///control the end of scanning
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void _ControlEnd()
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bool _EndGrid()
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{
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if ((explored.min==vcg::Point3i(-1,-1,-1))&&(explored.max==Si.siz)&&(Elems.size()==0))
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if ((explored.min<=vcg::Point3i(0,0,0))&&(explored.max>=Si.siz-vcg::Point3i(1,1,1)))
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end =true;
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return end;
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}
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///add cell to the curren set of explored cells
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void _NextShell()
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void _UpdateRadius()
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{
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if (radius>=max_dist)
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end=true;
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radius+=voxel_min;
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radius+=step_size;
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//control bounds
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if (radius>max_dist)
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radius=max_dist;
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}
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//expand the box
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explored.min-=vcg::Point3i(1,1,1);
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explored.max+=vcg::Point3i(1,1,1);
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///add cell to the curren set of explored cells
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bool _NextShell()
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{
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//control right limits of the bound
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_ControlLimits();
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//then expand the box
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explored=to_explore;
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_UpdateRadius();
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Box3<ScalarType> b3d(p,radius);
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Si.BoxToIBox(b3d,to_explore);
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Box3i ibox(Point3i(0,0,0),Si.siz-Point3i(1,1,1));
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to_explore.Intersect(ibox);
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if (!to_explore.IsNull())
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{
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assert(!( to_explore.min.X()<0 || to_explore.max.X()>=Si.siz[0] ||
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to_explore.min.Y()<0 || to_explore.max.Y()>=Si.siz[1] || to_explore.min.Z()<0
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|| to_explore.max.Z()>=Si.siz[2] ));
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return true;
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}
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return false;
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}
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public:
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public:
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///contructor
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ClosestIterator(Spatial_Idexing &_Si,DISTFUNCTOR _dist_funct):Si(_Si),dist_funct(_dist_funct){}
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@ -368,43 +335,28 @@ public:
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///initialize the Itarator
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void Init(CoordType _p,const ScalarType &_max_dist)
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{
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//CoordType vox=Si.Voxel();
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CoordType vox=Si.voxel;
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voxel_min=std::min<ScalarType>(vox.V(0),std::min<ScalarType>(vox.V(1),vox.V(2)));
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p=_p;
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max_dist=_max_dist;
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//initialize the explored region
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//finding cell coordinate of initial point
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vcg::Point3i c;
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Si.PToIP(p,c);
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assert( c.X()>=0 && c.X()<Si.siz.X() && c.Y()>=0 && c.Y()<Si.siz.Y() && c.Z()>=0 && c.Z()<Si.siz.Z() );
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//explored=vcg::Box3i(c,c+vcg::Point3i(1,1,1));
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explored=vcg::Box3i(c,c);
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radius=0;
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//radius_min=0;
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Elems.clear();
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end=false;
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tm.UnMarkAll();
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step_size=Si.voxel.Norm();
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radius=0;
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///inflate the bbox until find a valid bbox
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while ((!_NextShell())&&(!End()));
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if (!_EndGrid())
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Refresh();///load elements form currect cell
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_FindSphereRadius();
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Refresh();
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///until don't find an element
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///that is inside the radius
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while ((!End())&&(Dist()>radius))
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{
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if (radius>=max_dist)
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end=true;
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_NextShell();
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if ((_NextShell())&&(!_EndGrid()))
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Refresh();
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_ControlEnd();
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}
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//set to the last element ..the nearest
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CurrentElem=Elems.end();
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CurrentElem--;
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@ -419,17 +371,18 @@ public:
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//and object comes from previos that are already in the stack
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void Refresh()
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{
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int x,y,z;
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for( z = explored.min.Z(); z <= explored.max.Z(); ++z)
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for(y = explored.min.Y(); y <=explored.max.Y(); ++y)
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for(x = explored.min.X(); x <= explored.max.X();)
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int ix,iy,iz;
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for( iz = to_explore.min.Z();iz <= to_explore.max.Z(); ++iz)
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for(iy = to_explore.min.Y(); iy <=to_explore.max.Y(); ++iy)
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for(ix = to_explore.min.X(); ix <= to_explore.max.X();++ix)
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{
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if(ix<explored.min[0] || ix>explored.max[0] || // this test is to avoid to re-process already analyzed cells.
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iy<explored.min[1] || iy>explored.max[1] ||
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iz<explored.min[2] || iz>explored.max[2] )
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{
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/*vcg::Point3i CurrentCell=vcg::Point3i(x,y,z);*/
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Spatial_Idexing::CellIterator first,last,l;
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///take first, last iterators to elements in the cell
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if (!_OutOfLimits(vcg::Point3i(x,y,z)))
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{
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Si.Grid(x,y,z,first,last);
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Si.Grid(ix,iy,iz,first,last);
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for(l=first;l!=last;++l)
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{
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ObjType *elem=&(**l);
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@ -437,23 +390,17 @@ public:
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{
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CoordType nearest;
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ScalarType dist=Si.bbox.Diag();
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dist_funct((**l),p,dist,nearest);
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ScalarType dist=max_dist;
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if (dist_funct((**l),p,dist,nearest))
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Elems.push_back(Entry_Type(elem,fabs(dist),nearest));
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tm.Mark(elem);
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}
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}
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}
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if( ( ( y == explored.min.Y()) || ( y == explored.max.Y())) ||
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( ( z == explored.min.Z()) || ( z == explored.max.Z())) ||
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( x == explored.max.X()))
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++x;
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else
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x=explored.max.X();
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}
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std::sort(Elems.begin(),Elems.end());
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//std::unique(Elems.begin(),Elems.end());
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CurrentElem=Elems.end();
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CurrentElem--;
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@ -466,21 +413,11 @@ public:
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CurrentElem--;
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Elems.pop_back();
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}
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if (Dist()>radius)
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{
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_NextShell();
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Refresh();
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//continue to scan until finish the scanning or the
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//first element (the nearest for ordering of the structure)
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//is at distance<radius
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while ((!End())&&(Dist()>radius))
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{
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if (radius>=max_dist)
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end=true;
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_NextShell();
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if (_NextShell()&&!_EndGrid())
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Refresh();
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_ControlEnd();
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}
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}
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}
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@ -499,7 +436,7 @@ public:
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CoordType NearestPoint()
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{return ((*CurrentElem).intersection);}
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protected:
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protected:
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///structure that mantain for the current cell pre-calculated data
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typedef struct Entry_Type
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@ -527,9 +464,9 @@ protected:
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bool end; //true if the scan is terminated
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ScalarType max_dist; //max distance when the scan terminate
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vcg::Box3i explored; //current bounding box explored
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vcg::Box3i to_explore; //current bounding box explored
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ScalarType radius; //curret radius for sphere expansion
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//ScalarType radius_min; //curret radius of explored simplexes
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ScalarType voxel_min; //minimum value of the voxel
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ScalarType step_size; //radius step
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std::vector<Entry_Type> Elems; //element loaded from the current sphere
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DISTFUNCTOR &dist_funct;
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