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+ filter out invalid points in surface triangulation algorithms

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This commit is contained in:
wmayer 2016-03-02 16:14:08 +01:00
parent 8a76f2c13e
commit f336b7ed67
1 changed files with 61 additions and 45 deletions
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106
src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
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@ -49,6 +49,7 @@
#include <pcl/surface/ear_clipping.h>
#include <pcl/common/common.h>
#include <boost/random.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#ifndef PCL_REVISION_VERSION
#define PCL_REVISION_VERSION 0
@ -79,7 +80,8 @@ void SurfaceTriangulation::perform(int ksearch)
cloud->reserve(myPoints.size());
for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
cloud->push_back(PointXYZ(it->x, it->y, it->z));
if (!boost::math::isnan(it->x) && !boost::math::isnan(it->y) && !boost::math::isnan(it->z))
cloud->push_back(PointXYZ(it->x, it->y, it->z));
}
// Create search tree
@ -142,14 +144,16 @@ void SurfaceTriangulation::perform(const std::vector<Base::Vector3f>& normals)
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = points[index];
const Base::Vector3f& n = normals[index];
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
}
}
// Create search tree
@ -204,7 +208,8 @@ void PoissonReconstruction::perform(int ksearch)
cloud->reserve(myPoints.size());
for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
cloud->push_back(PointXYZ(it->x, it->y, it->z));
if (!boost::math::isnan(it->x) && !boost::math::isnan(it->y) && !boost::math::isnan(it->z))
cloud->push_back(PointXYZ(it->x, it->y, it->z));
}
// Create search tree
@ -261,14 +266,16 @@ void PoissonReconstruction::perform(const std::vector<Base::Vector3f>& normals)
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = points[index];
const Base::Vector3f& n = normals[index];
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
}
}
// Create search tree
@ -312,7 +319,8 @@ void GridReconstruction::perform(int ksearch)
cloud->reserve(myPoints.size());
for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
cloud->push_back(PointXYZ(it->x, it->y, it->z));
if (!boost::math::isnan(it->x) && !boost::math::isnan(it->y) && !boost::math::isnan(it->z))
cloud->push_back(PointXYZ(it->x, it->y, it->z));
}
// Create search tree
@ -367,14 +375,16 @@ void GridReconstruction::perform(const std::vector<Base::Vector3f>& normals)
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = points[index];
const Base::Vector3f& n = normals[index];
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
}
}
// Create search tree
@ -495,7 +505,8 @@ void Reen::MarchingCubesRBF::perform(int ksearch)
cloud->reserve(myPoints.size());
for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
cloud->push_back(PointXYZ(it->x, it->y, it->z));
if (!boost::math::isnan(it->x) && !boost::math::isnan(it->y) && !boost::math::isnan(it->z))
cloud->push_back(PointXYZ(it->x, it->y, it->z));
}
// Create search tree
@ -551,14 +562,16 @@ void Reen::MarchingCubesRBF::perform(const std::vector<Base::Vector3f>& normals)
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = points[index];
const Base::Vector3f& n = normals[index];
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
}
}
// Create search tree
@ -602,7 +615,8 @@ void Reen::MarchingCubesHoppe::perform(int ksearch)
cloud->reserve(myPoints.size());
for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
cloud->push_back(PointXYZ(it->x, it->y, it->z));
if (!boost::math::isnan(it->x) && !boost::math::isnan(it->y) && !boost::math::isnan(it->z))
cloud->push_back(PointXYZ(it->x, it->y, it->z));
}
// Create search tree
@ -657,14 +671,16 @@ void Reen::MarchingCubesHoppe::perform(const std::vector<Base::Vector3f>& normal
for (std::size_t index=0; index<num_points; index++) {
const Base::Vector3f& p = points[index];
const Base::Vector3f& n = normals[index];
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
if (!boost::math::isnan(p.x) && !boost::math::isnan(p.y) && !boost::math::isnan(p.z)) {
PointNormal pn;
pn.x = p.x;
pn.y = p.y;
pn.z = p.z;
pn.normal_x = n.x;
pn.normal_y = n.y;
pn.normal_z = n.z;
cloud_with_normals->push_back(pn);
}
}
// Create search tree