DMCReconstruction.hpp

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 /*
 * DMCReconstruction.hpp
 *
 *  Created on: 18.01.2019
 *      Author: Benedikt Schumacher
 */

#ifndef DMCReconstruction_HPP_
#define DMCReconstruction_HPP_

#include "lvr2/geometry/BaseVector.hpp"
#include "lvr2/geometry/BoundingBox.hpp"
#include "lvr2/reconstruction/PointsetMeshGenerator.hpp"
#include "lvr2/reconstruction/LocalApproximation.hpp"
#include "lvr2/reconstruction/PointsetSurface.hpp"
#include "lvr2/reconstruction/MCTable.hpp"
#include "lvr2/io/Progress.hpp"
#include "DMCVecPointHandle.hpp"

#include "Octree.hpp"
#include "DualOctree.hpp"
#include "Location.hh"
#include "lvr2/reconstruction/FastReconstruction.hpp"

namespace lvr2
{

struct my_dummy
{
    Location location;
    int next = -1;
};

template<typename BaseVecT, typename BoxT>
class DMCReconstruction : public FastReconstructionBase<BaseVecT>, public PointsetMeshGenerator<BaseVecT>
{
public:

    DMCReconstruction(
        PointsetSurfacePtr<BaseVecT> surface,
        BoundingBox<BaseVecT> bb,
        bool dual,
        int maxLevel,
        float maxError);

    virtual ~DMCReconstruction();

    virtual void getMesh(BaseMesh<BaseVecT> &mesh);

    virtual void getMesh(
        BaseMesh<BaseVecT>& mesh,
        BoundingBox<BaseVecT>& bb,
        vector<unsigned int>& duplicates,
        float comparePrecision
    );

protected:

    DualLeaf<BaseVecT, BoxT>* getDualLeaf(
        CellHandle &cell,
        int cells,
        C_Octree<BaseVecT, BoxT, my_dummy> &octree,
        char pos);

    void buildTree(
        C_Octree<BaseVecT, BoxT, my_dummy> &parent,
        int levels,
        bool dual);

    void traverseTree(BaseMesh<BaseVecT> &mesh,
        C_Octree<BaseVecT, BoxT, my_dummy> &octree);

    void detectVertexForDualCell(
        C_Octree<BaseVecT, BoxT, my_dummy> &octree,
        CellHandle ch,
        int cells,
        float max_bb_width,
        uint pos,
        int onEdge,
        BaseVecT &feature);

    void getRotationMatrix(
        float matrix[9],
        BaseVecT v1,
        BaseVecT v2,
        BaseVecT v3);

    float getDistance(BaseVecT p,
        BaseVecT v1,
        BaseVecT v2,
        BaseVecT v3);

    float getDistance(BaseVecT p,
        BaseVecT v1,
        BaseVecT v2);

    float getDistance(BaseVecT v1,
        BaseVecT v2);

    float edgeEquation(BaseVecT p,
        BaseVecT v1,
        BaseVecT v2);

    void matrixDotVector(float* matrix,
        BaseVecT* vector);

    void getSurface(BaseMesh<BaseVecT> &mesh,
        DualLeaf<BaseVecT, BoxT> *leaf,
        int cells,
        short level);

    void drawOctree(C_Octree<BaseVecT, BoxT, my_dummy> &parent);

    // Indicator whether the point fitting shoulb be done on dual cells
    bool m_dual;

    // The maximum allowed level for the octree
    int m_maxLevel;

    // The max allowed arror between points and surfaces
    float m_maxError;

    // Sizes of Boundig Box
    BaseVecT bb_min;
    BaseVecT bb_max;
    float bb_size[3];
    float bb_longestSide;

    // Center of the bounding box.
    BaseVecT m_boundingBoxCenter;

    // Count of the octree leaves.
    uint m_leaves;

    // Global progress bar.
    ProgressBar *m_progressBar;

    // Pointer to the new Octree
    C_Octree<BaseVecT, BoxT, my_dummy> *octree;

    // PointHandler
    unique_ptr<DMCPointHandle<BaseVecT>> m_pointHandler;

    // just for visualization
    std::vector< BaseVecT > dualVertices;
};
} // namespace lvr2

#include "DMCReconstruction.tcc"

#endif /* DMCReconstruction_HPP_ */