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SceneT.cc
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#ifndef SCENE_CC
#define SCENE_CC
#include <iostream>
#include "Scene.hh"
#include <QVector3D>
#include "GLUT/glut.h"
#include <QtGui>
//#include <QtOpenGL>
#include <QDoubleSpinBox>
#include <OpenMesh/Core/Utils/vector_cast.hh>
#include <OpenMesh/Tools/Utils/Timer.hh>
#ifndef GL_MULTISAMPLE
#define GL_MULTISAMPLE 0x809D
#endif
#include <math.h>
template <typename M>
QDialog
*SceneT<M>::createDialog(const QString &windowTitle) const
{
QDialog *dialog = new QDialog(0, Qt::CustomizeWindowHint | Qt::WindowTitleHint);
dialog->setWindowOpacity(0.8);
dialog->setWindowTitle(windowTitle);
dialog->setLayout(new QVBoxLayout);
return dialog;
}
template <typename M>
SceneT<M>::SceneT()
: m_backgroundColor(0.0f, 0.0f, 0.0f)
, m_distance(4.5f)
, m_vertical(0.0f)
, m_horizontal(0.0f)
, TANSLATE_SPEED(0.01f)
, deg2Rad(0.0174532925)
, inPaintingMode(false)
, mouseClicked(false)
, inRotatingMode(false)
{
modelCount = 0;
QWidget *controls = createDialog(tr("Controls"));
m_modelButton = new QPushButton(tr("Load model"));
controls->layout()->addWidget(m_modelButton);
groupBox = new QGroupBox(tr("Select Mesh"));
radio1 = new QRadioButton(tr("All"));
radio2 = new QRadioButton(tr("M1"));
radio3 = new QRadioButton(tr("M2"));
radio4 = new QRadioButton(tr("M3"));
radio5 = new QRadioButton(tr("M4"));
radio6 = new QRadioButton(tr("M5"));
radio7 = new QRadioButton(tr("M6"));
radio8 = new QRadioButton(tr("M7"));
radio9 = new QRadioButton(tr("M8"));
radio10 = new QRadioButton(tr("M9"));
radio11 = new QRadioButton(tr("M10"));
groupBox->setHidden(true);
groupBox->setFocusPolicy(Qt::StrongFocus);
radio3->setHidden(true);
radio4->setHidden(true);
radio5->setHidden(true);
radio6->setHidden(true);
radio7->setHidden(true);
radio8->setHidden(true);
radio9->setHidden(true);
radio10->setHidden(true);
radio11->setHidden(true);
radio1->setChecked(true);
QVBoxLayout *vbox = new QVBoxLayout;
vbox->addWidget(radio1);
vbox->addWidget(radio2);
vbox->addWidget(radio3);
vbox->addWidget(radio4);
vbox->addWidget(radio5);
vbox->addWidget(radio6);
vbox->addWidget(radio7);
vbox->addWidget(radio8);
vbox->addWidget(radio9);
vbox->addWidget(radio10);
vbox->addWidget(radio11);
vbox->addStretch(1);
groupBox->setLayout(vbox);
controls->layout()->addWidget(groupBox);
removeModelButton = new QPushButton(tr("Remove model"));
controls->layout()->addWidget(removeModelButton);
removeModelButton->setHidden(true);
mouseControlBox = new QGroupBox(tr("Mouse Control"));
mouseControlBox->setHidden(true);
translateRadio = new QRadioButton(tr("Translate"));
rotateRadio = new QRadioButton(tr("Rotate (or Alt with paint)"));
paintStrokeRadio = new QRadioButton(tr("Paint Stroke Faces"));
paintSinkRadio = new QRadioButton(tr("Paint Sink (red) Faces"));
paintSourceRadio = new QRadioButton(tr("Paint Source (blue) Faces"));
translateRadio->setChecked(true);
QVBoxLayout *vb = new QVBoxLayout;
vb->addWidget(translateRadio);
vb->addWidget(rotateRadio);
vb->addWidget(paintStrokeRadio);
vb->addWidget(paintSinkRadio);
vb->addWidget(paintSourceRadio);
vb->addStretch(1);
mouseControlBox->setLayout(vb);
controls->layout()->addWidget(mouseControlBox);
removeModelButton = new QPushButton(tr("Remove model"));
controls->layout()->addWidget(removeModelButton);
removeModelButton->setHidden(true);
autoSelectButton = new QPushButton(tr("Segment From Stroke"));
controls->layout()->addWidget(autoSelectButton);
autoSelectButton->setHidden(true);
toggleFuzzyButton = new QPushButton(tr("Toggle Fuzzy Region"));
controls->layout()->addWidget(toggleFuzzyButton);
toggleFuzzyButton->setHidden(true);
clearFacesButton = new QPushButton(tr("Clear Painted Faces"));
controls->layout()->addWidget(clearFacesButton);
clearFacesButton->setHidden(true);
cutButton = new QPushButton(tr("Cut Sink (Red)"));
controls->layout()->addWidget(cutButton);
cutButton->setHidden(true);
copyButton = new QPushButton(tr("Copy Sink (Red)"));
controls->layout()->addWidget(copyButton);
copyButton->setHidden(true);
deleteButton = new QPushButton(tr("Delete Sink (Red)"));
controls->layout()->addWidget(deleteButton);
deleteButton->setHidden(true);
pasteSpinBox = new QSpinBox();
pasteSpinBox->setMinimum(1);
pasteSpinBox->setMaximum(10);
pasteSpinBox->setPrefix("Paste to Mesh No.: ");
controls->layout()->addWidget(pasteSpinBox);
pasteSpinBox->setHidden(true);
pasteButton = new QPushButton(tr("Paste"));
controls->layout()->addWidget(pasteButton);
pasteButton->setHidden(true);
flipRegionsButton = new QPushButton(tr("Switch Source / Sink"));
controls->layout()->addWidget(flipRegionsButton);
flipRegionsButton->setHidden(true);
exportButton = new QPushButton(tr("Export"));
controls->layout()->addWidget(exportButton);
exportButton->setHidden(true);
geoTreeSpinBox = new QSpinBox();
geoTreeSpinBox->setMinimum(1);
geoTreeSpinBox->setMaximum(20);
geoTreeSpinBox->setPrefix("k: ");
controls->layout()->addWidget(geoTreeSpinBox);
geoTreeSpinBox->setHidden(true);
geoTreeButton = new QPushButton(tr("GeoTree"));
controls->layout()->addWidget(geoTreeButton);
geoTreeButton->setHidden(true);
//QWidget *widgets[] = { meshes, controls, examples };
QWidget *widgets[] = { controls };
for (uint i = 0; i < sizeof(widgets) / sizeof(*widgets); ++i) {
QGraphicsProxyWidget *proxy = new QGraphicsProxyWidget(0, Qt::Dialog);
proxy->setWidget(widgets[i]);
addItem(proxy);
}
QPointF pos(10, 10);
foreach (QGraphicsItem *item, items()) {
item->setFlag(QGraphicsItem::ItemIsMovable);
item->setCacheMode(QGraphicsItem::DeviceCoordinateCache);
const QRectF rect = item->boundingRect();
item->setPos(pos.x() - rect.x(), pos.y() - rect.y());
pos += QPointF(0, 10 + rect.height());
}
}
template <typename M>
void
SceneT<M>::setDefaultMaterial(void)
{
GLfloat mat_a[] = {0.1, 0.1, 0.1, 1.0};
GLfloat mat_d[] = {0.7, 0.7, 0.5, 1.0};
GLfloat mat_s[] = {1.0, 1.0, 1.0, 1.0};
GLfloat shine[] = {120.0};
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, mat_a);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, mat_d);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, mat_s);
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, shine);
}
//----------------------------------------------------------------------------
template <typename M>
void
SceneT<M>::setDefaultLight(void)
{
GLfloat pos1[] = { 0.1, 0.1, -0.02, 0.0};
GLfloat pos2[] = {-0.1, 0.1, -0.02, 0.0};
GLfloat pos3[] = { 0.0, 0.0, 0.1, 0.0};
GLfloat col1[] = { 1.0, 1.0, 1.0, 0.3};
GLfloat col2[] = { 1.0, 1.0, 1.0, 0.3};
GLfloat col3[] = { 1.0, 1.0, 1.0, 0.3};
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0,GL_POSITION, pos1);
glLightfv(GL_LIGHT0,GL_DIFFUSE, col1);
glLightfv(GL_LIGHT0,GL_SPECULAR, col1);
glEnable(GL_LIGHT1);
glLightfv(GL_LIGHT1,GL_POSITION, pos2);
glLightfv(GL_LIGHT1,GL_DIFFUSE, col2);
glLightfv(GL_LIGHT1,GL_SPECULAR, col2);
glEnable(GL_LIGHT2);
glLightfv(GL_LIGHT2,GL_POSITION, pos3);
glLightfv(GL_LIGHT2,GL_DIFFUSE, col3);
glLightfv(GL_LIGHT2,GL_SPECULAR, col3);
}
template <typename M>
void
SceneT<M>::drawForeground(QPainter *painter, const QRectF &rect)
{
//std::cout << "Draw Foreground" << "\n";
painter->beginNativePainting();
if(modelCount > 0){
glSelectBuffer(65535, PickBuffer);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluPerspective(70, width() / height(), 0.01, 1000);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glEnable(GL_LIGHTING);
glShadeModel(GL_FLAT);
glTranslatef(m_horizontal, m_vertical, -m_distance);
glRotatef(m_rotation.x(), 1, 0, 0);
glRotatef(m_rotation.y(), 0, 1, 0);
glRotatef(m_rotation.z(), 0, 0, 1);
glBegin(GL_LINES);
glLineWidth(1);
glColor3f(255,255,255);
glVertex3f(0, 0, 0);
glVertex3f(2, 0, 0);
glVertex3f(0, 0, 0);
glVertex3f(0, 2, 0);
glVertex3f(0, 0, 0);
glVertex3f(0, 0, 2);
glEnd();
glEnable(GL_MULTISAMPLE);
glColorMaterial ( GL_FRONT_AND_BACK, GL_EMISSION ) ;
glEnable( GL_COLOR_MATERIAL ) ;
for (int i = 0; i != modelCount; i++) {
if(models[i] != NULL) models[i]->render();
}
setDefaultMaterial();
setDefaultLight();
glDisable(GL_MULTISAMPLE);
glPopMatrix();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
}
//painter->endNativePainting();
}
template <typename M>
bool
SceneT<M>::softICP(QtModelT<M>* m1, QtModelT<M>* m2)
{
m1->applyTransformations();
m2->applyTransformations();
double sizeM1 = computeSnapRegionSize(m1,m2);
double sizeM2 = computeSnapRegionSize(m2,m1);
if (sizeM1 == 0 || sizeM2 == 0) return false;
double snapSize = sizeM1 > sizeM2 ? sizeM1 : sizeM2;
std::vector<size_t> m1SnapRegion = computeSnapRegion(m1, snapSize);
std::vector<size_t> m2SnapRegion = computeSnapRegion(m2, snapSize);
std::cout << snapSize << " " << sizeM1 << sizeM2 << " snap\n";
std::cout << m1SnapRegion.size() << " " << m2SnapRegion.size() << " snap\n";
int iterations = 3;
int iterCount = 1;
while (iterCount <= iterations){
std::cout << "\nStart Iteration " << iterCount << "\n\n";
runICP(m1, m2, m1SnapRegion, m2SnapRegion, snapSize, iterCount, iterations);
runICP(m2, m1, m2SnapRegion, m1SnapRegion, snapSize, iterCount, iterations);
iterCount++;
}
return true;
}
template <typename M>
bool
SceneT<M>::runICP(QtModelT<M>* m1, QtModelT<M>* m2, std::vector<size_t> m1SnapRegion, std::vector<size_t> m2SnapRegion, double snapSize, int iterCount, int iterations) {
typedef nanoflann::KDTreeEigenMatrixAdaptor< PointMatrix > my_kd_tree_t;
int vcount = m1->mesh.n_vertices();
float li = iterCount/iterations;
std::vector<Matrix<double, 1, 3> > scalings;
std::vector<Matrix<double, 3, 3> > rotations;
std::vector<Matrix<double, 1, 3> > translations;
rotations.reserve(vcount);
translations.reserve(vcount);
scalings.reserve(vcount);
//Find correspondence φ of SA to SB
std::vector<size_t> correspondVector = findCorrespondence(m1,m2,m1SnapRegion,m2SnapRegion);
//return false;
int elasticity = 1;
my_kd_tree_t b_mat_index(3, m1->boundaryMatrix, 10);
b_mat_index.index->buildIndex();
PointMatrix m1Matrix = m1->buildMatrix();
//For each point pi in MA Find the local neighborhood N(pi)
for (typename M::VertexIter v_it=m1->mesh.vertices_begin(); v_it!=m1->mesh.vertices_end(); ++v_it)
{
int vi = v_it->idx();
std::vector<double> query_pt(3);
query_pt[0] = m1Matrix(vi,0);
query_pt[1] = m1Matrix(vi,1);
query_pt[2] = m1Matrix(vi,2);
std::vector<size_t> intersection;
std::vector<size_t> neighbours;
if (iterCount == 1) {
//For each point we start from a maximal neighborhood that includes all
intersection = m1SnapRegion;
} else {
//calculate distance to snapping region
double radius = getDistanceToBoundary(m1,query_pt, iterCount, snapSize);
neighbours = findLocalNeighbourhood(query_pt, m1Matrix, radius);
intersection.reserve(m1SnapRegion.size());
std::sort(neighbours.begin(), neighbours.end());
std::sort(m1SnapRegion.begin(), m1SnapRegion.end());
std::set_intersection(neighbours.begin(),neighbours.end(),m1SnapRegion.begin(),m1SnapRegion.end(),std::back_inserter(intersection));
std::cout << vcount << ": " << intersection.size() << " " << neighbours.size() << " " << m1SnapRegion.size() << " inter\n";
while (intersection.size() == 0){
radius += DBL_MIN;
radius *= 2;
neighbours = findLocalNeighbourhood(query_pt, m1Matrix, radius);
std::sort(neighbours.begin(), neighbours.end());
std::set_intersection(neighbours.begin(),neighbours.end(),m1SnapRegion.begin(),m1SnapRegion.end(),std::back_inserter(intersection));
std::cout << query_pt[0] << m1Matrix.row(vi) << ": " << intersection.size() << " " << neighbours.size() << " " << radius << " inter2\n";
}
}
//Calculate the transformation Ti based on φ|N(pi)
//bounding boxes
Vec3f lbbMin, lbbMax, cbbMin, cbbMax;
PointMatrix localMatrix(intersection.size(),3);
PointMatrix correspondMatrix(intersection.size(),3);
int x = 0;
for (size_t i = 0; i < m1SnapRegion.size(); i++){
for (size_t j = 0; j < intersection.size(); j++){
if (m1SnapRegion[i] == intersection[j]){
VertexHandle vh = m1->mesh.vertex_handle(intersection[j]);
m1->colourFaceFromVertexIndex(intersection[j],Point(255,0,0));
Point p = m1->mesh.point(vh);
if (x == 0){
lbbMin = lbbMax = OpenMesh::vector_cast<Vec3f>(p);
}
lbbMin.minimize( OpenMesh::vector_cast<Vec3f>(p));
lbbMax.maximize( OpenMesh::vector_cast<Vec3f>(p));
localMatrix(x,0) = p[0];
localMatrix(x,1) = p[1];
localMatrix(x,2) = p[2];
VertexHandle c_vh = m2->mesh.vertex_handle(correspondVector[i]);
m2->colourFaceFromVertexIndex(correspondVector[i],Point(255,0,0));
Point q = m2->mesh.point(c_vh);
if (x == 0){
cbbMin = cbbMax = OpenMesh::vector_cast<Vec3f>(q);
}
cbbMin.minimize(OpenMesh::vector_cast<Vec3f>(q));
cbbMax.maximize(OpenMesh::vector_cast<Vec3f>(q));
correspondMatrix(x,0) = q[0];
correspondMatrix(x,1) = q[1];
correspondMatrix(x,2) = q[2];
x++;
}
}
}
if (x == 0) return false;
//apply ICP
Vec3f localScale = lbbMin - lbbMax;
Vec3f correScale = cbbMin - cbbMax;
Matrix<double, 1, 3> localMean = localMatrix.colwise().mean();
Matrix<double, 1, 3> coreMean = correspondMatrix.colwise().mean();
Matrix<double, 1, 3> scale;
Matrix<double, 1, 3> point;
point << m1Matrix(vi,0), m1Matrix(vi,1), m1Matrix(vi, 2);
scale << (correScale/localScale)[0], (correScale/localScale)[1], (correScale/localScale)[2];
scalings.push_back((point - localMean).cwiseProduct(scale));
PointMatrix qHat(x, 3);
PointMatrix pHat(x, 3);
calcBaryCenteredPoints(qHat, correspondMatrix);
calcBaryCenteredPoints(pHat, localMatrix);
Matrix<double, 3, 3> A(3,3);
generateAMatrix(A, qHat, pHat);
Matrix<double, 3, 3> H(3,3);
for (int d = 0; d < pHat.rows(); d++){
H += pHat.row(d).transpose() * qHat.row(d);
}
JacobiSVD< MatrixXd > svd(H, ComputeThinU | ComputeThinV);
Matrix<double, 3, 3> R = svd.matrixV() * svd.matrixU().transpose();
Matrix<double, 1, 3> temp1 = (R * localMean.transpose());
Matrix<double, 1, 3> temp2 = coreMean;
Matrix<double, 1, 3> t = coreMean - localMean;
std::cout << "Iteration " << iterCount << "\n";
if (isnan(R(0,0) + R(1,1) + R(2,2)) || isinf(t.norm()) ) {
std::cout << "R error" << (R(0,0) + R(1,1) + R(2,2)) << " | ";
std::cout << "Norm of t" << t.norm() << "\n\n";
} else {
std::cout << "Sum of diagonal of R " << (R(0,0) + R(1,1) + R(2,2)) << " ";
std::cout << "Norm of t " << t.norm() << "\n\n";
}
rotations.push_back(R);
translations.push_back(t);
}
//apply transformation
int it = 0;
for (typename M::VertexIter v_it=m1->mesh.vertices_begin(); v_it!=m1->mesh.vertices_end(); ++v_it)
{
Matrix<double, 1, 3> S = scalings[it];
Matrix<double, 3, 3> R = rotations[it];
Matrix<double, 1, 3> T = translations[it];
//scale by iteration
S = S * li;
T = T * li;
Eigen::Quaterniond Rquat (R);
Rquat = Eigen::Quaterniond::Identity().slerp(li, Rquat);
//Do scaling then rotation then translation?
Point vertex = m1->mesh.point(*v_it);
Eigen::Vector3d p = Eigen::Vector3d(vertex[0], vertex[1], vertex[2]);
if (!isnan(R(0,0))) p = Rquat.matrix() * p;
p = p + Eigen::Vector3d(T(0,0),T(0,1),T(0,2));
//p = Eigen::Vector3d(p[0]+S[0], p[1]+S[1], p[2]+S[2]);
m1->mesh.set_point( *v_it, Point(p[0], p[1], p[2]));
it++;
}
//recalculate boundary vertices
m1->findBoundaryVertices();
m2->findBoundaryVertices();
}
template <typename M>
double
getDistanceToBoundary(QtModelT<M>* m1, std::vector<double> query_pt, int iterCount, double snapSize){
typedef nanoflann::KDTreeEigenMatrixAdaptor< PointMatrix > my_kd_tree_t;
my_kd_tree_t b_mat_index(3, m1->boundaryMatrix, 10);
b_mat_index.index->buildIndex();
int elasticity = 1;
//calculate distance to snapping region
std::vector<size_t> ret_index(m1->boundaryMatrix.rows());
std::vector<double> out_dist_sqr(m1->boundaryMatrix.rows());
nanoflann::KNNResultSet<double> resultSet(m1->boundaryMatrix.rows());
resultSet.init(&ret_index[0], &out_dist_sqr[0]);
b_mat_index.index->findNeighbors(resultSet, &query_pt[0], nanoflann::SearchParams(0));
//distance to boundary
double dist = pow(out_dist_sqr[0],0.5);
//distance to snapping region is distance to boundary - snapSize
double distToSnap = std::abs(dist - snapSize);
//if (snapDist == 0) snapDist == DBL_MIN;
long indices = pow(iterCount/(dist/snapSize),2);
double radius = snapSize*0.1 + snapSize * exp(-indices);
std::cout << distToSnap << " " << snapSize << " " << dist << " " << exp(-indices) << " " << radius << " radius\n";
//for points outside the snapping region offset with their distance to the snapping region
if (dist > snapSize) {
radius = radius + dist;
std::cout << radius << " radius2\n";
}
return radius;
}
template <typename M>
std::vector<size_t>
findCorrespondence(QtModelT<M>* m1, QtModelT<M>* m2, std::vector<size_t> m1SnapRegion, std::vector<size_t> m2SnapRegion){
std::vector<size_t> correspondVector;
correspondVector.reserve(m1SnapRegion.size());
for (size_t i = 0; i < m1SnapRegion.size(); i++){
VertexHandle m1Handle = m1->mesh.vertex_handle(m1SnapRegion[i]);
typename M::Normal m1Norm = m1->mesh.normal(m1Handle);
Point p = m1->mesh.point(m1Handle);
float closest = 999;
size_t correspond = 0;
for (size_t j = 0; j < m2SnapRegion.size(); j++){
VertexHandle m2Handle = m2->mesh.vertex_handle(m2SnapRegion[j]);
typename M::Normal m2Norm = m2->mesh.normal(m2Handle);
Point q = m2->mesh.point(m2Handle);
float euclidist = (q-p).length();
float normdist = acosf(m1Norm|m2Norm);
float gaussdist = m1->mesh.data(m1Handle).gauss() - m2->mesh.data(m2Handle).gauss();
float wdist = 0.6 * euclidist + 0.2 * normdist + 0.2 * gaussdist;
if (i < 10) std::cout << wdist << ": " << euclidist << " " << normdist<< " " << gaussdist << "\n";
if (wdist < closest){
closest = wdist;
correspond = j;
}
}
correspondVector.push_back(m2SnapRegion[correspond]);
}
return correspondVector;
}
template <typename M>
std::vector<size_t>
SceneT<M>::findLocalNeighbourhood(std::vector<double> query_pt, PointMatrix m1Matrix, double radius){
typedef nanoflann::KDTreeEigenMatrixAdaptor< PointMatrix > my_kd_tree_t;
my_kd_tree_t mat_index(3, m1Matrix, 10);
mat_index.index->buildIndex();
std::vector<size_t> neighbours;
std::vector< std::pair< size_t, double > > resultPairs;
resultPairs.reserve(m1Matrix.rows());
size_t count = mat_index.index->radiusSearch(&query_pt[0], radius, resultPairs, nanoflann::SearchParams(true));
neighbours.reserve(count);
for (size_t j = 0; j < count; j++){
neighbours.push_back(resultPairs[j].first);
}
return neighbours;
}
template <typename M>
double
computeSnapRegionSize(QtModelT<M>* m1, QtModelT<M>* m2)
{
typedef nanoflann::KDTreeEigenMatrixAdaptor< PointMatrix > my_kd_tree_t;
const size_t num_results = 1;
PointMatrix m1Matrix = m1->buildMatrix();
PointMatrix m2Matrix = m2->buildMatrix();
//We find the set of closest points to the other shape boundary loop
//m1 find closest points on m2 boundary
my_kd_tree_t mat_index(3, m1Matrix, 10);
mat_index.index->buildIndex();
int m2bSize = m2->boundaryPoints.size();
Matrix<double, Dynamic, 1> mappings(m2bSize, 1);
Matrix<double, Dynamic, 1> distances(m2bSize, 1);
//for each point in m2 boundary loop find closest point in m1
for(int i=0; i < m2bSize; i++)
{
std::vector<double> query_pt(3);
query_pt[0] = m2->boundaryMatrix(i,0);
query_pt[1] = m2->boundaryMatrix(i,1);
query_pt[2] = m2->boundaryMatrix(i,2);
std::vector<size_t> ret_index(num_results);
std::vector<double> out_dist_sqr(num_results);
nanoflann::KNNResultSet<double> resultSet(num_results);
resultSet.init(&ret_index[0], &out_dist_sqr[0] );
mat_index.index->findNeighbors(resultSet, &query_pt[0], nanoflann::SearchParams(0));
glVertex3f(query_pt[0], query_pt[1], query_pt[2]);
glVertex3f(m1Matrix(ret_index[0],0),m1Matrix(ret_index[0],1),m1Matrix(ret_index[0],2));
mappings(i, 0) = ret_index[0];
distances(i, 0) = out_dist_sqr[0];
}
//Next, we compute the geodesic distance for each point in the set to their own boundary loop.
my_kd_tree_t b_mat_index(3, m1->boundaryMatrix, 10);
b_mat_index.index->buildIndex();
double snapMax = 0;
for(int i=0; i < m2bSize; i++)
{
int setIndex = mappings(i,0);
std::vector<double> query_pt(3);
query_pt[0] = m1Matrix(setIndex,0);
query_pt[1] = m1Matrix(setIndex,1);
query_pt[2] = m1Matrix(setIndex,2);
//m1->colourFaceFromVertexIndex(m1->boundaryPoints[i]);
std::vector<size_t> ret_index(num_results);
std::vector<double> out_dist_sqr(num_results);
nanoflann::KNNResultSet<double> resultSet(num_results);
resultSet.init(&ret_index[0], &out_dist_sqr[0]);
b_mat_index.index->findNeighbors(resultSet, &query_pt[0], nanoflann::SearchParams(0));
//We define the snapping region size R as the maximum of the geodesic distances.
double dist = pow(out_dist_sqr[0],0.5);
if (dist > snapMax) {
std::cout << dist << " > " << snapMax << "\n";
snapMax = dist;
}
}
std::cout << snapMax << " maxdist \n";
return snapMax;
}
template <typename M>
std::vector<size_t>
SceneT<M>::computeSnapRegion(QtModelT<M>* m1, float snapMax)
{
typedef nanoflann::KDTreeEigenMatrixAdaptor< PointMatrix > my_kd_tree_t;
PointMatrix m1Matrix = m1->buildMatrix();
my_kd_tree_t mat_index(3, m1Matrix, 10);
mat_index.index->buildIndex();
std::vector<size_t> snapRegion;
//Thus, the sub-mesh within R geodesic distance from the boundary loop is defined as the snapping region
//for each boudary point find all points within radius
for(size_t i=0; i < m1->boundaryPoints.size(); i++)
{
std::vector<double> query_pt(3);
query_pt[0] = m1->boundaryMatrix(i,0);
query_pt[1] = m1->boundaryMatrix(i,1);
query_pt[2] = m1->boundaryMatrix(i,2);
std::vector< std::pair< size_t, double > > resultPairs;
resultPairs.reserve(m1->getNoVerticies());
size_t count = mat_index.index->radiusSearch(&query_pt[0], snapMax, resultPairs, nanoflann::SearchParams(true));
snapRegion.reserve(count);
for (size_t j = 0; j < count; j++){
m1->colourFaceFromVertexIndex(resultPairs[j].first, Point(255,255,255));
snapRegion.push_back(resultPairs[j].first);
}
}
std::sort(snapRegion.begin(), snapRegion.end());
snapRegion.erase(std::unique(snapRegion.begin(), snapRegion.end()), snapRegion.end());
//std::cout << snapRegion.size() << " unique\n";
return snapRegion;
}
template <typename M>
void
SceneT<M>::generateAMatrix(Matrix<double, 3, 3> &A, const PointMatrix &qHat, const PointMatrix &pHat)
{
A = (pHat.transpose()*qHat)*(qHat.transpose()*qHat).inverse();
}
template <typename M>
void
SceneT<M>::calcBaryCenteredPoints(PointMatrix &matHat, const PointMatrix &mat)
{
Matrix<double, 1, 3> mean = mat.colwise().mean();
matHat = mat.rowwise() - mean;
}
/*
template <typename M>
bool
runICPTwoMeshes(QtModelT<M>* m1, QtModelT<M>* m2, int iterations)
{
//q = still = m1, p = mover = m2;
bool notConverged = true;
int iterCount = 0;
while(notConverged)
{
const float max_range = 0.1;
const size_t num_results = 1;
PointMatrix qAll = m1->buildMatrix();
PointMatrix pAll = m2->buildMatrix();
typedef nanoflann::KDTreeEigenMatrixAdaptor< PointMatrix > my_kd_tree_t;
my_kd_tree_t mat_index(3, qAll, 10);
mat_index.index->buildIndex();
int rowCount = m2->getNoVerticies();
std::cout << rowCount << "rows \n";
Matrix<double, Dynamic, 1> mappings(rowCount, 1);
Matrix<double, Dynamic, 1> distances(rowCount, 1);
for(int i=0; i < rowCount; i++)
{
std::vector<double> query_pt(3);
query_pt[0] = pAll(i, 0);
query_pt[1] = pAll(i, 1);
query_pt[2] = pAll(i, 2);
std::vector<size_t> ret_index(num_results);
std::vector<double> out_dist_sqr(num_results);
nanoflann::KNNResultSet<double> resultSet(num_results);
resultSet.init(&ret_index[0], &out_dist_sqr[0] );
mat_index.index->findNeighbors(resultSet, &query_pt[0], nanoflann::SearchParams(0));
mappings(i, 0) = ret_index[0];
distances(i, 0) = out_dist_sqr[0];
}
double distThreshold = (max_range < 4 * distances.mean()) ? max_range : 4 * distances.mean();
std::vector<int> goodPairs;
goodPairs.reserve(pAll.rows());
for(int i = 0; i < rowCount; i++)
{
if(distances(i, 0) <= distThreshold)
goodPairs.push_back(i);
}
PointMatrix q(goodPairs.size(), 3);
PointMatrix p(goodPairs.size(), 3);
for(int c = 0; c < (int)goodPairs.size(); c++)
{
p.row(c) = pAll.row(goodPairs[c]);
q.row(c) = qAll.row(mappings(goodPairs[c], 0));
//std::cout << "Mapping" << p.row(c) << "\t" << q.row(c) << "\t" << (p.row(c)-q.row(c)).norm() << "\n";
}
PointMatrix qHat(q.rows(), 3);
PointMatrix pHat(p.rows(), 3);
getBaryCenteredPoints(qHat, q);
getBaryCenteredPoints(pHat, p);
Matrix<double, 3, 3> A(3,3);
generateA(A, pHat, qHat);
JacobiSVD< MatrixXd > svd(A, ComputeThinU | ComputeThinV);
Matrix<double, 3, 3> R = svd.matrixU() * svd.matrixV().transpose();
Matrix<double, 1, 3> temp1 = (R * p.colwise().mean().transpose());
Matrix<double, 1, 3> temp2 = q.colwise().mean();
Matrix<double, 1, 3> t = temp1 - temp2;
std::cout << "Iteration " << iterCount << "\n";
//std::cout << R << "\n";
//std::cout << t << "\n";
if (isnan(R(0,0) + R(1,1) + R(2,2)) || isinf(t.norm()) ) {
std::cout << "threw error " << "\n\n";
std::cout << "Sum of diagonal of R " << (R(0,0) + R(1,1) + R(2,2)) << "\n";
std::cout << "Norm of t " << t.norm() << "\n\n";
return false;
}
m2->updateTransformations(R, t(0, 0), t(0,1), t(0, 2));
std::cout << "Sum of diagonal of R " << (R(0,0) + R(1,1) + R(2,2)) << "\n";
std::cout << "Norm of t " << t.norm() << "\n\n";
if(t.norm() < 0.00001 && (R(0,0) + R(1,1) + R(2,2)) > 2.999)
{
std::cout << "Converged in " << iterCount << " iterations" << "\n";
notConverged = false;
return true;
} else if(iterCount >= iterations-1)
{
notConverged = false;
std::cout << "No convergence after " << iterations << " iterations" << "\n";
return false;
}
iterCount++;
}
return false;
}
*/
template <typename M>
void
SceneT<M>::drawBackground(QPainter *painter, const QRectF &)
{
if (painter->paintEngine()->type() != QPaintEngine::OpenGL
&& painter->paintEngine()->type() != QPaintEngine::OpenGL2)
{
qWarning("OpenGLScene: drawBackground needs a QGLWidget to be set as viewport on the graphics view");
return;
}
painter->beginNativePainting();
glClearColor(m_backgroundColor.redF(), m_backgroundColor.greenF(), m_backgroundColor.blueF(), 1.0f);
//glClearColor(1.0f, 1.0f, 1.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
painter->endNativePainting();
}
template <typename M>
void
SceneT<M>::loadMesh(const QString filePath)
{
if (filePath.isEmpty())
return;
std::cout << filePath.toStdString() << "\n";
m_modelButton->setEnabled(false);
QApplication::setOverrideCursor(Qt::BusyCursor);
if(OpenMesh::IO::read_mesh(m_mymesh, filePath.toStdString(), _options))
{
addMesh(m_mymesh);
//std::clog << m_mymesh.n_vertices() << " vertices, "
//<< m_mymesh.n_edges() << " edge, "
//<< m_mymesh.n_faces() << " faces\n";
}
else
{
std::cout << "Error Loading Mesh" << "\n";
}
m_modelButton->setEnabled(true);
QApplication::restoreOverrideCursor();
}
template <typename M>
void
SceneT<M>::addMesh(MyMesh m_mymesh)
{
if(m_mymesh.n_vertices() > 0)
{
if(modelCount > 9)
{
std::cout << "Too Many Models. Please Remove All Models" << "\n";
}
else
{
models[modelCount] = new QtModelT<M>(m_mymesh);
models[modelCount]->modelnumber = modelCount;
modelCount++;
switch(modelCount)
{
case 1:
removeModelButton->setHidden(false);
groupBox->setHidden(false);
mouseControlBox->setHidden(false);
clearFacesButton->setHidden(false);
cutButton->setHidden(false);
deleteButton->setHidden(false);
pasteButton->setHidden(false);
copyButton->setHidden(false);
geoTreeButton->setHidden(false);
geoTreeSpinBox->setHidden(false);
toggleFuzzyButton->setHidden(false);
autoSelectButton->setHidden(false);
flipRegionsButton->setHidden(false);
exportButton->setHidden(false);
pasteSpinBox->setHidden(false);
break;
case 2:
radio3->setHidden(false);
break;
case 3:
radio4->setHidden(false);
break;
case 4:
radio5->setHidden(false);
break;
case 5:
radio6->setHidden(false);
break;
case 6:
radio7->setHidden(false);
break;
case 7:
radio8->setHidden(false);
break;
case 8:
radio9->setHidden(false);
break;
case 9:
radio10->setHidden(false);
break;
case 10:
radio11->setHidden(false);
break;
}
}
clickRadioButton(modelCount+1);
}
}
template <typename M>
void
SceneT<M>::wheelEvent(QGraphicsSceneWheelEvent *event)
{
QGraphicsScene::wheelEvent(event);
if (event->isAccepted())
return;
const int radioId = whichRadioButton();
if(radioId == 1)
{
m_distance *= qPow(1.2, -event->delta() / 120.);
//std::cout << m_distance << "\n";
}
else
{
models[radioId-2]->scale(qPow(1.2, -event->delta() / 120.));
}
event->accept();
update();
}
template <typename M>
void
SceneT<M>::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
{
QGraphicsScene::mouseMoveEvent(event);
if(inPaintingMode && mouseClicked) paintFaces(event);
if (event->isAccepted())
return;
if (event->buttons() & Qt::LeftButton) {
QPointF delta = event->scenePos() - event->lastScenePos();
const int radioId = whichRadioButton();
QVector3D angularImpulse = QVector3D(delta.y(), delta.x(), 0) * 0.1;
if (radioId == 0){
}
if(mouseRadioSelected() == 1 )
{
if(radioId == 1){
//std::cout << m_distance << "\n";
m_vertical -= delta.y() * (TANSLATE_SPEED);
m_horizontal += delta.x() * (TANSLATE_SPEED);
}
else//if(radioId != 1)
{
moveMeshInOneAxis(event);
models[radioId-2]->updateHorizontal(delta.x()* TANSLATE_SPEED);
models[radioId-2]->updateVertical(delta.y()* TANSLATE_SPEED);
//models[radioId-2]->updateHorizontal(p[0] * TANSLATE_SPEED);
//models[radioId-2]->updateVertical(p[1] * TANSLATE_SPEED);
//models[radioId-2]->updateZAxis(p[2] * TANSLATE_SPEED);
//models[radioId-2]->updateHorizontal(delta.x() * TANSLATE_SPEED);
//models[radioId-2]->updateVertical(delta.y() * TANSLATE_SPEED);
//models[radioId-2]->updateZAxis(0 * TANSLATE_SPEED);
}
}
if(mouseRadioSelected() == 2 || inRotatingMode)
{
if(radioId == 1){
m_rotation += angularImpulse;
////for (int i = 0; i != modelCount; i++) {
////if(models[i] != NULL) models[i]->updateRotation(angularImpulse);
////}
}
if(radioId != 1)
{
models[radioId-2]->updateRotation(angularImpulse);
}
}
for (int i = 0; i != modelCount; i++) {
if(models[i] != NULL) models[i]->render();
}
event->accept();
update();
}
}
template <typename M>
void
SceneT<M>::mousePressEvent(QGraphicsSceneMouseEvent *event)
{
int selected = whichRadioButton() - 2;
if(modelCount > 0 && event->button() == LeftButton && selected >= 0 &&
(mouseRadioSelected() == 1 || mouseRadioSelected() == 3 || mouseRadioSelected() == 4 || mouseRadioSelected() == 5 ) &&
!inRotatingMode){
paintFaces(event);
inPaintingMode = true;
}
//else {
mouseClicked = true;