Completely rewrote the GridClosest, now it:
- works for point out of the grid - expands the box in a distance coherent way - does not re-visit already visited cells - shorter code!! ( still to be tested :) )
This commit is contained in:
parent
0bccd8ca77
commit
eb14792ee4
|
|
@ -24,6 +24,11 @@
|
|||
History
|
||||
|
||||
$Log: not supported by cvs2svn $
|
||||
Revision 1.3 2005/09/30 13:15:48 pietroni
|
||||
added functions:
|
||||
- GetKClosest
|
||||
- DoRay
|
||||
|
||||
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.
|
||||
|
|
@ -53,131 +58,88 @@ First Version
|
|||
|
||||
namespace vcg{
|
||||
|
||||
template <class SPATIAL_INDEX,class OBJPOINTDISTFUNCTOR, class OBJMARKER>
|
||||
typename SPATIAL_INDEX::ObjPtr GridClosest(SPATIAL_INDEX &Si,OBJPOINTDISTFUNCTOR _getPointDistance,
|
||||
OBJMARKER & _marker,const typename SPATIAL_INDEX::CoordType & _p,
|
||||
const typename SPATIAL_INDEX::ScalarType & _maxDist,typename SPATIAL_INDEX::ScalarType & _minDist,
|
||||
typename SPATIAL_INDEX:: CoordType &_closestPt)
|
||||
template <class SPATIAL_INDEX, class OBJPOINTDISTFUNCTOR, class OBJMARKER>
|
||||
typename SPATIAL_INDEX::ObjPtr GridClosest(SPATIAL_INDEX &Si,
|
||||
OBJPOINTDISTFUNCTOR _getPointDistance,
|
||||
OBJMARKER & _marker,
|
||||
const typename SPATIAL_INDEX::CoordType & _p,
|
||||
const typename SPATIAL_INDEX::ScalarType & _maxDist,
|
||||
typename SPATIAL_INDEX::ScalarType & _minDist,
|
||||
typename SPATIAL_INDEX:: CoordType &_closestPt)
|
||||
{
|
||||
typedef SPATIAL_INDEX::ObjPtr ObjPtr;
|
||||
typedef SPATIAL_INDEX SpatialIndex;
|
||||
typedef SPATIAL_INDEX::CoordType CoordType;
|
||||
typedef SPATIAL_INDEX::ScalarType ScalarType;
|
||||
typedef typename SPATIAL_INDEX::ObjPtr ObjPtr;
|
||||
typedef typename SPATIAL_INDEX SpatialIndex;
|
||||
typedef typename SPATIAL_INDEX::CoordType CoordType;
|
||||
typedef typename SPATIAL_INDEX::ScalarType ScalarType;
|
||||
typedef typename SPATIAL_INDEX::Box3x Box3x;
|
||||
|
||||
// Initialize min_dist with _maxDist to exploit early rejection test.
|
||||
_minDist = _maxDist;
|
||||
|
||||
ScalarType dx = ( (_p[0]-Si.bbox.min[0])/Si.voxel[0] );
|
||||
ScalarType dy = ( (_p[1]-Si.bbox.min[1])/Si.voxel[1] );
|
||||
ScalarType dz = ( (_p[2]-Si.bbox.min[2])/Si.voxel[2] );
|
||||
|
||||
int ix = int( dx );
|
||||
int iy = int( dy );
|
||||
int iz = int( dz );
|
||||
|
||||
if (ix<0) ix=0;
|
||||
if (iy<0) iy=0;
|
||||
if (iz<0) iz=0;
|
||||
if (ix>=Si.siz[0]-1) ix=Si.siz[0]-1;
|
||||
if (iy>=Si.siz[1]-1) iy=Si.siz[1]-1;
|
||||
if (iz>=Si.siz[2]-1) iz=Si.siz[2]-1;
|
||||
|
||||
if (!Si.bbox.IsIn(_p)){
|
||||
assert (0);///the grid has to be extended until the point
|
||||
|
||||
}
|
||||
double voxel_min=Si.voxel[0];
|
||||
if (voxel_min<Si.voxel[1]) voxel_min=Si.voxel[1];
|
||||
if (voxel_min<Si.voxel[2]) voxel_min=Si.voxel[2];
|
||||
|
||||
ScalarType radius=(dx-ScalarType(ix));
|
||||
if (radius>0.5) radius=(1.0-radius); radius*=Si.voxel[0];
|
||||
|
||||
ScalarType tmp=dy-ScalarType(iy);
|
||||
if (tmp>0.5) tmp=1.0-tmp;
|
||||
tmp*=Si.voxel[1];
|
||||
if (radius>tmp) radius=tmp;
|
||||
tmp=dz-ScalarType(iz);
|
||||
if (tmp>0.5) tmp=1.0-tmp;
|
||||
tmp*=Si.voxel[2];
|
||||
if (radius>tmp) radius=tmp;
|
||||
|
||||
CoordType t_res;
|
||||
//ScalarType min_dist=1e10;
|
||||
ObjPtr winner=NULL;
|
||||
|
||||
|
||||
ObjPtr winner=NULL;
|
||||
_marker.UnMarkAll();
|
||||
ScalarType newradius = Si.voxel.Norm();
|
||||
ScalarType radius;
|
||||
Box3i iboxdone,iboxtodo;
|
||||
CoordType t_res;
|
||||
SPATIAL_INDEX::CellIterator first,last,l;
|
||||
if(Si.bbox.IsIn(_p))
|
||||
{
|
||||
Point3i _ip;
|
||||
Si.PToIP(_p,_ip);
|
||||
Si.Grid( _ip[0],_ip[1],_ip[2], first, last );
|
||||
for(l=first;l!=last;++l)
|
||||
{
|
||||
ObjPtr elem=&(**l);
|
||||
if (_getPointDistance((**l), _p,_minDist, t_res)) // <-- NEW: use of distance functor
|
||||
{
|
||||
winner=elem;
|
||||
_closestPt=t_res;
|
||||
newradius=_minDist; //
|
||||
}
|
||||
_marker.Mark(elem);
|
||||
}
|
||||
iboxdone=Box3i(_ip,_ip);
|
||||
}
|
||||
|
||||
int ix,iy,iz;
|
||||
|
||||
do
|
||||
{
|
||||
radius=newradius;
|
||||
Box3x boxtodo=Box3x(_p,radius);
|
||||
boxtodo.Intersect(Si.bbox);
|
||||
Si.BoxToIBox(boxtodo, iboxtodo);
|
||||
if(!boxtodo.IsNull())
|
||||
{
|
||||
for (ix=iboxtodo.min[0]; ix<=iboxtodo.max[0]; ix++)
|
||||
for (iy=iboxtodo.min[1]; iy<=iboxtodo.max[1]; iy++)
|
||||
for (iz=iboxtodo.min[2]; iz<=iboxtodo.max[2]; iz++)
|
||||
if(ix<iboxdone.min[0] || ix>iboxdone.max[0] || // this test is to avoid to re-process already analyzed cells.
|
||||
iy<iboxdone.min[1] || iy>iboxdone.max[1] ||
|
||||
iz<iboxdone.min[2] || iz>iboxdone.max[2] )
|
||||
{
|
||||
Si.Grid( ix, iy, iz, first, last );
|
||||
for(l=first;l!=last;++l) if (!(**l).IsD())
|
||||
{
|
||||
ObjPtr elem=&(**l);
|
||||
if( ! _marker.IsMarked(elem))
|
||||
{
|
||||
if (_getPointDistance((**l), _p, _minDist, t_res))
|
||||
{
|
||||
winner=elem;
|
||||
_closestPt=t_res;
|
||||
};
|
||||
_marker.Mark(elem);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if(!winner) newradius=radius+Si.voxel.Norm();
|
||||
else newradius = _minDist;
|
||||
}
|
||||
while (_minDist>radius);
|
||||
|
||||
SpatialIndex::CellIterator first,last;
|
||||
SpatialIndex::CellIterator l;
|
||||
|
||||
if ((ix>=0) && (iy>=0) && (iz>=0) &&
|
||||
(ix<Si.siz[0]) && (iy<Si.siz[1]) && (iz<Si.siz[2])) {
|
||||
|
||||
Si.Grid( ix, iy, iz, first, last );
|
||||
for(l=first;l!=last;++l)
|
||||
if (!(**l).IsD())
|
||||
{
|
||||
ObjPtr elem=&(**l);
|
||||
if(!_marker.IsMarked(elem))
|
||||
{
|
||||
//if (!l->Elem()->IsD() && l->Elem()->Dist(_p,min_dist,t_res)) {
|
||||
//if (!l->Elem()->IsD() && _getPointDistance(*(l->Elem()), _p, min_dist, t_res)) { // <-- NEW: use of distance functor
|
||||
if (_getPointDistance((**l), _p,_minDist, t_res)) // <-- NEW: use of distance functor
|
||||
{
|
||||
winner=elem;
|
||||
_closestPt=t_res;
|
||||
}
|
||||
_marker.Mark(elem);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
//return winner;
|
||||
|
||||
// the portion of the grid that have already been checked.
|
||||
Point3i done_min, done_max;
|
||||
// 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);
|
||||
|
||||
|
||||
// we should traverse only (todo - done).
|
||||
while (_minDist>radius) {
|
||||
done_min=todo_min; done_max=todo_max;
|
||||
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[2]--; if (todo_min[2]<0) todo_min[2]=0;
|
||||
todo_max[0]++; if (todo_max[0]>=Si.siz[0]-1) todo_max[0]=Si.siz[0]-1;
|
||||
todo_max[1]++; if (todo_max[1]>=Si.siz[1]-1) todo_max[1]=Si.siz[1]-1;
|
||||
todo_max[2]++; if (todo_max[2]>=Si.siz[2]-1) todo_max[2]=Si.siz[2]-1;
|
||||
radius+=voxel_min;
|
||||
for (ix=todo_min[0]; ix<=todo_max[0]; ix++)
|
||||
for (iy=todo_min[1]; iy<=todo_max[1]; iy++)
|
||||
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.
|
||||
iy<done_min[1] || iy>done_max[1] ||
|
||||
iz<done_min[2] || iz>done_max[2] )
|
||||
{
|
||||
Si.Grid( ix, iy, iz, first, last );
|
||||
for(l=first;l!=last;++l)
|
||||
{
|
||||
if (!(**l).IsD())
|
||||
{
|
||||
ObjPtr elem=&(**l);
|
||||
if( ! _marker.IsMarked(elem))
|
||||
{
|
||||
//if (!l->Elem()->IsD() && l->Elem()->Dist(_p,min_dist,t_res)) {
|
||||
if (_getPointDistance((**l), _p, _minDist, t_res))
|
||||
{
|
||||
winner=elem;
|
||||
_closestPt=t_res;
|
||||
};
|
||||
_marker.Mark(elem);
|
||||
}
|
||||
}
|
||||
};
|
||||
}
|
||||
};
|
||||
return winner;
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue