public static Scene GenerateSceneFromPointCloud(IPointCloud pointCloud)
{
return(new Scene(new List <Mesh>()
{
GenerateMeshFromPointCloud(pointCloud)
}, pointCloud.Source));
}
public static Polygon Create(IPointCloud pointCloud, double searchRange, int kNearestCount)
{
var result = new Polygon();
var currPoint = pointCloud.QuadTree.GetLowestYPoint();
result.Points.Add(currPoint);
//Uno a sinistra così può calcolare l'angolo in modo uniforme
var prevPoint = new DblPoint2(currPoint.x - 1, currPoint.y);
while (true)
{
var nextPoint = GetNextPoint(pointCloud, result, prevPoint, currPoint, result.Points.Count < 3 ? result.Points : result.Points.Skip(1),
searchRange, kNearestCount);
if (nextPoint == result.Points[0])
break;
result.Points.Add(nextPoint);
prevPoint = currPoint;
currPoint = nextPoint;
}
return result;
}
private static Mesh GenerateMeshFromPointCloud(IPointCloud pointCloud)
{
return(new Mesh(
pointCloud.Source,
pointCloud.Vertices.Select(v => v.Point).ToList(),
pointCloud.Vertices.Select(v => v.Normal).ToList(),
pointCloud.Vertices.Select(v => v.Color.ToCustomColor()).ToList()));
}
public static OctreeModel ToOctree(this IPointCloud pointCloud, int maxLevel)
{
var box = pointCloud.CalulateAABB();
var size = Math.Abs(box.HalfSize.ToArray().Max() * 2.0);
IOctreeNode node = new OctreeNode(box.Center, size, 0, NodeType.Empty);
return(new OctreeModel(pointCloud.Points.Aggregate(node, (current, point) => current.Intersect(point.In, maxLevel))));
}
public static OctreeModel ToOctreeParallel(this IPointCloud pointCloud, int maxLevel)
{
//unsure if this will work
var box = pointCloud.CalulateAABB();
var size = Math.Abs(box.HalfSize.ToArray().Max() * 2.0);
IOctreeNode node = new OctreeNode(box.Center, size, 0, NodeType.Empty);
return(new OctreeModel(pointCloud.Points.AsParallel().WithDegreeOfParallelism(8).Aggregate(node, (current, point) => current.Intersect(point.In, maxLevel))));
}
private static DblPoint2 GetNextPoint(IPointCloud pointCloud, Polygon partialResult, DblPoint2 prevPoint, DblPoint2 currPoint, IEnumerable<DblPoint2> excludedPoints,
double searchRange, int kNearestCount)
{
while (true)
{
var kNearest = new List<DblPoint2>();
var actualkNearestCount = kNearestCount;
while (true)
{
pointCloud.QuadTree.GetPointsInsideCircle(currPoint, 1000000.0, kNearest);
kNearest.RemoveAll((x) => excludedPoints.Contains(x));
if (kNearest.Count < actualkNearestCount && kNearest.Count != (pointCloud.Points.Count() - excludedPoints.Count()))
{
actualkNearestCount++;
kNearest.Clear();
}
else if (kNearest.Count > 3)
{
kNearest = (from k in kNearest
orderby (k - currPoint).Length2 ascending
select k).Take(actualkNearestCount).ToList();
break;
}
else
break;
}
var kNearestOrderedByAngle = (from k in kNearest
orderby (prevPoint - currPoint).CWAngleTo(k - currPoint) descending
select k).ToList();
//Rimuovi tutti quelli che intersecano il poligono corrente
var kNearestOrderedByAngleNotIntersecting = (from k in kNearestOrderedByAngle
where !IntersectAnyPolygonEdgeExceptLast(partialResult, currPoint, k)
select k).ToList();
if (kNearestOrderedByAngleNotIntersecting.Count > 0)
return kNearestOrderedByAngleNotIntersecting.First();
}
}
public static IAABB CalulateAABB(this IPointCloud pointCloud)
{
var agg = pointCloud.Points.Aggregate(new
{
MinX = Double.PositiveInfinity,
MinY = Double.PositiveInfinity,
MinZ = Double.PositiveInfinity,
MaxX = Double.NegativeInfinity,
MaxY = Double.NegativeInfinity,
MaxZ = Double.NegativeInfinity,
}, (a, p) => new
{
MinX = Math.Min(a.MinX, p.Position.X),
MinY = Math.Min(a.MinY, p.Position.Y),
MinZ = Math.Min(a.MinZ, p.Position.Z),
MaxX = Math.Max(a.MaxX, p.Position.X),
MaxY = Math.Max(a.MaxY, p.Position.Y),
MaxZ = Math.Max(a.MaxZ, p.Position.Z),
});
var min = new Vect3(agg.MinX, agg.MinY, agg.MinZ);
var max = new Vect3(agg.MaxX, agg.MaxY, agg.MaxZ);
return(new AABB((max + min) * 0.5f, (max - min) * 0.5f));
}
public virtual Task WritePointCloudToFileAsync(IAssetImporterExporter assetImporterExporter, IPointCloud pointCloud, string filePath)
{
var scene = PointCloudToSceneAdapter.GenerateSceneFromPointCloud(pointCloud);
return(assetImporterExporter.ExportFileAsync(scene, filePath, true));
}
