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meshlab/src/meshlabplugins/edit_scan/edit_scan.cpp
Paolo Cignoni cignoni aa686dc314 hack: unstructured range scanner
2011-01-21 22:50:10 +00:00

368 lines
13 KiB
C++
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#include "edit_scan.h"
#include "wrap/gui/trackball.h"
#include "wrap/qt/trackball.h" //QT2VCG trackball function
#include "wrap/qt/to_string.h" //QT2VCG trackball function
#include <wrap/gl/pick.h>
#define EDITSCANHACK
#ifdef EDITSCANHACK
#include <stdio.h>
struct Sample{
Point3f p,n,v;
Sample(Point3f p, Point3f n, Point3f v){
this->p = p;
this->n = n;
this->v = v;
}
};
vector<Sample> samples;
void write_to_ply(){
FILE* fid = fopen( "/tmp/output.ply", "w" );
if( fid == NULL ){
qDebug("The output cannot be opened!");
return;
}
fprintf(fid, "ply\n");
fprintf(fid, "format ascii 1.0\n");
fprintf(fid, "element vertex %d\n", samples.size() );
fprintf(fid, "property float x\n");
fprintf(fid, "property float y\n");
fprintf(fid, "property float z\n");
fprintf(fid, "property float nx\n");
fprintf(fid, "property float ny\n");
fprintf(fid, "property float nz\n");
fprintf(fid, "property float vx\n");
fprintf(fid, "property float vy\n");
fprintf(fid, "property float vz\n");
fprintf(fid, "end_header\n");
for(int i=0; i<samples.size(); i++){
Point3f& p = samples[i].p;
Point3f& n = samples[i].n;
Point3f& v = samples[i].v;
fprintf(fid, "%f %f %f %f %f %f %f %f %f\n", p[0],p[1],p[2],n[0],n[1],n[2],v[0],v[1],v[2]);
}
fclose(fid);
}
#endif
Point2f myGluProject( Point3f p ){
// retrieve matrixes from the pipeline
GLdouble mvMatrix_f[16]; glGetDoublev(GL_MODELVIEW_MATRIX, mvMatrix_f);
GLdouble prMatrix_f[16]; glGetDoublev(GL_PROJECTION_MATRIX, prMatrix_f);
GLint viewpSize[4]; glGetIntegerv(GL_VIEWPORT, viewpSize);
// project the point p on viewport obtaining point q
Point2d q; double discard;
gluProject(p[0], p[1], p[2],
(const GLdouble *) mvMatrix_f,
(const GLdouble *) prMatrix_f,
(const GLint *) viewpSize,
&q[0], &q[1], &discard );
Point2f retf( q[0], q[1] );
return retf;
}
Point3f myGluUnProject( Point2f p, float z ){
// retrieve matrixes from the pipeline
GLdouble mvMatrix_f[16]; glGetDoublev(GL_MODELVIEW_MATRIX, mvMatrix_f);
GLdouble prMatrix_f[16]; glGetDoublev(GL_PROJECTION_MATRIX, prMatrix_f);
GLint viewpSize[4]; glGetIntegerv(GL_VIEWPORT, viewpSize);
// project the point p on viewport obtaining point q
Point3d q;
gluUnProject(p[0], p[1], z,
(const GLdouble *) mvMatrix_f,
(const GLdouble *) prMatrix_f,
(const GLint *) viewpSize,
&q[0], &q[1], &q[2] );
Point3f retf( q[0], q[1], q[2] );
return retf;
}
double randn(){
static double N=100;
return (rand() % ((int)N)) / N -.5;
}
bool VirtualScan::StartEdit(MeshDocument& md, GLArea* gla){
assert(md.mm() != NULL); // Model exists
this->md = &md;
this->gla = gla;
gla->fov = 5; // Orthographic
isScanning = false; // Trigger is off initially
timer = 0;
//--- Create a new model to store the scan cloud
cloud = md.addNewMesh("Scan cloud",false);
//--- Instantiate the UI, and connect events
widget = new Widget(gla->window());
connect(widget, SIGNAL(laser_parameter_updated()),
this, SLOT(laser_parameter_updated()));
connect(widget, SIGNAL(scan_requested()),
this, SLOT(scan_requested()));
connect(widget, SIGNAL(save_requested()),
this, SLOT(save_requested()));
//--- Compute initial beam
laser_parameter_updated();
return true;
}
// We need to refresh the laser scan completely!
void VirtualScan::laser_parameter_updated(){
//--- Retrieve values from GUI
int period = 1000 / widget->getSampfreq();
int numsamp = widget->getNumsample();
// Compute start and stop coordinates in image space
Point2f delta( widget->getScanwidth()*gla->height()/(3.0*100.0), 0 );
Point2f str( gla->width()/2, gla->height()/2 ); str-=delta;
Point2f sto( gla->width()/2, gla->height()/2 ); sto+=delta;
// float width = *md->mm()->cm.bbox.MaxDim()/100.0;
qDebug("period: %d, samples: %d", period, numsamp);
// qDebug() << toString(str) << " " << toString(sto);
//--- Create the geometry of the scanline
gla->update(); // since we use gluproject
sline = ScanLine( numsamp, str, sto);
// sline = ScanLineGeom( 10, .1 ); // hardcoded parameters (GUI independent)
//--- Create a timer which enables scanning periodically
if( timer!=0 ) delete timer;
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(readytoscan()));
timer->start(period); // period of repetition in ms
//--- Update the laser rendering
gla->update();
}
void VirtualScan::EndEdit(MeshModel&, GLArea* ){
delete cloud;
delete widget;
}
void VirtualScan::save_requested(){
#ifdef EDITSCANHACK
//--- Output model of "samples" to Ply file
qDebug("Writing to ply...");
write_to_ply();
#else
//--- Create a new model to store the scan cloud
cloud = md->addNewMesh("Scan cloud",false);
#endif
}
// This is called only when mouse is pressed at first during a drag or a click is received
void VirtualScan::mousePressEvent(QMouseEvent* e, MeshModel &, GLArea* gla){
this->laser_parameter_updated();
gla->trackball.MouseDown(e->x(),gla->height()-e->y(), QT2VCG(e->button(), e->modifiers() ) );
gla->update();
}
// This is called during the whole drag
void VirtualScan::mouseMoveEvent(QMouseEvent* e, MeshModel &, GLArea* gla){
gla->trackball.MouseMove(e->x(),gla->height()-e->y());
gla->update();
}
void VirtualScan::mouseReleaseEvent(QMouseEvent* e, MeshModel &, GLArea* gla){
isScanning = false;
gla->trackball.MouseUp(e->x(),gla->height()-e->y(), QT2VCG(e->button(), e->modifiers() ) );
gla->update();
}
void VirtualScan::Decorate(MeshModel& mm, GLArea* gla){
// Scan the mesh only if we are triggering a scan and if the scanner is ready to suck in a new sample
// This needs to be done after the mesh rendering has been done, but before any the scanned cloud is drawn!!
if( isScanning && sampleReady ){
sampleReady = false;
isScanning = false;
scanpoints();
}
//--- Draw the scanned samples stored in the cloud
glDisable(GL_LIGHTING);
cloud->cm.C() = Color4b(255,200,200,255);
glColor4f(.4f,.4f,1.f,.6f);
cloud->glw.cdm = GLW::DMPoints;
cloud->glw.SetHintParamf(GLW::HNPPointSize,SCANPOINTSIZE);
cloud->Render(GLW::DMPoints, GLW::CMPerMesh, GLW::TMNone);
glEnable(GL_LIGHTING);
if(widget->getDrawLineFlag()){
//--- Shows the view directions of the scanned samples
// The "decorate plugin does nothing inside GLW, but does it directly
// put these before ->Render
// cloud->updateDataMask(MeshModel::MM_VERTNORMAL);
// cloud->glw.cnm = GLW::NMPerVert;
float LineLen = mm.cm.bbox.Diag()/20.0;
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
glColor4f(.4f,.4f,1.f,.6f);
for(CMeshO::VertexIterator vi=cloud->cm.vert.begin(); vi!=cloud->cm.vert.end(); ++vi){
glVertex((*vi).P());
glVertex((*vi).P()+(*vi).N()*LineLen);
}
glEnd();
}
//--- Draw the laser beam (just to help interfacing)
sline.render(gla);
}
ScanLine::ScanLine(int N, Point2f& srt, Point2f& end ){
float delta = 1.0 / (N-1);
// qDebug() << "Scanpoint list: ";
#define RANGE
#ifdef LASER
float alpha=0;
for( int i=0; i<N; i++, alpha+=delta ){
Point2f curr = srt*(1-alpha) + end*alpha;
soff.push_back(curr);
// qDebug() << " - " << toString( curr );
Point2i currI( curr[0], curr[1] );
bbox.Add(currI);
}
#endif
#ifdef RANGE
double halfedgel = ((srt-end).Norm()/2.0);
srt[1] = srt[1] - halfedgel;
end[1] = end[1] + halfedgel;
Point2f srt_x=srt, end_x=end;
Point2f srt_y=srt, end_y=end;
srt_x[1]=0; end_x[1]=0;
srt_y[0]=0; end_y[0]=0;
float alpha=0;
for( int i=0; i<N; i++, alpha+=delta ){
float beta = 0;
for( int j=1; j<N; j++, beta+=delta ){
Point2f curr = srt_x*(1-alpha) + end_x*alpha + srt_y*(1-beta) + end_y*beta;
soff.push_back(curr);
// qDebug() << " - " << toString( curr );
Point2i currI( curr[0], curr[1] );
bbox.Add(currI);
}
}
#endif
// Retrieve a block 2 pixel larger from buffer
bbox.Offset(2);
}
void VirtualScan::scanpoints(){
qDebug()<<"scanned!";
// Read the portion of depth buffer we are interested in
float* buffer = new float[ sline.bbox.Area() ];
glReadPixels(sline.bbox.min[0],sline.bbox.min[1],
sline.bbox.Dim()[0],sline.bbox.Dim()[1],
GL_DEPTH_COMPONENT, GL_FLOAT, buffer);
// Maximum normal/ray aperture
double alpha = 70; // degrees
double min_th_rad = cos( alpha * (3.14159/180.0) );
for( unsigned int i=0; i<sline.soff.size(); i++ ){
//--- Get curren scan point offset
Point2f curr = sline.soff[i];
// qDebug() << "scannign sample: " << toString(curr);
//--- Convert point into the buffer offset
Point2i currb;
currb[0] = round( curr[0]-sline.bbox.min[0] );
currb[1] = round( curr[1]-sline.bbox.min[1] );
//--- Retrieve Z from depth buffer
float z = buffer[ currb[0] + sline.bbox.DimX()*currb[1] ];
// Check against Z-Buffer limit set by glClearDepth
// http://www.opengl.org/sdk/docs/man/xhtml/glClearDepth.xml
if( z == 1 )
continue;
// Get selected face according to scanned point
vector<CMeshO::FacePointer> NewSelFace;
GLPickTri<CMeshO>::PickFaceVisible(curr[0], curr[1], this->md->mm()->cm, NewSelFace, 2, 2);
vector<CMeshO::FacePointer>::iterator fpi;
/* //For debug: select face where the scanner went through (so
* that we can see it on the screen)
for(fpi=NewSelFace.begin();fpi!=NewSelFace.end();++fpi)
(*fpi)->SetS();*/
// Get face normal
int normCaught = 0;
Point3f normal(0.0, 0.0, 0.0);
for(fpi=NewSelFace.begin();fpi!=NewSelFace.end();++fpi){
CMeshO::FaceType::NormalType n;
n = (*fpi)->N();
normal = Point3f(n[0], n[1], n[2]);
normCaught = 1;
// Use first face and exit
break;
//cout << n[0] << " " << n[1] << " " << n[2] << endl;
}
// Print warning if no face was found for scanned point (means
// normal will be undefined)
if (!normCaught){
cout << "Could not find a face for scanned point.. skipping" << endl;
continue;
}
//--- Retrieve x,y coordinates in object space and another sample
// with a bit of offset toward the camera
Point3f sample = myGluUnProject( curr, z );
Point3f sample2 = myGluUnProject( curr, z+.01);
Point3f viewdir = (sample-sample2).normalized();
// qDebug() << "correspodning in object space to: " << toString(sample);
//--- Reject samples which view-dir is too far from camera
if( viewdir.dot(normal) < min_th_rad ){
qDebug() << "rejected!!!";
continue;
}
//--- Add scanned sample to the cloud
tri::Allocator<CMeshO>::AddVertices(cloud->cm,1);
cloud->cm.vert.back().P() = sample;
cloud->cm.vert.back().N() = viewdir;
#ifdef EDITSCANHACK
// TODO: How compute normal from depth buffer?
samples.push_back(Sample(sample,normal,viewdir));
#endif
}
delete [] buffer;
}
void ScanLine::render(GLArea* gla){
#if 0
//--- DEBUG! why mv[4,3] = -1000?
GLdouble mv[16]; glGetDoublev(GL_MODELVIEW_MATRIX, mv);
for(int i=0; i<4; i++)
qDebug() << mv[4*i+0] << " " << mv[4*i+1] << " " << mv[4*i+2] << " " << mv[4*i+3];
qDebug();
#endif
// This draws directly in 2D image space
glDisable(GL_DEPTH_TEST);
glPointSize(SCANPOINTSIZE);
glColor(Color4f(255,0,0,255));
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, gla->width(), 0, gla->height(), -1, 1);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glColor3f(1.0,0.0,0.0);
glBegin(GL_POINTS);
for(int i=0; i<soff.size(); i++)
glVertex(soff[i]);
// glVertex2f( gla->width()/2, gla->height()/2 );
glEnd();
// glRectf(100,100, 200, 200);
glPopMatrix(); // restore modelview
// The pop must be done in the projection mode
glMatrixMode(GL_PROJECTION);
glPopMatrix();
}
// Must be at the end of everything in CPP file or get segfault at plugin load
Q_EXPORT_PLUGIN(VirtualScan)
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