From 8839ff5379033014946773ccaf656334819d554c Mon Sep 17 00:00:00 2001 From: Petras Vestartas Date: Wed, 10 Jan 2024 20:28:27 +0100 Subject: [PATCH 1/3] CHANGE main types like Point, Vector, Polyline are moved to compas namespace --- CHANGELOG.md | 9 ++++++ include/compas.h | 22 ++++++------- src/booleans.cpp | 22 ++++++------- src/compas.cpp | 68 ++++++++++++++++++++--------------------- src/intersections.cpp | 6 ++-- src/measure.cpp | 8 ++--- src/meshing.cpp | 4 +-- src/reconstruction.cpp | 16 +++++----- src/skeletonization.cpp | 20 ++++++------ src/slicer.cpp | 14 ++++----- src/subdivision.cpp | 6 ++-- src/triangulations.cpp | 22 ++++++------- 12 files changed, 113 insertions(+), 104 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index e272dd4..2b2b424 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -13,6 +13,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ### Removed +## [0.5.0] 2024-01-10 + +### Added + +### Changed +* The main include types like `Point`, `Vector`, `Polyline` and etc. are placed to the `compas` namespace because these names are very generic. For example if you want to run CGAL normal estimation, you get a clash with Windows Polyline class (the same name). + +### Removed + ## [0.5.0] 2022-10-07 diff --git a/include/compas.h b/include/compas.h index 2a230bb..8ddcddf 100644 --- a/include/compas.h +++ b/include/compas.h @@ -12,16 +12,16 @@ #include #include -using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel; -using Point = Kernel::Point_3; -using Vector = Kernel::Vector_3; -using Polyline = std::vector; -using Polylines = std::list; -using Polyhedron = CGAL::Polyhedron_3; -using Mesh = CGAL::Surface_mesh; namespace compas { + using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel; + using Point = Kernel::Point_3; + using Vector = Kernel::Vector_3; + using Polyline = std::vector; + using Polylines = std::list; + using Polyhedron = CGAL::Polyhedron_3; + using Mesh = CGAL::Surface_mesh; using RowMatrixXd = Eigen::Matrix; using RowMatrixXi = Eigen::Matrix; @@ -31,13 +31,13 @@ namespace compas Mesh ngon_from_vertices_and_faces(const RowMatrixXd &V, const std::vector> &faces); - std::tuple mesh_to_vertices_and_faces(const Mesh &mesh); + std::tuple< RowMatrixXd, RowMatrixXi> mesh_to_vertices_and_faces(const Mesh &mesh); - std::tuple quadmesh_to_vertices_and_faces(const Mesh &mesh); + std::tuple< RowMatrixXd, RowMatrixXi> quadmesh_to_vertices_and_faces(const Mesh &mesh); - std::vector polylines_to_lists_of_points(Polylines polylines); + std::vector< RowMatrixXd> polylines_to_lists_of_points(Polylines polylines); - std::tuple polyhedron_to_vertices_and_faces(Polyhedron polyhedron); + std::tuple< RowMatrixXd, RowMatrixXi> polyhedron_to_vertices_and_faces(Polyhedron polyhedron); } #endif /* COMPAS_H */ diff --git a/src/booleans.cpp b/src/booleans.cpp index 9d86fd9..bc1e753 100644 --- a/src/booleans.cpp +++ b/src/booleans.cpp @@ -11,9 +11,9 @@ pmp_boolean_union( Eigen::Ref &VB, Eigen::Ref &FB) { - Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); - Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); - Mesh C; + compas::Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); + compas::Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); + compas::Mesh C; PMP::corefine_and_compute_union(A, B, C); @@ -31,9 +31,9 @@ pmp_boolean_difference( Eigen::Ref &VB, Eigen::Ref &FB) { - Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); - Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); - Mesh C; + compas::Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); + compas::Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); + compas::Mesh C; PMP::corefine_and_compute_difference(A, B, C); @@ -51,9 +51,9 @@ pmp_boolean_intersection( Eigen::Ref &VB, Eigen::Ref &FB) { - Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); - Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); - Mesh C; + compas::Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); + compas::Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); + compas::Mesh C; PMP::corefine_and_compute_intersection(A, B, C); @@ -71,8 +71,8 @@ pmp_split( Eigen::Ref &VB, Eigen::Ref &FB) { - Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); - Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); + compas::Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); + compas::Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); PMP::split(A, B); std::tuple R = compas::mesh_to_vertices_and_faces(A); diff --git a/src/compas.cpp b/src/compas.cpp index cab167b..289bece 100644 --- a/src/compas.cpp +++ b/src/compas.cpp @@ -46,16 +46,16 @@ class Build_polyhedron : public CGAL::Modifier_base * * @param V vx3 matrix of vertex coordinates. * @param F fx3 matrix of face vertex indices. - * @return Polyhedron + * @return compas::Polyhedron * * @todo: add support for Ngon faces. */ -Polyhedron polyhedron_from_vertices_and_faces( +compas::Polyhedron compas::polyhedron_from_vertices_and_faces( const compas::RowMatrixXd &V, const compas::RowMatrixXi &F) { - Polyhedron polyhedron; - Build_polyhedron build(V, F); + compas::Polyhedron polyhedron; + Build_polyhedron build(V, F); polyhedron.delegate(build); return polyhedron; } @@ -65,31 +65,31 @@ Polyhedron polyhedron_from_vertices_and_faces( * * @param V vx3 matrix of vertex coordinates. * @param F fx3 matrix of face vertex indices. - * @return Mesh + * @return compas::Mesh * * @todo: change name to trimesh_from_vertices_and_faces. * @todo: check that all faces are triangles. * @todo: add error message if not all faces are triangles. * */ -Mesh compas::mesh_from_vertices_and_faces( +compas::Mesh compas::mesh_from_vertices_and_faces( const compas::RowMatrixXd &V, const compas::RowMatrixXi &F) { int v = V.rows(); int f = F.rows(); - Mesh mesh; - std::vector index_descriptor(v); + compas::Mesh mesh; + std::vector index_descriptor(v); for (int i = 0; i < v; i++) { - index_descriptor[i] = mesh.add_vertex(Kernel::Point_3(V(i, 0), V(i, 1), V(i, 2))); + index_descriptor[i] = mesh.add_vertex(compas::Kernel::Point_3(V(i, 0), V(i, 1), V(i, 2))); } - Mesh::Vertex_index a; - Mesh::Vertex_index b; - Mesh::Vertex_index c; + compas::Mesh::Vertex_index a; + compas::Mesh::Vertex_index b; + compas::Mesh::Vertex_index c; for (int i = 0; i < f; i++) { @@ -107,27 +107,27 @@ Mesh compas::mesh_from_vertices_and_faces( * * @param V nx3 matrix of vertex coordinates. * @param faces list of list of vertex indices. - * @return Mesh + * @return compas::Mesh * * @todo: rename to mesh_from_vertices_and_faces. */ -Mesh compas::ngon_from_vertices_and_faces( +compas::Mesh compas::ngon_from_vertices_and_faces( const compas::RowMatrixXd &V, const std::vector> &faces) { int v = V.rows(); - Mesh mesh; - std::vector index_descriptor(v); + compas::Mesh mesh; + std::vector index_descriptor(v); for (int i = 0; i < v; i++) { - index_descriptor[i] = mesh.add_vertex(Kernel::Point_3(V(i, 0), V(i, 1), V(i, 2))); + index_descriptor[i] = mesh.add_vertex(compas::Kernel::Point_3(V(i, 0), V(i, 1), V(i, 2))); } for (std::size_t i = 0; i < faces.size(); i++) { - std::vector face; + std::vector face; for (std::size_t j = 0; j < faces[i].size(); j++) { @@ -153,7 +153,7 @@ Mesh compas::ngon_from_vertices_and_faces( */ std::tuple compas::mesh_to_vertices_and_faces( - const Mesh &mesh) + const compas::Mesh &mesh) { std::size_t v = mesh.number_of_vertices(); std::size_t f = mesh.number_of_faces(); @@ -161,19 +161,19 @@ compas::mesh_to_vertices_and_faces( compas::RowMatrixXd V(v, 3); compas::RowMatrixXi F(f, 3); - Mesh::Property_map location = mesh.points(); + compas::Mesh::Property_map location = mesh.points(); - for (Mesh::Vertex_index vd : mesh.vertices()) + for (compas::Mesh::Vertex_index vd : mesh.vertices()) { V(vd, 0) = (double)location[vd][0]; V(vd, 1) = (double)location[vd][1]; V(vd, 2) = (double)location[vd][2]; } - for (Mesh::Face_index fd : mesh.faces()) + for (compas::Mesh::Face_index fd : mesh.faces()) { int i = 0; - for (Mesh::Vertex_index vd : vertices_around_face(mesh.halfedge(fd), mesh)) + for (compas::Mesh::Vertex_index vd : vertices_around_face(mesh.halfedge(fd), mesh)) { F(fd, i) = (int)vd; i++; @@ -196,7 +196,7 @@ compas::mesh_to_vertices_and_faces( */ std::tuple compas::quadmesh_to_vertices_and_faces( - const Mesh &mesh) + const compas::Mesh &mesh) { std::size_t v = mesh.number_of_vertices(); std::size_t f = mesh.number_of_faces(); @@ -204,19 +204,19 @@ compas::quadmesh_to_vertices_and_faces( compas::RowMatrixXd V(v, 3); compas::RowMatrixXi F(f, 4); - Mesh::Property_map vertex_location = mesh.points(); + compas::Mesh::Property_map vertex_location = mesh.points(); - for (Mesh::Vertex_index vd : mesh.vertices()) + for (compas::Mesh::Vertex_index vd : mesh.vertices()) { V(vd, 0) = (double)vertex_location[vd][0]; V(vd, 1) = (double)vertex_location[vd][1]; V(vd, 2) = (double)vertex_location[vd][2]; } - for (Mesh::Face_index fd : mesh.faces()) + for (compas::Mesh::Face_index fd : mesh.faces()) { int i = 0; - for (Mesh::Vertex_index vd : vertices_around_face(mesh.halfedge(fd), mesh)) + for (compas::Mesh::Vertex_index vd : vertices_around_face(mesh.halfedge(fd), mesh)) { F(fd, i) = (int)vd; i++; @@ -235,13 +235,13 @@ compas::quadmesh_to_vertices_and_faces( */ std::vector compas::polylines_to_lists_of_points( - Polylines polylines) + compas::Polylines polylines) { std::vector pointsets; for (auto i = polylines.begin(); i != polylines.end(); i++) { - const Polyline &poly = *i; + const compas::Polyline &poly = *i; std::size_t n = poly.size(); compas::RowMatrixXd points(n, 3); @@ -268,7 +268,7 @@ compas::polylines_to_lists_of_points( */ std::tuple compas::polyhedron_to_vertices_and_faces( - Polyhedron polyhedron) + compas::Polyhedron polyhedron) { std::size_t v = polyhedron.size_of_vertices(); std::size_t f = polyhedron.size_of_facets(); @@ -278,7 +278,7 @@ compas::polyhedron_to_vertices_and_faces( std::size_t i = 0; - for (Polyhedron::Vertex_handle vh : polyhedron.vertex_handles()) + for (compas::Polyhedron::Vertex_handle vh : polyhedron.vertex_handles()) { V(i, 0) = (double)vh->point().x(); V(i, 1) = (double)vh->point().y(); @@ -291,11 +291,11 @@ compas::polyhedron_to_vertices_and_faces( i = 0; - for (Polyhedron::Facet_handle fh : polyhedron.facet_handles()) + for (compas::Polyhedron::Facet_handle fh : polyhedron.facet_handles()) { std::size_t j = 0; - Polyhedron::Halfedge_handle start = fh->halfedge(), h = start; + compas::Polyhedron::Halfedge_handle start = fh->halfedge(), h = start; do { F(i, j) = h->vertex()->id(); diff --git a/src/intersections.cpp b/src/intersections.cpp index 3b52fc0..f5ce86a 100644 --- a/src/intersections.cpp +++ b/src/intersections.cpp @@ -10,10 +10,10 @@ pmp_intersection_mesh_mesh( Eigen::Ref &VB, Eigen::Ref &FB) { - Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); - Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); + compas::Mesh A = compas::mesh_from_vertices_and_faces(VA, FA); + compas::Mesh B = compas::mesh_from_vertices_and_faces(VB, FB); - Polylines polylines; + compas::Polylines polylines; PMP::surface_intersection(A, B, std::back_inserter(polylines)); diff --git a/src/measure.cpp b/src/measure.cpp index e0de4dc..7120e6f 100644 --- a/src/measure.cpp +++ b/src/measure.cpp @@ -9,7 +9,7 @@ pmp_area( Eigen::Ref &V, Eigen::Ref &F) { - Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); + compas::Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); double area = PMP::area(mesh); @@ -21,7 +21,7 @@ pmp_volume( Eigen::Ref &V, Eigen::Ref &F) { - Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); + compas::Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); double volume = PMP::volume(mesh); @@ -33,9 +33,9 @@ pmp_centroid( Eigen::Ref &V, Eigen::Ref &F) { - Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); + compas::Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); - Kernel::Point_3 centroid = PMP::centroid(mesh); + compas::Kernel::Point_3 centroid = PMP::centroid(mesh); return std::vector{centroid.x(), centroid.y(), centroid.z()}; }; diff --git a/src/meshing.cpp b/src/meshing.cpp index fb73732..1153669 100644 --- a/src/meshing.cpp +++ b/src/meshing.cpp @@ -14,11 +14,11 @@ pmp_remesh( unsigned int number_of_iterations, bool do_project) { - Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); + compas::Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); // protect sharp features - // typedef boost::property_map::type EIFMap; + // typedef boost::property_map::type EIFMap; // EIFMap eif = get(CGAL::edge_is_feature, mesh); // PMP::detect_sharp_edges(mesh, 60, eif); diff --git a/src/reconstruction.cpp b/src/reconstruction.cpp index 45137bc..ab162f7 100644 --- a/src/reconstruction.cpp +++ b/src/reconstruction.cpp @@ -3,7 +3,7 @@ #include #include -typedef std::pair PwN; +typedef std::pair PwN; /** * @brief Perform Poisson surface reconstruction on an oriented pointcloud with normals. @@ -17,14 +17,14 @@ poisson_surface_reconstruction( Eigen::Ref &P, Eigen::Ref &N) { - Polyhedron mesh; + compas::Polyhedron mesh; std::vector points; for (int i = 0; i < P.rows(); i++) { points.push_back(PwN( - Point(P(i, 0), P(i, 1), P(i, 2)), - Vector(N(i, 0), N(i, 1), N(i, 2)))); + compas::Point(P(i, 0), P(i, 1), P(i, 2)), + compas::Vector(N(i, 0), N(i, 1), N(i, 2)))); } double average_spacing = CGAL::compute_average_spacing( @@ -59,16 +59,16 @@ pointset_outlier_removal( double radius) { int p = P.rows(); - std::vector points; + std::vector points; for (int i = 0; i < p; i++) { - points.push_back(Point(P(i, 0), P(i, 1), P(i, 2))); + points.push_back(compas::Point(P(i, 0), P(i, 1), P(i, 2))); } const double average_spacing = CGAL::compute_average_spacing(points, nnnbrs); - std::vector::iterator to_remove = CGAL::remove_outliers( + std::vector::iterator to_remove = CGAL::remove_outliers( points, nnnbrs, CGAL::parameters::threshold_percent(100.).threshold_distance(radius * average_spacing)); @@ -83,7 +83,7 @@ pointset_outlier_removal( // return outliers; points.erase(to_remove, points.end()); - std::vector(points).swap(points); + std::vector(points).swap(points); std::size_t s = points.size(); compas::RowMatrixXd result(s, 3); diff --git a/src/skeletonization.cpp b/src/skeletonization.cpp index 71d078b..9a04384 100644 --- a/src/skeletonization.cpp +++ b/src/skeletonization.cpp @@ -2,10 +2,10 @@ #include #include -typedef CGAL::Mean_curvature_flow_skeletonization Skeletonization; +typedef CGAL::Mean_curvature_flow_skeletonization Skeletonization; typedef Skeletonization::Skeleton Skeleton; -typedef boost::graph_traits::vertex_descriptor vertex_descriptor; +typedef boost::graph_traits::vertex_descriptor vertex_descriptor; typedef Skeleton::vertex_descriptor Skeleton_vertex; typedef Skeleton::edge_descriptor Skeleton_edge; @@ -13,19 +13,19 @@ typedef Skeleton::edge_descriptor Skeleton_edge; struct Split_polylines { const Skeleton &skeleton; - Polylines &polylines; - Polyline polyline; + compas::Polylines &polylines; + compas::Polyline polyline; int polyline_index = 0; int polyline_size; - Split_polylines(const Skeleton &skeleton, Polylines &polylines) + Split_polylines(const Skeleton &skeleton, compas::Polylines &polylines) : skeleton(skeleton), polylines(polylines) { } void start_new_polyline() { - polyline = Polyline(); + polyline = compas::Polyline(); } void add_node(Skeleton_vertex v) @@ -44,7 +44,7 @@ Edges pmp_mesh_skeleton( Eigen::Ref &F) { - Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); + compas::Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); Skeleton skeleton; Skeletonization mcs(mesh); @@ -59,7 +59,7 @@ Edges pmp_mesh_skeleton( mcs.contract_until_convergence(); mcs.convert_to_skeleton(skeleton); - // Polylines polylines; + // compas::Polylines polylines; // Split_polylines splitter(skeleton, polylines); // CGAL::split_graph_into_polylines(skeleton, splitter); @@ -67,8 +67,8 @@ Edges pmp_mesh_skeleton( for (Skeleton_edge e : CGAL::make_range(edges(skeleton))) { - const Kernel::Point_3 &s = skeleton[source(e, skeleton)].point; - const Kernel::Point_3 &t = skeleton[target(e, skeleton)].point; + const compas::Kernel::Point_3 &s = skeleton[source(e, skeleton)].point; + const compas::Kernel::Point_3 &t = skeleton[target(e, skeleton)].point; std::vector s_vec = {s.x(), s.y(), s.z()}; std::vector t_vec = {t.x(), t.y(), t.z()}; diff --git a/src/slicer.cpp b/src/slicer.cpp index 624b597..fe2483e 100644 --- a/src/slicer.cpp +++ b/src/slicer.cpp @@ -8,19 +8,19 @@ pmp_slice_mesh( Eigen::Ref &P, Eigen::Ref &N) { - Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); + compas::Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); - CGAL::Polygon_mesh_slicer slicer(mesh); - Polylines polylines; - std::back_insert_iterator slices(polylines); + CGAL::Polygon_mesh_slicer slicer(mesh); + compas::Polylines polylines; + std::back_insert_iterator slices(polylines); int number_of_planes = P.rows(); for (int i = 0; i < number_of_planes; i++) { - Kernel::Plane_3 plane = Kernel::Plane_3( - Kernel::Point_3(P(i, 0), P(i, 1), P(i, 2)), - Kernel::Vector_3(N(i, 0), N(i, 1), N(i, 2))); + compas::Kernel::Plane_3 plane = compas::Kernel::Plane_3( + compas::Kernel::Point_3(P(i, 0), P(i, 1), P(i, 2)), + compas::Kernel::Vector_3(N(i, 0), N(i, 1), N(i, 2))); slicer(plane, slices); } diff --git a/src/subdivision.cpp b/src/subdivision.cpp index 984937c..496e541 100644 --- a/src/subdivision.cpp +++ b/src/subdivision.cpp @@ -7,7 +7,7 @@ subd_catmullclark( std::vector> &faces, unsigned int k) { - Mesh mesh = compas::ngon_from_vertices_and_faces(V, faces); + compas::Mesh mesh = compas::ngon_from_vertices_and_faces(V, faces); CGAL::Subdivision_method_3::CatmullClark_subdivision(mesh, CGAL::parameters::number_of_iterations(k)); @@ -23,7 +23,7 @@ subd_loop( compas::RowMatrixXi &F, unsigned int k) { - Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); + compas::Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); CGAL::Subdivision_method_3::Loop_subdivision(mesh, CGAL::parameters::number_of_iterations(k)); @@ -39,7 +39,7 @@ subd_sqrt3( compas::RowMatrixXi &F, unsigned int k) { - Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); + compas::Mesh mesh = compas::mesh_from_vertices_and_faces(V, F); CGAL::Subdivision_method_3::Sqrt3_subdivision(mesh, CGAL::parameters::number_of_iterations(k)); diff --git a/src/triangulations.cpp b/src/triangulations.cpp index 9c9e252..7467b01 100644 --- a/src/triangulations.cpp +++ b/src/triangulations.cpp @@ -25,23 +25,23 @@ struct FaceInfo } }; -using Polygon = CGAL::Polygon_2; +using Polygon = CGAL::Polygon_2; -using VertexBase1 = CGAL::Triangulation_vertex_base_with_info_2; +using VertexBase1 = CGAL::Triangulation_vertex_base_with_info_2; using TDS1 = CGAL::Triangulation_data_structure_2; -using DT = CGAL::Delaunay_triangulation_2; +using DT = CGAL::Delaunay_triangulation_2; -using VertexBase2 = CGAL::Triangulation_vertex_base_2; -using _FaceBase2 = CGAL::Triangulation_face_base_with_info_2; -using FaceBase2 = CGAL::Constrained_triangulation_face_base_2; +using VertexBase2 = CGAL::Triangulation_vertex_base_2; +using _FaceBase2 = CGAL::Triangulation_face_base_with_info_2; +using FaceBase2 = CGAL::Constrained_triangulation_face_base_2; using TDS2 = CGAL::Triangulation_data_structure_2; -using CDT2 = CGAL::Constrained_Delaunay_triangulation_2; +using CDT2 = CGAL::Constrained_Delaunay_triangulation_2; -using VertexBase3 = CGAL::Delaunay_mesh_vertex_base_2; -using FaceBase3 = CGAL::Delaunay_mesh_face_base_2; +using VertexBase3 = CGAL::Delaunay_mesh_vertex_base_2; +using FaceBase3 = CGAL::Delaunay_mesh_face_base_2; using TDS3 = CGAL::Triangulation_data_structure_2; using Itag = CGAL::Exact_predicates_tag; -using CDT3 = CGAL::Constrained_Delaunay_triangulation_2; +using CDT3 = CGAL::Constrained_Delaunay_triangulation_2; using Criteria = CGAL::Delaunay_mesh_size_criteria_2; // =========================================================================== @@ -327,7 +327,7 @@ pmp_constrained_delaunay_triangulation( // =========================================================================== // =========================================================================== // =========================================================================== -// Constrained Delaunay Mesh +// Constrained Delaunay compas::Mesh // =========================================================================== // =========================================================================== // =========================================================================== From 026d4d5ca78fa44f2442cb835c86ab032a2efd1f Mon Sep 17 00:00:00 2001 From: Li Date: Thu, 11 Jan 2024 16:37:34 +0100 Subject: [PATCH 2/3] Update requirements.txt --- requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index d1f6e1a..faddb5a 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,3 +1,3 @@ -compas>=2.0.0a2 +compas>=2.0.0b1 nptyping typing_extensions From af415b1fdb8687ba7c89ca47a73660b823657dd7 Mon Sep 17 00:00:00 2001 From: Petras Vestartas Date: Fri, 12 Jan 2024 18:49:43 +0100 Subject: [PATCH 3/3] ADD poinset method: reduction, smoothin, normal estimation --- data/box.ply | 10011 ++++++++++++++++ .../cgal_pointset_normal_estimation.png | Bin 0 -> 457666 bytes docs/_images/cgal_pointset_reduction.png | Bin 0 -> 149454 bytes docs/_images/cgal_pointset_smoothing.png | Bin 0 -> 535749 bytes docs/examples/pointset_reduction.py | 37 + docs/examples/pointset_reduction.rst | 11 + docs/examples/pointsets_normals.py | 51 + docs/examples/pointsets_normals.rst | 11 + docs/examples/pointsets_smoothing.py | 37 + docs/examples/pointsets_smoothing.rst | 11 + src/compas_cgal/reconstruction.py | 73 + src/reconstruction.cpp | 231 +- src/reconstruction.h | 19 +- 13 files changed, 10467 insertions(+), 25 deletions(-) create mode 100644 data/box.ply create mode 100644 docs/_images/cgal_pointset_normal_estimation.png create mode 100644 docs/_images/cgal_pointset_reduction.png create mode 100644 docs/_images/cgal_pointset_smoothing.png create mode 100644 docs/examples/pointset_reduction.py create mode 100644 docs/examples/pointset_reduction.rst create mode 100644 docs/examples/pointsets_normals.py create mode 100644 docs/examples/pointsets_normals.rst create mode 100644 docs/examples/pointsets_smoothing.py create mode 100644 docs/examples/pointsets_smoothing.rst diff --git a/data/box.ply b/data/box.ply new file mode 100644 index 0000000..b8f7680 --- /dev/null +++ b/data/box.ply @@ -0,0 +1,10011 @@ +ply +format ascii 1.0 +comment File exported by Rhinoceros Version 8 +element vertex 10000 +property float x +property float y +property float z +property uchar red +property uchar green +property uchar blue +end_header +5000 330.63814757887417 9.020438887653427 0 0 0 +-1049.140755110017 5000.000000000001 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b/docs/examples/pointset_reduction.py @@ -0,0 +1,37 @@ +from pathlib import Path +from compas.geometry import Pointcloud, Translation +from compas_view2.app import App +from compas_cgal.reconstruction import pointset_reduction + +# Define the file path for the point cloud data +FILE = Path(__file__).parent.parent.parent / "data" / "forked_branch_1.ply" + +# Load the original point cloud +original_points = Pointcloud.from_ply(FILE) + +# Create a copy of the point cloud for processing +cloud = Pointcloud.from_ply(FILE) + +# Translate the original point cloud +cloud.transform(Translation.from_vector([-1000, 0, 0])) + +# Apply point set reduction to the translated point cloud +points = pointset_reduction(cloud, 50) +print(f"Original points: {len(cloud)}, Reduced points: {len(points)}") + +# Initialize the COMPAS viewer +viewer = App(width=1600, height=900) + +# Adjust viewer settings +viewer.view.camera.scale = 1000 +viewer.view.grid.cell_size = 1000 + +# Add the reduced point cloud and the original point cloud to the viewer +viewer.add(Pointcloud(points)) +viewer.add(Pointcloud(original_points)) + +# Set the camera to zoom to fit all points +viewer.view.camera.zoom_extents() + +# Run the viewer +viewer.run() diff --git a/docs/examples/pointset_reduction.rst b/docs/examples/pointset_reduction.rst new file mode 100644 index 0000000..f88e163 --- /dev/null +++ b/docs/examples/pointset_reduction.rst @@ -0,0 +1,11 @@ +******************************************************************************** +Pointset Reduction +******************************************************************************** + +.. figure:: /_images/cgal_pointset_reduction.png + :figclass: figure + :class: figure-img img-fluid + + +.. literalinclude:: pointset_reduction.py + :language: python diff --git a/docs/examples/pointsets_normals.py b/docs/examples/pointsets_normals.py new file mode 100644 index 0000000..cddb7c2 --- /dev/null +++ b/docs/examples/pointsets_normals.py @@ -0,0 +1,51 @@ +from pathlib import Path +from compas.geometry import Pointcloud, Point, Line +from compas_view2.app import App +from compas_view2.collections import Collection +from compas.colors import Color +from compas_cgal.reconstruction import pointset_normal_estimation + +# Define the file path for the point cloud data +FILE = Path(__file__).parent.parent.parent / "data" / "forked_branch_1.ply" + +# Load the point cloud data from the PLY file +cloud = Pointcloud.from_ply(FILE) + +# Estimate normals for the point cloud +points, vectors = pointset_normal_estimation(cloud, 16, True) +print(f"Original points: {len(cloud)}, Points with normals: {len(points)}, Vectors: {len(vectors)}") + +# Create lines and properties for visualizing normals +lines = [] +line_properties = [] +line_scale = 25 + +# Iterate over points and vectors to create lines and color properties +for p, v in zip(points, vectors): + lines.append(Line(Point(p[0], p[1], p[2]), Point(p[0] + v[0] * line_scale, p[1] + v[1] * line_scale, p[2] + v[2] * line_scale))) + + # Normalize vector components to be in the range [0, 1] for color representation + r = (v[0] + 1) * 0.5 + g = (v[1] + 1) * 0.5 + b = (v[2] + 1) * 0.5 + + # Store line color properties + line_properties.append({'linecolor': Color(r, g, b)}) + +# Initialize the COMPAS viewer +viewer = App(width=1600, height=900) + +# Adjust viewer settings +viewer.view.camera.scale = 1000 +viewer.view.grid.cell_size = 1000 + +# Create a line collection and add it to the viewer +line_collection = Collection(lines, line_properties) +viewer.add(Pointcloud(points)) +viewer.add(line_collection) + +# Set the camera to zoom to fit all points and lines +viewer.view.camera.zoom_extents() + +# Run the viewer +viewer.run() diff --git a/docs/examples/pointsets_normals.rst b/docs/examples/pointsets_normals.rst new file mode 100644 index 0000000..b21c02d --- /dev/null +++ b/docs/examples/pointsets_normals.rst @@ -0,0 +1,11 @@ +******************************************************************************** +Pointset Normal Estimation +******************************************************************************** + +.. figure:: /_images/cgal_pointset_normal_estimation.png + :figclass: figure + :class: figure-img img-fluid + + +.. literalinclude:: pointsets_normals.py + :language: python diff --git a/docs/examples/pointsets_smoothing.py b/docs/examples/pointsets_smoothing.py new file mode 100644 index 0000000..4664fcb --- /dev/null +++ b/docs/examples/pointsets_smoothing.py @@ -0,0 +1,37 @@ +from pathlib import Path +from compas.geometry import Pointcloud, Translation +from compas_view2.app import App +from compas_cgal.reconstruction import pointset_smoothing + +# Define the path to the PLY file +ply_file_path = Path(__file__).parent.parent.parent / "data" / "box.ply" + +# Load the original point cloud and translate it +original_points = Pointcloud.from_ply(ply_file_path) +original_points.transform(Translation.from_vector([-10000, 0, 0])) + +# Load another copy of the point cloud for comparison and translate it in the opposite direction +transformed_points = Pointcloud.from_ply(ply_file_path) +transformed_points.transform(Translation.from_vector([10000, 0, 0])) + +# Apply point set smoothing to the transformed point cloud +smoothed_points = pointset_smoothing(transformed_points, 1000, 3) + +# Create Pointcloud objects for visualization +cloud_original = Pointcloud(original_points) +cloud_transformed = Pointcloud(smoothed_points) + +# Set up the viewer +viewer = App(width=1600, height=900) +viewer.view.camera.scale = 1000 +viewer.view.grid.cell_size = 1000 + +# Add the Pointclouds to the viewer +viewer.add(cloud_original) +viewer.add(cloud_transformed) + +# Adjust the camera and grid settings +viewer.view.camera.zoom_extents() + +# Run the viewer +viewer.run() diff --git a/docs/examples/pointsets_smoothing.rst b/docs/examples/pointsets_smoothing.rst new file mode 100644 index 0000000..35a635e --- /dev/null +++ b/docs/examples/pointsets_smoothing.rst @@ -0,0 +1,11 @@ +******************************************************************************** +Pointset Smoothing +******************************************************************************** + +.. figure:: /_images/cgal_pointset_smoothing.png + :figclass: figure + :class: figure-img img-fluid + + +.. literalinclude:: pointsets_smoothing.py + :language: python diff --git a/src/compas_cgal/reconstruction.py b/src/compas_cgal/reconstruction.py index b6623f9..4e9b47a 100644 --- a/src/compas_cgal/reconstruction.py +++ b/src/compas_cgal/reconstruction.py @@ -55,3 +55,76 @@ def pointset_outlier_removal( """ P = np.asarray(points, dtype=np.float64) return reconstruction.pointset_outlier_removal(P, nnnbrs, radius) + + +def pointset_reduction( + points: Union[list[Point], NDArray[Shape["Any, 3"], Float]], + spacing: float = 2, +) -> NDArray[Shape["Any, 3"], Float]: + """Remove outliers from a point cloud using the point set outlier removal algorithm. + + Parameters + ---------- + points : list of :class:`compas.geometry.Point` or :class:`numpy.ndarray` + The points of the point cloud. + spacing : int, optional + The cell size. + + Returns + ------- + :class:`numpy.ndarray` + The vectors of the point cloud. + + """ + P = np.asarray(points, dtype=np.float64) + return reconstruction.pointset_reduction(P, spacing) + + +def pointset_smoothing( + points: Union[list[Point], NDArray[Shape["Any, 3"], Float]], + neighbors: int = 8, + iterations: int = 1, +) -> NDArray[Shape["Any, 3"], Float]: + """Remove outliers from a point cloud using the point set outlier removal algorithm. + + Parameters + ---------- + points : list of :class:`compas.geometry.Point` or :class:`numpy.ndarray` + The points of the point cloud. + neighbors : int, optional + The number of nearest neighbors to consider for each point. + + Returns + ------- + :class:`numpy.ndarray` + The vectors of the point cloud. + + """ + P = np.asarray(points, dtype=np.float64) + return reconstruction.pointset_smoothing(P, neighbors, iterations) + + +def pointset_normal_estimation( + points: Union[list[Point], NDArray[Shape["Any, 3"], Float]], + neighbors: int = 8, + erase: bool = False, +) -> Tuple[NDArray[Shape["Any, 3"], Float], NDArray[Shape["Any, 3"], Float]]: + """Remove outliers from a point cloud using the point set outlier removal algorithm. + + Parameters + ---------- + points : list of :class:`compas.geometry.Point` or :class:`numpy.ndarray` + The points of the point cloud. + neighbors : int, optional + The number of nearest neighbors to consider for each point. + erase : bool, optional + Erase points that are not oriented properly. + + Returns + ------- + :class:`numpy.ndarray` + The vectors of the point cloud. + + """ + P = np.asarray(points, dtype=np.float64) + return reconstruction.pointset_normal_estimation(P, neighbors, erase) diff --git a/src/reconstruction.cpp b/src/reconstruction.cpp index ab162f7..b9144d8 100644 --- a/src/reconstruction.cpp +++ b/src/reconstruction.cpp @@ -1,9 +1,24 @@ #include "reconstruction.h" #include #include + #include -typedef std::pair PwN; +#include +#include +#include +#include +#include // defines std::pair +#include + +#include + +#include +#include + +typedef std::pair PointVectorPair; +typedef CGAL::Point_set_3 PointSet; +typedef CGAL::Parallel_if_available_tag Concurrency_tag; /** * @brief Perform Poisson surface reconstruction on an oriented pointcloud with normals. @@ -18,11 +33,11 @@ poisson_surface_reconstruction( Eigen::Ref &N) { compas::Polyhedron mesh; - std::vector points; + std::vector points; for (int i = 0; i < P.rows(); i++) { - points.push_back(PwN( + points.push_back(PointVectorPair( compas::Point(P(i, 0), P(i, 1), P(i, 2)), compas::Vector(N(i, 0), N(i, 1), N(i, 2)))); } @@ -30,13 +45,13 @@ poisson_surface_reconstruction( double average_spacing = CGAL::compute_average_spacing( points, 6, - CGAL::parameters::point_map(CGAL::First_of_pair_property_map())); + CGAL::parameters::point_map(CGAL::First_of_pair_property_map())); CGAL::poisson_surface_reconstruction_delaunay( points.begin(), points.end(), - CGAL::First_of_pair_property_map(), - CGAL::Second_of_pair_property_map(), + CGAL::First_of_pair_property_map(), + CGAL::Second_of_pair_property_map(), mesh, average_spacing); @@ -98,27 +113,189 @@ pointset_outlier_removal( return result; } -void pointset_reduction( +/** + * @brief Reduce number of points using hierarcy simplification. + * https://doc.cgal.org/latest/Point_set_processing_3/Point_set_processing_3_2hierarchy_simplification_example_8cpp-example.html + * + * @param P The points of the cloud. + * @param spacing The scale for the average spacing. + * @return compas::RowMatrixXd + * + */ +compas::RowMatrixXd +pointset_reduction( Eigen::Ref &P, - double radius) + double spacing + ) { - // TODO + + // ====================================================================== + // Convert Eigen matrix to a vector of cgal points. + // ====================================================================== + int p = P.rows(); + std::vector points; + + for (int i = 0; i < p; i++) + points.emplace_back(P.row(i)[0], P.row(i)[1], P.row(i)[2]); + + // ====================================================================== + // Simplification by voxelization. + // ====================================================================== + double cell_size = spacing; + auto iterator_to_first_to_remove = CGAL::grid_simplify_point_set(points, cell_size); + points.erase(iterator_to_first_to_remove, points.end()); + + // Optional: after erase(), shrink_to_fit to trim excess capacity + points.shrink_to_fit(); + + // ====================================================================== + // Convert the vector of cgal points to an Eigen matrix. + // ====================================================================== + std::size_t s = points.size(); + compas::RowMatrixXd smoothed_eigen_points(s, 3); + + for (std::size_t i = 0; i < s; i++) + smoothed_eigen_points.row(i) << static_cast(points[i].x()), static_cast(points[i].y()), static_cast(points[i].z()); + + return smoothed_eigen_points; + + } -void pointset_smoothing( +/** + * @brief Smooth a pointcloud by number of neighbors and iterations using jet_smoothing algorithm. + * https://doc.cgal.org/4.3/Point_set_processing_3/Point_set_processing_3_2jet_smoothing_example_8cpp-example.html + * + * @param P The points of the cloud. + * @param neighbors The number of nearest neighbors to consider. + * @param iterations The number of iterations. + * @return compas::RowMatrixXd + * + */ +compas::RowMatrixXd +pointset_smoothing( Eigen::Ref &P, - int k, - double radius) + int neighbors, + int iterations) { - // TODO + + // ====================================================================== + // Convert Eigen matrix to a vector of cgal points. + // ====================================================================== + int p = P.rows(); + std::vector points; + + for (int i = 0; i < p; i++) + points.emplace_back(P.row(i)[0], P.row(i)[1], P.row(i)[2]); + + // ====================================================================== + // Smooth the points, default is 24. + // ====================================================================== + for (int i = 0; i < iterations; i++) + CGAL::jet_smooth_point_set(points, neighbors); + + // ====================================================================== + // Convert the vector of cgal points to an Eigen matrix + // ====================================================================== + std::size_t s = points.size(); + compas::RowMatrixXd smoothed_eigen_points(s, 3); + + for (std::size_t i = 0; i < s; i++) + smoothed_eigen_points.row(i) << static_cast(points[i].x()), static_cast(points[i].y()), static_cast(points[i].z()); + + return smoothed_eigen_points; + } -void pointset_normal_esitmation( +/** + * @brief Estimate pointcloud normals and oriented them. + * https://doc.cgal.org/latest/Point_set_processing_3/Point_set_processing_3_2normals_example_8cpp-example.html + * + * @param P The points of the cloud. + * @param neighbors The number of nearest neighbors to consider. + * @param erase Erase points that are not oriented properly. + * @return std::tuple + * + */ +std::tuple +pointset_normal_estimation( Eigen::Ref &P, - int k, - double radius) + int neighbors, + bool erase) { - // TODO + + // ====================================================================== + // Convert Eigen matrix to CGAL point vector pair. + // ====================================================================== + int p = P.rows(); + std::list points; + + for (int i = 0; i < p; i++) + points.emplace_back(PointVectorPair( + compas::Point(P(i, 0), P(i, 1), P(i, 2)), + compas::Vector(0, 0, 0) + )); + + + // =========================================================================== + // Estimates normals direction. + // Case 1 - the radius is precomputed by the average spacing. + // Case 2 - the normals are estimated with a fixed number of neighbors. + // =========================================================================== + if ( neighbors < 1 ) { + + // First compute a spacing using the K parameter + double spacing + = CGAL::compute_average_spacing + (points, neighbors, + CGAL::parameters::point_map(CGAL::First_of_pair_property_map())); + + // Then, estimate normals with a fixed radius + CGAL::pca_estimate_normals (points,0, // when using a neighborhood radius, K=0 means no limit on the number of neighbors returns + CGAL::parameters::point_map (CGAL::First_of_pair_property_map ()). + normal_map (CGAL::Second_of_pair_property_map ()). + neighbor_radius (2. * spacing)); // use 2*spacing as neighborhood radius + + } else { + + CGAL::pca_estimate_normals + (points, neighbors, + CGAL::parameters::point_map (CGAL::First_of_pair_property_map ()). + normal_map (CGAL::Second_of_pair_property_map ())); + } + + // =========================================================================== + // Orients normals, give at least 3 points to make a plane. + // =========================================================================== + unsigned orientation_neighbors = (neighbors < 3) ? 3 : neighbors; + std::list::iterator unoriented_points_begin = + CGAL::mst_orient_normals (points, neighbors, + CGAL::parameters::point_map (CGAL::First_of_pair_property_map ()). + normal_map (CGAL::Second_of_pair_property_map ())); + + // =========================================================================== + // Optional: delete points with an unoriented normal. + // =========================================================================== + if(erase) + points.erase (unoriented_points_begin, points.end ()); + + // =========================================================================== + // Convert CGAL normals vector pair to Eigen matrix. + // =========================================================================== + + std::size_t s = points.size(); + compas::RowMatrixXd eigen_points(s, 3); + compas::RowMatrixXd eigen_vectors(s, 3); + + std::size_t i = 0; + for (const auto& e : points) { + eigen_points.row(i) << static_cast(e.first.x()), static_cast(e.first.y()), static_cast(e.first.z()); + eigen_vectors.row(i) << static_cast(e.second.x()), static_cast(e.second.y()), static_cast(e.second.z()); + i++; + } + + return std::make_tuple(eigen_points, eigen_vectors); + } // =========================================================================== @@ -141,4 +318,24 @@ void init_reconstruction(pybind11::module &m) pybind11::arg("P").noconvert(), pybind11::arg("nnnbrs") = 10, pybind11::arg("radius") = 1.0); + + submodule.def( + "pointset_reduction", + &pointset_reduction, + pybind11::arg("P").noconvert(), + pybind11::arg("spacing") = 1.0); + + submodule.def( + "pointset_smoothing", + &pointset_smoothing, + pybind11::arg("P").noconvert(), + pybind11::arg("neighbors") = 8, + pybind11::arg("iterations") = 1); + + submodule.def( + "pointset_normal_estimation", + &pointset_normal_estimation, + pybind11::arg("P").noconvert(), + pybind11::arg("neighbors") = 8, + pybind11::arg("erase") = true); }; diff --git a/src/reconstruction.h b/src/reconstruction.h index 01252df..d04da6f 100644 --- a/src/reconstruction.h +++ b/src/reconstruction.h @@ -14,18 +14,21 @@ pointset_outlier_removal( int nnnbrs, double radius); -void pointset_reduction( +compas::RowMatrixXd +pointset_reduction( Eigen::Ref &P, - double radius = 0.0); + double spacing = 2.0); -void pointset_smoothing( +compas::RowMatrixXd +pointset_smoothing( Eigen::Ref &P, - int k = 10, - double radius = 0.0); + int neighbors = 8, + int iterations = 1); -void pointset_normal_esitmation( +std::tuple +pointset_normal_estimation( Eigen::Ref &P, - int k = 10, - double radius = 0.0); + int neighbors=8, + bool erase=true); #endif /* COMPAS_RECONSTRUCTION_H */