mirror of
https://github.com/CloudCompare/PoissonRecon.git
synced 2026-08-29 16:40:28 +08:00
CC wrapper updated to work with the new version of PoissonRecon
This commit is contained in:
Daniel Girardeau-Montaut
+216
-239
@@ -67,14 +67,41 @@ PoissonReconLib::Parameters::Parameters()
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#endif
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}
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template< class PointCoordinateType, class Real, int Degree, class Vertex >
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bool Execute(PoissonReconLib::Parameters params, OrientedPointStream< PointCoordinateType >* pointStream, CoredVectorMeshData< Vertex >& mesh)
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template< class Real >
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XForm4x4< Real > GetPointXForm(OrientedPointStream< Real >& stream, Real scaleFactor)
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{
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XForm4x4< Real > xForm = XForm4x4< Real >::Identity();
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XForm4x4< Real > iXForm = xForm.inverse();
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Point3D< Real > min, max;
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stream.boundingBox(min, max);
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//DGM: reset static parameters!!!
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TreeNodeData::NodeCount = 0;
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Real scale = std::max< Real >(max[0] - min[0], std::max< Real >(max[1] - min[1], max[2] - min[2]));
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scale *= scaleFactor;
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XForm4x4< Real > tXForm = XForm4x4< Real >::Identity();
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XForm4x4< Real > sXForm = XForm4x4< Real >::Identity();
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Point3D< Real > center = (max + min) / 2;
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for (int i = 0; i < 3; i++)
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{
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sXForm(i, i) = static_cast<Real>(1.0 / scale);
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tXForm(3, i) = -center[i] + scale / 2;
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}
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return sXForm * tXForm;
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}
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template< class Real, int Degree, BoundaryType BType, class Vertex >
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bool Execute( PoissonReconLib::Parameters params,
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OrientedPointStream< Real >* pointStream,
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bool withColors,
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CoredVectorMeshData< Vertex >& mesh,
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XForm4x4< Real >& iXForm)
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{
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typedef typename Octree< Real >::template InterpolationInfo< false > InterpolationInfo;
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typedef OrientedPointStreamWithData< Real, Point3D< Real > > PointStreamWithData;
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typedef TransformedOrientedPointStream< Real > XPointStream;
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typedef TransformedOrientedPointStreamWithData< Real, Point3D< Real > > XPointStreamWithData;
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Reset< Real >();
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//DGM: do this begore initializing the octree!!
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OctNode< TreeNodeData >::SetAllocator(MEMORY_ALLOCATOR_BLOCK_SIZE);
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Octree< Real > tree;
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tree.threads = params.threads;
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@@ -82,8 +109,6 @@ bool Execute(PoissonReconLib::Parameters params, OrientedPointStream< PointCoord
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if (params.maxSolveDepth == 0)
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params.maxSolveDepth = params.depth;
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OctNode< TreeNodeData >::SetAllocator( MEMORY_ALLOCATOR_BLOCK_SIZE );
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if (params.maxSolveDepth < 2)
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return false;
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int kernelDepth = params.kernelDepth != 0 ? params.kernelDepth : params.maxSolveDepth-2;
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@@ -91,261 +116,213 @@ bool Execute(PoissonReconLib::Parameters params, OrientedPointStream< PointCoord
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return false;
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params.fullDepth = std::min(params.fullDepth, params.depth);
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tree.maxMemoryUsage = 0;
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SparseNodeData< PointData< Real > , 0 >* pointInfo = new SparseNodeData< PointData < Real > , 0 >();
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SparseNodeData< Point3D< Real > , NORMAL_DEGREE >* normalInfo = new SparseNodeData< Point3D< Real > , NORMAL_DEGREE >();
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SparseNodeData< Real , WEIGHT_DEGREE >* densityWeights = new SparseNodeData< Real , WEIGHT_DEGREE >();
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SparseNodeData< Real , NORMAL_DEGREE >* nodeWeights = new SparseNodeData< Real , NORMAL_DEGREE >();
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typedef typename Octree< Real >::template ProjectiveData< Point3D< Real > > ProjectiveColor;
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SparseNodeData< ProjectiveColor , DATA_DEGREE >* colorData = NULL;
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int pointCount = tree.template SetTree< PointCoordinateType, NORMAL_DEGREE , WEIGHT_DEGREE , DATA_DEGREE , Point3D< unsigned char > >(
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pointStream,
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params.minDepth,
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params.depth,
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params.fullDepth,
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kernelDepth,
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static_cast<Real>(params.samplesPerNode),
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params.scale,
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params.confidence,
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params.normalWeights,
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params.pointWeight,
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params.adaptiveExp,
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*densityWeights,
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*pointInfo,
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*normalInfo,
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*nodeWeights,
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colorData,
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xForm,
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params.dirichlet,
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params.complete );
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if( !params.density )
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try
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{
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delete densityWeights;
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densityWeights = NULL;
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}
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//reamp indexes
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{
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std::vector< int > indexMap;
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if( NORMAL_DEGREE > Degree )
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tree.template EnableMultigrid< NORMAL_DEGREE >( &indexMap );
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XForm4x4< Real > xForm = XForm4x4< Real >::Identity();
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{
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xForm = GetPointXForm(*pointStream, static_cast<Real>(params.scale));
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}
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iXForm = xForm.inverse();
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std::vector< typename Octree< Real >::PointSample > samples;
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std::vector< ProjectiveData< Point3D< Real >, Real > > sampleData;
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if (withColors)
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{
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XPointStreamWithData _pointStream(xForm, *((PointStreamWithData*)pointStream));
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int pointCount = tree.template init< Point3D< Real > >(
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_pointStream,
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params.depth,
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params.confidence,
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samples,
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&sampleData);
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}
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else
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tree.template EnableMultigrid< Degree >( &indexMap );
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{
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XPointStream _pointStream(xForm, *pointStream);
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int pointCount = tree.template init< Point3D< Real > >(
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_pointStream,
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params.depth,
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params.confidence,
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samples,
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0);
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}
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if (pointInfo)
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pointInfo->remapIndices( indexMap );
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if (normalInfo)
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normalInfo->remapIndices( indexMap );
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if (densityWeights)
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densityWeights->remapIndices( indexMap );
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if (nodeWeights)
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nodeWeights->remapIndices( indexMap );
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DenseNodeData< Real, Degree > solution;
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SparseNodeData< Real, WEIGHT_DEGREE > density;
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{
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int solveDepth = params.depth;
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tree.resetNodeIndices();
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// Get the kernel density estimator [If discarding, compute anew. Otherwise, compute once.]
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density = tree.template setDensityEstimator< WEIGHT_DEGREE >(samples, kernelDepth, params.samplesPerNode);
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// Transform the Hermite samples into a vector field
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Real pointWeightSum = 0;
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SparseNodeData< Point3D< Real >, NORMAL_DEGREE > normalInfo = tree.template setNormalField< NORMAL_DEGREE >(samples, density, pointWeightSum, BType == BOUNDARY_NEUMANN);
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// Trim the tree and prepare for multigrid
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{
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std::vector< int > indexMap;
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tree.template inalizeForBroodedMultigrid< NORMAL_DEGREE, Degree, BType >(params.fullDepth, typename Octree< Real >::template HasNormalDataFunctor< NORMAL_DEGREE >(normalInfo), &indexMap);
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normalInfo.remapIndices(indexMap);
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if (params.density)
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density.remapIndices(indexMap);
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}
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// Add the FEM constraints
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DenseNodeData< Real, Degree > constraints;
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{
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constraints = tree.template initDenseNodeData< Degree >();
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tree.template addFEMConstraints< Degree, BType, NORMAL_DEGREE, BType >(FEMVFConstraintFunctor< NORMAL_DEGREE, BType, Degree, BType >(1., 0.), normalInfo, constraints, solveDepth);
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}
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// Free up the normal info [If we don't need it for subseequent iterations.]
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normalInfo.clear();
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// Add the interpolation constraints
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InterpolationInfo* iInfo = NULL;
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if (params.pointWeight > 0)
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{
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Real targetValue = static_cast<Real>(0.5);
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iInfo = new InterpolationInfo(tree, samples, targetValue, params.adaptiveExp, static_cast<Real>(params.pointWeight) * pointWeightSum, (Real)0);
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tree.template addInterpolationConstraints< Degree, BType >(*iInfo, constraints, solveDepth);
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}
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//DumpOutput("Leaf Nodes / Active Nodes / Ghost Nodes: %d / %d / %d\n", (int)tree.leaves(), (int)tree.nodes(), (int)tree.ghostNodes());
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//DumpOutput("Memory Usage: %.3f MB\n", float(MemoryInfo::Usage()) / (1 << 20));
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// Solve the linear system
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double lowResIterMultiplier = 1.0;
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{
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typename Octree< Real >::SolverInfo solverInfo;
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solverInfo.cgDepth = params.cgDepth;
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solverInfo.iters = params.iters;
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solverInfo.cgAccuracy = params.cgAccuracy;
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solverInfo.verbose = false;
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solverInfo.showResidual = false;
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solverInfo.lowResIterMultiplier = std::max< double >(1.0, lowResIterMultiplier);
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solution = tree.template solveSystem< Degree, BType >(FEMSystemFunctor< Degree, BType >(0, 1., 0), iInfo, constraints, solveDepth, solverInfo);
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if (iInfo)
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{
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delete iInfo;
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iInfo = NULL;
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}
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}
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}
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Real isoValue = 0;
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{
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double valueSum = 0, weightSum = 0;
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typename Octree< Real >::template MultiThreadedEvaluator< Degree, BType > evaluator(&tree, solution, params.threads);
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#pragma omp parallel for num_threads( params.threads ) reduction( + : valueSum , weightSum )
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for (int j = 0; j < samples.size(); j++)
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{
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const ProjectiveData< OrientedPoint3D< Real >, Real >& sample = samples[j].sample;
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if (sample.weight > 0)
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{
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weightSum += sample.weight;
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valueSum += evaluator.value(sample.data.p / sample.weight, omp_get_thread_num(), samples[j].node) * sample.weight;
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}
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}
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isoValue = static_cast<Real>(valueSum / weightSum);
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//DumpOutput("Iso-Value: %e\n", isoValue);
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}
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SparseNodeData< ProjectiveData< Point3D< Real >, Real >, DATA_DEGREE >* colorData = NULL;
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if (withColors)
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{
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colorData = new SparseNodeData< ProjectiveData< Point3D< Real >, Real >, DATA_DEGREE >();
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*colorData = tree.template setDataField< DATA_DEGREE, false >(samples, sampleData, (SparseNodeData< Real, WEIGHT_DEGREE >*)NULL);
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for (const OctNode< TreeNodeData >* n = tree.tree().nextNode(); n; n = tree.tree().nextNode(n))
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{
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ProjectiveData< Point3D< Real >, Real >* clr = (*colorData)(n);
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if (clr) (*clr) *= static_cast<Real>(pow(params.colorInterp, tree.depth(n)));
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}
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}
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bool linearFit = false;
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bool polygonMesh = false;
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tree.template getMCIsoSurface< Degree, BType, WEIGHT_DEGREE, DATA_DEGREE >(
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&density,
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colorData,
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solution,
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isoValue,
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mesh,
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!linearFit,
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!params.nonManifold,
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polygonMesh);
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//DumpOutput("Vertices / Polygons: %d / %d\n", mesh.outOfCorePointCount() + mesh.inCorePoints.size(), mesh.polygonCount());
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if (colorData)
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{
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delete colorData;
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colorData = NULL;
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}
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}
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catch (const std::bad_alloc&)
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{
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//not enough memory
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return false;
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}
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catch (std::exception e)
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{
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//not enough memory
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return false;
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}
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catch (...)
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{
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//not enough memory
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return false;
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}
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double maxMemoryUsage = tree.maxMemoryUsage;
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tree.maxMemoryUsage = 0;
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DenseNodeData< Real , Degree > constraints = tree.template SetLaplacianConstraints< Degree >( *normalInfo );
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delete normalInfo;
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normalInfo = NULL;
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maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );
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tree.maxMemoryUsage = 0;
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DenseNodeData< Real , Degree > solution = tree.SolveSystem( *pointInfo , constraints , params.showResidual , params.iters, params.maxSolveDepth, params.cgDepth, params.cgAccuracy );
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delete pointInfo;
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pointInfo = NULL;
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constraints.resize(0);
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maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );
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Real isoValue = tree.GetIsoValue( solution , *nodeWeights );
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delete nodeWeights;
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nodeWeights = NULL;
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//DumpOutput( "Iso-Value: %e\n" , isoValue );
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//output
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tree.maxMemoryUsage = 0;
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tree.template GetMCIsoSurface< Degree , WEIGHT_DEGREE , DATA_DEGREE >(
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densityWeights,
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colorData,
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solution,
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isoValue,
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mesh,
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true,
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!params.nonManifold,
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false );
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maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );
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//DumpOutput( "Vertices / Polygons: %d / %d\n" , mesh.outOfCorePointCount()+mesh.inCorePoints.size() , mesh.polygonCount() );
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solution.resize(0);
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return true;
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}
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template< class PointCoordinateType, class Real, int Degree, class Vertex >
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bool Execute(PoissonReconLib::Parameters params, OrientedPointStreamWithData< PointCoordinateType , Point3D< unsigned char > >* pointStream, CoredVectorMeshData< Vertex >& mesh)
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{
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XForm4x4< Real > xForm = XForm4x4< Real >::Identity();
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XForm4x4< Real > iXForm = xForm.inverse();
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//DGM: reset static parameters!!!
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TreeNodeData::NodeCount = 0;
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Octree< Real > tree;
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tree.threads = params.threads;
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if (params.maxSolveDepth == 0)
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params.maxSolveDepth = params.depth;
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OctNode< TreeNodeData >::SetAllocator( MEMORY_ALLOCATOR_BLOCK_SIZE );
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if (params.maxSolveDepth < 2)
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return false;
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int kernelDepth = params.kernelDepth != 0 ? params.kernelDepth : params.maxSolveDepth-2;
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if( kernelDepth > params.depth )
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return false;
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params.fullDepth = std::min(params.fullDepth, params.depth);
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tree.maxMemoryUsage = 0;
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SparseNodeData< PointData< Real > , 0 >* pointInfo = new SparseNodeData< PointData < Real > , 0 >();
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SparseNodeData< Point3D< Real > , NORMAL_DEGREE >* normalInfo = new SparseNodeData< Point3D< Real > , NORMAL_DEGREE >();
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SparseNodeData< Real , WEIGHT_DEGREE >* densityWeights = new SparseNodeData< Real , WEIGHT_DEGREE >();
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SparseNodeData< Real , NORMAL_DEGREE >* nodeWeights = new SparseNodeData< Real , NORMAL_DEGREE >();
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typedef typename Octree< Real >::template ProjectiveData< Point3D< Real > > ProjectiveColor;
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SparseNodeData< ProjectiveColor , DATA_DEGREE > colorData;
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int pointCount = tree.template SetTree< PointCoordinateType, NORMAL_DEGREE , WEIGHT_DEGREE , DATA_DEGREE , Point3D< unsigned char > >
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(
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pointStream,
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params.minDepth,
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params.depth,
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params.fullDepth,
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kernelDepth,
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static_cast<Real>(params.samplesPerNode),
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params.scale,
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params.confidence,
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params.normalWeights,
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params.pointWeight,
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params.adaptiveExp,
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*densityWeights,
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*pointInfo,
|
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*normalInfo,
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*nodeWeights,
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&colorData,
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xForm,
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params.dirichlet,
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params.complete );
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for (const OctNode< TreeNodeData >* n = tree.tree().nextNode(); n != NULL; n = tree.tree().nextNode( n ) )
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{
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int idx = colorData.index(n);
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if (idx >= 0)
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colorData.data[idx] *= static_cast<Real>(pow(params.colorInterp, n->depth()));
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}
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if( !params.density )
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{
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delete densityWeights;
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densityWeights = NULL;
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}
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//reamp indexes
|
||||
{
|
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std::vector< int > indexMap;
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if( NORMAL_DEGREE > Degree )
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tree.template EnableMultigrid< NORMAL_DEGREE >( &indexMap );
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else
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tree.template EnableMultigrid< Degree >( &indexMap );
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if (pointInfo)
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pointInfo->remapIndices( indexMap );
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if (normalInfo)
|
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normalInfo->remapIndices( indexMap );
|
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if (densityWeights)
|
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densityWeights->remapIndices( indexMap );
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if (nodeWeights)
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nodeWeights->remapIndices( indexMap );
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colorData.remapIndices( indexMap );
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}
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//DumpOutput( "Input Points: %d\n" , pointCount );
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//DumpOutput( "Leaves/Nodes: %d/%d\n" , tree.tree.leaves() , tree.tree.nodes() );
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||||
double maxMemoryUsage = tree.maxMemoryUsage;
|
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tree.maxMemoryUsage = 0;
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|
||||
DenseNodeData< Real , Degree > constraints = tree.template SetLaplacianConstraints< Degree >( *normalInfo );
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delete normalInfo;
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normalInfo = 0;
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maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );
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tree.maxMemoryUsage = 0;
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DenseNodeData< Real , Degree > solution = tree.SolveSystem( *pointInfo , constraints , params.showResidual , params.iters, params.maxSolveDepth, params.cgDepth, params.cgAccuracy );
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delete pointInfo;
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pointInfo = 0;
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constraints.resize(0);
|
||||
|
||||
maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );
|
||||
|
||||
Real isoValue = tree.GetIsoValue( solution , *nodeWeights );
|
||||
delete nodeWeights;
|
||||
nodeWeights = 0;
|
||||
|
||||
//DumpOutput( "Iso-Value: %e\n" , isoValue );
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||||
|
||||
//output
|
||||
tree.maxMemoryUsage = 0;
|
||||
|
||||
tree.template GetMCIsoSurface< Degree , WEIGHT_DEGREE , DATA_DEGREE >(
|
||||
densityWeights ? GetPointer( *densityWeights ) : NullPointer( Real ),
|
||||
&colorData,
|
||||
solution,
|
||||
isoValue,
|
||||
mesh,
|
||||
true,
|
||||
!params.nonManifold,
|
||||
false );
|
||||
|
||||
maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );
|
||||
|
||||
//DumpOutput( "Vertices / Polygons: %d / %d\n" , mesh.outOfCorePointCount()+mesh.inCorePoints.size() , mesh.polygonCount() );
|
||||
|
||||
solution.resize(0);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool PoissonReconLib::Reconstruct(Parameters params, OrientedPointStreamWithData< float , Point3D< unsigned char > >* pointStream, CoredVectorMeshData< PlyColorAndValueVertex< float > >& mesh)
|
||||
bool PoissonReconLib::Reconstruct( Parameters params,
|
||||
OrientedPointStreamWithData< float , Point3D< float > >* pointStream,
|
||||
CoredVectorMeshData< PlyColorAndValueVertex< float > >& mesh,
|
||||
XForm4x4< float >& iXForm)
|
||||
{
|
||||
return Execute< float,
|
||||
float,
|
||||
BSPLINE_DEGREE,
|
||||
PlyColorAndValueVertex< float > > (params, pointStream, mesh);
|
||||
BOUNDARY_NEUMANN,
|
||||
PlyColorAndValueVertex< float > >(params, pointStream, true, mesh, iXForm);
|
||||
}
|
||||
|
||||
bool PoissonReconLib::Reconstruct(Parameters params, OrientedPointStream< float >* pointStream, CoredVectorMeshData< PlyValueVertex< float > >& mesh)
|
||||
bool PoissonReconLib::Reconstruct( Parameters params,
|
||||
OrientedPointStream< float >* pointStream,
|
||||
CoredVectorMeshData< PlyValueVertex< float > >& mesh,
|
||||
XForm4x4< float >& iXForm)
|
||||
{
|
||||
return Execute< float,
|
||||
float,
|
||||
BSPLINE_DEGREE,
|
||||
PlyValueVertex< float > > (params, pointStream, mesh);
|
||||
BOUNDARY_NEUMANN,
|
||||
PlyValueVertex< float > > (params, pointStream, false, mesh, iXForm);
|
||||
}
|
||||
|
||||
bool PoissonReconLib::Reconstruct(Parameters params, OrientedPointStreamWithData< double , Point3D< unsigned char > >* pointStream, CoredVectorMeshData< PlyColorAndValueVertex< double > >& mesh)
|
||||
bool PoissonReconLib::Reconstruct( Parameters params,
|
||||
OrientedPointStreamWithData< double , Point3D< double > >* pointStream,
|
||||
CoredVectorMeshData< PlyColorAndValueVertex< double > >& mesh,
|
||||
XForm4x4< double >& iXForm)
|
||||
{
|
||||
return Execute< double,
|
||||
double,
|
||||
BSPLINE_DEGREE,
|
||||
PlyColorAndValueVertex< double > > (params, pointStream, mesh);
|
||||
BOUNDARY_NEUMANN,
|
||||
PlyColorAndValueVertex< double > > (params, pointStream, true, mesh, iXForm);
|
||||
}
|
||||
|
||||
bool PoissonReconLib::Reconstruct(Parameters params, OrientedPointStream< double >* pointStream, CoredVectorMeshData< PlyValueVertex< double > >& mesh)
|
||||
bool PoissonReconLib::Reconstruct( Parameters params,
|
||||
OrientedPointStream< double >* pointStream,
|
||||
CoredVectorMeshData< PlyValueVertex< double > >& mesh,
|
||||
XForm4x4< double >& iXForm)
|
||||
{
|
||||
return Execute< double,
|
||||
double,
|
||||
BSPLINE_DEGREE,
|
||||
PlyValueVertex< double > > (params, pointStream, mesh);
|
||||
BOUNDARY_NEUMANN,
|
||||
PlyValueVertex< double > > (params, pointStream, false, mesh, iXForm);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user