604 lines
21 KiB
C++
604 lines
21 KiB
C++
/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004-2016 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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#ifndef __VCGLIB__SAMPLING
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#define __VCGLIB__SAMPLING
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#include <time.h>
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#include <vcg/complex/algorithms/closest.h>
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#include <vcg/space/box3.h>
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#include <vcg/math/histogram.h>
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#include <vcg/space/color4.h>
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#include <vcg/simplex/face/distance.h>
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#include <vcg/complex/algorithms/update/color.h>
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#include <vcg/space/index/grid_static_ptr.h>
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#include <vcg/space/index/aabb_binary_tree/aabb_binary_tree.h>
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#include <vcg/space/index/octree.h>
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#include <vcg/space/index/spatial_hashing.h>
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namespace vcg
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{
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struct SamplingFlags{
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enum{
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HIST = 0x0001,
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VERTEX_SAMPLING = 0x0002,
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EDGE_SAMPLING = 0x0004,
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FACE_SAMPLING = 0x0008,
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MONTECARLO_SAMPLING = 0x0010,
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SUBDIVISION_SAMPLING = 0x0020,
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SIMILAR_SAMPLING = 0x0040,
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NO_SAMPLING = 0x0070,
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SAVE_ERROR = 0x0100,
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INCLUDE_UNREFERENCED_VERTICES = 0x0200,
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USE_STATIC_GRID = 0x0400,
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USE_HASH_GRID = 0x0800,
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USE_AABB_TREE = 0x1000,
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USE_OCTREE = 0x2000
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};
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};
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// -----------------------------------------------------------------------------------------------
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template <class MetroMesh>
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class Sampling
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{
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public:
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private:
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typedef typename MetroMesh::CoordType CoordType;
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typedef typename MetroMesh::ScalarType ScalarType;
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typedef typename MetroMesh::VertexType VertexType;
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typedef typename MetroMesh::VertexPointer VertexPointer;
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typedef typename MetroMesh::VertexIterator VertexIterator;
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typedef typename MetroMesh::FaceIterator FaceIterator;
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typedef typename MetroMesh::FaceType FaceType;
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typedef typename MetroMesh::FaceContainer FaceContainer;
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typedef GridStaticPtr <FaceType, typename MetroMesh::ScalarType > MetroMeshGrid;
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typedef SpatialHashTable <FaceType, typename MetroMesh::ScalarType > MetroMeshHash;
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typedef AABBBinaryTreeIndex <FaceType, typename MetroMesh::ScalarType, vcg::EmptyClass> MetroMeshAABB;
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typedef Octree <FaceType, typename MetroMesh::ScalarType > MetroMeshOctree;
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typedef Point3<typename MetroMesh::ScalarType> Point3x;
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// data structures
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MetroMesh &S1;
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MetroMesh &S2;
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MetroMeshGrid gS2;
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MetroMeshHash hS2;
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MetroMeshAABB tS2;
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MetroMeshOctree oS2;
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unsigned int n_samples_per_face ;
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float n_samples_edge_to_face_ratio ;
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float bbox_factor ;
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float inflate_percentage ;
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unsigned int min_size ;
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int n_hist_bins ;
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int print_every_n_elements ;
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int referredBit ;
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// parameters
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double dist_upper_bound;
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double n_samples_per_area_unit;
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unsigned long n_samples_target;
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int Flags;
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// results
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Histogram<double> hist;
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unsigned long n_total_samples;
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unsigned long n_total_area_samples;
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unsigned long n_total_edge_samples;
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unsigned long n_total_vertex_samples;
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double max_dist;
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double mean_dist;
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double RMS_dist;
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double volume;
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double area_S1;
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// globals
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int n_samples;
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// private methods
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inline double ComputeMeshArea(MetroMesh & mesh);
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float AddSample(const Point3x &p);
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inline void AddRandomSample(FaceIterator &T);
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inline void SampleEdge(const Point3x & v0, const Point3x & v1, int n_samples_per_edge);
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void VertexSampling();
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void EdgeSampling();
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void FaceSubdiv(const Point3x & v0, const Point3x &v1, const Point3x & v2, int maxdepth);
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void SimilarTriangles(const Point3x &v0, const Point3x &v1, const Point3x &v2, int n_samples_per_edge);
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void MontecarloFaceSampling();
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void SubdivFaceSampling();
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void SimilarFaceSampling();
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public :
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// public methods
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Sampling(MetroMesh &_s1, MetroMesh &_s2);
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~Sampling();
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void Hausdorff();
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double GetArea() {return area_S1;}
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double GetDistMax() {return max_dist;}
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double GetDistMean() {return mean_dist;}
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double GetDistRMS() {return RMS_dist;}
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double GetDistVolume() {return volume;}
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unsigned long GetNSamples() {return n_total_samples;}
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unsigned long GetNAreaSamples() {return n_total_area_samples;}
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unsigned long GetNEdgeSamples() {return n_total_edge_samples;}
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unsigned long GetNVertexSamples() {return n_total_vertex_samples;}
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double GetNSamplesPerAreaUnit() {return n_samples_per_area_unit;}
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unsigned long GetNSamplesTarget() {return n_samples_target;}
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Histogram<double> &GetHist() {return hist;}
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void SetFlags(int flags) {Flags = flags;}
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void ClearFlag(int flag) {Flags &= (flag ^ -1);}
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void SetParam(double _n_samp) {n_samples_target = _n_samp;}
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void SetSamplesTarget(unsigned long _n_samp);
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void SetSamplesPerAreaUnit(double _n_samp);
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};
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// -----------------------------------------------------------------------------------------------
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// constructor
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template <class MetroMesh>
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Sampling<MetroMesh>::Sampling(MetroMesh &_s1, MetroMesh &_s2):S1(_s1),S2(_s2)
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{
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Flags = 0;
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area_S1 = ComputeMeshArea(_s1);
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// set default numbers
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n_samples_per_face = 10;
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n_samples_edge_to_face_ratio = 0.1f;
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bbox_factor = 0.1f;
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inflate_percentage = 0.02f;
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min_size = 125; /* 125 = 5^3 */
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n_hist_bins = 256;
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print_every_n_elements = S1.fn/100;
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if(print_every_n_elements <= 1)
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print_every_n_elements = 2;
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referredBit = VertexType::NewBitFlag();
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// store the unreferred vertices
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FaceIterator fi; VertexIterator vi; int i;
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for(fi = _s1.face.begin(); fi!= _s1.face.end(); ++fi)
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for(i=0;i<3;++i) (*fi).V(i)->SetUserBit(referredBit);
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}
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template <class MetroMesh>
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Sampling<MetroMesh>::~Sampling()
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{
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VertexType::DeleteBitFlag(referredBit);
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}
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// set sampling parameters
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template <class MetroMesh>
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void Sampling<MetroMesh>::SetSamplesTarget(unsigned long _n_samp)
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{
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n_samples_target = _n_samp;
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n_samples_per_area_unit = n_samples_target / (double)area_S1;
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}
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template <class MetroMesh>
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void Sampling<MetroMesh>::SetSamplesPerAreaUnit(double _n_samp)
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{
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n_samples_per_area_unit = _n_samp;
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n_samples_target = (unsigned long)((double) n_samples_per_area_unit * area_S1);
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}
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// auxiliary functions
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template <class MetroMesh>
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inline double Sampling<MetroMesh>::ComputeMeshArea(MetroMesh & mesh)
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{
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FaceIterator face;
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double area = 0.0;
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for(face=mesh.face.begin(); face != mesh.face.end(); face++)
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if(!(*face).IsD())
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area += DoubleArea(*face);
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return area/2.0;
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}
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template <class MetroMesh>
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float Sampling<MetroMesh>::AddSample(const Point3x &p )
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{
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FaceType *f=0;
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Point3x normf, bestq, ip;
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ScalarType dist;
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dist = dist_upper_bound;
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// compute distance between p_i and the mesh S2
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if(Flags & SamplingFlags::USE_AABB_TREE)
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f=tri::GetClosestFaceEP<MetroMesh,MetroMeshAABB>(S2, tS2, p, dist_upper_bound, dist, normf, bestq, ip);
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if(Flags & SamplingFlags::USE_HASH_GRID)
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f=tri::GetClosestFaceEP<MetroMesh,MetroMeshHash>(S2, hS2, p, dist_upper_bound, dist, normf, bestq, ip);
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if(Flags & SamplingFlags::USE_STATIC_GRID)
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f=tri::GetClosestFaceEP<MetroMesh,MetroMeshGrid>(S2, gS2, p, dist_upper_bound, dist, normf, bestq, ip);
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if (Flags & SamplingFlags::USE_OCTREE)
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f=tri::GetClosestFaceEP<MetroMesh,MetroMeshOctree>(S2, oS2, p, dist_upper_bound, dist, normf, bestq, ip);
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// update distance measures
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if(dist == dist_upper_bound)
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return -1.0;
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if(dist > max_dist)
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max_dist = dist; // L_inf
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mean_dist += dist; // L_1
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RMS_dist += dist*dist; // L_2
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n_total_samples++;
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if(Flags & SamplingFlags::HIST)
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hist.Add((float)fabs(dist));
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return (float)dist;
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}
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// -----------------------------------------------------------------------------------------------
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// --- Vertex Sampling ---------------------------------------------------------------------------
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template <class MetroMesh>
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void Sampling<MetroMesh>::VertexSampling()
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{
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// Vertex sampling.
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int cnt = 0;
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float error;
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printf("Vertex sampling\n");
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VertexIterator vi;
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typename std::vector<VertexPointer>::iterator vif;
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for(vi=S1.vert.begin();vi!=S1.vert.end();++vi)
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if( (*vi).IsUserBit(referredBit) || // it is referred
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((Flags&SamplingFlags::INCLUDE_UNREFERENCED_VERTICES) != 0) ) //include also unreferred
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{
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error = AddSample((*vi).cP());
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n_total_vertex_samples++;
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// save vertex quality
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if(Flags & SamplingFlags::SAVE_ERROR) (*vi).Q() = error;
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// print progress information
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if(!(++cnt % print_every_n_elements))
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printf("Sampling vertices %d%%\r", (100 * cnt/S1.vn));
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}
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printf(" \r");
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}
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// -----------------------------------------------------------------------------------------------
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// --- Edge Sampling -----------------------------------------------------------------------------
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template <class MetroMesh>
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inline void Sampling<MetroMesh>::SampleEdge(const Point3x & v0, const Point3x & v1, int n_samples_per_edge)
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{
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// uniform sampling of the segment v0v1.
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Point3x e((v1-v0)/(double)(n_samples_per_edge+1));
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int i;
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for(i=1; i <= n_samples_per_edge; i++)
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{
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AddSample(v0 + e*i);
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n_total_edge_samples++;
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}
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}
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template <class MetroMesh>
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void Sampling<MetroMesh>::EdgeSampling()
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{
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// Edge sampling.
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typedef std::pair<VertexPointer, VertexPointer> pvv;
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std::vector< pvv > Edges;
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printf("Edge sampling\n");
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// compute edge list.
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FaceIterator fi;
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for(fi=S1.face.begin(); fi != S1.face.end(); fi++)
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for(int i=0; i<3; ++i)
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{
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Edges.push_back(std::make_pair((*fi).V0(i),(*fi).V1(i)));
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if(Edges.back().first > Edges.back().second)
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std::swap(Edges.back().first, Edges.back().second);
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}
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sort(Edges.begin(), Edges.end());
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typename std::vector< pvv>::iterator edgeend = unique(Edges.begin(), Edges.end());
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Edges.resize(edgeend-Edges.begin());
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// sample edges.
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typename std::vector<pvv>::iterator ei;
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double n_samples_per_length_unit;
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double n_samples_decimal = 0.0;
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int cnt=0;
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if(Flags & SamplingFlags::FACE_SAMPLING)
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n_samples_per_length_unit = sqrt((double)n_samples_per_area_unit);
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else
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n_samples_per_length_unit = n_samples_per_area_unit;
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for(ei=Edges.begin(); ei!=Edges.end(); ++ei)
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{
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n_samples_decimal += Distance((*ei).first->cP(),(*ei).second->cP()) * n_samples_per_length_unit;
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n_samples = (int) n_samples_decimal;
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SampleEdge((*ei).first->cP(), (*ei).second->cP(), (int) n_samples);
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n_samples_decimal -= (double) n_samples;
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// print progress information
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if(!(++cnt % print_every_n_elements))
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printf("Sampling edge %lu%%\r", (100 * cnt/Edges.size()));
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}
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printf(" \r");
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}
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// -----------------------------------------------------------------------------------------------
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// --- Face Sampling -----------------------------------------------------------------------------
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// Montecarlo sampling.
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template <class MetroMesh>
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inline void Sampling<MetroMesh>::AddRandomSample(FaceIterator &T)
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{
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// random sampling over the input face.
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double rnd_1, rnd_2;
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// vertices of the face T.
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Point3x p0(T->V(0)->cP());
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Point3x p1(T->V(1)->cP());
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Point3x p2(T->V(2)->cP());
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// calculate two edges of T.
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Point3x v1(p1 - p0);
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Point3x v2(p2 - p0);
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// choose two random numbers.
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rnd_1 = (double)rand() / (double)RAND_MAX;
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rnd_2 = (double)rand() / (double)RAND_MAX;
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if(rnd_1 + rnd_2 > 1.0)
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{
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rnd_1 = 1.0 - rnd_1;
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rnd_2 = 1.0 - rnd_2;
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}
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// add a random point on the face T.
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AddSample (p0 + (v1 * rnd_1 + v2 * rnd_2));
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n_total_area_samples++;
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}
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template <class MetroMesh>
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void Sampling<MetroMesh>::MontecarloFaceSampling()
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{
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// Montecarlo sampling.
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double n_samples_decimal = 0.0;
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FaceIterator fi;
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srand(clock());
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// printf("Montecarlo face sampling\n");
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for(fi=S1.face.begin(); fi != S1.face.end(); fi++)
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if(!(*fi).IsD())
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{
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// compute # samples in the current face.
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n_samples_decimal += 0.5*DoubleArea(*fi) * n_samples_per_area_unit;
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n_samples = (int) n_samples_decimal;
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// for every sample p_i in T...
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for(int i=0; i < n_samples; i++)
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AddRandomSample(fi);
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n_samples_decimal -= (double) n_samples;
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// print progress information
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// if(!(++cnt % print_every_n_elements))
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// printf("Sampling face %d%%\r", (100 * cnt/S1.fn));
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}
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// printf(" \r");
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}
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// Subdivision sampling.
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template <class MetroMesh>
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void Sampling<MetroMesh>::FaceSubdiv(const Point3x & v0, const Point3x & v1, const Point3x & v2, int maxdepth)
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{
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// recursive face subdivision.
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if(maxdepth == 0)
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{
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// ground case.
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AddSample((v0+v1+v2)/3.0f);
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n_total_area_samples++;
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n_samples++;
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return;
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}
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// compute the longest edge.
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double maxd01 = SquaredDistance(v0,v1);
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double maxd12 = SquaredDistance(v1,v2);
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double maxd20 = SquaredDistance(v2,v0);
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int res;
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if(maxd01 > maxd12)
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if(maxd01 > maxd20) res = 0;
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else res = 2;
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else
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if(maxd12 > maxd20) res = 1;
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else res = 2;
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// break the input triangle along the median to the the longest edge.
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Point3x pp;
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switch(res)
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{
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case 0 : pp = (v0+v1)/2;
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FaceSubdiv(v0,pp,v2,maxdepth-1);
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FaceSubdiv(pp,v1,v2,maxdepth-1);
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break;
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case 1 : pp = (v1+v2)/2;
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FaceSubdiv(v0,v1,pp,maxdepth-1);
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FaceSubdiv(v0,pp,v2,maxdepth-1);
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break;
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case 2 : pp = (v2+v0)/2;
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FaceSubdiv(v0,v1,pp,maxdepth-1);
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FaceSubdiv(pp,v1,v2,maxdepth-1);
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break;
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}
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}
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template <class MetroMesh>
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void Sampling<MetroMesh>::SubdivFaceSampling()
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{
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// Subdivision sampling.
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int cnt = 0, maxdepth;
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double n_samples_decimal = 0.0;
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typename MetroMesh::FaceIterator fi;
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printf("Subdivision face sampling\n");
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for(fi=S1.face.begin(); fi != S1.face.end(); fi++)
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{
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// compute # samples in the current face.
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n_samples_decimal += 0.5*DoubleArea(*fi) * n_samples_per_area_unit;
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n_samples = (int) n_samples_decimal;
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if(n_samples)
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{
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// face sampling.
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maxdepth = ((int)(log((double)n_samples)/log(2.0)));
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n_samples = 0;
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FaceSubdiv((*fi).V(0)->cP(), (*fi).V(1)->cP(), (*fi).V(2)->cP(), maxdepth);
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}
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n_samples_decimal -= (double) n_samples;
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// print progress information
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if(!(++cnt % print_every_n_elements))
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printf("Sampling face %d%%\r", (100 * cnt/S1.fn));
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}
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printf(" \r");
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}
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// Similar Triangles sampling.
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template <class MetroMesh>
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void Sampling<MetroMesh>::SimilarTriangles(const Point3x & v0, const Point3x & v1, const Point3x & v2, int n_samples_per_edge)
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{
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Point3x V1((v1-v0)/(double)(n_samples_per_edge-1));
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Point3x V2((v2-v0)/(double)(n_samples_per_edge-1));
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int i, j;
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// face sampling.
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for(i=1; i < n_samples_per_edge-1; i++)
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for(j=1; j < n_samples_per_edge-1-i; j++)
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{
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AddSample( v0 + (V1*(double)i + V2*(double)j) );
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n_total_area_samples++;
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n_samples++;
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}
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}
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template <class MetroMesh>
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void Sampling<MetroMesh>::SimilarFaceSampling()
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{
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// Similar Triangles sampling.
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int cnt = 0, n_samples_per_edge;
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double n_samples_decimal = 0.0;
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FaceIterator fi;
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printf("Similar Triangles face sampling\n");
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for(fi=S1.face.begin(); fi != S1.face.end(); fi++)
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{
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// compute # samples in the current face.
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n_samples_decimal += 0.5*DoubleArea(*fi) * n_samples_per_area_unit;
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n_samples = (int) n_samples_decimal;
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if(n_samples)
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{
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// face sampling.
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n_samples_per_edge = (int)((sqrt(1.0+8.0*(double)n_samples) +5.0)/2.0);
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n_samples = 0;
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SimilarTriangles((*fi).V(0)->cP(), (*fi).V(1)->cP(), (*fi).V(2)->cP(), n_samples_per_edge);
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}
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n_samples_decimal -= (double) n_samples;
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// print progress information
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if(!(++cnt % print_every_n_elements))
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printf("Sampling face %d%%\r", (100 * cnt/S1.fn));
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}
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printf(" \r");
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}
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// -----------------------------------------------------------------------------------------------
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// --- Distance ----------------------------------------------------------------------------------
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template <class MetroMesh>
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void Sampling<MetroMesh>::Hausdorff()
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{
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Box3< ScalarType> bbox;
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// set grid meshes.
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if(Flags & SamplingFlags::USE_HASH_GRID) hS2.Set(S2.face.begin(),S2.face.end());
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if(Flags & SamplingFlags::USE_AABB_TREE) tS2.Set(S2.face.begin(),S2.face.end());
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if(Flags & SamplingFlags::USE_STATIC_GRID) gS2.Set(S2.face.begin(),S2.face.end());
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if(Flags & SamplingFlags::USE_OCTREE) oS2.Set(S2.face.begin(),S2.face.end());
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// set bounding box
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bbox = S2.bbox;
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dist_upper_bound = /*bbox_factor * */bbox.Diag();
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if(Flags & SamplingFlags::HIST)
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hist.SetRange(0.0, dist_upper_bound/100.0, n_hist_bins);
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// initialize sampling statistics.
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n_total_area_samples = n_total_edge_samples = n_total_vertex_samples = n_total_samples = n_samples = 0;
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max_dist = -HUGE_VAL;
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mean_dist = RMS_dist = 0;
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// Vertex sampling.
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if(Flags & SamplingFlags::VERTEX_SAMPLING)
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VertexSampling();
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// Edge sampling.
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if(n_samples_target > n_total_samples)
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{
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n_samples_target -= (int) n_total_samples;
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n_samples_per_area_unit = n_samples_target / area_S1;
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if(Flags & SamplingFlags::EDGE_SAMPLING)
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{
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EdgeSampling();
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if(n_samples_target > n_total_samples) n_samples_target -= (int) n_total_samples;
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else n_samples_target=0;
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}
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// Face sampling.
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if((Flags & SamplingFlags::FACE_SAMPLING) && (n_samples_target > 0))
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{
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n_samples_per_area_unit = n_samples_target / area_S1;
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if(Flags & SamplingFlags::MONTECARLO_SAMPLING) MontecarloFaceSampling();
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if(Flags & SamplingFlags::SUBDIVISION_SAMPLING) SubdivFaceSampling();
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if(Flags & SamplingFlags::SIMILAR_SAMPLING) SimilarFaceSampling();
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}
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}
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// compute vertex colour
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if(Flags & SamplingFlags::SAVE_ERROR)
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vcg::tri::UpdateColor<MetroMesh>::PerVertexQualityRamp(S1);
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// compute statistics
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n_samples_per_area_unit = (double) n_total_samples / area_S1;
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volume = mean_dist / n_samples_per_area_unit / 2.0;
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mean_dist /= n_total_samples;
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RMS_dist = sqrt(RMS_dist / n_total_samples);
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}
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}
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#endif
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