Create and represent a 3D triangle mesh. More...

#include <Utils/TriangleMesh.hh>

Collaboration diagram for BIAS::TriangleMesh:

Public Member Functions
int	ChangeTexture (const BIAS::Image< unsigned char > &texture)
	Replace the texture of this mesh. More...

int	GenerateDenseMesh (const BIAS::Image< float > &DenseDepthMap, const BIAS::Image< unsigned char > &Texture)
	Calculate a triangle mesh from dense depth map without PMatrix. More...

int	GenerateDenseMesh (const BIAS::Image< float > &DenseDepthMap, BIAS::PMatrix &P, const BIAS::Image< unsigned char > &Texture)
	Calculate a triangle mesh from dense depth map. More...

int	GenerateDenseMesh (const BIAS::Image< float > &DenseDepthMap, BIAS::Projection &P, const BIAS::Image< unsigned char > &Texture, BIAS::Projection &TexP, bool reduce, double reduceValue)

int	GenerateDenseMesh (const BIAS::Image< float > &DenseDepthMap, BIAS::PMatrix &P, const BIAS::Image< unsigned char > &Texture, const ROI &cutout)
	Calculate a triangle mesh only using the given cutout recalculates depthmap, image and p and calls generic interface. More...

int	GenerateDenseMesh (const BIAS::Image< float > &DenseDepthMap, BIAS::Projection &P, const BIAS::Image< unsigned char > &Texture, BIAS::Projection &TexP, const unsigned int distBetweenPoints=1)
	Calculate a triangle mesh from dense depth map. More...

int	GenerateDenseMesh (const BIAS::Image< float > &DenseDepthMap, BIAS::Projection &P, const BIAS::Image< unsigned char > &Texture, const unsigned int distBetweenPoints=1)
	old interface without a projection for the texture More...

int	GenerateDenseMesh (const BIAS::Image< float > &DenseDepthMap, BIAS::Projection &DepthP, const BIAS::Image< unsigned char > &Texture, BIAS::Projection &TexP, const unsigned int x0, const unsigned int y0, const unsigned int width, const unsigned int height, const unsigned int distBetweenPoints=1)
	calculates trianglemesh but only for given part of depth map (can be used for tile mode)! Generated texture coordinates reference are relative to the full depth map size! If distBetweenPoints > 1, the intermediate point are simply ignored, when combining point to triangles More...

int	GenerateDenseMesh (const BIAS::Image< float > &DenseDepthMap, BIAS::Projection &DepthP, const BIAS::Image< unsigned char > &Texture, const unsigned int x0, const unsigned int y0, const unsigned int width, const unsigned int height, const unsigned int distBetweenPoints=1)
	old interface without a projection for the texture More...

int	GenerateImagePlane (const BIAS::Projection &P, const BIAS::Image< unsigned char > &Texture, const double &w=1.0)
	backproject image onto a plane in space so far only implemented for perspective cameras More...

int	GenerateSimplifiedMesh (const Image< float > &DenseDepthMap, const Projection &P, const Image< unsigned char > &Texture, const unsigned int x0, const unsigned int y0, const unsigned int width, const unsigned int height, double minCosAngle=0.8, double maxDiagRatio=3.0)

int	GenerateSimplifiedMesh (const Image< float > &DenseDepthMap, const Projection &P, const Image< unsigned char > &Texture, const Projection &TexP, const unsigned int x0, const unsigned int y0, const unsigned int width, const unsigned int height, double minCosAngle=0.8, double maxDiagRatio=3.0)

void	GenerateTexturedCamera (const ProjectionParametersBase *PPB, Image< unsigned char > &rgbtexture, const double &scale=1.0, const double &opacity=1.0, const double &resolution=1.0)
	generates the sensor plane / cylinder / sphere in 3D space More...

int	GenerateTexturedQuad (const Image< unsigned char > &Texture, const Vector3< double > &UL, const Vector3< double > &UR, const Vector3< double > &LL, const Vector3< double > &LR, const Vector2< double > &ul, const Vector2< double > &ur, const Vector2< double > &ll, const Vector2< double > &lr, const Vector3< double > &normal=Vector3< double >(0, 0, 0))
	Generate planar quad in 3D space with given texture coordinates. More...

int	GenerateTexturedQuad (PMatrix P, const Image< unsigned char > &Texture, const Vector3< double > &UL, const Vector3< double > &UR, const Vector3< double > &LL, const Vector3< double > &LR, const Vector3< double > &normal=Vector3< double >(0, 0, 0))
	Generate planar quad in 3D space with texture projection using projection matrix P. More...

int	GenerateTexturedQuadStrip (const Image< unsigned char > &Texture, const std::vector< Vector3< double > > &X, const std::vector< Vector2< double > > &x)
	Generate a strip of planar quads in 3D space using the given texture coordinates. More...

int	GenerateTexturedQuadStrip (const Projection &P, const Image< unsigned char > &Texture, const std::vector< Vector3< double > > &X)
	Generate a strip of planar quads in 3D space. More...

void	GenerateVertexNormals (bool leftHanded=true, Vector3< double > normalForUnusedVertices=Vector3< double >(-1.0, 0.0, 0.0))
	Computes the normals for the vertices by averaging the normals of adjacent triangles. More...

void	GetBiggestConnectedSegment (TriangleMesh &biggestSegment) const
	Returns the biggest connected segment of this triangle mesh. More...

void	GetBoundingBox (Vector3< double > &minPoint, Vector3< double > &maxPoint) const
	Returns the minimal and maximal point of the axis-aligned bounding box of this triangle mesh. More...

void	GetNormals (std::vector< BIAS::Vector3< double > > &normals) const

const std::vector < BIAS::Vector3< double > > &	GetNormalsRef () const

void	GetTexCoords (std::vector< BIAS::Vector2< float > > &texCoo) const

const std::vector < BIAS::Vector2< float > > &	GetTexCoordsRef () const

void	GetTexture (Image< unsigned char > &img) const

const BIAS::Image< unsigned char > &	GetTextureRef () const

void	GetTriangleIndices (std::vector< BIAS::Vector< int > > &triangleIndices) const

const std::vector < BIAS::Vector< int > > &	GetTriangleIndicesRef () const

void	GetVertexColors (std::vector< BIAS::Vector4< unsigned char > > &colors) const

void	GetVertices (std::vector< BIAS::Vector3< double > > &vertices) const

const std::vector < BIAS::Vector3< double > > &	GetVerticesRef () const

void	SetMesh (BIAS::Image< unsigned char > texture, std::vector< BIAS::Vector3< double > > meshVertices, std::vector< BIAS::Vector3< double > > vertexNormals, std::vector< BIAS::Vector2< float > > textureCoords, std::vector< BIAS::Vector< int > > triangleIndices)

void	SetMesh (std::vector< BIAS::Vector3< double > > meshVertices, std::vector< BIAS::Vector3< double > > vertexNormals, std::vector< BIAS::Vector2< float > > textureCoords, std::vector< BIAS::Vector< int > > triangleIndices, BIAS::Image< unsigned char > texture=Image< unsigned char >())

void	SetMesh (std::vector< BIAS::Vector3< double > > meshVertices, std::vector< BIAS::Vector3< double > > vertexNormals, std::vector< BIAS::Vector4< unsigned char > > vertexColors, std::vector< BIAS::Vector< int > > triangleIndices)

void	SetParams (const double &minCornerAngle=M_PI 5.0/180.0, const double &maxAngle=M_PI 60.0/180.0, const double depthScale=1.0)

	TriangleMesh (const double &minCornerAngle=M_PI 5.0/180.0, const double &maxAngle=M_PI 60.0/180.0, const double depthScale=1.0)

Protected Member Functions
void	GetNeighbours_ (int v1, int v2, std::vector< int > &dead_triangles, std::vector< int > &moved_triangles, int &moved_pivot)
	get the neighbours of the contracted points and returns two list that contains the triangles to remove from the model and triangles that have to be moved to one of the vertices More...

bool	MakeTriangles_ (const Projection &P, const Projection &TexP, const BIAS::Image< unsigned char > &Texture, std::vector< Image< float > > &depthmaps, float x, float y, float offset, float minoffset, double minCosAngle, double maxDiagRatio, bool simulateOnly)

bool	SimplifyMeshSurface_ (const BIAS::Image< unsigned char > &Texture, BIAS::Projection &TexP, double reduceValue)
	Simplifies a TriangleMesh to a desired percentage of triangles of the original mesh. More...

void	TestContraction (int v1, int v2, int edge, bool init=false)
	Tests if a triangle that is involved in the contraction changes direction or overlapps. More...

double	ThreePointsToPlane_ (Vector3< double > v1, Vector3< double > v2, Vector3< double > v3, Vector4< double > &erg)
	calculates a plan of three points and returns it area More...

Protected Attributes
int	currentIndex_

double	depthScale_
	apply this scale to depth values. More...

double	maxAngle_
	maximum angle between triangle normal and viewing ray More...

std::vector< BIAS::Vector3 < double > >	meshVertices_

double	minCornerAngle_
	minimum angle of any corner to accept a triangle More...

std::vector< std::set< int > >	neighboursOfVertex_
	a set with all neighbours of a vertex v More...

std::multiset< BIAS::Edge, BIAS::Edge >	sorted

BIAS::Image< unsigned char >	texture_

std::vector< BIAS::Vector2 < float > >	textureCoords_

std::vector< BIAS::Vector< int > >	triangleIndices_

std::vector< BIAS::Edge >	validPairs_

std::vector< BIAS::Vector4 < unsigned char > >	vertexColors_

std::vector< std::set< int > >	vertexIsInThisPairs_
	a set with pairs that contain the vertex v More...

std::vector< std::set< int > >	vertexIsInTriangles_
	a set with triangles that contain the vertex v More...

std::vector< BIAS::Vector3 < double > >	vertexNormals_

Detailed Description

Create and represent a 3D triangle mesh.

The parameter minCornerAngle defines a lower bound on the allowed angle in each triangle. If a triangle contains an angle smaller than this threshold, it is dropped. The parameter maxAngle defines an upper bound on the angle between the viewing ray and the normal of the triangle. If the angle if bigger than the threshold, it is dropped. The parameter depthScale can be used to scale the model prior to triangle generation.

Author: bartczak

Examples:: Example3DImagePlane.cpp, ExampleMeshFromImage.cpp, ExampleRectification.cpp, ExampleTriangleMesh.cpp, and ExampleTriangleMeshQuad.cpp.

Definition at line 84 of file TriangleMesh.hh.

Constructor & Destructor Documentation

TriangleMesh::TriangleMesh	(	const double &	minCornerAngle = `M_PI * 5.0 / 180.0`,
		const double &	maxAngle = `M_PI * 60.0 / 180.0`,
		const double	depthScale = `1.0`
	)

Definition at line 46 of file TriangleMesh.cpp.

Member Function Documentation

int TriangleMesh::ChangeTexture ( const BIAS::Image< unsigned char > & texture )

Replace the texture of this mesh.

Definition at line 51 of file TriangleMesh.cpp.

References BIAS::ImageBase::SamePixelAndChannelCount().

int TriangleMesh::GenerateDenseMesh	(	const BIAS::Image< float > &	DenseDepthMap,
		const BIAS::Image< unsigned char > &	Texture
	)

Calculate a triangle mesh from dense depth map without PMatrix.

That's a 3D representation of an Image. All entries in depth map are simply combined to little triangles, if neighboring pixels are set.

Examples:: ExampleMeshFromImage.cpp.

Definition at line 140 of file TriangleMesh.cpp.

References BIAS::HomgPoint3D::GetEuclidean(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::HomgPoint3D, BIAS::Vector3< T >::Set(), and BIAS::Vector2< T >::Set().

Referenced by BIAS::CylindricDepthTrackingPanorama::GetTriangleMesh(), BIAS::SphericalDepthPanorama::GetTriangleMesh(), and BIAS::CylindricDepthPanorama::GetTriangleMesh().

int TriangleMesh::GenerateDenseMesh	(	const BIAS::Image< float > &	DenseDepthMap,
		BIAS::PMatrix &	P,
		const BIAS::Image< unsigned char > &	Texture
	)

Calculate a triangle mesh from dense depth map.

No triangles are discarded, hence no smoothing.

Definition at line 266 of file TriangleMesh.cpp.

References BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::ProjectionParametersBase::SetImageSize(), and BIAS::ProjectionParametersPerspective::SetP().

int TriangleMesh::GenerateDenseMesh	(	const BIAS::Image< float > &	DenseDepthMap,
		BIAS::Projection &	P,
		const BIAS::Image< unsigned char > &	Texture,
		BIAS::Projection &	TexP,
		bool	reduce,
		double	reduceValue
	)

Definition at line 250 of file TriangleMesh.cpp.

References SimplifyMeshSurface_().

int TriangleMesh::GenerateDenseMesh	(	const BIAS::Image< float > &	DenseDepthMap,
		BIAS::PMatrix &	P,
		const BIAS::Image< unsigned char > &	Texture,
		const ROI &	cutout
	)

Calculate a triangle mesh only using the given cutout recalculates depthmap, image and p and calls generic interface.

Author: koeser

Definition at line 457 of file TriangleMesh.cpp.

References BIAS::PMatrix::Compose(), BIAS::PMatrix::GetC(), BIAS::ImageBase::GetCopyOfROI(), BIAS::ROI::GetCorners(), BIAS::PMatrix::GetK(), BIAS::PMatrix::GetR(), BIAS::ImageBase::GetROI(), BIAS::PMatrix::InvalidateDecomposition(), BIAS::PMatrix::IsMetric(), BIAS::MatrixIdentity, and BIAS::ImageBase::SetROICorners().

int TriangleMesh::GenerateDenseMesh	(	const BIAS::Image< float > &	DenseDepthMap,
		BIAS::Projection &	P,
		const BIAS::Image< unsigned char > &	Texture,
		BIAS::Projection &	TexP,
		const unsigned int	distBetweenPoints = `1`
	)

Calculate a triangle mesh from dense depth map.

No triangles are discarded, hence no smoothing.

Definition at line 276 of file TriangleMesh.cpp.

References BIAS::ImageBase::GetHeight(), and BIAS::ImageBase::GetWidth().

int BIAS::TriangleMesh::GenerateDenseMesh	(	const BIAS::Image< float > &	DenseDepthMap,
		BIAS::Projection &	P,
		const BIAS::Image< unsigned char > &	Texture,
		const unsigned int	distBetweenPoints = `1`
	)

inline

old interface without a projection for the texture

Definition at line 180 of file TriangleMesh.hh.

References BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), and BIAS::ImageBase::IsEmpty().

int TriangleMesh::GenerateDenseMesh	(	const BIAS::Image< float > &	DenseDepthMap,
		BIAS::Projection &	DepthP,
		const BIAS::Image< unsigned char > &	Texture,
		BIAS::Projection &	TexP,
		const unsigned int	x0,
		const unsigned int	y0,
		const unsigned int	width,
		const unsigned int	height,
		const unsigned int	distBetweenPoints = `1`
	)

calculates trianglemesh but only for given part of depth map (can be used for tile mode)! Generated texture coordinates reference are relative to the full depth map size! If distBetweenPoints > 1, the intermediate point are simply ignored, when combining point to triangles

Definition at line 294 of file TriangleMesh.cpp.

References BIAS::Projection::DoesPointProjectIntoImage(), BIAS::Projection::GetC(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::HomgPoint2D, BIAS::Vector3< T >::NormL2(), BIAS::Vector3< T >::Set(), BIAS::Vector2< T >::Set(), and BIAS::Projection::UnProjectToPoint().

int BIAS::TriangleMesh::GenerateDenseMesh	(	const BIAS::Image< float > &	DenseDepthMap,
		BIAS::Projection &	DepthP,
		const BIAS::Image< unsigned char > &	Texture,
		const unsigned int	x0,
		const unsigned int	y0,
		const unsigned int	width,
		const unsigned int	height,
		const unsigned int	distBetweenPoints = `1`
	)

inline

old interface without a projection for the texture

Definition at line 212 of file TriangleMesh.hh.

References BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), and BIAS::ImageBase::IsEmpty().

int TriangleMesh::GenerateImagePlane	(	const BIAS::Projection &	P,
		const BIAS::Image< unsigned char > &	Texture,
		const double &	w = `1.0`
	)

backproject image onto a plane in space so far only implemented for perspective cameras

Definition at line 509 of file TriangleMesh.cpp.

References BIAS::HomgPoint3D::GetEuclidean(), BIAS::ImageBase::GetHeight(), BIAS::Projection::GetParameters(), BIAS::ImageBase::GetWidth(), BIAS::HomgPoint2D, BIAS::Vector3< T >::Set(), and BIAS::ProjectionParametersBase::UnProjectToImagePlane().

int BIAS::TriangleMesh::GenerateSimplifiedMesh	(	const Image< float > &	DenseDepthMap,
		const Projection &	P,
		const Image< unsigned char > &	Texture,
		const unsigned int	x0,
		const unsigned int	y0,
		const unsigned int	width,
		const unsigned int	height,
		double	minCosAngle = `0.8`,
		double	maxDiagRatio = `3.0`
	)

inline

Definition at line 301 of file TriangleMesh.hh.

References BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), and BIAS::ImageBase::IsEmpty().

int TriangleMesh::GenerateSimplifiedMesh	(	const Image< float > &	DenseDepthMap,
		const Projection &	P,
		const Image< unsigned char > &	Texture,
		const Projection &	TexP,
		const unsigned int	x0,
		const unsigned int	y0,
		const unsigned int	width,
		const unsigned int	height,
		double	minCosAngle = `0.8`,
		double	maxDiagRatio = `3.0`
	)

Definition at line 900 of file TriangleMesh.cpp.

References BIAS::Gauss< InputStorageType, OutputStorageType >::Filter7x7GreyIgnoreBelowThreshold(), BIAS::Projection::GetC(), BIAS::ImageBase::GetHeight(), BIAS::ProjectionParametersBase::GetImageSize(), BIAS::Projection::GetParameters(), BIAS::ImageBase::GetWidth(), and BIAS::Gauss< InputStorageType, OutputStorageType >::SetSigma().

void TriangleMesh::GenerateTexturedCamera	(	const ProjectionParametersBase *	PPB,
		Image< unsigned char > &	rgbtexture,
		const double &	scale = `1.0`,
		const double &	opacity = `1.0`,
		const double &	resolution = `1.0`
	)

generates the sensor plane / cylinder / sphere in 3D space

Author: koeser

Parameters

texture orignal image, must be rgb !!!

Examples:: ExampleRectification.cpp.

Definition at line 553 of file TriangleMesh.cpp.

References BIAS::ProjectionParametersBase::Clone(), BIAS::ImageBase::CM_RGBA, BIAS::ProjectionParametersBase::GetC(), BIAS::ImageBase::GetChannelCount(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ProjectionParametersBase::GetImageSize(), BIAS::HomgPoint3D, BIAS::Vector4< T >::NormL2(), BIAS::ProjectionParametersBase::Rescale(), BIAS::ImageBase::SetColorModel(), BIAS::ImageBase::SetZero(), and BIAS::ProjectionParametersBase::UnProjectToImagePlane().

Referenced by BIAS::ImageBlender::BlendImages(), and BIAS::ImageBlenderIncremental::BlendImages().

int TriangleMesh::GenerateTexturedQuad	(	const Image< unsigned char > &	Texture,
		const Vector3< double > &	UL,
		const Vector3< double > &	UR,
		const Vector3< double > &	LL,
		const Vector3< double > &	LR,
		const Vector2< double > &	ul,
		const Vector2< double > &	ur,
		const Vector2< double > &	ll,
		const Vector2< double > &	lr,
		const Vector3< double > &	normal = `Vector3<double>(0,0,0)`
	)

Generate planar quad in 3D space with given texture coordinates.

   The quad will be represented by two triangles.

Note: If texture has zero width, an untextured quad is created.

Definition at line 1049 of file TriangleMesh.cpp.

References BIAS::Equal(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), and BIAS::Vector3< T >::NormL2().

int TriangleMesh::GenerateTexturedQuad	(	PMatrix	P,
		const Image< unsigned char > &	Texture,
		const Vector3< double > &	UL,
		const Vector3< double > &	UR,
		const Vector3< double > &	LL,
		const Vector3< double > &	LR,
		const Vector3< double > &	normal = `Vector3<double>(0,0,0)`
	)

Generate planar quad in 3D space with texture projection using projection matrix P.

Will be represented by two triangles.

Note: If texture has zero width, an untextured quad is created. If matrix P is zero, image corners of texture will be mapped to quad corners.

Definition at line 1100 of file TriangleMesh.cpp.

References BIAS::HomgPoint2D::GetEuclidean(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::HomgPoint3D, BIAS::HomgPoint2D::Homogenize(), BIAS::Matrix< T >::NormFrobenius(), and BIAS::HomgPoint2D::Set().

int TriangleMesh::GenerateTexturedQuadStrip	(	const Image< unsigned char > &	Texture,
		const std::vector< Vector3< double > > &	X,
		const std::vector< Vector2< double > > &	x
	)

Generate a strip of planar quads in 3D space using the given texture coordinates.

Each quad will be represented by two triangles.

Attention: The ordering of the 3d points in vector X and corresponding 2d texture coordinates in vector x is upper/lower from left to right, i.e.: UL0, LL0, UR0 = UL1, LR0 = LL1, UR1 = UL2, LR1 = LL2, ...

Definition at line 1136 of file TriangleMesh.cpp.

References BIAS::ImageBase::GetHeight(), and BIAS::ImageBase::GetWidth().

int TriangleMesh::GenerateTexturedQuadStrip	(	const Projection &	P,
		const Image< unsigned char > &	Texture,
		const std::vector< Vector3< double > > &	X
	)

Generate a strip of planar quads in 3D space.

Projection of the texture onto the quad is done by the given projection matrix P. Each quad will be represented by two triangles.

Attention: The ordering of the 3d points in vector X is upper/lower from left to right, i.e.: UL0, LL0, UR0 = UL1, LR0 = LL1, UR1 = UL2, LR1 = LL2, ...

Definition at line 1187 of file TriangleMesh.cpp.

References BIAS::Equal(), BIAS::HomgPoint2D::GetEuclidean(), BIAS::HomgPoint3D, BIAS::HomgPoint2D::Homogenize(), and BIAS::Projection::Project().

void TriangleMesh::GenerateVertexNormals	(	bool	leftHanded = `true`,
		Vector3< double >	normalForUnusedVertices = `Vector3<double>(-1.0, 0.0, 0.0)`
	)

Computes the normals for the vertices by averaging the normals of adjacent triangles.

Parameters

leftHanded	determines direction of normals. true = compute in left-handed fashion, false = compute in right-handed fashion
normalForUnusedVertices	normal to assign to vertices that do not occur in any triangle

Definition at line 2026 of file TriangleMesh.cpp.

References BIAS::Vector3< T >::CrossProduct(), BIAS::Vector3< T >::Normalize(), and BIAS::Vector3< T >::NormL2().

void TriangleMesh::GetBiggestConnectedSegment ( TriangleMesh & biggestSegment ) const

Returns the biggest connected segment of this triangle mesh.

Note: The returned mesh will only contain the 3D points that are actually referenced by at least one triangle. Therefore the indices of the triangles may differ from the original mesh.

Parameters

[out] biggestSegment the biggest subsegment of this triangle mesh

Author: rwulff

Date: 02/2012

Definition at line 1852 of file TriangleMesh.cpp.

References SetMesh(), and TNT::Vector< T >::size().

void TriangleMesh::GetBoundingBox	(	Vector3< double > &	minPoint,
		Vector3< double > &	maxPoint
	)		const

Returns the minimal and maximal point of the axis-aligned bounding box of this triangle mesh.

Note: The result is not cached and recomputed each time this method is called.

Parameters

[out]	minPoint	point with minimal values in each dimension
[out]	maxPoint	point with maximal values in each dimension

Definition at line 1994 of file TriangleMesh.cpp.

References BIAS::Vector3< T >::Set().

void TriangleMesh::GetNeighbours_	(	int	v1,
		int	v2,
		std::vector< int > &	dead_triangles,
		std::vector< int > &	moved_triangles,
		int &	moved_pivot
	)

protected

get the neighbours of the contracted points and returns two list that contains the triangles to remove from the model and triangles that have to be moved to one of the vertices

Definition at line 1728 of file TriangleMesh.cpp.

void BIAS::TriangleMesh::GetNormals ( std::vector< BIAS::Vector3< double > > & normals ) const

inline

Definition at line 289 of file TriangleMesh.hh.

Referenced by BIAS::ThreeDOut::AddTriangleMesh().

const std::vector<BIAS::Vector3<double> >& BIAS::TriangleMesh::GetNormalsRef ( ) const

inline

Definition at line 295 of file TriangleMesh.hh.

void BIAS::TriangleMesh::GetTexCoords ( std::vector< BIAS::Vector2< float > > & texCoo ) const

inline

Definition at line 266 of file TriangleMesh.hh.

Referenced by BIAS::ThreeDOut::AddTriangleMesh().

const std::vector<BIAS::Vector2<float> >& BIAS::TriangleMesh::GetTexCoordsRef ( ) const

inline

Definition at line 276 of file TriangleMesh.hh.

Referenced by BIAS::OpenSceneGraphHelper::CreateBranchIndexedFaceSets().

void BIAS::TriangleMesh::GetTexture ( Image< unsigned char > & img ) const

inline

Definition at line 247 of file TriangleMesh.hh.

Referenced by BIAS::ThreeDOut::AddTriangleMesh().

const BIAS::Image<unsigned char>& BIAS::TriangleMesh::GetTextureRef ( ) const

inline

Definition at line 252 of file TriangleMesh.hh.

Referenced by BIAS::OpenSceneGraphHelper::CreateBranchIndexedFaceSets().

void BIAS::TriangleMesh::GetTriangleIndices ( std::vector< BIAS::Vector< int > > & triangleIndices ) const

inline

Definition at line 280 of file TriangleMesh.hh.

Referenced by BIAS::ThreeDOut::AddTriangleMesh().

const std::vector<BIAS::Vector<int> >& BIAS::TriangleMesh::GetTriangleIndicesRef ( ) const

inline

Definition at line 285 of file TriangleMesh.hh.

Referenced by BIAS::OpenSceneGraphHelper::CreateBranchIndexedFaceSets().

void BIAS::TriangleMesh::GetVertexColors ( std::vector< BIAS::Vector4< unsigned char > > & colors ) const

inline

Definition at line 271 of file TriangleMesh.hh.

Referenced by BIAS::ThreeDOut::AddTriangleMesh().

void BIAS::TriangleMesh::GetVertices ( std::vector< BIAS::Vector3< double > > & vertices ) const

inline

Definition at line 257 of file TriangleMesh.hh.

Referenced by BIAS::ThreeDOut::AddTriangleMesh().

const std::vector<BIAS::Vector3<double> >& BIAS::TriangleMesh::GetVerticesRef ( ) const

inline

Definition at line 262 of file TriangleMesh.hh.

Referenced by BIAS::OpenSceneGraphHelper::CreateBranchIndexedFaceSets().

bool TriangleMesh::MakeTriangles_	(	const Projection &	P,
		const Projection &	TexP,
		const BIAS::Image< unsigned char > &	Texture,
		std::vector< Image< float > > &	depthmaps,
		float	x,
		float	y,
		float	offset,
		float	minoffset,
		double	minCosAngle,
		double	maxDiagRatio,
		bool	simulateOnly
	)

protected

void BIAS::TriangleMesh::SetMesh	(	BIAS::Image< unsigned char >	texture,
		std::vector< BIAS::Vector3< double > >	meshVertices,
		std::vector< BIAS::Vector3< double > >	vertexNormals,
		std::vector< BIAS::Vector2< float > >	textureCoords,
		std::vector< BIAS::Vector< int > >	triangleIndices
	)

inline

Definition at line 97 of file TriangleMesh.hh.

Referenced by BIAS::ThreeDOut::AddPlane(), and GetBiggestConnectedSegment().

void BIAS::TriangleMesh::SetMesh	(	std::vector< BIAS::Vector3< double > >	meshVertices,
		std::vector< BIAS::Vector3< double > >	vertexNormals,
		std::vector< BIAS::Vector2< float > >	textureCoords,
		std::vector< BIAS::Vector< int > >	triangleIndices,
		BIAS::Image< unsigned char >	texture = `Image<unsigned char>()`
	)

inline

Parameters

texture set to empty image to ignore and use texture that was set before

Definition at line 115 of file TriangleMesh.hh.

void BIAS::TriangleMesh::SetMesh	(	std::vector< BIAS::Vector3< double > >	meshVertices,
		std::vector< BIAS::Vector3< double > >	vertexNormals,
		std::vector< BIAS::Vector4< unsigned char > >	vertexColors,
		std::vector< BIAS::Vector< int > >	triangleIndices
	)

inline

Definition at line 131 of file TriangleMesh.hh.

void TriangleMesh::SetParams	(	const double &	minCornerAngle = `M_PI * 5.0 / 180.0`,
		const double &	maxAngle = `M_PI * 60.0 / 180.0`,
		const double	depthScale = `1.0`
	)

Definition at line 60 of file TriangleMesh.cpp.

bool TriangleMesh::SimplifyMeshSurface_	(	const BIAS::Image< unsigned char > &	Texture,
		BIAS::Projection &	TexP,
		double	reduce
	)

protected

Simplifies a TriangleMesh to a desired percentage of triangles of the original mesh.

The method uses the algorithm described by Garland and Heckbert in "Surface Simplification Using Quadric Error Metrics"

Author: bangerer, 09/2008

Parameters

Texture	the texture of the mesh
TexP	the
reduce	reduces the triangles in the generated mesh to "reduce" percent of the original mesh

Returns: true if mesh could be reduced to the given reduce value

Definition at line 1221 of file TriangleMesh.cpp.

References BIAS::Vector3< T >::AddIP(), BIAS::Projection::DoesPointProjectIntoImage(), BIAS::Quadric3::Evaluate(), BIAS::Quadric3::GetArea(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Edge_s::IDv1, BIAS::Edge_s::IDv2, BIAS::Edge_s::newV, BIAS::Quadric3::Optimize(), BIAS::Vector2< T >::Set(), BIAS::Vector2< T >::size(), and BIAS::Vector3< T >::Sub().

Referenced by GenerateDenseMesh().

void TriangleMesh::TestContraction	(	int	v1,
		int	v2,
		int	edge,
		bool	init = `false`
	)

protected

Tests if a triangle that is involved in the contraction changes direction or overlapps.

Definition at line 1762 of file TriangleMesh.cpp.

References BIAS::Vector< T >::IsZero(), BIAS::Vector< T >::NormL2(), and BIAS::Vector< T >::SetZero().

double TriangleMesh::ThreePointsToPlane_	(	Vector3< double >	v1,
		Vector3< double >	v2,
		Vector3< double >	v3,
		Vector4< double > &	erg
	)

protected

calculates a plan of three points and returns it area

Parameters

v1	first vector of plane
v2	second vector of plane
v3	third vector of plane
erg	vector in which the plane is stored

Returns: the area of the plan

Definition at line 1697 of file TriangleMesh.cpp.

References BIAS::Vector3< T >::CrossProduct(), BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), and BIAS::Vector3< T >::ScalarProduct().

Member Data Documentation

int BIAS::TriangleMesh::currentIndex_

protected

Definition at line 466 of file TriangleMesh.hh.

double BIAS::TriangleMesh::depthScale_

protected

apply this scale to depth values.

Definition at line 464 of file TriangleMesh.hh.

double BIAS::TriangleMesh::maxAngle_

protected

maximum angle between triangle normal and viewing ray

Definition at line 461 of file TriangleMesh.hh.

std::vector<BIAS::Vector3<double> > BIAS::TriangleMesh::meshVertices_

protected

Definition at line 441 of file TriangleMesh.hh.

double BIAS::TriangleMesh::minCornerAngle_

protected

minimum angle of any corner to accept a triangle

Definition at line 459 of file TriangleMesh.hh.

std::vector<std::set<int> > BIAS::TriangleMesh::neighboursOfVertex_

protected

a set with all neighbours of a vertex v

Definition at line 448 of file TriangleMesh.hh.

std::multiset<BIAS::Edge,BIAS::Edge> BIAS::TriangleMesh::sorted

protected

Definition at line 454 of file TriangleMesh.hh.

BIAS::Image<unsigned char> BIAS::TriangleMesh::texture_

protected

Definition at line 440 of file TriangleMesh.hh.

std::vector<BIAS::Vector2<float> > BIAS::TriangleMesh::textureCoords_

protected

Definition at line 444 of file TriangleMesh.hh.

std::vector<BIAS::Vector<int> > BIAS::TriangleMesh::triangleIndices_

protected

Definition at line 445 of file TriangleMesh.hh.

std::vector<BIAS::Edge> BIAS::TriangleMesh::validPairs_

protected

Definition at line 456 of file TriangleMesh.hh.

std::vector<BIAS::Vector4<unsigned char> > BIAS::TriangleMesh::vertexColors_

protected

Definition at line 443 of file TriangleMesh.hh.

std::vector<std::set<int> > BIAS::TriangleMesh::vertexIsInThisPairs_

protected

a set with pairs that contain the vertex v

Definition at line 452 of file TriangleMesh.hh.

std::vector<std::set<int> > BIAS::TriangleMesh::vertexIsInTriangles_

protected

a set with triangles that contain the vertex v

Definition at line 450 of file TriangleMesh.hh.

std::vector<BIAS::Vector3<double> > BIAS::TriangleMesh::vertexNormals_

protected

Definition at line 442 of file TriangleMesh.hh.

The documentation for this class was generated from the following files:

Utils/TriangleMesh.hh
Utils/TriangleMesh.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation