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fixing boundary simplification
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@sevec
sevec committed Jun 25, 2020
1 parent acc3d87 commit 0fe168f
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Showing 12 changed files with 689 additions and 327 deletions.
1 change: 1 addition & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ add_executable(pvl
Utils.hpp
Assert.hpp
Math.hpp
Optional.hpp
Vector.hpp
Matrix.hpp
Svd.hpp
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13 changes: 7 additions & 6 deletions CloudUtils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,9 +56,10 @@ std::vector<Vec3f> estimateNormals(Cloud& cloud) {
}
Svd<float> svd = singularValueDecomposition(cov);

// std::cout << "singular values = " << svd.S[0] << "," << svd.S[1] << "," << svd.S[2] << "\n";
// std::cout << "singular values = " << svd.S[0] << "," << svd.S[1] << "," << svd.S[2]
// << "\n";
normals[i] = svd.U.column(argMin(svd.S));
normals[i] *= sign(dot(normals[i], cloud[i]));
normals[i] *= sign(dotProd(normals[i], cloud[i]));
}
return normals;
}
Expand Down Expand Up @@ -111,8 +112,8 @@ void orientNormals(Cloud& cloud, Normals& normals) {
continue;
}
Vec3f e = normalize(cloud[n2] - cloud[n1]);
Vec3f ndash = normals[n2] - 2 * e * dot(e, normals[n2]);
if (dot(normals[n1], ndash) < 0.8) {
Vec3f ndash = normals[n2] - 2 * e * dotProd(e, normals[n2]);
if (dotProd(normals[n1], ndash) < 0.8) {
// do not count as neighbours
continue;
}
Expand Down Expand Up @@ -144,8 +145,8 @@ void orientNormals(Cloud& cloud, Normals& normals) {
for (int j : neighs) {
if (indices[j] == 0) {
Vec3f e = normalize(cloud[j] - cloud[i]);
Vec3f ndash = normals[j] - 2 * e * dot(e, normals[j]);
votes += sign(dot(normals[i], ndash));
Vec3f ndash = normals[j] - 2 * e * dotProd(e, normals[j]);
votes += sign(dotProd(normals[i], ndash));
}
}
}
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217 changes: 149 additions & 68 deletions Graph.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,15 +63,12 @@ struct HalfEdge {
HalfEdge(VertexHandle to)
: to(to) {
left = FaceHandle(-1);
opposite = HalfEdgeHandle(-1);
}

bool boundary() const {
return opposite < 0;
}

/* bool removed() const {
return left < 0;
}*/
};

struct Vertex {
Expand All @@ -88,10 +85,6 @@ struct Vertex {
Vertex(HalfEdgeHandle eh)
: edge(eh) {}

/*bool valid() const {
return edge >= 0;
}*/

struct EndTag {};

class IteratorBase {
Expand Down Expand Up @@ -187,10 +180,6 @@ struct Face {
Face(HalfEdgeHandle eh)
: edge(eh) {}

/* bool valid() const {
return edge >= 0;
}*/

struct EndTag {};

class IteratorBase {
Expand Down Expand Up @@ -260,6 +249,7 @@ struct Face {

struct Edge {};

// template<typename Vertex, typename HalfEdge, typename Face>
class Graph {
friend class Vertex;
friend class Face;
Expand Down Expand Up @@ -317,14 +307,15 @@ class Graph {
PVL_ASSERT(!boundary(eh));
return halfEdges_[opposite(eh)].left;
}
HalfEdgeHandle from(VertexHandle vh) const {

/*HalfEdgeHandle from(VertexHandle vh) const {
PVL_ASSERT(valid(vh));
return vertices_[vh].edge;
}
HalfEdgeHandle to(VertexHandle vh) const {
PVL_ASSERT(valid(vh));
return prev(from(vh));
}
}*/
// returns halfedge from vh1 to vh2, or -1 if not exists
HalfEdgeHandle halfEdge(VertexHandle vh1, VertexHandle vh2) const {
PVL_ASSERT(valid(vh1) && valid(vh2));
Expand Down Expand Up @@ -357,17 +348,35 @@ class Graph {
return eh;
}
EdgeHandle edge(VertexHandle vh1, VertexHandle vh2) const {
/* PVL_ASSERT(valid(vh1) && valid(vh2));
if (vh1 > vh2) {
std::swap(vh1, vh2);
}
HalfEdgeHandle eh = halfEdge(vh1, vh2);
if (!valid(eh)) {
// might still be a boundary edge
eh = halfEdge(vh2, vh1);
PVL_ASSERT(!valid(eh) || boundary(eh));
if (boundary(eh)) {
return edge(eh);
}
}
return edge(eh);*/
PVL_ASSERT(valid(vh1) && valid(vh2));
if (vh1 > vh2) {
std::swap(vh1, vh2);
}
HalfEdgeHandle eh = halfEdge(vh1, vh2);
if (!valid(eh)) {
// might still be a boundary edge
eh = halfEdge(vh2, vh1);
PVL_ASSERT(!valid(eh) || boundary(eh));
for (EdgeHandle eh : edgeRing(vh1)) {
HalfEdgeHandle heh = halfEdge(eh);
if ((from(heh) == vh1 && to(heh) == vh2) || (to(heh) == vh1 && from(heh) == vh2)) {
return eh;
}
}
return edge(eh);
return EdgeHandle(-1);
}
HalfEdgeHandle emanating(VertexHandle vh) const {
PVL_ASSERT(valid(vh));
return vertices_[vh].edge;
}
HalfEdgeHandle incoming(VertexHandle vh) const {
return prev(emanating(vh));
}
bool valid(FaceHandle fh) const {
PVL_ASSERT(fh < int(faces_.size()));
Expand Down Expand Up @@ -534,17 +543,12 @@ class Graph {
Face::FaceIterator(*this, fh, Face::EndTag{}) };
}

std::array<int, 3> faceIndices(FaceHandle fh) const {
if (!valid(fh)) {
return { 0, 0, 0 };
}
std::array<int, 3> indices;
int i = 0;
for (VertexHandle vh : vertexRing(fh)) {
indices[i] = vh.index();
++i;
}
return indices;
std::array<VertexHandle, 3> faceVertices(FaceHandle fh) const {
PVL_ASSERT(valid(fh));
std::array<VertexHandle, 3> vertices;
Face::VertexRange ring = vertexRing(fh);
std::copy(ring.begin(), ring.end(), vertices.begin());
return vertices;
}

VertexHandle addVertex() {
Expand Down Expand Up @@ -639,8 +643,8 @@ class Graph {
}
}
{
HalfEdgeHandle e = from(vh[i]);
HalfEdgeHandle e0 = from(vh[i]);
HalfEdgeHandle e = vertices_[vh[i]].edge;
HalfEdgeHandle e0 = e;
if (!boundary(e)) {
// find boundary
do {
Expand Down Expand Up @@ -676,11 +680,19 @@ class Graph {


// collapse to to from
void collapse(HalfEdgeHandle heh) {
PVL_ASSERT(collapseAllowed(heh));
void collapse(EdgeHandle edge) {
PVL_ASSERT(collapseAllowed(edge));
// check();
CollapseContext context(*this, edge(heh));
HalfEdgeHandle oheh = opposite(heh);
CollapseContext context(*this, edge);

HalfEdgeHandle heh = context.edge;
bool onesided = boundary(heh);
HalfEdgeHandle oheh = !onesided ? opposite(heh) : HalfEdgeHandle(-1);

VertexHandle v0 = context.remaining;
VertexHandle v1 = context.removed;
VertexHandle vL = to(next(heh));
VertexHandle vR = !onesided ? to(next(oheh)) : VertexHandle(-1);

/*if (vertices_[context.remaining].edge == heh) {
HalfEdgeHandle l = opposite(prev(heh));
Expand All @@ -689,15 +701,45 @@ class Graph {
vertices_[context.remaining].edge = opposite(prev(heh));
}*/

VertexHandle v0 = context.remaining;
VertexHandle vl = to(next(heh));
VertexHandle vr = to(next(oheh));

/// \todo move only if necessary?
HalfEdgeHandle ev0, evL, evR;
/// \todo fix boundary case
vertices_[v0].edge = opposite(prev(heh));
vertices_[vl].edge = next(opposite(prev(heh)));
vertices_[vr].edge = opposite(next(oheh));
PVL_ASSERT(!boundary(next(heh)));
if (vertices_[v1].edge != next(heh) && vertices_[v1].edge != oheh) {
// unless the halfedge gets removed, simply use the emanating edge of the vertex to
// be removed
ev0 = vertices_[v1].edge;
} else {
PVL_ASSERT(!onesided);
ev0 = opposite(prev(heh));
}
std::cout << "Assigning emanating halfedge for v0 - " << from(ev0) << "-" << to(ev0)
<< std::endl;
PVL_ASSERT(valid(ev0));

if (vertices_[vL].edge == prev(heh)) {
// move to any other halfedge, it cannot be a boundary
PVL_ASSERT(!boundary(prev(heh)));
evL = next(opposite(prev(heh)));
std::cout << "Assigning emanating halfedge for evL - " << from(evL) << "-"
<< to(evL) << std::endl;
} else {
// keep the edge as it might be boundary
evL = vertices_[vL].edge;
}
PVL_ASSERT(evL);

if (!onesided) {
if (vertices_[vR].edge == prev(oheh)) {
PVL_ASSERT(!boundary(prev(oheh)));
evR = opposite(next(oheh));
std::cout << "Assigning emanating halfedge for evR - " << from(evR) << "-"
<< to(evR) << std::endl;
} else {
evR = vertices_[vR].edge;
}
PVL_ASSERT(valid(evR));
}


/*for (HalfEdgeHandle neh : halfEdgeRing(to(heh))) {
if (to(neh) == from(heh)) {
Expand All @@ -707,21 +749,46 @@ class Graph {
}*/
HalfEdgeHandle neh = heh;
do {
neh = opposite(next(neh));
neh = next(neh);
if (boundary(neh)) {
PVL_ASSERT(boundary(heh));
break;
}
neh = opposite(neh);

/*std::cout << "Reassigning 'to' for edge " << from(neh) << "-" << to(neh)
<< " from " << halfEdges_[neh].to << " to " << from(heh) << std::endl;*/
halfEdges_[neh].to = from(heh);
halfEdges_[neh].to = v0;
} while (neh != heh);
/*edges_[prev(eh)].next = next(opposite(next(eh)));
edges_[prev(opposite(next(eh)))].next = from(eh);
edges_[next(opposite(prev(oeh)))].next = next(oeh);*/
connect(opposite(next(heh)), opposite(prev(heh)));
connect(opposite(next(oheh)), opposite(prev(oheh)));
if (!onesided) {
connect(opposite(next(oheh)), opposite(prev(oheh)));
}

vertices_[v1].edge = HalfEdgeHandle(-1);
vertices_[v0].edge = ev0;
vertices_[vL].edge = evL;

vertices_[context.removed].edge = HalfEdgeHandle(-1);
remove(context.left);
remove(context.right);
if (!onesided) {
vertices_[vR].edge = evR;
remove(context.right);
}

PVL_ASSERT(valid(v0));
PVL_ASSERT(valid(vL));
PVL_ASSERT(onesided || valid(vR));
PVL_ASSERT(from(vertices_[v0].edge) == v0);
PVL_ASSERT(to(vertices_[v0].edge) != v1);
PVL_ASSERT(from(vertices_[vL].edge) == vL);
PVL_ASSERT(to(vertices_[vL].edge) != v1);
if (!onesided) {
PVL_ASSERT(from(vertices_[vR].edge) == vR);
PVL_ASSERT(to(vertices_[vR].edge) != v1);
}

// check();
/*remove(opposite(next(heh)));
Expand All @@ -730,44 +797,58 @@ class Graph {
// remove(to(eh));
}

bool collapseAllowed(HalfEdgeHandle eh) {
PVL_ASSERT(valid(eh));
if (boundary(eh)) { /// \todo enable boundary collapse
bool collapseAllowed(EdgeHandle edge) {
PVL_ASSERT(valid(edge));
HalfEdgeHandle eh = halfEdge(edge);

/*if (boundary(eh)) { /// \todo enable boundary collapse
return false;
}
}*/

if (boundary(to(eh)) != boundary(from(eh))) {
// disallow contraction of boundary vertex and inner vertex
return false;
}
if (boundary(next(eh)) || boundary(prev(eh))) {
// disallow contraction of triangle with >1 boundary edge
return false;
}
std::set<VertexHandle> ring1;
for (VertexHandle vh : vertexRing(to(eh))) {
// std::cout << "circ " << vh << std::endl;
if (vh != from(eh)) {
// std::cout << "ring1 " << vh << std::endl;
ring1.insert(vh);
}
for (HalfEdgeHandle neh : halfEdgeRing(vh)) {
if (boundary(neh)) {
return false;
/*if (!boundary(eh)) {
for (HalfEdgeHandle neh : halfEdgeRing(vh)) {
if (boundary(neh)) {
return false;
}
}
}
}*/
}
std::set<VertexHandle> ring2;
for (VertexHandle vh : vertexRing(from(eh))) {
if (vh != to(eh)) {
// std::cout << "ring2 " << vh << std::endl;
ring2.insert(vh);
}
for (HalfEdgeHandle neh : halfEdgeRing(vh)) {
if (boundary(neh)) {
return false;
/*if (!boundary(eh)) {
for (HalfEdgeHandle neh : halfEdgeRing(vh)) {
if (boundary(neh)) {
return false;
}
}
}
}*/
}
std::vector<VertexHandle> is;
std::set_intersection(
ring1.begin(), ring1.end(), ring2.begin(), ring2.end(), std::back_inserter(is));
PVL_ASSERT(is.size() >= 2);
return is.size() == 2;
VertexHandle vl = to(next(eh));
VertexHandle vr = !boundary(eh) ? to(next(opposite(eh))) : VertexHandle(-1);
return std::all_of(
is.begin(), is.end(), [vl, vr](VertexHandle vh) { return vh == vl || vh == vr; });
// return is.size() == 2;
// if (is.size() != 2) {
// return false;
//}
Expand Down
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