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Merge branch 'master' of github.com:FreeCAD/FreeCAD

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This commit is contained in:
Yorik van Havre 2015-12-02 21:31:28 -02:00
commit 7594bb6f31
9 changed files with 528 additions and 19 deletions
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30
src/Mod/ReverseEngineering/App/AppReverseEngineering.cpp
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@ -62,6 +62,9 @@ public:
add_varargs_method("triangulate",&Module::triangulate,
"triangulate(PointKernel,searchRadius[,mu=2.5])."
);
add_keyword_method("poissonReconstruction",&Module::poissonReconstruction,
"poissonReconstruction(PointKernel)."
);
#endif
#if defined(HAVE_PCL_OPENNURBS)
add_keyword_method("fitBSpline",&Module::fitBSpline,
@ -211,6 +214,33 @@ private:
SurfaceTriangulation tria(*points, *mesh);
tria.perform(searchRadius, mu);
return Py::asObject(new Mesh::MeshPy(mesh));
}
Py::Object poissonReconstruction(const Py::Tuple& args, const Py::Dict& kwds)
{
PyObject *pcObj;
int ksearch=5;
int octreeDepth=-1;
int solverDivide=-1;
double samplesPerNode=-1.0;
static char* kwds_poisson[] = {"Points", "KSearch", "OctreeDepth", "SolverDivide",
"SamplesPerNode", NULL};
if (!PyArg_ParseTupleAndKeywords(args.ptr(), kwds.ptr(), "O!|iiid", kwds_poisson,
&(Points::PointsPy::Type), &pcObj,
&ksearch, &octreeDepth, &solverDivide, &samplesPerNode))
throw Py::Exception();
Points::PointsPy* pPoints = static_cast<Points::PointsPy*>(pcObj);
Points::PointKernel* points = pPoints->getPointKernelPtr();
Mesh::MeshObject* mesh = new Mesh::MeshObject();
Reen::PoissonReconstruction poisson(*points, *mesh);
poisson.setDepth(octreeDepth);
poisson.setSolverDivide(solverDivide);
poisson.setSamplesPerNode(samplesPerNode);
poisson.perform(ksearch);
return Py::asObject(new Mesh::MeshPy(mesh));
}
#endif

108
src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
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@ -38,6 +38,7 @@
#include <pcl/point_traits.h>
#include <pcl/surface/gp3.h>
#include <pcl/surface/grid_projection.h>
#include <pcl/surface/poisson.h>
//#include <pcl/surface/convex_hull.h>
//#include <pcl/surface/concave_hull.h>
#include <pcl/surface/organized_fast_mesh.h>
@ -108,11 +109,86 @@ void SurfaceTriangulation::perform(double searchRadius, double mu)
PolygonMesh mesh;
gp3.reconstruct (mesh);
MeshConversion::convert(mesh, myMesh);
// Additional vertex information
//std::vector<int> parts = gp3.getPartIDs();
//std::vector<int> states = gp3.getPointStates();
}
// ----------------------------------------------------------------------------
// See
// http://www.cs.jhu.edu/~misha/Code/PoissonRecon/Version8.0/
PoissonReconstruction::PoissonReconstruction(const Points::PointKernel& pts, Mesh::MeshObject& mesh)
: myPoints(pts)
, myMesh(mesh)
, depth(-1)
, solverDivide(-1)
, samplesPerNode(-1.0f)
{
}
void PoissonReconstruction::perform(int ksearch)
{
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
PointCloud<PointNormal>::Ptr cloud_with_normals (new PointCloud<PointNormal>);
search::KdTree<PointXYZ>::Ptr tree;
search::KdTree<PointNormal>::Ptr tree2;
for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
cloud->push_back(PointXYZ(it->x, it->y, it->z));
}
// Create search tree
tree.reset (new search::KdTree<PointXYZ> (false));
tree->setInputCloud (cloud);
// Normal estimation
NormalEstimation<PointXYZ, Normal> n;
PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
n.setInputCloud (cloud);
//n.setIndices (indices[B);
n.setSearchMethod (tree);
n.setKSearch (ksearch);
n.compute (*normals);
// Concatenate XYZ and normal information
pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
// Create search tree
tree2.reset (new search::KdTree<PointNormal>);
tree2->setInputCloud (cloud_with_normals);
// Init objects
Poisson<PointNormal> poisson;
// Set parameters
poisson.setInputCloud (cloud_with_normals);
poisson.setSearchMethod (tree2);
if (depth >= 1)
poisson.setDepth(depth);
if (solverDivide >= 1)
poisson.setSolverDivide(solverDivide);
if (samplesPerNode >= 1.0f)
poisson.setSamplesPerNode(samplesPerNode);
// Reconstruct
PolygonMesh mesh;
poisson.reconstruct (mesh);
MeshConversion::convert(mesh, myMesh);
}
// ----------------------------------------------------------------------------
void MeshConversion::convert(const pcl::PolygonMesh& pclMesh, Mesh::MeshObject& meshObject)
{
// number of points
size_t nr_points = mesh.cloud.width * mesh.cloud.height;
size_t point_size = mesh.cloud.data.size () / nr_points;
size_t nr_points = pclMesh.cloud.width * pclMesh.cloud.height;
size_t point_size = pclMesh.cloud.data.size () / nr_points;
// number of faces for header
size_t nr_faces = mesh.polygons.size ();
size_t nr_faces = pclMesh.polygons.size ();
MeshCore::MeshPointArray points;
points.reserve(nr_points);
@ -123,21 +199,21 @@ void SurfaceTriangulation::perform(double searchRadius, double mu)
MeshCore::MeshPoint vertex;
for (size_t i = 0; i < nr_points; ++i) {
int xyz = 0;
for (size_t d = 0; d < mesh.cloud.fields.size(); ++d) {
for (size_t d = 0; d < pclMesh.cloud.fields.size(); ++d) {
int c = 0;
// adding vertex
if ((mesh.cloud.fields[d].datatype ==
if ((pclMesh.cloud.fields[d].datatype ==
#if PCL_VERSION_COMPARE(>,1,6,0)
pcl::PCLPointField::FLOAT32) &&
#else
sensor_msgs::PointField::FLOAT32) &&
#endif
(mesh.cloud.fields[d].name == "x" ||
mesh.cloud.fields[d].name == "y" ||
mesh.cloud.fields[d].name == "z"))
(pclMesh.cloud.fields[d].name == "x" ||
pclMesh.cloud.fields[d].name == "y" ||
pclMesh.cloud.fields[d].name == "z"))
{
float value;
memcpy (&value, &mesh.cloud.data[i * point_size + mesh.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
memcpy (&value, &pclMesh.cloud.data[i * point_size + pclMesh.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
vertex[xyz] = value;
if (++xyz == 3) {
points.push_back(vertex);
@ -149,20 +225,16 @@ void SurfaceTriangulation::perform(double searchRadius, double mu)
// get faces
MeshCore::MeshFacet face;
for (size_t i = 0; i < nr_faces; i++) {
face._aulPoints[0] = mesh.polygons[i].vertices[0];
face._aulPoints[1] = mesh.polygons[i].vertices[1];
face._aulPoints[2] = mesh.polygons[i].vertices[2];
face._aulPoints[0] = pclMesh.polygons[i].vertices[0];
face._aulPoints[1] = pclMesh.polygons[i].vertices[1];
face._aulPoints[2] = pclMesh.polygons[i].vertices[2];
facets.push_back(face);
}
MeshCore::MeshKernel kernel;
kernel.Adopt(points, facets, true);
myMesh.swap(kernel);
myMesh.harmonizeNormals();
// Additional vertex information
//std::vector<int> parts = gp3.getPartIDs();
//std::vector<int> states = gp3.getPointStates();
meshObject.swap(kernel);
meshObject.harmonizeNormals();
}
#endif // HAVE_PCL_SURFACE

48
src/Mod/ReverseEngineering/App/SurfaceTriangulation.h
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@ -26,9 +26,16 @@
namespace Points {class PointKernel;}
namespace Mesh {class MeshObject;}
namespace pcl {struct PolygonMesh;}
namespace Reen {
class MeshConversion
{
public:
static void convert(const pcl::PolygonMesh&, Mesh::MeshObject&);
};
class SurfaceTriangulation
{
public:
@ -40,6 +47,47 @@ private:
Mesh::MeshObject& myMesh;
};
class PoissonReconstruction
{
public:
PoissonReconstruction(const Points::PointKernel&, Mesh::MeshObject&);
void perform(int ksearch=5);
/** \brief Set the maximum depth of the tree that will be used for surface reconstruction.
* \note Running at depth d corresponds to solving on a voxel grid whose resolution is no larger than
* 2^d x 2^d x 2^d. Note that since the reconstructor adapts the octree to the sampling density, the specified
* reconstruction depth is only an upper bound.
* \param[in] depth the depth parameter
*/
inline void
setDepth (int depth) { this->depth = depth; }
/** \brief Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation
* \note Using this parameter helps reduce the memory overhead at the cost of a small increase in
* reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide
* depth of 7 or 8 can greatly reduce the memory usage.)
* \param[in] solver_divide the given parameter value
*/
inline void
setSolverDivide (int solverDivide) { this->solverDivide = solverDivide; }
/** \brief Set the minimum number of sample points that should fall within an octree node as the octree
* construction is adapted to sampling density
* \note For noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples,
* larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.
* \param[in] samples_per_node the given parameter value
*/
inline void
setSamplesPerNode(float samplesPerNode) { this->samplesPerNode = samplesPerNode; }
private:
const Points::PointKernel& myPoints;
Mesh::MeshObject& myMesh;
int depth;
int solverDivide;
float samplesPerNode;
};
} // namespace Reen
#endif // REEN_SURFACETRIANGULATION_H

4
src/Mod/ReverseEngineering/Gui/CMakeLists.txt
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@ -27,12 +27,14 @@ qt4_add_resources(ReenGui_QRC_SRCS Resources/ReverseEngineering.qrc)
set(ReenGui_MOC_HDRS
FitBSplineSurface.h
Poisson.h
)
fc_wrap_cpp(ReenGui_MOC_SRCS ${ReenGui_MOC_HDRS})
SOURCE_GROUP("Moc" FILES ${ReenGui_MOC_SRCS})
set(Dialogs_UIC_SRCS
FitBSplineSurface.ui
Poisson.ui
)
qt4_wrap_ui(Dialogs_UIC_HDRS ${Dialogs_UIC_SRCS})
SET(Dialogs_SRCS
@ -40,6 +42,8 @@ SET(Dialogs_SRCS
${Dialogs_UIC_SRCS}
FitBSplineSurface.cpp
FitBSplineSurface.h
Poisson.cpp
Poisson.h
)
SOURCE_GROUP("Dialogs" FILES ${Dialogs_SRCS})

36
src/Mod/ReverseEngineering/Gui/Command.cpp
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@ -45,6 +45,7 @@
#include "../App/ApproxSurface.h"
#include "FitBSplineSurface.h"
#include "Poisson.h"
using namespace std;
@ -179,9 +180,44 @@ bool CmdApproxPlane::isActive(void)
return false;
}
DEF_STD_CMD_A(CmdPoissonReconstruction);
CmdPoissonReconstruction::CmdPoissonReconstruction()
: Command("Reen_PoissonReconstruction")
{
sAppModule = "Reen";
sGroup = QT_TR_NOOP("Reverse Engineering");
sMenuText = QT_TR_NOOP("Poisson...");
sToolTipText = QT_TR_NOOP("Poisson surface reconstruction");
sWhatsThis = "Reen_PoissonReconstruction";
sStatusTip = sToolTipText;
}
void CmdPoissonReconstruction::activated(int iMsg)
{
App::DocumentObjectT objT;
std::vector<App::DocumentObject*> obj = Gui::Selection().getObjectsOfType(Points::Feature::getClassTypeId());
if (obj.size() != 1) {
QMessageBox::warning(Gui::getMainWindow(),
qApp->translate("Reen_ApproxSurface", "Wrong selection"),
qApp->translate("Reen_ApproxSurface", "Please select a single point cloud.")
);
return;
}
objT = obj.front();
Gui::Control().showDialog(new ReenGui::TaskPoisson(objT));
}
bool CmdPoissonReconstruction::isActive(void)
{
return (hasActiveDocument() && !Gui::Control().activeDialog());
}
void CreateReverseEngineeringCommands(void)
{
Gui::CommandManager &rcCmdMgr = Gui::Application::Instance->commandManager();
rcCmdMgr.addCommand(new CmdApproxSurface());
rcCmdMgr.addCommand(new CmdApproxPlane());
rcCmdMgr.addCommand(new CmdPoissonReconstruction());
}

149
src/Mod/ReverseEngineering/Gui/Poisson.cpp Normal file
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@ -0,0 +1,149 @@
/***************************************************************************
* Copyright (c) 2015 Werner Mayer <wmayer[at]users.sourceforge.net> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include <QMessageBox>
# include <QTextStream>
#endif
#include "ui_Poisson.h"
#include "Poisson.h"
#include <Gui/Application.h>
#include <Gui/BitmapFactory.h>
#include <Gui/Command.h>
#include <Gui/Document.h>
#include <Gui/Selection.h>
#include <Gui/ViewProvider.h>
#include <Gui/WaitCursor.h>
#include <Base/Interpreter.h>
#include <App/Application.h>
#include <App/Document.h>
using namespace ReenGui;
class PoissonWidget::Private
{
public:
Ui_PoissonWidget ui;
App::DocumentObjectT obj;
Private()
{
}
~Private()
{
}
};
/* TRANSLATOR ReenGui::PoissonWidget */
PoissonWidget::PoissonWidget(const App::DocumentObjectT& obj, QWidget* parent)
: d(new Private())
{
d->ui.setupUi(this);
d->obj = obj;
}
PoissonWidget::~PoissonWidget()
{
delete d;
}
bool PoissonWidget::accept()
{
try {
QString document = QString::fromStdString(d->obj.getDocumentPython());
QString object = QString::fromStdString(d->obj.getObjectPython());
QString argument = QString::fromLatin1(
"Points=%1.Points, "
"OctreeDepth=%2, "
"SolverDivide=%3, "
"SamplesPerNode=%4"
)
.arg(object)
.arg(d->ui.octreeDepth->value())
.arg(d->ui.solverDivide->value())
.arg(d->ui.samplesPerNode->value())
;
QString command = QString::fromLatin1("%1.addObject(\"Mesh::Feature\", \"Poisson\").Mesh = "
"ReverseEngineering.poissonReconstruction(%2)")
.arg(document)
.arg(argument)
;
Gui::WaitCursor wc;
Gui::Command::addModule(Gui::Command::App, "ReverseEngineering");
Gui::Command::openCommand("Poisson reconstruction");
Gui::Command::doCommand(Gui::Command::Doc, command.toLatin1());
Gui::Command::commitCommand();
Gui::Command::updateActive();
}
catch (const Base::Exception& e) {
Gui::Command::abortCommand();
QMessageBox::warning(this, tr("Input error"), QString::fromAscii(e.what()));
return false;
}
return true;
}
void PoissonWidget::changeEvent(QEvent *e)
{
QWidget::changeEvent(e);
if (e->type() == QEvent::LanguageChange) {
d->ui.retranslateUi(this);
}
}
/* TRANSLATOR ReenGui::TaskPoisson */
TaskPoisson::TaskPoisson(const App::DocumentObjectT& obj)
{
widget = new PoissonWidget(obj);
taskbox = new Gui::TaskView::TaskBox(
Gui::BitmapFactory().pixmap("actions/FitSurface"),
widget->windowTitle(), true, 0);
taskbox->groupLayout()->addWidget(widget);
Content.push_back(taskbox);
}
TaskPoisson::~TaskPoisson()
{
}
void TaskPoisson::open()
{
}
bool TaskPoisson::accept()
{
return widget->accept();
}
#include "moc_Poisson.cpp"

73
src/Mod/ReverseEngineering/Gui/Poisson.h Normal file
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@ -0,0 +1,73 @@
/***************************************************************************
* Copyright (c) 2015 Werner Mayer <wmayer[at]users.sourceforge.net> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#ifndef REENGUI_POISSON_H
#define REENGUI_POISSON_H
#include <Gui/TaskView/TaskView.h>
#include <Gui/TaskView/TaskDialog.h>
#include <App/DocumentObserver.h>
namespace ReenGui {
class PoissonWidget : public QWidget
{
Q_OBJECT
public:
PoissonWidget(const App::DocumentObjectT&, QWidget* parent = 0);
~PoissonWidget();
bool accept();
private:
void changeEvent(QEvent *e);
private:
class Private;
Private* d;
};
class TaskPoisson : public Gui::TaskView::TaskDialog
{
Q_OBJECT
public:
TaskPoisson(const App::DocumentObjectT&);
~TaskPoisson();
public:
void open();
bool accept();
QDialogButtonBox::StandardButtons getStandardButtons() const
{ return QDialogButtonBox::Ok|QDialogButtonBox::Cancel; }
private:
PoissonWidget* widget;
Gui::TaskView::TaskBox* taskbox;
};
} //namespace ReenGui
#endif // REENGUI_POISSON_H

90
src/Mod/ReverseEngineering/Gui/Poisson.ui Normal file
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@ -0,0 +1,90 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>ReenGui::PoissonWidget</class>
<widget class="QWidget" name="ReenGui::PoissonWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>244</width>
<height>146</height>
</rect>
</property>
<property name="windowTitle">
<string>Poisson</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Parameters</string>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="labelOctree">
<property name="text">
<string>Octree depth</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="octreeDepth">
<property name="minimum">
<number>4</number>
</property>
<property name="maximum">
<number>10</number>
</property>
<property name="value">
<number>8</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="labelSolver">
<property name="text">
<string>Solver divide</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="solverDivide">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>20</number>
</property>
<property name="value">
<number>8</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="labelSamples">
<property name="text">
<string>Samples per node</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="samplesPerNode">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>50.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

9
src/Mod/ReverseEngineering/Gui/Workbench.cpp
View File

@ -55,7 +55,14 @@ Gui::MenuItem* Workbench::setupMenuBar() const
Gui::MenuItem* reen = new Gui::MenuItem;
root->insertItem(item, reen);
reen->setCommand("&REEN");
*reen << "Reen_ApproxPlane" << "Reen_ApproxSurface";
*reen << "Reen_ApproxPlane"
<< "Reen_ApproxSurface";
Gui::MenuItem *reconstruct = new Gui::MenuItem();
reconstruct->setCommand("Surface reconstruction");
*reconstruct << "Reen_PoissonReconstruction";
*reen << reconstruct;
return root;
}