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CyberScan.cc
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//############################################################
//
// CyberScan.cc
//
// Kari Pulli
// Wed Jul 8 13:15:25 PDT 1998
//
// Store range scan information from a Cyberware custom made
// range scanner for the Digital Michelangelo project.
//
//############################################################
#include <stdio.h>
#include <string.h>
#include "DirEntries.h"
#include <fstream>
#ifdef WIN32
# include <float.h>
#endif
#ifdef sgi
# include <ieeefp.h>
#endif
#ifdef linux
# define MAXFLOAT FLT_MAX
#endif
#include "CyberScan.h"
#include "plvGlobals.h"
#include "plvDraw.h"
#include "KDindtree.h"
#include "Random.h"
#include "TriMeshUtils.h"
#include "defines.h"
#include "FileNameUtils.h"
#include "Bbox.h"
#include "Progress.h"
#include "BailDetector.h"
#include "ColorUtils.h"
#include <algorithm>
#include "MeshTransport.h"
#include "VertexFilter.h"
#define SUBSAMPS 7
static ColorSet _cset;
KDindtree*
CyberScan::get_current_kdtree()
{
int iTree = current_resolution_index();
assert (iTree < kdtree.size());
if (kdtree[iTree] != NULL)
return kdtree[iTree];
regLevelData* level = getCurrentRegLevel();
// STL Update
kdtree[iTree] = CreateKDindtree(level->pnts->begin(),
level->nrms->begin(),
level->pnts->size());
return kdtree[iTree];
}
void
CyberScan::read_postprocess(const char *filename)
{
for (int i = 0; i < SUBSAMPS; i++) {
char name[PATH_MAX];
strcpy (name, filename);
char* ext = strrchr (name, '.');
if (ext == NULL)
ext = name + strlen (name);
sprintf (ext, "_samp%d.ply", 1<<i);
int nFacesEstimated = 0;
for (int j = 0; j < sweeps.size(); j++) {
nFacesEstimated += sweeps[j]->resolutions[i].abs_resolution;
}
insert_resolution(nFacesEstimated, name, false, false);
kdtree.push_back (NULL);
reglevels.push_back (NULL);
}
// by default, start at lowest res
for (int i=0; i<sweeps.size(); i++)
sweeps[i]->select_coarsest();
select_coarsest();
// fill holes if requested
if (!strcmp(Tcl_GetVar(g_tclInterp, "subsamplePreserveHoles",
TCL_GLOBAL_ONLY), "filter")) {
for (int i=0; i<sweeps.size(); i++) {
sweeps[i]->sd.fill_holes(2, 30);
sweeps[i]->sd.fill_holes(1, 20);
}
}
}
CyberScan::CyberScan()
{
bDirty = false;
}
CyberScan::~CyberScan ()
{
while (reglevels.size()) {
delete reglevels.back();
reglevels.pop_back();
}
while (sweeps.size()) {
delete sweeps.back();
sweeps.pop_back();
}
while (kdtree.size()) {
delete kdtree.back();
kdtree.pop_back();
}
}
MeshTransport*
CyberScan::mesh(bool perVertex, bool stripped,
ColorSource color, int colorSize)
{
if (stripped && !perVertex) {
cerr << "No t-strips without per-vertex properties";
return NULL;
}
/* kberg - trying to get per face flat shading working
if (!perVertex) {
cerr << "No per face normals for CyberScan" << endl;
return NULL;
}
*/
int i = current_resolution_index();
load_resolution (i);
MeshTransport *mt = new MeshTransport;
for (int iTurn = 0; iTurn < sweeps.size(); iTurn++) {
MeshTransport* turn = sweeps[iTurn]->mesh (perVertex, stripped, color,
colorSize);
if (turn) {
mt->appendMT (turn, sweeps[iTurn]->getXform());
delete turn;
}
}
return mt;
}
int
CyberScan::num_vertices(void)
{
return getCurrentRegLevel()->pnts->size();
}
regLevelData*
CyberScan::getHighestRegLevel (void)
{
if (!resolutions[0].in_memory)
load_resolution (0);
return getRegLevelFor (0);
}
regLevelData*
CyberScan::getCurrentRegLevel (void)
{
return getRegLevelFor (current_resolution_index());
}
regLevelData*
CyberScan::getRegLevelFor (int iRes)
{
assert (iRes < reglevels.size());
load_resolution (iRes);
assert (resolutions[iRes].in_memory);
if (!reglevels[iRes]) {
regLevelData* rl = reglevels[iRes] = new regLevelData;
if (sweeps.size() == 1) {
// don't actually need merge, so don't copy -- just share
rl->pnts = &sweeps[0]->levels[iRes]->pnts;
rl->nrms = &sweeps[0]->levels[iRes]->nrms;
rl->bdry = &sweeps[0]->levels[iRes]->bdry;
rl->bFree = false;
} else {
// need to create merged copy
// preallocate vectors
int nPts = 0;
for (int i = 0; i < sweeps.size(); i++) {
nPts += sweeps[i]->levels[iRes]->pnts.size();
}
cout << "Merging sweep data (" << nPts
<< " pts) for KDtree... " << flush;
rl->pnts = new vector<Pnt3>; rl->pnts->reserve (nPts);
rl->nrms = new vector<short>; rl->nrms->reserve (nPts);
rl->bdry = new vector<char>; rl->bdry->reserve (nPts);
rl->bFree = true;
for (int i = 0; i < sweeps.size(); i++) {
levelData *ld = sweeps[i]->levels[iRes];
long ps = rl->pnts->size();
long ns = rl->nrms->size();
rl->pnts->insert (rl->pnts->end(),
ld->pnts.begin(), ld->pnts.end());
rl->nrms->insert (rl->nrms->end(),
ld->nrms.begin(), ld->nrms.end());
rl->bdry->insert (rl->bdry->end(),
ld->bdry.begin(), ld->bdry.end());
Xform<float> sxf = sweeps[i]->getXform();
if (!sxf.isIdentity()) {
// need to apply sweep's transform to the new data
for_each (rl->pnts->begin() + ps, rl->pnts->end(), sxf);
sxf.removeTranslation();
// STL Update
for (vector<short>::iterator nb = rl->nrms->begin() + ns;
nb < rl->nrms->end(); nb += 3) {
Pnt3 n (nb[0], nb[1], nb[2]);
sxf (n);
nb[0] = n[0]; nb[1] = n[1]; nb[2] = n[2];
}
}
}
}
}
return reglevels[iRes];
}
static Random rnd;
void
CyberScan::subsample_points(float rate, vector<Pnt3> &p,
vector<Pnt3> &n)
{
regLevelData* level = getCurrentRegLevel();
int end = level->pnts->size();
p.clear(); p.reserve(end * rate * 1.1);
n.clear(); n.reserve(end * rate * 1.1);
for (int i = 0; i < end; i++) {
if (rnd() <= rate) {
p.push_back (level->pnts->operator[](i)); // save point
pushNormalAsPnt3 (n, level->nrms->begin(), i);
}
}
}
RigidScan*
CyberScan::filtered_copy (const VertexFilter &filter)
{
BailDetector bail;
CyberScan *newScan = new CyberScan;
newScan->bDirty = true;
cout << "Clip " << sweeps.size() << " sweeps: " << flush;
for (int i = 0; i < sweeps.size(); i++) {
RigidScan* newSweep = sweeps[i]->filtered_copy(filter);
if (newSweep) {
CyberSweep *cs = dynamic_cast<CyberSweep*> (newSweep);
assert(cs);
newScan->sweeps.push_back(cs);
}
cout << "." << flush;
if (bail()) {
cerr << "Warning: clip interrupted; results are partial" << endl;
break;
}
}
cout << " " << newScan->sweeps.size() << " made it." << endl;
if (newScan->sweeps.size()) {
newScan->read_postprocess(get_name().c_str());
newScan->setXform (getXform());
}
return newScan;
}
RigidScan*
CyberScan::get_piece (int sweepNumber, int frameStart, int frameFinish)
{
if (sweepNumber >= sweeps.size()) {
return NULL;
}
RigidScan* newSweep =
sweeps[sweepNumber]->get_piece(frameStart, frameFinish);
if (newSweep == NULL)
return NULL;
CyberSweep *cs = dynamic_cast<CyberSweep*> (newSweep);
assert(cs);
CyberScan *newScan = new CyberScan;
newScan->sweeps.push_back(cs);
newScan->read_postprocess(get_name().c_str());
newScan->setXform (getXform());
return newScan;
}
bool
CyberScan::filter_inplace (const VertexFilter &filter)
{
return false;
}
bool
CyberScan::filter_vertices (const VertexFilter &filter,
vector<Pnt3>& p)
{
for (int i=0; i<sweeps.size(); i++) {
CyberSweep *cs = sweeps[i];
int level = cs->current_resolution_index();
vector<Pnt3> &pnts = cs->levels[level]->pnts;
vector<Pnt3>::const_iterator it;
for (it = pnts.begin(); it != pnts.end(); it++) {
if (filter.accept(*it)) p.push_back(*it);
}
}
return true;
}
bool
CyberScan::closest_point(const Pnt3 &p, const Pnt3 &n,
Pnt3 &cp, Pnt3 &cn,
float thr, bool bdry_ok)
{
KDindtree* tree = get_current_kdtree();
if (!tree) return false;
int ind, ans;
regLevelData* level = getCurrentRegLevel();
ans = tree->search(level->pnts->begin(), level->nrms->begin(),
p, n, ind, thr);
if (ans) {
if (bdry_ok == 0) {
// disallow closest points that are on the mesh boundary
if (level->bdry->operator[](ind)) return 0;
}
cp = level->pnts->operator[](ind);
ind *= 3;
cn.set(level->nrms->operator[](ind )/32767.0,
level->nrms->operator[](ind+1)/32767.0,
level->nrms->operator[](ind+2)/32767.0);
}
return ans;
}
void
CyberScan::computeBBox ()
{
bbox.clear();
for (int i = 0; i < sweeps.size(); i++) {
sweeps[i]->computeBBox();
if (sweeps[i]->bbox.valid())
bbox.add (sweeps[i]->bbox.worldBox (sweeps[i]->getXform()));
}
if (bbox.valid()) {
rot_ctr = bbox.center();
} else {
rot_ctr = Pnt3();
}
}
void
CyberSweep::computeBBox ()
{
bbox.clear();
// find highest built resolution
levelData* level = NULL;
for (int i = 0; i < levels.size(); i++) {
if (levels[i] != NULL && levels[i]->pnts.size() > 0) {
level = levels[i];
break;
}
}
// and add its points to bbox
if (level != NULL) {
// STL Update
for (vector<Pnt3>::iterator p = level->pnts.begin(); p < level->pnts.end(); p++) {
bbox.add(*p);
}
}
}
void
CyberScan::flipNormals (void)
{
for (int i = 0; i < sweeps.size(); i++)
sweeps[i]->flipNormals();
}
void
CyberSweep::flipNormals (void)
{
for (int i = 0; i < levels.size(); i++) {
if (!resolutions[i].in_memory)
continue;
for (int j = 0; j < levels[i]->nrms.size(); j++)
levels[i]->nrms[j] = -levels[i]->nrms[j];
flip_tris(levels[i]->tstrips, true);
}
}
bool
CyberScan::read(const crope &fname)
{
cout << "cs::read()" << endl;
set_name (fname);
const char* filename = fname.c_str();
assert(has_ending(".sd") || has_ending(".sd.gz"));
// is filename a directory containing lots of little .sd files?
bool bReadDir = false;
SHOW(filename);
DirEntries de(filename, ".sd");
if (de.isdir) { // If it's a directory
bReadDir = true;
{
Progress progress (de.size(), "Read CyberSweeps");
for (; !de.done(); de.next()) {
CyberSweep *ct = new CyberSweep;
if (ct->read(de.path().c_str()))
sweeps.push_back(ct);
else
delete ct;
progress.updateInc();
}
}
DirEntries gzde(filename, ".sd.gz");
{
Progress progress (gzde.size(), "Read CyberSweeps");
for (; !gzde.done(); gzde.next()) {
CyberSweep *ct = new CyberSweep;
if (ct->read(gzde.path().c_str()))
sweeps.push_back(ct);
else
delete ct;
progress.updateInc();
}
}
} else { // If it's a single file
CyberSweep *ct = new CyberSweep;
if (ct->read(filename))
sweeps.push_back(ct);
else
delete ct;
}
// If we didn't successfully read any .sd files, return error
if (sweeps.size() == 0)
return false;
set_name(fname);
// read registration xform?
if (TbObj::readXform (get_basename())) {
// if we read a single file instead of a directory,
// sweep will have read the same .xf as we do;
// don't want it doubly applied so nuke it from sweep.
if (!bReadDir) {
assert (sweeps.size() == 1);
sweeps[0]->setXform (Xform<float>());
clear_undo (sweeps[0]);
}
}
clear_undo (this);
read_postprocess(filename);
return true;
}
bool
CyberScan::is_modified (void)
{
return bDirty;
}
bool
CyberScan::write(const crope &fname)
{
char sweepfn[PATH_MAX];
if (fname.empty()) {
// try to save to default name; quit if there isn't one
if (name.empty()) return false;
}
else {
if (name != fname) {
cout << "Saving to filename " << fname << endl;
set_name(fname);
}
}
if (portable_mkdir(name.c_str(), 0775) == 0) {
Progress progress (sweeps.size(), "Writing CyberScan");
for (int i=0; i<sweeps.size(); i++) {
sprintf(sweepfn, "%s/%d.sd", name.c_str(), i);
if (!sweeps[i]->write(sweepfn))
return false;
progress.updateInc();
}
}
else
return false;
bDirty = false;
return true;
}
bool
CyberScan::load_resolution (int iRes)
{
if (resolutions[iRes].in_memory)
return true;
int nSweeps = sweeps.size();
if (g_verbose) cout << name << ": create mesh (~"
<< resolutions[iRes].abs_resolution << ") from "
<< nSweeps << " sweeps: " << flush;
int newres = 0;
BailDetector bail;
for (int i = 0; i < nSweeps; i++) {
//cout << (nSweeps - i) << " left: " << flush;
sweeps[i]->load_resolution (iRes);
newres += sweeps[i]->resolutions[iRes].abs_resolution;
if (g_verbose) cout << "." << flush;
if (bail()) {
return false;
}
}
if(g_verbose) cout << " done." << endl;
resolutions[iRes].abs_resolution = newres;
resolutions[iRes].in_memory = true;
computeBBox();
return true;
}
int
CyberScan::create_resolution_absolute(int budget, Decimator dec)
{
cerr << "Can't decimate CyberScan meshes for now" << endl;
return 0;
}
bool
CyberScan::release_resolution(int nPolys)
{
int iRes = findLevelForRes (nPolys);
if (iRes == -1) {
cerr << "Cyber scan resolution doesn't exist!" << endl;
return false;
}
for (int i = 0; i < sweeps.size(); i++) {
delete sweeps[i]->levels[iRes];
sweeps[i]->levels[iRes] = new levelData;
sweeps[i]->resolutions[iRes].in_memory = false;
}
resolutions[iRes].in_memory = false;
return true;
}
/*
void
check(vector<int> &tstrips, int n)
{
int ns = tstrips.size();
for (int i=0; i<ns; i++) {
assert(tstrips[i] >=-1);
assert(tstrips[i] < n);
}
}
*/
extern DrawObjects draw_other_things;
CyberSweep::CyberSweep(void)
{
_cset.chooseNewColor(falseColor);
DrawObj::disable();
draw_other_things.add(this);
}
CyberSweep::~CyberSweep(void)
{
while (kdtree.size()) {
delete (kdtree.back());
kdtree.pop_back();
}
while (levels.size()) {
delete (levels.back());
levels.pop_back();
}
draw_other_things.remove(this);
}
void
CyberSweep::init_leveldata(void)
{
levels.clear(); levels.reserve(SUBSAMPS);
kdtree.clear(); kdtree.reserve(SUBSAMPS);
for (int i = 0; i < SUBSAMPS; i++) {
levels.push_back (new levelData);
kdtree.push_back (NULL);
}
}
void
CyberSweep::insert_possible_resolutions(void)
{
for (int i = 0; i < SUBSAMPS; i++) {
int nFacesEstimated = 4 * sd.count_valid_pnts() / (1<<(2*i));
if (i > 0) {
insert_resolution(nFacesEstimated, "", false, false);
int iPos = findLevelForRes(nFacesEstimated);
} else {
insert_resolution(nFacesEstimated / 2, "", false, false);
}
}
}
bool
CyberSweep::read(const crope &fname)
{
if (!sd.read(fname))
return false;
set_name(fname);
init_leveldata();
insert_possible_resolutions();
if (g_verbose) cout << "done." << endl;
/*
Bbox bb = sd.get_bbox();
SHOW(bb);
#if 1
int n = 8;
Pnt3 diff = bb.max() - bb.min(), p, bp;
for (int i=0; i<n; i++) {
for (int j=0; j<n; j++) {
for (int k=0; k<n; k++) {
p = bb.min() + Pnt3(diff[0]*i, diff[1]*j, diff[2]*k)/n;
if (sd.xf.back_project(p, bp)) {
// now go back to the data, find the closest
// data point
int row;
unsigned short y,z;
if (sd.find_data(bp[0], bp[1], row, y, z)) {
//SHOW(bp[1]);
//SHOW (y);
sd.set_xf(row);
//xf.set_screw(bp[0],bp[0]);
start.push_back(p);
end.push_back(sd.xf.apply_xform(y,z));
start.push_back(p);
//end.push_back(pa);
end.push_back(sd.xf.laser_ctr);
//start.push_back(.9*end.back()+.1*p);
//SHOW(start.back());
//SHOW(end.back());
} else {
cout << "find_data returns false" << endl;
//SHOW(bp);
//cout << row << " " << y << " " << z << endl;
}
} else {
cout << "back_project returns false" << endl;
}
}
}
}
#else
Pnt3 p;
for (int i=0; i<sd.num_frames(); i+=40) {
for (int j=40; j<480; j+=40) {
sd.set_xf(i);
if (sd.get_point(i,j,p)) {
start.push_back(p);
end.push_back(sd.xf.laser_ctr);
}
}
}
#endif
DrawObj::enable();
*/
if (TbObj::readXform (get_basename()))
cout << "Found .xf for sweep " << fname << endl;
//else
//cout << "No .xf for sweep " << fname << endl;
return true;
}
bool
CyberSweep::write(const crope &fname)
{
return sd.write(fname);
}
// called by CyberScan::load_resolution(),
// which again is inherited from ResolutionCtrl
bool
CyberSweep::load_resolution (int iRes)
{
if (resolutions[iRes].in_memory)
return true;
//cout << "tstrip... " << flush;
if (iRes == 0) {
sd.get_pnts_and_intensities(levels[0]->pnts,
levels[0]->intensity);
// Changed the following line into a two step process, to avoid
// Compiler complaint. -jed
//levels[0]->bdry.assign (levels[0]->pnts.size(), 0);
vector<char> tmp(levels[0]->pnts.size(), 0);
levels[0]->bdry = tmp;
sd.make_tstrip(levels[0]->tstrips, levels[0]->bdry);
} else {
levelData* level = levels[iRes];
int step = 1 << iRes;
sd.subsampled_tstrip(step,
Tcl_GetVar (g_tclInterp,
"subsamplePreserveHoles",
TCL_GLOBAL_ONLY),
level->tstrips,
level->bdry,
level->pnts,
level->intensity,
level->confidence,
level->map_sampled_to_unsampled);
}
// now fix step edges, normals
levelData* level = levels[iRes];
if (level->pnts.size()) {
if (strcmp (Tcl_GetVar (g_tclInterp, "removeStepedges",
TCL_GLOBAL_ONLY), "0") != 0) {
//cout << "stepedges... " << flush;
remove_stepedges(level->pnts, level->tstrips, 4, 50, true);
}
//cout << "normals... " << flush;
getVertexNormals(level->pnts, level->tstrips,
true, level->nrms, false);
resolutions[iRes].abs_resolution =
count_tris (levels[iRes]->tstrips);
} else {
resolutions[iRes].abs_resolution = 0;
}
resolutions[iRes].in_memory = true;
return true;
}
void
CyberSweep::drawthis(void)
{
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
for (int i=0; i<start.size(); i++) {
glColor3f(1,0,0);
glVertex3fv(&start[i][0]);
glColor3f(0,1,0);
glVertex3fv(&end[i][0]);
}
glEnd();
}
/* kberg - 10 July 2001
* adding per face normals - modeled partly after strips_to_tris
* in TriMeshUtils.cc, except rather than storing the vertices, it
* calculates a normal based upon those 3 vertices then adds it to
* the faceNormals vector.
*/
void CyberSweep::simulateFaceNormals(vector<short> &faceNormals, int currentRes)
{
if (!levels[currentRes]->tstrips.size())
return;
assert(levels[currentRes]->tstrips.back() == -1);
faceNormals.clear();
faceNormals.reserve(levels[currentRes]->tstrips.size() * 3); // estimate
vector<int>::const_iterator vert;
for (vert = levels[currentRes]->tstrips.begin(); vert != levels[currentRes]->tstrips.end(); vert++) {
while (*vert == -1) { // handle 0-length strips
++vert;
if (vert == levels[currentRes]->tstrips.end()) break;
}
if (vert == levels[currentRes]->tstrips.end()) break;
vert += 2; // looking backwards at the triangles
int dir = 0;
while (*vert != -1) {
Pnt3 &v0 = levels[currentRes]->pnts[vert[-2 + dir]];
Pnt3 &v1 = levels[currentRes]->pnts[vert[-1 - dir]];
Pnt3 &v2 = levels[currentRes]->pnts[vert[0]];
//now calculate the normal based on these 3 points
Pnt3 norm = normal(v0, v1, v2);
pushNormalAsShorts(faceNormals, norm);
vert++;
dir ^= 1;
}
}
}
MeshTransport*
CyberSweep::mesh (bool perVertex, bool stripped,
ColorSource color, int colorSize)
{
int i = current_resolution_index();
assert (resolutions[i].in_memory);
if (!levels[i]->pnts.size())
return NULL;
MeshTransport* mt = new MeshTransport;
mt->setVtx(&levels[i]->pnts, MeshTransport::share);
mt->setBbox(localBbox());
/* kberg - 10 July 2001 - per face normals */
if (perVertex)
mt->setNrm(&levels[i]->nrms, MeshTransport::share);
else {
/* used GenericScan::mesh(...) as an example of how to simulate this.
for some reason, by going into this mode, only part of a statue
is displayed when intensity is selected. It should have something to do
with how DisplayMesh::renderMeshSingle(...) handles color.
*/
vector<short> *faceNrm = new vector<short>;
simulateFaceNormals(*faceNrm, i);
mt->setNrm(faceNrm, MeshTransport::steal);
}
if (stripped) {
mt->setTris(&levels[i]->tstrips, MeshTransport::share);
} else {
vector<int>* tris = new vector<int>;
strips_to_tris (levels[i]->tstrips, *tris,
resolutions[i].abs_resolution);
mt->setTris(tris, MeshTransport::steal);
}
switch (color) {
case colorNone:
break;
case colorTrue:
{
vector<uchar>* colors = new vector<uchar>;
pushColor (*colors, colorSize, falseColor);
mt->setColor (colors, MeshTransport::steal);
}
break;
case colorIntensity:
{
vector<uchar>* colors = new vector<uchar>;
if (g_bNoIntensity) {
// BUGBUG: what to do here?
} else {
// STL Update
vector<uchar>::iterator end = levels[i]->intensity.end();
for (vector<uchar>::iterator c = levels[i]->intensity.begin(); c < end; c++)
pushColor (*colors, colorSize, *c);
}
mt->setColor (colors, MeshTransport::steal);
}
break;
case colorConf:
if (levels[i]->confidence.size())
{
vector<uchar>* colors = new vector<uchar>;
colors->reserve (colorSize * levels[i]->confidence.size());
// STL Update
vector<uchar>::iterator end = levels[i]->confidence.end();
for (vector<uchar>::iterator c = levels[i]->confidence.begin(); c < end; c++)
pushConf (*colors, colorSize, *c);
mt->setColor (colors, MeshTransport::steal);
}
break;
case colorBoundary:
{
vector<uchar>* colors = new vector<uchar>;
colors->reserve (colorSize * levels[i]->bdry.size());
// STL Update
vector<char>::iterator end = levels[i]->bdry.end();
for (vector<char>::iterator c = levels[i]->bdry.begin(); c < end; c++)
pushConf (*colors, colorSize, (uchar)(*c ? 0 : 255));
mt->setColor (colors, MeshTransport::steal);
}
break;
default:
//cerr << "Color: TODO" << endl;
break;
}
return mt;
}
vector<CyberSweep*>
CyberScan::get_sweep_list (void)