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GeometryProcessing.cpp
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GeometryProcessing.cpp
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////////////////////////////////////////////////////////////////////////////////////
// Copyright © Charalambos "Charis" Poullis, charalambos@poullis.org //
// This work can only be used under an exclusive license of the author. //
////////////////////////////////////////////////////////////////////////////////////
#ifndef __GEOMETRY_PROCESSING_CPP__
#define __GEOMETRY_PROCESSING_CPP__
#include "GeometryProcessing.h"
#include "Color.h"
GeometricObject *GeometryProcessing::triangulate(Image *xyz_map, Image *_normal_map) {
if (!xyz_map) {
return 0x00;
}
///Compute the normal map from the xyz map
Image *normal_map = 0x00;
if (_normal_map) {
normal_map = _normal_map;
}
else {
normal_map = GeometryProcessing::computeNormalMap(xyz_map, true);
}
///Measure the number of valid points and allocate memory
int number_of_valid_points = 0;
for (int y=0;y<xyz_map->getHeight();y++) {
for (int x=0;x<xyz_map->getWidth();x++) {
if (xyz_map->getPixel(x,y) == Color(0.0f,0.0f,0.0f)) continue;
number_of_valid_points++;
}
}
///create a connected mesh of the same size as the xyz map
std::vector<Vector3f> new_vertices,normals;
std::vector<Face *> new_faces;
int vertex_count = 0 ;
Image *already_added = new Image(xyz_map->getWidth(),xyz_map->getHeight(), -1.0f,-1.0f,-1.0f,1.0f);
for (int y=0;y<xyz_map->getHeight();y++) {
for (int x=0;x<xyz_map->getWidth();x++) {
bool stop_it = false;
int offset_x=1;
int offset_y=1;
if (xyz_map->getPixel(x,y)==Color(0.0f,0.0f,0.0f)) continue;
if (y+offset_y >= xyz_map->getHeight() || x+offset_x >= xyz_map->getWidth()) continue;
while (xyz_map->getPixel(x+offset_x,y)==Color(0.0f,0.0f,0.0f)) {
offset_x++;
if (x+offset_x>=xyz_map->getWidth()) {
stop_it = true;
break;
}
}
if (stop_it) continue;
while (xyz_map->getPixel(x,y+offset_y) == Color(0.0f,0.0f,0.0f)) {
offset_y++;
if (y+offset_y>=xyz_map->getHeight()) {
stop_it = true;
break;
}
}
if (stop_it) continue;
if (y+offset_y >= xyz_map->getHeight() || x+offset_x >= xyz_map->getWidth()) continue;
if (xyz_map->getPixel(x+offset_x, y+offset_y) == Color(0.0f,0.0f,0.0f)) continue;
std::vector<int> vertex_indices;
int index1,index2,index3,index4;
//add the points
if (already_added->getPixel(x,y) == Color(-1.0f,-1.0f,-1.0f)) {
Vector3f point1 = color2vector3(xyz_map->getPixel(x,y));
new_vertices.push_back(point1);
Vector3f normal1 = color2vector3(normal_map->getPixel(x,y));
normals.push_back(normal1);
index1 = vertex_count;
already_added->setPixel(x,y,Color(float(vertex_count)));
vertex_count++;
}
else {
index1 = int(already_added->getPixel(x,y).r());
}
if (already_added->getPixel(x+offset_x,y) == Color(-1.0f,-1.0f,-1.0f)) {
Vector3f point2 = color2vector3(xyz_map->getPixel(x+offset_x,y));
new_vertices.push_back(point2);
Vector3f normal2 = color2vector3(normal_map->getPixel(x+offset_x,y));
normals.push_back(normal2);
index2 = vertex_count;
already_added->setPixel(x+offset_x,y,Color(float(vertex_count)));
vertex_count++;
}
else {
index2 = int(already_added->getPixel(x+offset_x,y).r());
}
if (already_added->getPixel(x,y+offset_y)==Color(-1.0f,-1.0f,-1.0f)) {
Vector3f point3 = color2vector3(xyz_map->getPixel(x,y+offset_y));
new_vertices.push_back(point3);
Vector3f normal3 = color2vector3(normal_map->getPixel(x,y+offset_y));
normals.push_back(normal3);
index3 = vertex_count;
already_added->setPixel(x,y+offset_y, Color(float(vertex_count)));
vertex_count++;
}
else {
index3 = int(already_added->getPixel(x,y+offset_y).r());
}
if (already_added->getPixel(x+offset_x, y+offset_y) == Color(-1.0f,-1.0f,-1.0f)) {
Vector3f point4 = color2vector3(xyz_map->getPixel(x+offset_x, y+offset_y));
new_vertices.push_back(point4);
Vector3f normal4 = color2vector3(normal_map->getPixel(x+offset_x,y+offset_y));
normals.push_back(normal4);
index4 = vertex_count;
already_added->setPixel(x+offset_x,y+offset_y,Color(float(vertex_count)));
vertex_count++;
}
else {
index4 = int(already_added->getPixel(x+offset_x, y+offset_y).r());
}
//Create 2 faces for each of the triangles form
//printf("%d %d %d %d\n",index1,index2,index3,index4);
vertex_indices.push_back(index1);
vertex_indices.push_back(index3);
vertex_indices.push_back(index2);
//create a new face
Face *new_face_a = new Face();
new_face_a->setVertices(vertex_indices);
new_faces.push_back(new_face_a);
vertex_indices.clear();
vertex_indices.push_back(index2);
vertex_indices.push_back(index3);
vertex_indices.push_back(index4);
//create a new face
Face *new_face_b = new Face();
new_face_b->setVertices(vertex_indices);
new_faces.push_back(new_face_b);
}
}
///add a new object
std::vector<Vector2f> tex_coords;
std::vector<Edge *> edges;
GeometricObject *new_object = new GeometricObject(new_vertices,normals,tex_coords,new_faces,edges);
delete already_added;
if (_normal_map == 0x00) {
delete normal_map;
}
return new_object;
}
Image *GeometryProcessing::computeNormalMap(Image *xyz_map, bool z_up) {
Image *normal_map = new Image(xyz_map->getWidth(),xyz_map->getHeight(),0.0f,0.0f,0.0f,1.0f);
for (int y=0;y<xyz_map->getHeight();y++) {
for (int x=0;x<xyz_map->getWidth();x++) {
if (xyz_map->getPixel(x,y) != Color(0.0f,0.0f,0.0f)) {
normal_map->setPixel(x,y,vector2color3(computeLocalNormal(xyz_map,Vector2i(x,y),z_up)));
}
}
}
return normal_map;
}
Vector3f GeometryProcessing::computeLocalNormal(Image *xyz_map, Vector2i const &index, bool z_up) {
//get an average normal for this point
//check the 8 neighbours of the pixel in counter clockwise order
std::vector<Vector2i> indices;
indices.push_back(Vector2i(index(0)-1,index(1)+1));
indices.push_back(Vector2i(index(0)-1,index(1)));
indices.push_back(Vector2i(index(0)-1,index(1)-1));
indices.push_back(Vector2i(index(0),index(1)-1));
//index5 is the pixel in question
indices.push_back(Vector2i(index(0)+1,index(1)-1));
indices.push_back(Vector2i(index(0)+1,index(1)));
indices.push_back(Vector2i(index(0)+1,index(1)+1));
indices.push_back(Vector2i(index(0),index(1)+1));
std::vector<Vector3f> good_points;
for (int i=0;i<indices.size();i++) {
if (outOfBounds(xyz_map, indices[i](0),indices[i](1))) continue;
if (xyz_map->getPixel(indices[i](0), indices[i](1)) == Color(0.0f,0.0f,0.0f)) continue;
good_points.push_back(color2vector3(xyz_map->getPixel(indices[i](0),indices[i](1))));
}
std::vector<Vector3f> diff_vectors;
for (int i=0;i<good_points.size();i++) {
diff_vectors.push_back(good_points[i] - color2vector3(xyz_map->getPixel(index(0),index(1))));
}
Vector3f normal = Vector3f(0.0f,0.0f,0.0f);
for (int i=0;i<diff_vectors.size();i++) {
int next = (i+1)%diff_vectors.size();
Vector3f current_normal = diff_vectors[i].cross(diff_vectors[next]);
if (current_normal.norm() > EPSILON) current_normal.normalize();
///THIS IS ADDED FOR AERIAL LIDAR DATA ONLY. THE Z SHOULD POINT UP
if (z_up && current_normal(2) < 0.0f) {
current_normal = -current_normal;
}
normal += current_normal;
}
normal /= float(std::max(1,int(diff_vectors.size())));
if (normal.norm() > EPSILON) {
normal.normalize();
}
return normal;
}
#endif