503 lines
16 KiB
C++
503 lines
16 KiB
C++
// Copyright (c) 2007 INRIA (France).
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// All rights reserved.
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//
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// This file is part of CGAL (www.cgal.org).
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//
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// $URL: https://github.com/CGAL/cgal/blob/v5.1/Poisson_surface_reconstruction_3/include/CGAL/Reconstruction_triangulation_3.h $
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// $Id: Reconstruction_triangulation_3.h 0779373 2020-03-26T13:31:46+01:00 Sébastien Loriot
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial
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//
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//
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// Author(s) : Laurent Saboret, Pierre Alliez
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#ifndef CGAL_IMPLICIT_FCT_DELAUNAY_TRIANGULATION_H
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#define CGAL_IMPLICIT_FCT_DELAUNAY_TRIANGULATION_H
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#include <CGAL/license/Poisson_surface_reconstruction_3.h>
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#include <CGAL/disable_warnings.h>
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#include <CGAL/Point_with_normal_3.h>
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#include <CGAL/Lightweight_vector_3.h>
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#include <CGAL/property_map.h>
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#include <CGAL/surface_reconstruction_points_assertions.h>
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#include <CGAL/Delaunay_triangulation_3.h>
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#include <CGAL/Delaunay_triangulation_cell_base_3.h>
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#include <CGAL/Triangulation_cell_base_with_info_3.h>
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#include <CGAL/algorithm.h>
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#include <CGAL/bounding_box.h>
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#include <boost/random/random_number_generator.hpp>
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#include <boost/random/linear_congruential.hpp>
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#include <vector>
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#include <iterator>
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namespace CGAL {
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/// \internal
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/// The Reconstruction_vertex_base_3 class is the default
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/// vertex class of the Reconstruction_triangulation_3 class.
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///
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/// It provides the interface requested by the Poisson_reconstruction_function class:
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/// - Each vertex stores a normal vector.
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/// - A vertex is either an input point or a Steiner point added by Delaunay refinement.
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/// - In order to solve a linear system over the triangulation, a vertex may be constrained
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/// or not (i.e. may contribute to the right or left member of the linear system),
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/// and has a unique index.
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///
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/// @param Gt Geometric traits class / Point_3 is a typedef to Point_with_normal_3.
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/// @param Cb Vertex base class, model of TriangulationVertexBase_3.
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template < typename Gt,
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typename Vb = Triangulation_vertex_base_3<Gt> >
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class Reconstruction_vertex_base_3 : public Vb
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{
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// Public types
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public:
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/// Geometric traits class / Point_3 is a typedef to Point_with_normal_3.
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typedef Gt Geom_traits;
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// Repeat Triangulation_vertex_base_3 public types
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/// \cond SKIP_IN_MANUAL
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typedef typename Vb::Cell_handle Cell_handle;
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template < typename TDS2 >
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struct Rebind_TDS {
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typedef typename Vb::template Rebind_TDS<TDS2>::Other Vb2;
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typedef Reconstruction_vertex_base_3<Geom_traits, Vb2> Other;
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};
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/// \endcond
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// Geometric types
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typedef typename Geom_traits::FT FT;
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typedef typename Geom_traits::Vector_3 Vector; ///< typedef to Vector_3
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typedef typename Geom_traits::Point_3 Point; ///< typedef to Point_with_normal_3
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typedef typename Geom_traits::Point_3 Point_with_normal; ///< typedef to Point_with_normal_3
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// data members
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private:
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// TODO: reduce memory footprint
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FT m_f; // value of the implicit function // float precise enough?
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bool m_constrained; // is vertex constrained? // combine constrained and type
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unsigned char m_type; // INPUT or STEINER
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unsigned int m_index; // index in matrix (to be stored outside)
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// Public methods
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public:
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Reconstruction_vertex_base_3()
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: Vb(), m_f(FT(0.0)), m_type(0), m_index(0)
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{}
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Reconstruction_vertex_base_3(const Point_with_normal& p)
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: Vb(p), m_f(FT(0.0)), m_type(0), m_index(0)
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{}
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Reconstruction_vertex_base_3(const Point_with_normal& p, Cell_handle c)
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: Vb(p,c), m_f(FT(0.0)), m_type(0), m_index(0)
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{}
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Reconstruction_vertex_base_3(Cell_handle c)
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: Vb(c), m_f(FT(0.0)), m_type(0), m_index(0)
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{}
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/// Gets/sets the value of the implicit function.
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/// Default value is 0.0.
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FT f() const { return m_f; }
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FT& f() { return m_f; }
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/// Gets/sets the type = INPUT or STEINER.
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unsigned char type() const { return m_type; }
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unsigned char& type() { return m_type; }
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/// Gets/sets the index in matrix.
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unsigned int index() const { return m_index; }
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unsigned int& index() { return m_index; }
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/// Gets/sets normal vector.
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/// Default value is null vector.
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const Vector& normal() const { return this->point().normal(); }
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Vector& normal() { return this->point().normal(); }
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// Private methods
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private:
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/// Copy constructor and operator =() are not implemented.
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Reconstruction_vertex_base_3(const Reconstruction_vertex_base_3& toCopy);
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Reconstruction_vertex_base_3& operator =(const Reconstruction_vertex_base_3& toCopy);
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}; // end of Reconstruction_vertex_base_3
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/// \internal
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/// Helper class:
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/// Reconstruction_triangulation_default_geom_traits_3
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/// changes in a geometric traits class the Point_3 type to
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/// Point_with_normal_3<BaseGt>.
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///
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/// @param BaseGt Geometric traits class.
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template <class BaseGt>
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struct Reconstruction_triangulation_default_geom_traits_3 : public BaseGt
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{
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typedef Point_with_normal_3<BaseGt> Point_3;
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};
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/// \internal
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/// The Reconstruction_triangulation_3 class
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/// provides the interface requested by the Poisson_reconstruction_function class:
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/// - Each vertex stores a normal vector.
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/// - A vertex is either an input point or a Steiner point added by Delaunay refinement.
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/// - In order to solve a linear system over the triangulation, a vertex may be constrained
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/// or not (i.e. may contribute to the right or left member of the linear system),
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/// and has a unique index.
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/// The vertex class must derive from Reconstruction_vertex_base_3.
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///
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/// @param BaseGt Geometric traits class.
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/// @param Gt Geometric traits class / Point_3 is a typedef to Point_with_normal_3<BaseGt>.
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/// @param Tds Model of TriangulationDataStructure_3. The vertex class
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/// must derive from Reconstruction_vertex_base_3.
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template <class BaseGt,
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class Gt = Reconstruction_triangulation_default_geom_traits_3<BaseGt>,
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class Tds_ = Triangulation_data_structure_3<
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Reconstruction_vertex_base_3<Gt>,
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Delaunay_triangulation_cell_base_3<
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Gt, Triangulation_cell_base_with_info_3<int, Gt> > > >
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class Reconstruction_triangulation_3
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: public Delaunay_triangulation_3<Gt, Tds_>
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{
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// Private types
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private:
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// Base class
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typedef Delaunay_triangulation_3<Gt,Tds_> Base;
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// Auxiliary class to build an iterator over input points.
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class Is_steiner_point
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{
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public:
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typedef typename Base::Finite_vertices_iterator Finite_vertices_iterator;
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bool operator()(const Finite_vertices_iterator& v) const
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{
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return (v->type() == Reconstruction_triangulation_3::STEINER);
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}
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};
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// Public types
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public:
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/// Geometric traits class / Point_3 is a typedef to Point_with_normal_3<BaseGt>.
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typedef Gt Geom_traits;
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// Repeat base class' types
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/// \cond SKIP_IN_MANUAL
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typedef Tds_ Triangulation_data_structure;
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typedef typename Base::Segment Segment;
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typedef typename Base::Triangle Triangle;
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typedef typename Base::Tetrahedron Tetrahedron;
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typedef typename Base::Line Line;
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typedef typename Base::Ray Ray;
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typedef typename Base::Object Object;
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typedef typename Base::Cell_handle Cell_handle;
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typedef typename Base::Vertex_handle Vertex_handle;
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typedef typename Base::Cell Cell;
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typedef typename Base::Vertex Vertex;
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typedef typename Base::Facet Facet;
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typedef typename Base::Edge Edge;
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typedef typename Base::Cell_circulator Cell_circulator;
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typedef typename Base::Facet_circulator Facet_circulator;
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typedef typename Base::Cell_iterator Cell_iterator;
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typedef typename Base::Facet_iterator Facet_iterator;
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typedef typename Base::Edge_iterator Edge_iterator;
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typedef typename Base::Vertex_iterator Vertex_iterator;
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typedef typename Base::Point_iterator Point_iterator;
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typedef typename Base::Finite_vertices_iterator Finite_vertices_iterator;
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typedef typename Base::Finite_cells_iterator Finite_cells_iterator;
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typedef typename Base::Finite_facets_iterator Finite_facets_iterator;
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typedef typename Base::Finite_edges_iterator Finite_edges_iterator;
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typedef typename Base::All_cells_iterator All_cells_iterator;
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typedef typename Base::All_vertices_iterator All_vertices_iterator;
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typedef typename Base::Locate_type Locate_type;
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/// \endcond
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// Geometric types
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typedef typename Geom_traits::FT FT;
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typedef typename Geom_traits::Vector_3 Vector; ///< typedef to Vector_3<BaseGt>
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typedef typename Geom_traits::Point_3 Point; ///< typedef to Point_with_normal_3<BaseGt>
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typedef typename Geom_traits::Point_3 Point_with_normal; ///< Point_with_normal_3<BaseGt>
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typedef typename Geom_traits::Sphere_3 Sphere;
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typedef typename Geom_traits::Iso_cuboid_3 Iso_cuboid;
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/// Point type
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enum Point_type {
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INPUT=0, ///< Input point.
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STEINER=1 ///< Steiner point created by Delaunay refinement.
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};
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/// Iterator over input vertices.
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typedef Filter_iterator<Finite_vertices_iterator, Is_steiner_point>
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Input_vertices_iterator;
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/// Iterator over input points.
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typedef Iterator_project<Input_vertices_iterator,
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Project_point<Vertex> > Input_point_iterator;
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mutable Sphere sphere;
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std::vector<Point_with_normal> points;
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std::size_t fraction;
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std::list<double> fractions;
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Vertex_handle constrained_vertex;
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public:
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/// Default constructor.
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Reconstruction_triangulation_3()
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{}
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~Reconstruction_triangulation_3()
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{}
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// Default copy constructor and operator =() are fine.
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// Repeat base class' public methods used below
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/// \cond SKIP_IN_MANUAL
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using Base::points_begin;
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using Base::points_end;
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using Base::number_of_vertices;
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using Base::finite_vertices_begin;
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using Base::finite_vertices_end;
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using Base::all_vertices_begin;
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using Base::all_vertices_end;
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using Base::geom_traits;
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/// \endcond
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/// Gets first iterator over input vertices.
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Input_vertices_iterator input_vertices_begin() const
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{
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return Input_vertices_iterator(finite_vertices_end(), Is_steiner_point(),
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finite_vertices_begin());
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}
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/// Gets past-the-end iterator over input vertices.
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Input_vertices_iterator input_vertices_end() const
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{
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return Input_vertices_iterator(finite_vertices_end(), Is_steiner_point());
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}
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/// Gets iterator over the first input point.
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Input_point_iterator input_points_begin() const
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{
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return Input_point_iterator(input_vertices_begin());
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}
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/// Gets past-the-end iterator over the input points.
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Input_point_iterator input_points_end() const
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{
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return Input_point_iterator(input_vertices_end());
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}
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/// Gets the bounding sphere of input points.
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Sphere bounding_sphere() const
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{
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return sphere;
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}
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void initialize_bounding_sphere() const
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{
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Iso_cuboid ic = bounding_box(points.begin(), points.end());
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Point center = midpoint((ic.min)(), (ic.max)());
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sphere = Sphere(center, squared_distance(center, (ic.max)()));
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}
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/// Insert point in the triangulation.
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/// Default type is INPUT.
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template <typename Visitor>
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Vertex_handle insert(const Point_with_normal& p,
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Point_type type,// = INPUT,
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Cell_handle start,// = Cell_handle(),
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Visitor visitor)
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{
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if(type == INPUT){
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visitor.before_insertion();
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}
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if(this->dimension() < 3){
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Vertex_handle v = Base::insert(p, start);
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v->type() = static_cast<unsigned char>(type);
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return v;
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}
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typename Base::Locate_type lt;
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int li, lj;
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Cell_handle ch = Base::locate(p, lt, li, lj, start);
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Vertex_handle v = Base::insert(p, lt, ch, li, lj);
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v->type() = static_cast<unsigned char>(type);
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return v;
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}
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/// Insert the [first, beyond) range of points in the triangulation using a spatial sort.
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/// Default type is INPUT.
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///
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/// @commentheading Template Parameters:
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/// @param InputIterator iterator over input points.
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/// @param PointPMap is a model of `ReadablePropertyMap` with a value_type = Point_3.
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/// It can be omitted if InputIterator value_type is convertible to Point_3.
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/// @param NormalPMap is a model of `ReadablePropertyMap` with a value_type = Vector_3.
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///
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/// @return the number of inserted points.
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// This variant requires all parameters.
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template <typename InputIterator,
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typename PointPMap,
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typename NormalPMap,
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typename Visitor
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>
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int insert(
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InputIterator first, ///< iterator over the first input point.
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InputIterator beyond, ///< past-the-end iterator over the input points.
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PointPMap point_pmap, ///< property map: `value_type of InputIterator` -> `Point_3` (the position of an input point).
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NormalPMap normal_pmap, ///< property map: `value_type of InputIterator` -> `Vector_3` (the *oriented* normal of an input point).
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Visitor visitor)
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{
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if(! points.empty()){
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std::cerr << "WARNING: not all points inserted yet" << std::endl;
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}
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// Convert input points to Point_with_normal_3
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//std::vector<Point_with_normal> points;
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for (InputIterator it = first; it != beyond; ++it)
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{
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Point_with_normal pwn(get(point_pmap,*it), get(normal_pmap,*it));
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points.push_back(pwn);
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}
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std::size_t n = points.size();
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initialize_bounding_sphere();
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typedef std::iterator_traits<InputIterator> Iterator_traits;
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typedef typename Iterator_traits::difference_type Diff_t;
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boost::rand48 random;
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boost::random_number_generator<boost::rand48, Diff_t> rng(random);
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CGAL::cpp98::random_shuffle (points.begin(), points.end(), rng);
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fraction = 0;
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fractions.clear();
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fractions.push_back(1.0);
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double m = static_cast<double>(n);
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while(m > 500){
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m /= 2;
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fractions.push_front(m/n);
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}
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insert_fraction(visitor);
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return 0;
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}
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template <typename Visitor>
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bool insert_fraction(Visitor visitor)
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{
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if(fractions.empty()){
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points.clear();
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return false;
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}
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double frac = fractions.front();
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fractions.pop_front();
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std::size_t more = (std::size_t)(points.size() * frac) - fraction;
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if((fraction+more) > points.size()){
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more = points.size() - fraction;
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}
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Cell_handle hint;
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spatial_sort (points.begin()+fraction, points.begin()+fraction+more, geom_traits());
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for (typename std::vector<Point_with_normal>::const_iterator p = points.begin()+fraction;
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p != points.begin()+fraction+more; ++p)
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{
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Vertex_handle v = insert(*p, INPUT, hint, visitor);
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hint = v->cell();
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}
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fraction += more;
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return true;
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}
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/// \cond SKIP_IN_MANUAL
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// This variant creates a default point property map = Identity_property_map.
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template <typename InputIterator,
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typename NormalPMap,
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typename Visitor
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>
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int insert(
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InputIterator first, ///< iterator over the first input point.
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InputIterator beyond, ///< past-the-end iterator over the input points.
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NormalPMap normal_pmap, ///< property map: `value_type of InputIterator` -> `Vector_3` (the *oriented* normal of an input point).
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Visitor visitor)
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{
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return insert(
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first,beyond,
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make_identity_property_map(
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typename std::iterator_traits<InputIterator>::value_type()),
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normal_pmap,
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visitor);
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}
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/// \endcond
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/// Delaunay refinement callback:
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/// insert STEINER point in the triangulation.
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template <class CellIt>
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Vertex_handle
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insert_in_hole(const Point_with_normal& p, CellIt cell_begin, CellIt cell_end,
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Cell_handle begin, int i,
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Point_type type = STEINER)
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{
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Vertex_handle v = Base::insert_in_hole(p, cell_begin, cell_end, begin, i);
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v->type() = static_cast<unsigned char>(type);
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return v;
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}
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/// Index unconstrained vertices following the order of Finite_vertices_iterator.
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/// @return the number of unconstrained vertices.
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unsigned int index_unconstrained_vertices()
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{
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unsigned int index = 0;
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for (Finite_vertices_iterator v = finite_vertices_begin(),
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e = finite_vertices_end();
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v!= e;
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++v)
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{
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if(! is_constrained(v))
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v->index() = index++;
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}
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return index;
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}
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/// Is vertex constrained, i.e.
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/// does it contribute to the right or left member of the linear system?
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bool is_constrained(Vertex_handle v) const
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{
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return v == constrained_vertex;
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}
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void constrain(Vertex_handle v)
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{
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constrained_vertex = v;
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}
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}; // end of Reconstruction_triangulation_3
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} //namespace CGAL
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#include <CGAL/enable_warnings.h>
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#endif // CGAL_IMPLICIT_FCT_DELAUNAY_TRIANGULATION_H
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