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openMVS.build/vcglib/vcg/space/polygon3.h

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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004-2016 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
#ifndef POLYGON_H
#define POLYGON_H
#include <vcg/space/plane3.h>
#include <vcg/space/fitting3.h>
#include <vcg/space/point_matching.h>
#include <vcg/math/matrix33.h>
#include <vcg/space/distance3.h>
namespace vcg {
////return true if the
//template <class CoordType>
//bool CheckNormalizedCoords(CoordType dir)
//{
// typedef typename CoordType::ScalarType ScalarType;
// if(isnan(dir.X()))return false;
// if(isnan(dir.Y()))return false;
// if(isnan(dir.Z()))return false;
// ScalarType Norm=dir.Norm();
// if(fabs(Norm-1.f)>0.01f)return false;
// return true;
//}
//return per vertex Normals of a polygonal face stored as a vector of coords
template <class CoordType>
void GetNormals(std::vector<CoordType> &Pos,
std::vector<CoordType> &Norms)
{
Norms.clear();
int size=Pos.size();
if (size<=2) return;
for (int i=0;i<size;i++)
Norms.push_back(Normal(Pos[i],Pos[(i+1)%size],Pos[(i+2)%size]).Normalize());
}
//return the normal of a polygonal face stored as a vector of coords
template <class CoordType>
CoordType Normal(std::vector<CoordType> &Pos)
{
std::vector<CoordType> Norms;
GetNormals(Pos,Norms);
if (Norms.size()==0)
return(CoordType(1,0,0));
CoordType NSum=CoordType(0,0,0);
for (size_t i=0;i<Norms.size();i++)
NSum+=Norms[i];
NSum.Normalize();
return (NSum);
}
//return the area of a polygonal face stored as a vector of coords
template <class CoordType>
typename CoordType::ScalarType Area(const std::vector<CoordType> &Pos)
{
typedef typename CoordType::ScalarType ScalarType;
CoordType bary=CoordType(0,0,0);
for (size_t i=0;i<Pos.size();i++)
bary+=Pos[i];
bary/=Pos.size();
ScalarType Area=0;
for (size_t i=0;i<Pos.size();i++)
{
CoordType p0=Pos[i];
CoordType p1=Pos[(i+1)% Pos.size()];
CoordType p2=bary;
vcg::Triangle3<ScalarType> T(p0,p1,p2);
Area+=(vcg::DoubleArea(T)/2);
}
return Area;
}
//return per vertex Normals of a polygonal face
template<class PolygonType>
void PolyNormals(const PolygonType &F,
std::vector<typename PolygonType::CoordType> &Norms)
{
Norms.clear();
if (F.VN()<=2) return;
for (int i=0;i<F.VN();i++)
Norms.push_back(Normal(F.cP0(i),F.cP1(i),F.cP2(i)).Normalize());
}
//return the barycenter of a polygonal face
template<class PolygonType>
typename PolygonType::CoordType PolyBarycenter(const PolygonType &F)
{
typename PolygonType::CoordType bary(0,0,0);
for (int i=0;i<F.VN();i++)
bary+=F.cP(i);
bary/=(typename PolygonType::ScalarType)F.VN();
return bary;
}
//return the area of a polygonal face
template<class PolygonType>
typename PolygonType::ScalarType PolyArea(const PolygonType &F)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
if (F.VN() == 3)
return vcg::DoubleArea(F) / 2;
CoordType bary=PolyBarycenter(F);
ScalarType Area=0;
for (size_t i=0;i<(size_t)F.VN();i++)
{
CoordType p0=F.cP0(i);
CoordType p1=F.cP1(i);
CoordType p2=bary;
vcg::Triangle3<ScalarType> T(p0,p1,p2);
Area+=(vcg::DoubleArea(T)/2);
}
return Area;
}
//return the normal of a polygonal face
template<class PolygonType>
typename PolygonType::CoordType PolygonNormal(const PolygonType &F)
{
typename PolygonType::CoordType n(0,0,0);
for (int i=0;i<F.VN();i++)
n+=Normal(F.cP0(i),F.cP1(i),F.cP2(i)).Normalize();
return n.Normalize();
}
//return the perimeter of a polygonal face
template<class PolygonType>
typename PolygonType::ScalarType PolyPerimeter(const PolygonType &F)
{
typedef typename PolygonType::ScalarType ScalarType;
ScalarType SumL=0;
for (int i=0;i<F.VN();i++)
{
ScalarType L=(F.cP0(i)-F.cP1(i)).Norm();
SumL+=L;
}
return (SumL);
}
//return a Scalar value that encode the variance of the normals
//wrt the average one (1 means hight variance, 0 no variance)
template<class PolygonType>
typename PolygonType::ScalarType PolyNormDeviation(const PolygonType &F)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
std::vector<CoordType> Norms;
PolyNormals(F,Norms);
//calculate the Avg Normal
CoordType AvgNorm(0,0,0);
for (int i=0;i<Norms.size();i++)
AvgNorm+=Norms[i];
AvgNorm.Normalize();
//if (!CheckNormalizedCoords(AvgNorm))return 1;
ScalarType Dev=0;
for (int i=0;i<Norms.size();i++)
Dev+=pow((Norms[i]-AvgNorm).Norm()/2.0,2);
Dev/=(ScalarType)Norms.size();
Dev=sqrt(Dev);
return Dev;
}
//return a Scalar value that encode the distance wrt ideal angle for each
//wrt the average one (1 correspond to hight variance, 0 no variance)
template<class PolygonType>
void PolyAngleDeviation(const PolygonType &F,
typename PolygonType::ScalarType &AvgDev,
typename PolygonType::ScalarType &MaxDev)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
assert(F.VN()>2);
ScalarType IdealAngle=M_PI-(2*M_PI/(ScalarType)F.VN());
assert(IdealAngle>0);
//then compute the angle deviation
MaxDev=0;
AvgDev=0;
for (int i=0;i<F.VN();i++)
{
CoordType dir0=F.cP0(i)-F.cP1(i);
CoordType dir1=F.cP2(i)-F.cP1(i);
ScalarType VAngle=vcg::Angle(dir0,dir1);
assert(VAngle>=0);
ScalarType VAngleDiff=fabs(VAngle-IdealAngle);
if (VAngleDiff>MaxDev)MaxDev=VAngleDiff;
AvgDev+=VAngleDiff;
}
AvgDev/=(ScalarType)F.VN();
AvgDev/=(M_PI/2.0);
MaxDev/=(M_PI/2.0);
if (AvgDev>1)AvgDev=1;
if (MaxDev>1)MaxDev=1;
}
//return the fitting plane of a polygonal face
template<class PolygonType>
vcg::Plane3<typename PolygonType::ScalarType> PolyFittingPlane(const PolygonType &F)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
vcg::Plane3<ScalarType> BestPL;
assert(F.VN()>=3);
std::vector<CoordType> pointVec;
for (int i=0;i<F.VN();i++)
pointVec.push_back(F.cP(i));
vcg::FitPlaneToPointSet(pointVec,BestPL);
return BestPL;
}
//return the flatness of a polygonal face as avg distance to the best fitting plane divided by half perimeter
template<class PolygonType>
typename PolygonType::ScalarType PolyFlatness(const PolygonType &F)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
if (F.VN()<=3)
return 0;
//average lenght
ScalarType SumL=PolyPerimeter(F)/2.0;
//diagonal distance
vcg::Plane3<ScalarType> BestPL=PolyFittingPlane(F);
//then project points on the plane
ScalarType Flatness=0;
for (int i=0;i<F.VN();i++)
{
CoordType pos=F.cP(i);
CoordType proj=BestPL.Projection(pos);
Flatness+=(pos-proj).Norm();
}
Flatness/=(ScalarType)F.VN();
return((Flatness)/SumL);
}
//evaluate the PCA directions of a polygonal face
template<class PolygonType>
void PolyPCA(const PolygonType &F,
typename PolygonType::CoordType PCA[])
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
//compute the covariance matrix
Eigen::Matrix3d EigenCovMat;
//ComputeCovarianceMatrix(EigenCovMat);
//compute covariance matrix
///compute the barycenter
CoordType Barycenter=PolyBarycenter(F);
// second cycle: compute the covariance matrix
EigenCovMat.setZero();
Eigen::Vector3d p;
for (int i=0;i<F.VN();i++)
{
(F.cP(i)-Barycenter).ToEigenVector(p);
EigenCovMat+= p*p.transpose(); // outer product
}
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d > eig(EigenCovMat);
Eigen::Vector3d eval = eig.eigenvalues();
Eigen::Matrix3d evec = eig.eigenvectors();
eval = eval.cwiseAbs();
int normInd,maxInd,minInd;
///get min and max coff ..
///the minumum is the Normal
///the other two the anisotropy directions
eval.minCoeff(&normInd);
eval.maxCoeff(&maxInd);
minInd=(maxInd+1)%3;
if (minInd==normInd)minInd=(normInd+1)%3;
assert((minInd!=normInd)&&(minInd!=maxInd)&&(minInd!=maxInd));
///maximum direction of PCA
PCA[0][0] = evec(0,maxInd);
PCA[0][1] = evec(1,maxInd);
PCA[0][2] = evec(2,maxInd);
///minimum direction of PCA
PCA[1][0] = evec(0,minInd);
PCA[1][1] = evec(1,minInd);
PCA[1][2] = evec(2,minInd);
///Normal direction
PCA[2][0] = evec(0,normInd);
PCA[2][1] = evec(1,normInd);
PCA[2][2] = evec(2,normInd);
ScalarType LX=sqrt(eval[maxInd]);
ScalarType LY=sqrt(eval[minInd]);
//ScalarType LZ=sqrt(eval[normInd]);
///scale the directions
PCA[0]*=LX;
PCA[1]*=LY;
//PCA[2]*=LZ;//.Normalize();
PCA[2].Normalize();
}
//evaluate the PCA directions of a polygonal face
//scaled by the area of the face
template<class PolygonType>
void PolyScaledPCA(const PolygonType &F,
typename PolygonType::CoordType PCA[])
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
std::vector<CoordType> SwapPos;
///compute the barycenter
//CoordType Barycenter=PolyBarycenter(F);
///compute the Area
ScalarType Area=PolyArea(F);
PolyPCA(F,PCA);
ScalarType Scale=sqrt(Area/(PCA[0].Norm()*PCA[1].Norm()));
PCA[0]*=Scale;
PCA[1]*=Scale;
}
//return the base template polygon as
//described by "Static Aware Grid Shells" by Pietroni et Al.
template<class CoordType>
void getBaseTemplatePolygon(int N,
std::vector<CoordType> &TemplatePos)
{
typedef typename CoordType::ScalarType ScalarType;
///first find positions in the
///reference frame of the passed matrix
ScalarType AngleInterval=2.0*M_PI/(ScalarType)N;
ScalarType CurrAngle=0;
TemplatePos.resize(N);
for (size_t i=0;i<TemplatePos.size();i++)
{
///find with trigonometric functions
TemplatePos[i].X()=cos(CurrAngle);
TemplatePos[i].Y()=sin(CurrAngle);
TemplatePos[i].Z()=0;
// TemplatePos[i].Normalize();
// TemplatePos[i].X()*=Anisotropy;
// TemplatePos[i].Y()*=(1-Anisotropy);
///increment the angle
CurrAngle+=AngleInterval;
}
}
//return the rigidly aligned template polygon as
//described by "Static Aware Grid Shells" by Pietroni et Al.
template<class PolygonType>
void GetPolyTemplatePos(const PolygonType &F,
std::vector<typename PolygonType::CoordType> &TemplatePos,
bool force_isotropy=false)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
std::vector<CoordType> UniformPos,UniformTempl;
CoordType Barycenter=PolyBarycenter(F);
getBaseTemplatePolygon(F.VN(),TemplatePos);
CoordType PCA[3];
PolyPCA(F,PCA);
vcg::Matrix44<ScalarType> ToPCA,ToPCAInv;
ToPCA.SetIdentity();
CoordType dirX=PCA[0];
CoordType dirY=PCA[1];
CoordType dirZ=PCA[2];
if (force_isotropy)
{
dirX.Normalize();
dirY.Normalize();
dirZ.Normalize();
// CoordType dirXN=dirX;dirXN.Normalize();
// CoordType dirYN=dirY;dirYN.Normalize();
// CoordType dirZN=dirZ;dirZN.Normalize();
// dirX=dirX*0.8+dirXN*0.2;
// dirY=dirY*0.8+dirYN*0.2;
// dirZ=dirZ*0.8+dirZN*0.2;
}
///set the Rotation matrix
ToPCA.SetColumn(0,dirX);
ToPCA.SetColumn(1,dirY);
ToPCA.SetColumn(2,dirZ);
ToPCAInv=ToPCA;
ToPCA=vcg::Inverse(ToPCA);
///then transform the polygon to PCA space
for (int i=0;i<F.VN();i++)
{
///translate
CoordType Pos=F.cP(i)-Barycenter;
///rotate
Pos=ToPCA*Pos;
//retranslate
UniformPos.push_back(Pos);
}
///calculate the Area
ScalarType AreaTemplate=Area(TemplatePos);
ScalarType AreaUniform=Area(UniformPos);
// if (TargetArea>0)
// {
// AreaUniform*=(AreaUniform/TargetArea);
// }
ScalarType Scale=sqrt(AreaTemplate/AreaUniform);
for (size_t i=0;i<UniformPos.size();i++)
UniformPos[i]*=Scale;
///check side
CoordType N0=Normal(UniformPos);
CoordType N1=Normal(TemplatePos);
if ((N0*N1)<0)std::reverse(TemplatePos.begin(),TemplatePos.end());
///initialize
std::vector<CoordType> FixPoints(UniformPos.begin(),UniformPos.end());
std::vector<CoordType> MovPoints(TemplatePos.begin(),TemplatePos.end());
///add displacement along Z
for (size_t i=0;i<FixPoints.size();i++)
{
FixPoints[i]+=CoordType(0,0,0.1);
MovPoints[i]+=CoordType(0,0,0.1);
}
///add original points
FixPoints.insert(FixPoints.end(),UniformPos.begin(),UniformPos.end());
MovPoints.insert(MovPoints.end(),TemplatePos.begin(),TemplatePos.end());
///then find the alignment
vcg::Matrix44<ScalarType> Rigid;
///compute rigid match
vcg::ComputeRigidMatchMatrix<ScalarType>(FixPoints,MovPoints,Rigid);
///then apply transformation
UniformTempl.resize(TemplatePos.size(),CoordType(0,0,0));
for (size_t i=0;i<TemplatePos.size();i++)
UniformTempl[i]=Rigid*TemplatePos[i];
///then map back to 3D space
for (size_t i=0;i<TemplatePos.size();i++)
{
TemplatePos[i]=UniformTempl[i];
TemplatePos[i]*=1/Scale;
TemplatePos[i]=ToPCAInv*TemplatePos[i];
}
for (size_t i=0;i<TemplatePos.size();i++)
TemplatePos[i]+=Barycenter;
}
//compute the aspect ratio using the rigidly aligned template polygon as
//described by "Static Aware Grid Shells" by Pietroni et Al.
template<class PolygonType>
typename PolygonType::ScalarType PolyAspectRatio(const PolygonType &F,
bool isotropic=false)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
std::vector<CoordType> TemplatePos;
GetPolyTemplatePos(F,TemplatePos,isotropic);
ScalarType diff=0;
assert((int)TemplatePos.size()==F.VN());
ScalarType AreaP=PolyArea(F);
for (size_t i=0;i<TemplatePos.size();i++)
diff+=pow((TemplatePos[i]-F.cP(i)).Norm(),2)/AreaP;
return(diff);
}
template<class PolygonType>
typename PolygonType::ScalarType PolygonPointDistance(const PolygonType &F,
const vcg::Point3<typename PolygonType::ScalarType> &pos,
vcg::Point3<typename PolygonType::ScalarType> &ClosestP,
typename PolygonType::ScalarType minD = std::numeric_limits<typename PolygonType::ScalarType>::max())
{
typedef typename PolygonType::ScalarType ScalarType;
typedef typename PolygonType::CoordType CoordType;
CoordType bary=vcg::PolyBarycenter(F);
for (size_t j=0;j<F.VN();j++)
{
vcg::Triangle3<ScalarType> T(F.cP0(j),F.cP1(j),bary);
ScalarType dist;
CoordType closest;
vcg::TrianglePointDistance(T,pos,dist,closest);
if (dist>minD)continue;
minD=dist;
ClosestP=closest;
}
return minD;
}
template<class PolygonType>
vcg::Box3<typename PolygonType::ScalarType> PolygonBox(const PolygonType &F)
{
typedef typename PolygonType::ScalarType ScalarType;
vcg::Box3<ScalarType> bb;
for (size_t j=0;j<F.VN();j++)
bb.Add(F.V(j)->P());
return bb;
}
template<class PolygonType>
typename PolygonType::ScalarType PolygonTorsion(const PolygonType &F,int side)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
assert(side>=0);
assert(side<2);
assert(F.VN()==4);
//get firts two edges directions
CoordType Dir0,Dir1;
if (side==0)
{
Dir0=F.cP(1)-F.cP(0);
Dir1=F.cP(2)-F.cP(3);
}
else
{
Dir0=F.cP(2)-F.cP(1);
Dir1=F.cP(3)-F.cP(0);
}
Dir0.Normalize();
Dir1.Normalize();
//then make them lying on face's Normal
CoordType DirPlane0=Dir0*0.5+Dir1*0.5;
CoordType DirPlane1=F.cN();
CoordType NormPlane=DirPlane0^DirPlane1;
NormPlane.Normalize();
CoordType subV0=NormPlane*(NormPlane*Dir0);
CoordType subV1=NormPlane*(NormPlane*Dir1);
Dir0-=subV0;
Dir1-=subV1;
Dir0.Normalize();
Dir1.Normalize();
ScalarType AngleVal=vcg::Angle(Dir0,Dir1);
return AngleVal;
}
template<class PolygonType>
typename PolygonType::ScalarType PolygonBending(const PolygonType &F,int side)
{
typedef typename PolygonType::CoordType CoordType;
typedef typename PolygonType::ScalarType ScalarType;
assert(side>=0);
assert(side<2);
assert(F.VN()==4);
//get firts two edges directions
CoordType Norm0,Norm1;
CoordType Avg0,Avg1;
if (side==0)
{
Norm0=F.V(0)->N()*0.5+F.V(1)->N()*0.5;
Avg0=F.cP(0)*0.5+F.cP(1)*0.5;
Norm1=F.V(2)->N()*0.5+F.V(3)->N()*0.5;
Avg1=F.cP(2)*0.5+F.cP(3)*0.5;
}
else
{
Norm0=F.V(2)->N()*0.5+F.V(1)->N()*0.5;
Avg0=F.cP(2)*0.5+F.cP(1)*0.5;
Norm1=F.V(3)->N()*0.5+F.V(0)->N()*0.5;
Avg1=F.cP(3)*0.5+F.cP(0)*0.5;
}
Norm0.Normalize();
Norm1.Normalize();
//then make them lying on face's Normal
CoordType DirPlane0=Avg0-Avg1;
DirPlane0.Normalize();
CoordType DirPlane1=F.cN();
CoordType NormPlane=DirPlane0^DirPlane1;
NormPlane.Normalize();
CoordType subV0=NormPlane*(NormPlane*Norm0);
CoordType subV1=NormPlane*(NormPlane*Norm1);
Norm0-=subV0;
Norm1-=subV1;
Norm0.Normalize();
Norm1.Normalize();
ScalarType AngleVal=vcg::Angle(Norm0,Norm1);
return AngleVal;
}
template<class PolygonType>
typename PolygonType::ScalarType PolygonBending(const PolygonType &F)
{
typedef typename PolygonType::ScalarType ScalarType;
ScalarType Bend0=PolygonBending(F,0);
ScalarType Bend1=PolygonBending(F,1);
assert(Bend0>=0);
assert(Bend1>=0);
return (std::max(Bend0,Bend1));
}
template<class PolygonType>
typename PolygonType::ScalarType PolygonTorsion(const PolygonType &F)
{
typedef typename PolygonType::ScalarType ScalarType;
ScalarType Torsion0=PolygonTorsion(F,0);
ScalarType Torsion1=PolygonTorsion(F,1);
assert(Torsion0>=0);
assert(Torsion1>=0);
return (std::max(Torsion0,Torsion1));
}
}
#endif // POLYGON_H