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Mesh.cc
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#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <limits.h>
#include <vector>
#include <assert.h>
#include <math.h>
#include "Mesh.h"
#include "ply++.h"
#include "Timer.h"
#include "Random.h"
#include "plvGlobals.h"
#include "TriMeshUtils.h"
#include "Progress.h"
#include "plvScene.h"
#if 0
# define VERBOSE 1
#else
# define VERBOSE 0
#endif
Mesh::Mesh()
{
init();
}
Mesh::Mesh (const vector<Pnt3>& _vtx, const vector<int>& _tris)
{
init();
vtx = _vtx;
tris = _tris;
initNormals(UseAreaWeightedNormals);
computeBBox();
}
void Mesh::init()
{
vertMatDiff = NULL;
vertIntensity = NULL;
vertConfidence = NULL;
texture = NULL;
triMatDiff = NULL;
hasVertNormals = FALSE;
bNeedsSave = FALSE;
numTris = 0;
hasVoxels = FALSE;
}
Mesh::~Mesh()
{
if (vertMatDiff != NULL)
delete [] vertMatDiff;
if (vertIntensity != NULL)
delete [] vertIntensity;
if (vertConfidence != NULL)
delete [] vertConfidence;
if (texture != NULL)
delete [] texture;
if (triMatDiff != NULL)
delete [] triMatDiff;
}
void
Mesh::initNormals(int useArea)
{
if (!hasVertNormals) {
if (tstrips.size())
getVertexNormals(vtx, tstrips, true, nrm, useArea);
else
getVertexNormals(vtx, tris, false, nrm, useArea);
hasVertNormals = true;
}
}
void
Mesh::flipNormals()
{
if (tris.size())
flip_tris (tris, false);
if (tstrips.size())
flip_tris (tstrips, true);
int n = nrm.size();
for (int i = 0; i < n; i++)
nrm[i] = -nrm[i];
bNeedsSave = TRUE;
}
void
Mesh::computeBBox()
{
bbox.clear();
for (int i = 0; i < vtx.size(); i++) {
bbox.add(vtx[i]);
}
if (vtx.size() == 0) {
center = Pnt3();
radius = 0;
} else {
center = bbox.center();
radius = bbox.diag()*.5;
}
}
void
Mesh::updateScale()
// this exists because Mesh is only used to read .ply files, and
// there's a lot of old legacy data that exists in meters instead
// of millimeters. Not only will it display at the wrong scale
// (only a problem if you view it side-by-side with new data),
// but things that are typical sizes for a scan with the older
// CyberWare scanners, like the dragon (say 20 cm across), expressed in
// meters, will have dimensions on the scale of 0.01. Inter-point
// spacing will be like .0001, and so cross products at triangle
// vertices will have norms below float thresholds. Thus the normals
// used for lighting will be calculated incorrectly. Unfortunately the
// headers of these files don't say whether they're measured in meters
// or millimeters. So we'll try to guess from the size of the bbox.
{
// if the largest dimension is smaller than 10, assume we're dealing
// with millimeters and scale everything up by 1000.
// will false-positive on millimeter-scale scans of objects smaller than
// 1cm x 1cm x 1cm (and they'll look too big).
// will false-negative on meter-scale scans of objects bigger than 10m
// on any side (and they'll stay too small, and render black).
// will not affect ply conversions of Cyra data, whose dimensions are
// big enough to be in the bounds of the above test, because the test is
// one-way, only growing things -- although if Cyra data were mistakenly
// saved as meters, this test would probably not catch it (the false
// negative described above).
// But wait! This hack sucks rocks for pvrip output. Often
// you get one or two chunks that are too small, so they scale
// by 1000, and suddenly the viewing bbox is 1000x too big,
// and everything else is 1000x too small (in comparison) and
// so you only see that tiny chunk (or nothing at all) when
// the viewer pops up. You have to find and delete the scan
// that got multiplied before you can rescale the viewer to
// be able to see the rest of the mesh. UGLY Hack. Turning
// it off, legacy crud be damned. -- Lucas
computeBBox();
#if 0
if (bbox.maxDim() < 10) {
cerr << "Warning: scaling mesh from meters to millimeters" << endl;
// STL Update
for (vector<Pnt3*>::iterator vp = vtx.begin(); vp != vtx.end(); vp++) {
*vp *= 1000;
}
computeBBox();
}
#endif
}
int
Mesh::num_tris (void)
{
if (tris.size())
return (numTris = tris.size() / 3);
if (numTris)
return numTris;
// ok, have to count tstrips
numTris = tstrips.size();
// STL Update
for (vector<int>::iterator ti = tstrips.begin(); ti < tstrips.end(); ti++) {
if ((*ti) == -1)
numTris -= 3;
}
return numTris;
}
vector<int>&
Mesh::getTris (void)
{
if (!tris.size()) {
strips_to_tris(tstrips, tris, numTris);
printf ("rehydrated %d tris\n", num_tris());
}
return tris;
}
vector<int>&
Mesh::getTstrips (void)
{
if (!tstrips.size()) {
#if VERBOSE
TIMER(Build_t_strips);
#endif
tris_to_strips(vtx.size(), tris, tstrips);
}
return tstrips;
}
void
Mesh::freeTris (void)
{
if (tstrips.size() == 0)
printf ("Cannot free triangles because strips don't exist\n");
else {
tris.clear();
delete [] triMatDiff;
triMatDiff = NULL;
}
}
void
Mesh::freeTStrips (void)
{
if (tris.size() == 0)
printf ("Cannot free tstrips because separate triangles don't exist\n");
else {
tstrips.clear();
}
}
// src and dst are indices to the triangle face (i.e., vertex face / 3).
void
Mesh::copyTriFrom (Mesh *meshSrc, int src, int dst)
{
if (meshSrc->hasVoxels) this->hasVoxels = true;
for (int i = 0; i < 3; i++) {
// make sure triangle is within bounds of vector
assert(3*dst+i <= this->tris.size());
if (3*dst+i < this->tris.size()) {
this->tris[3*dst+i] = meshSrc->tris[3*src+i];
// copy voxel in - for voxel display feature
if (meshSrc->hasVoxels)
this->fromVoxels[3*dst+i] = meshSrc->fromVoxels[3*src+i];
} else { // adding to the end
this->tris.push_back (meshSrc->tris[3*src+i]);
if (meshSrc->hasVoxels)
this->fromVoxels.push_back(meshSrc->fromVoxels[3*src+i]);
}
}
if (meshSrc->triMatDiff != NULL) {
this->triMatDiff[dst][0] = meshSrc->triMatDiff[src][0];
this->triMatDiff[dst][1] = meshSrc->triMatDiff[src][1];
this->triMatDiff[dst][2] = meshSrc->triMatDiff[src][2];
}
}
void
Mesh::copyVertFrom (Mesh *meshSrc, int src, int dst)
{
assert (dst <= this->vtx.size());
if (dst < this->vtx.size())
this->vtx[dst] = meshSrc->vtx[src];
else
this->vtx.push_back(meshSrc->vtx[src]);
if (this->nrm.capacity() && meshSrc->nrm.size()) {
int nd = 3 * dst;
int ns = 3 * src;
if (nd < this->nrm.size()) {
this->nrm[nd ] = meshSrc->nrm[ns ];
this->nrm[nd+1] = meshSrc->nrm[ns+1];
this->nrm[nd+2] = meshSrc->nrm[ns+2];
} else {
this->nrm.push_back(meshSrc->nrm[ns ]);
this->nrm.push_back(meshSrc->nrm[ns+1]);
this->nrm.push_back(meshSrc->nrm[ns+2]);
}
}
if (meshSrc->vertMatDiff != NULL) {
this->vertMatDiff[dst][0] = meshSrc->vertMatDiff[src][0];
this->vertMatDiff[dst][1] = meshSrc->vertMatDiff[src][1];
this->vertMatDiff[dst][2] = meshSrc->vertMatDiff[src][2];
}
if (meshSrc->vertIntensity != NULL) {
this->vertIntensity[dst] = meshSrc->vertIntensity[src];
}
if (meshSrc->vertConfidence != NULL) {
this->vertConfidence[dst] = meshSrc->vertConfidence[src];
}
if (meshSrc->texture != NULL) {
this->texture[dst][0] = meshSrc->texture[src][0];
this->texture[dst][1] = meshSrc->texture[src][1];
}
}
void
Mesh::mark_boundary_verts(void)
{
if (bdry.size()) return;
// initialize the boundary flags
//bdry.erase(bdry.begin(), bdry.end());
bdry.insert(bdry.end(), vtx.size(), 0);
::mark_boundary_verts(bdry, getTris());
}
void plycrunch_simplify (const vector<Pnt3>& vtx, const vector<int>& tris,
vector<Pnt3>& outVtx, vector<int>& outTris,
int approxDesired);
Mesh *
Mesh::Decimate(int numFaces, int optLevel,
float errLevel, float boundWeight,
ResolutionCtrl::Decimator dec)
{
Mesh *outMesh = new Mesh();
switch (dec) {
case ResolutionCtrl::decQslim:
quadric_simplify(vtx, getTris(), outMesh->vtx, outMesh->tris,
numFaces, optLevel, errLevel, boundWeight);
break;
case ResolutionCtrl::decPlycrunch:
plycrunch_simplify (vtx, getTris(), outMesh->vtx, outMesh->tris, numFaces);
break;
default:
cerr << "Mesh::Decimate: unsupported decimator " << dec << endl;
delete outMesh;
return NULL;
}
outMesh->initNormals(0);
outMesh->computeBBox();
return outMesh;
}
struct PlyVertex {
float x, y, z;
float nx, ny, nz;
uchar diff_r, diff_g, diff_b;
float tex_u, tex_v;
float intensity;
float std_dev;
float confidence;
};
const int MAX_FACE_VERTS = 100;
/* Added field to hold voxel from which the face was derived
- for voxel display feature */
struct PlyFace {
uchar nverts;
int verts[MAX_FACE_VERTS];
float fromVoxelX, fromVoxelY, fromVoxelZ;
};
struct CoordConfVert {
float v[3];
float conf;
};
struct TriLocal {
uchar nverts;
int index[3];
};
static PlyProperty vert_prop_x =
{"x", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_y =
{"y", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_z =
{"z", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_nx =
{"nx", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_ny =
{"ny", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_nz =
{"nz", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_texture_u =
{"texture_u", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_texture_v =
{"texture_v", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_intens =
{"intensity", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_std_dev =
{"std_dev", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_confidence =
{"confidence", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_diff_r =
{"diffuse_red", PLY_UCHAR, PLY_UCHAR, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_diff_g =
{"diffuse_green", PLY_UCHAR, PLY_UCHAR, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty vert_prop_diff_b =
{"diffuse_blue", PLY_UCHAR, PLY_UCHAR, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
/* Added another face_prop that holds data for the voxel from which
the face was derived - for voxel display feature */
static PlyProperty face_props[] = {
{"vertex_indices", PLY_INT, PLY_INT, 0, 1, PLY_UCHAR, PLY_UCHAR, 0},
};
static PlyProperty face_prop_from_voxel_x =
{"from_voxel_x", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty face_prop_from_voxel_y =
{"from_voxel_y", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
static PlyProperty face_prop_from_voxel_z =
{"from_voxel_z", PLY_FLOAT, PLY_FLOAT, 0, 0, PLY_START_TYPE, PLY_START_TYPE, 0};
struct tstrip_info {
int nverts;
int* vertData;
};
static PlyProperty tstrips_props[] = {
{"vertex_indices", PLY_INT, PLY_INT, 4, 1, PLY_INT, PLY_INT, 0},
};
static void
set_offsets(void)
{
static int first = 1;
if (first) {
first = 0;
vert_prop_x.offset = offsetof(PlyVertex,x);
vert_prop_y.offset = offsetof(PlyVertex,y);
vert_prop_z.offset = offsetof(PlyVertex,z);
vert_prop_nx.offset = offsetof(PlyVertex,nx);
vert_prop_ny.offset = offsetof(PlyVertex,ny);
vert_prop_nz.offset = offsetof(PlyVertex,nz);
vert_prop_intens.offset = offsetof(PlyVertex, intensity);
vert_prop_std_dev.offset = offsetof(PlyVertex, std_dev);
vert_prop_confidence.offset = offsetof(PlyVertex, confidence);
vert_prop_diff_r.offset = offsetof(PlyVertex,diff_r);
vert_prop_diff_g.offset = offsetof(PlyVertex,diff_g);
vert_prop_diff_b.offset = offsetof(PlyVertex,diff_b);
vert_prop_texture_u.offset = offsetof(PlyVertex,tex_u);
vert_prop_texture_v.offset = offsetof(PlyVertex,tex_v);
tstrips_props[0].offset = offsetof(tstrip_info,vertData);
}
}
static const int progress_update = 0xfff;
int
Mesh::readPlyFile(const char *filename)
{
int i, j;
int nelems;
char **elist;
char **obj_info;
int num_obj_info;
char *elem_name;
int nprops;
int num_elems;
int hasConfidence = 0;
//int hasIntensity = 0;
//int hasStdDev = 0;
int hasDiffuseColors = 0;
int hasTexture = 0;
int notATriangleMesh = 0;
int skipTexture = 1;
#if VERBOSE
TIMER(Read_ply_file);
#endif
face_props[0].offset = offsetof(PlyFace, verts);
face_props[0].count_offset = offsetof(PlyFace, nverts);
// face_prop offsets for voxel display feature
face_prop_from_voxel_x.offset = offsetof(PlyFace, fromVoxelX);
face_prop_from_voxel_y.offset = offsetof(PlyFace, fromVoxelY);
face_prop_from_voxel_z.offset = offsetof(PlyFace, fromVoxelZ);
PlyFile ply;
if (ply.open_for_reading((char*)filename, &nelems, &elist) == 0)
return 0;
// Look for a texture file reference
char temp[PATH_MAX];
obj_info = ply.get_obj_info (&num_obj_info);
for (i = 0; i < num_obj_info; i++) {
if (strstr(obj_info[i], "texture_file")) {
sscanf(obj_info[i], "%s%s", temp, texFileName);
FILE *fp = fopen(texFileName, "r");
if (fp != NULL) {
fclose(fp);
skipTexture = 0;
} else {
texFileName[0] = 0;
}
}
}
vector<PlyProperty> vert_props;
set_offsets();
PlyVertex plyVert;
PlyFace plyFace;
for (i = 0; i < nelems; i++) {
// get the description of the first element
elem_name = elist[i];
ply.get_element_description(elem_name, &num_elems, &nprops);
// if we're on vertex elements, read them in
if (equal_strings ("vertex", elem_name)) {
#if VERBOSE
TIMER(Read_vertices);
#endif
vtx.reserve(num_elems);
if (ply.is_valid_property("vertex", vert_prop_x.name) &&
ply.is_valid_property("vertex", vert_prop_y.name) &&
ply.is_valid_property("vertex", vert_prop_z.name)) {
ply.get_property(elem_name, &vert_prop_x);
ply.get_property(elem_name, &vert_prop_y);
ply.get_property(elem_name, &vert_prop_z);
}
if (ply.is_valid_property("vertex", vert_prop_nx.name) &&
ply.is_valid_property("vertex", vert_prop_ny.name) &&
ply.is_valid_property("vertex", vert_prop_nz.name) ) {
ply.get_property(elem_name, &vert_prop_nx);
ply.get_property(elem_name, &vert_prop_ny);
ply.get_property(elem_name, &vert_prop_nz);
hasVertNormals = 1;
nrm.reserve(num_elems * 3);
}
if (ply.is_valid_property("vertex", vert_prop_intens.name)) {
ply.get_property(elem_name, &vert_prop_intens);
//hasIntensity = 1;
}
if (ply.is_valid_property("vertex", vert_prop_std_dev.name)){
ply.get_property(elem_name, &vert_prop_std_dev);
//hasStdDev = 1;
}
if (ply.is_valid_property("vertex",
vert_prop_confidence.name)) {
ply.get_property(elem_name, &vert_prop_confidence);
hasConfidence = 1;
vertConfidence = new float[num_elems];
}
if (ply.is_valid_property("vertex", "diffuse_red") &&
ply.is_valid_property("vertex", "diffuse_green") &&
ply.is_valid_property("vertex", "diffuse_blue")) {
ply.get_property(elem_name, &vert_prop_diff_r);
ply.get_property(elem_name, &vert_prop_diff_g);
ply.get_property(elem_name, &vert_prop_diff_b);
hasDiffuseColors = 1;
vertMatDiff = new vec3uc[num_elems];
}
if (!skipTexture) {
if (ply.is_valid_property("vertex", "texture_u") &&
ply.is_valid_property("vertex", "texture_v")) {
ply.get_property(elem_name, &vert_prop_texture_u);
ply.get_property(elem_name, &vert_prop_texture_v);
hasTexture = 1;
texture = new vec2f[num_elems];
}
}
Progress progress (num_elems, "%s: read vertices", filename);
// grab all the vertex elements
for (j = 0; j < num_elems; j++) {
if ((j & progress_update) == progress_update)
progress.update (j);
ply.get_element ((void *) &plyVert);
vtx.push_back(Pnt3(plyVert.x, plyVert.y, plyVert.z));
if (hasVertNormals)
pushNormalAsShorts (nrm, Pnt3(plyVert.nx, plyVert.ny, plyVert.nz));
if (hasDiffuseColors) {
vertMatDiff[j][0] = plyVert.diff_r;
vertMatDiff[j][1] = plyVert.diff_g;
vertMatDiff[j][2] = plyVert.diff_b;
}
if (hasConfidence) {
vertConfidence[j] = plyVert.confidence;
}
if (hasTexture) {
texture[j][0] = plyVert.tex_u;
texture[j][1] = plyVert.tex_v;
}
}
}
if (equal_strings ("face", elem_name)) {
#if VERBOSE
TIMER(Read_faces);
#endif
ply.get_property(elem_name, face_props);
/* check to see if we have voxel information for voxel
display feature */
if (ply.is_valid_property("face", "from_voxel_x")
|| ply.is_valid_property("face", "from_voxel_y")
|| ply.is_valid_property("face", "from_voxel_z")) {
printf("Voxel information present...\n");
ply.get_property(elem_name, &face_prop_from_voxel_x);
ply.get_property(elem_name, &face_prop_from_voxel_y);
ply.get_property(elem_name, &face_prop_from_voxel_z);
hasVoxels = 1;
} else printf("No voxel information stored...\n");
if (num_elems == 0)
continue;
assert(tris.size() == 0);
tris.reserve (num_elems * 3);
Progress progress (num_elems, "%s: read tris", filename);
for (j = 0; j < num_elems; j++) {
if ((j & progress_update) == progress_update)
progress.update (j);
ply.get_element_noalloc((void *) &plyFace);
if (plyFace.nverts != 3)
notATriangleMesh = 1;
assert(plyFace.nverts <= MAX_FACE_VERTS);
addTri(plyFace.verts[0],
plyFace.verts[1],
plyFace.verts[2]);
if (hasVoxels) {
/* printf("adding voxel %f, %f, %f\n",
plyFace.fromVoxelX, plyFace.fromVoxelY,
plyFace.fromVoxelZ); */
/* store voxel here - for voxel display feature */
addVoxelInfo(plyFace.verts[0], plyFace.verts[1],
plyFace.verts[2],
plyFace.fromVoxelX, plyFace.fromVoxelY,
plyFace.fromVoxelZ);
}
//delete[] plyFace.verts;
}
if (notATriangleMesh) {
cerr << "readPlyFile: Not a triangle mesh!" << endl;
}
}
if (equal_strings ("tristrips", elem_name)) {
tstrip_info info;
if (num_elems != 1)
continue;
#if VERBOSE
TIMER(Read_stripped_faces);
#endif
ply.get_property (elem_name, tstrips_props);
ply.get_element ((void*)&info);
tstrips.reserve (info.nverts);
Progress progress (info.nverts, "%s: read t-strips", filename);
int lastend = 0;
for (int iv = 0; iv < info.nverts; iv++) {
if ((iv & progress_update) == progress_update)
progress.update (iv);
int vert = info.vertData[iv];
bool ok = (vert >= 0 && vert < vtx.size())
|| (vert == -1 && lastend >= 3);
if (ok) {
// middle of strip
tstrips.push_back (vert);
if (vert == -1)
lastend = 0;
else
++lastend;
} else {
cerr << "\n\nRed alert: invalid index " << vert
<< " in tstrip (index = " << iv
<< ", valid range=0.." << vtx.size() - 1
<< ")\n" << endl;
// remove last strip
if (lastend) {
while (--lastend)
tstrips.pop_back();
}
}
}
}
}
return 1;
}
int
Mesh::writePlyFile (const char *filename, int useColorNotTexture,
int writeNormals)
{
#if 1
vector<int>* pInds = NULL;
bool bStrips = false;
vector<uchar> color;
vector<float> conf;
if (theScene->meshes_written_stripped()) {
pInds = &getTstrips();
bStrips = true;
} else {
pInds = &getTris();
bStrips = false;
}
if (vertMatDiff) {
color.reserve (vtx.size() * 3);
for (int i = 0; i < vtx.size(); i++) {
color.push_back (vertMatDiff[i][0]);
color.push_back (vertMatDiff[i][1]);
color.push_back (vertMatDiff[i][2]);
}
} else if (vertIntensity) {
color.reserve (vtx.size());
for (int i = 0; i < vtx.size(); i++)
color.push_back (vertIntensity[i]);
}
if (vertConfidence) {
conf.reserve (vtx.size());
for (int i = 0; i < vtx.size(); i++)
conf.push_back (vertConfidence[i]);
}
if (color.size())
if (conf.size())
write_ply_file (filename, vtx, *pInds, bStrips, color, conf);
else
write_ply_file (filename, vtx, *pInds, bStrips, color);
else
if (conf.size())
write_ply_file (filename, vtx, *pInds, bStrips, conf);
else
write_ply_file (filename, vtx, *pInds, bStrips);
return true;
#else
int i;
char *elem_names[] = {"vertex", "face"};
int hasIntensity = vertIntensity != NULL;
int hasColor = vertMatDiff != NULL;
int hasConfidence = vertConfidence != NULL;
int hasTexture = texture != NULL;
PlyFile ply;
if (!ply.open_for_writing((char*)filename, 2, elem_names,PLY_BINARY_BE))
return 0;
if (hasTexture && !useColorNotTexture) {
char obj_info[PATH_MAX];
sprintf(obj_info, "%s %s", "texture_file", texFileName);
ply.put_obj_info(obj_info);
}
vector<PlyProperty> vert_props;
set_offsets();
vert_props.push_back(vert_prop_x);
vert_props.push_back(vert_prop_y);
vert_props.push_back(vert_prop_z);
if (writeNormals) {
vert_props.push_back(vert_prop_nx);
vert_props.push_back(vert_prop_ny);
vert_props.push_back(vert_prop_nz);
}
if (hasIntensity) {
vert_props.push_back(vert_prop_intens);
}
if (hasConfidence) {
vert_props.push_back(vert_prop_confidence);
hasConfidence = 1;
}
if (hasColor || (hasTexture && useColorNotTexture)) {
vert_props.push_back(vert_prop_diff_r);
vert_props.push_back(vert_prop_diff_g);
vert_props.push_back(vert_prop_diff_b);
}
if (hasTexture && !useColorNotTexture) {
vert_props.push_back(vert_prop_texture_u);
vert_props.push_back(vert_prop_texture_v);
}
// count offset
face_props[0].offset = offsetof(PlyFace, verts);
face_props[0].count_offset = offsetof(PlyFace, nverts);
ply.describe_element("vertex", vtx.size(),
vert_props.size(), &vert_props[0]);
ply.describe_element("face", tris.size()/3, 1, face_props);
ply.header_complete();
// set up and write the vertex elements
PlyVertex plyVert;
ply.put_element_setup("vertex");
for (i = 0; i < vtx.size(); i++) {
plyVert.x = vtx[i][0];
plyVert.y = vtx[i][1];
plyVert.z = vtx[i][2];
if (hasIntensity)
plyVert.intensity = vertIntensity[i];
if (hasConfidence)
plyVert.confidence = vertConfidence[i];
if (hasColor) {
plyVert.diff_r = vertMatDiff[i][0];
plyVert.diff_g = vertMatDiff[i][1];
plyVert.diff_b = vertMatDiff[i][2];
}
if (writeNormals) {
plyVert.nx = nrm[i][0];
plyVert.ny = nrm[i][1];
plyVert.nz = nrm[i][2];
}
/*
if (hasTexture && !useColorNotTexture) {
plyVert.tex_u = texture[i][0];
plyVert.tex_v = texture[i][1];
}
else if (hasTexture && useColorNotTexture) {
float texU = texture[i][0];
float texV = texture[i][1];
int xOff = int(texU*meshSet->texXdim);
int yOff = int(texV*meshSet->texYdim);
// shouldn't that be texXdim, not texYdim*yOff ??
uchar *col = &meshSet->
texture[3*(xOff + meshSet->texYdim*yOff)];
plyVert.diff_r = col[0];
plyVert.diff_g = col[1];
plyVert.diff_b = col[2];
}
*/
ply.put_element((void *) &plyVert);
}
PlyFace plyFace;
ply.put_element_setup("face");
for (i = 0; i < tris.size(); i+=3) {
plyFace.nverts = 3;
plyFace.verts[0] = tris[i+0];
plyFace.verts[1] = tris[i+1];
plyFace.verts[2] = tris[i+2];
ply.put_element_static_strg((void *) &plyFace);
}
return 1;
#endif
}
static Random rnd;
void
Mesh::subsample_points(float rate, vector<Pnt3> &pts)
{
subsample_points(int(rate*vtx.size()), pts);
}
void
Mesh::subsample_points(float rate, vector<Pnt3> &pts,
vector<Pnt3> &nrms)
{
subsample_points(int(rate*vtx.size()), pts, nrms);
}
bool
Mesh::subsample_points(int n, vector<Pnt3> &pts)
{
pts.clear(); pts.reserve(n);
double nv = vtx.size();
if (n > nv) return 0;
double np = n;
int end = nv;
for (int i = 0; i<end; i++) {
if (rnd(nv) <= np) {
pts.push_back(vtx[i]); // save point
np--;
}
nv--;
}
assert(np == 0);
return 1;
}
bool
Mesh::subsample_points(int n, vector<Pnt3> &pts,
vector<Pnt3> &nrms)
{
pts.clear(); pts.reserve(n);
nrms.clear(); nrms.reserve(n);
double nv = vtx.size();
if (n > nv) return 0;
double np = n;
int end = nv;
for (int i = 0; i<end; i++) {
if (rnd(nv) <= np) {
pts.push_back(vtx[i]); // save point
pushNormalAsPnt3 (nrms, nrm.begin(), i);
np--;
}
nv--;
}
assert(np == 0);
return 1;
}
void
Mesh::remove_unused_vtxs(void)
{
// prepare vertex index map
vector<int> vtx_ind(vtx.size(), -1);
// march through the triangles
// and mark the vertices that are actually used
int n = getTris().size();
for (int i=0; i<n; i++) {
assert (tris[i] >= 0 && tris[i] < vtx.size());
vtx_ind[tris[i]] = tris[i];
}
// remove the vertices that were not marked,
// also keep tab on how the indices change
int cnt = 0;
n = vtx.size();