kopia lustrzana https://github.com/OpenDroneMap/ODM
Polyhedron construction, refining, simplification
Piero Toffanin
rodzic
3f423dc0bc
commit
d51d335515
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@ -1,22 +1,5 @@
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#include "Odm25dMeshing.hpp"
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//We define a vertex_base with info. The "info" (size_t) allow us to keep track of the original point index.
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typedef CGAL::Triangulation_vertex_base_with_info_2<size_t, Kernel> Vb;
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typedef CGAL::Triangulation_data_structure_2<Vb> Tds;
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typedef CGAL::Delaunay_triangulation_2<Kernel, Tds> DT;
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typedef DT::Point cgalPoint;
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typedef DT::Vertex_circulator Vertex_circulator;
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//typedef CGAL::First_of_pair_property_map<Pwn> Point_map;
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//typedef CGAL::Second_of_pair_property_map<Pwn> Normal_map;
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// Concurrency
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#ifdef CGAL_LINKED_WITH_TBB
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typedef CGAL::Parallel_tag Concurrency_tag;
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#else
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typedef CGAL::Sequential_tag Concurrency_tag;
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#endif
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int Odm25dMeshing::run(int argc, char **argv) {
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log << logFilePath << "\n";
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@ -245,6 +228,8 @@ void Odm25dMeshing::buildMesh(){
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log << "Vertex count is " << pointCount << "\n";
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typedef CDT::Point cgalPoint;
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typedef CDT::Vertex_circulator Vertex_circulator;
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std::vector< std::pair<cgalPoint, size_t > > pts;
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try{
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@ -259,11 +244,11 @@ void Odm25dMeshing::buildMesh(){
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log << "Computing delaunay triangulation... ";
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//The delaunay triangulation is built according to the 2D point cloud
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DT dt(pts.begin(), pts.end());
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CDT cdt;
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cdt.insert(pts.begin(), pts.end());
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unsigned int numberOfTriangles = static_cast<unsigned >(dt.number_of_faces());
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unsigned int triIndexes = dt.number_of_faces()*3;
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unsigned int numberOfTriangles = static_cast<unsigned >(cdt.number_of_faces());
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unsigned int triIndexes = cdt.number_of_faces()*3;
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if (numberOfTriangles == 0) throw Odm25dMeshingException("No triangles in resulting mesh");
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@ -271,11 +256,11 @@ void Odm25dMeshing::buildMesh(){
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// Convert to tinyply format
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std::vector<float> vertices;
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std::vector<int> vertexIndicies;
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std::vector<int> vertexIndices;
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try{
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vertices.reserve(pointCount);
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vertexIndicies.reserve(triIndexes);
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vertexIndices.reserve(triIndexes);
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} catch (const std::bad_alloc&){
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throw Odm25dMeshingException("Not enough memory");
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}
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@ -287,28 +272,28 @@ void Odm25dMeshing::buildMesh(){
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vertices.push_back(simplifiedPoints[i].z());
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}
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for (DT::Face_iterator face = dt.faces_begin(); face != dt.faces_end(); ++face) {
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for (CDT::Face_iterator face = cdt.faces_begin(); face != cdt.faces_end(); ++face) {
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if (flipFaces){
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vertexIndicies.push_back(face->vertex(2)->info());
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vertexIndicies.push_back(face->vertex(1)->info());
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vertexIndicies.push_back(face->vertex(0)->info());
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vertexIndices.push_back(face->vertex(2)->info());
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vertexIndices.push_back(face->vertex(1)->info());
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vertexIndices.push_back(face->vertex(0)->info());
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}else{
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vertexIndicies.push_back(face->vertex(0)->info());
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vertexIndicies.push_back(face->vertex(1)->info());
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vertexIndicies.push_back(face->vertex(2)->info());
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vertexIndices.push_back(face->vertex(0)->info());
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vertexIndices.push_back(face->vertex(1)->info());
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vertexIndices.push_back(face->vertex(2)->info());
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}
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}
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log << "Removing spikes... ";
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const float THRESHOLD = 0.05;
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const float THRESHOLD = avgSpacing*2;
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std::vector<float> heights;
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unsigned int spikesRemoved = 0;
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for (DT::Vertex_iterator vertex = dt.vertices_begin(); vertex != dt.vertices_end(); ++vertex){
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for (CDT::Vertex_iterator vertex = cdt.vertices_begin(); vertex != cdt.vertices_end(); ++vertex){
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// Check if the height between this vertex and its
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// incident vertices is greater than THRESHOLD
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Vertex_circulator vc = dt.incident_vertices(vertex), done(vc);
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Vertex_circulator vc = cdt.incident_vertices(vertex), done(vc);
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if (vc != 0){
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float height = vertices[vertex->info() * 3 + 2];
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@ -316,7 +301,7 @@ void Odm25dMeshing::buildMesh(){
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int vertexCount = 0;
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do{
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if (dt.is_infinite(vc)) continue;
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if (cdt.is_infinite(vc)) continue;
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float ivHeight = vertices[vc->info() * 3 + 2];
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@ -344,15 +329,71 @@ void Odm25dMeshing::buildMesh(){
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log << "removed " << spikesRemoved << " spikes\n";
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log << "Building polyhedron... ";
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Polyhedron poly;
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PolyhedronBuilder<HalfedgeDS> builder(vertices, vertexIndices);
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poly.delegate( builder );
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log << "done\n";
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log << "Refining... ";
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typedef Polyhedron::Vertex_handle Vertex_handle;
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std::vector<Polyhedron::Facet_handle> new_facets;
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std::vector<Vertex_handle> new_vertices;
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CGAL::Polygon_mesh_processing::refine(poly,
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faces(poly),
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std::back_inserter(new_facets),
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std::back_inserter(new_vertices),
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CGAL::Polygon_mesh_processing::parameters::density_control_factor(2.));
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log << "added " << new_vertices.size() << " new vertices\n";
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SMS::Count_stop_predicate<Polyhedron> stop(maxVertexCount * 3);
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int redgesRemoved = SMS::edge_collapse(poly, stop,
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CGAL::parameters::vertex_index_map(get(CGAL::vertex_external_index, poly))
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.halfedge_index_map (get(CGAL::halfedge_external_index, poly))
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.get_cost (SMS::Edge_length_cost <Polyhedron>())
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.get_placement(SMS::Midpoint_placement<Polyhedron>())
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);
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log << redgesRemoved << " edges removed.\n";
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log << "Final vertex count is " << poly.size_of_vertices() << "\n";
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log << "Saving mesh to file.\n";
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typedef Polyhedron::Facet_iterator Facet_iterator;
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typedef Polyhedron::Halfedge_around_facet_circulator Halfedge_facet_circulator;
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vertices.clear();
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vertexIndices.clear();
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for (auto it = poly.points_begin(); it != poly.points_end(); it++){
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vertices.push_back(it->x());
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vertices.push_back(it->y());
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vertices.push_back(it->z());
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}
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log << "HERE 1!\n";
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for (Facet_iterator i = poly.facets_begin(); i != poly.facets_end(); ++i) {
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Halfedge_facet_circulator j = i->facet_begin();
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do {
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vertexIndices.push_back(std::distance(poly.vertices_begin(), j->vertex()));
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} while (++j != i->facet_begin());
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}
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log << "HERE!\n";
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std::filebuf fb;
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fb.open(outputFile, std::ios::out | std::ios::binary);
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std::ostream outputStream(&fb);
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tinyply::PlyFile plyFile;
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plyFile.add_properties_to_element("vertex", {"x", "y", "z"}, vertices);
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plyFile.add_properties_to_element("face", { "vertex_index" }, vertexIndicies, 3, tinyply::PlyProperty::Type::UINT8);
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plyFile.add_properties_to_element("face", { "vertex_index" }, vertexIndices, 3, tinyply::PlyProperty::Type::UINT8);
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plyFile.write(outputStream, false);
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fb.close();
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@ -6,19 +6,20 @@
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#include <unordered_map>
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#include <queue>
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#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
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#include <CGAL/Constrained_Delaunay_triangulation_2.h>
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#include <CGAL/Triangulation_vertex_base_with_info_2.h>
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#include <CGAL/Delaunay_triangulation_2.h>
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#include <CGAL/Triangulation_2.h>
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#include <CGAL/wlop_simplify_and_regularize_point_set.h>
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#include <CGAL/bilateral_smooth_point_set.h>
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#include <CGAL/bounding_box.h>
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#include <CGAL/remove_outliers.h>
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#include <CGAL/Polygon_mesh_processing/refine.h>
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#include <CGAL/Polygon_mesh_processing/fair.h>
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#include <CGAL/Surface_mesh_simplification/Policies/Edge_collapse/Count_stop_predicate.h>
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#include <CGAL/Surface_mesh_simplification/Policies/Edge_collapse/Edge_length_cost.h>
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#include <CGAL/Surface_mesh_simplification/Policies/Edge_collapse/Midpoint_placement.h>
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#include "CGAL.hpp"
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#include "Logger.hpp"
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#include "PlyInterpreter.hpp"
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#include "tinyply.hpp"
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#include "PolyhedronBuilder.hpp"
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class Odm25dMeshing {
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public:
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@ -5,15 +5,10 @@
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#include <fstream>
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#include <limits>
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#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
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#include <CGAL/property_map.h>
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#include <CGAL/IO/read_ply_points.h>
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// types
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typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel;
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typedef Kernel::FT FT;
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typedef Kernel::Point_3 Point3;
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typedef Kernel::Vector_3 Vector3;
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#include "CGAL.hpp"
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// points, normals
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//typedef std::pair<Point3, Vector3> Pwn;
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