public void fpMeshPoints() { List <Vector3d> points = new List <Vector3d>(); List <int> tris = new List <int>(); List <Vector3d> normals = new List <Vector3d>(); float normal = .01f; //string toPull = ReadString(); //string[] linesInFile = toPull.Split('\n'); foreach (var pointCloud in ARpoints.trackables) { //Debug.Log ("Lit" +pointCloud.transform.localPosition); int counter = 0; var visualize = GameObject.FindWithTag("allPoints").GetComponent <UnityEngine.XR.ARFoundation.ARAllPointCloudPointsParticleVisualizer>(); foreach (var kvp in visualize.m_Points) { counter++; points.Add(kvp.Value); tris.Add(counter); tris.Add(counter); tris.Add(counter); normals.Add(new Vector3d(normal, normal, normal)); } } DMesh3 pointSet = DMesh3Builder.Build(points, tris, normals); PointAABBTree3 bvtree = new PointAABBTree3(pointSet, true); bvtree.FastWindingNumber(Vector3d.Zero); // estimate point area based on nearest-neighbour distance double[] areas = new double[pointSet.MaxVertexID]; foreach (int vid in pointSet.VertexIndices()) { bvtree.PointFilterF = (i) => { return(i != vid); }; // otherwise vid is nearest to vid! int near_vid = bvtree.FindNearestPoint(pointSet.GetVertex(vid)); double dist = pointSet.GetVertex(vid).Distance(pointSet.GetVertex(near_vid)); areas[vid] = Circle2d.RadiusArea(dist); } bvtree.FWNAreaEstimateF = (vid) => { return(areas[vid]); }; MarchingCubes mc = new MarchingCubes(); mc.Implicit = new PWNImplicit() { Spatial = bvtree }; mc.IsoValue = 0.0; mc.CubeSize = bvtree.Bounds.MaxDim / 10; mc.Bounds = bvtree.Bounds.Expanded(mc.CubeSize * 3); mc.RootMode = MarchingCubes.RootfindingModes.Bisection; mc.Generate(); DMesh3 resultMesh = mc.Mesh; g3UnityUtils.SetGOMesh(transform.gameObject, resultMesh); /* MarchingCubes mc = new MarchingCubes(); * mc.Implicit = new PWNImplicit() { Spatial = bvtree }; * mc.IsoValue = 0.0; * mc.CubeSize = bvtree.Bounds.MaxDim / 10; * mc.Bounds = bvtree.Bounds.Expanded(mc.CubeSize * 3); * mc.RootMode = MarchingCubes.RootfindingModes.Bisection; * mc.Generate(); * DMesh3 resultMesh = mc.Mesh; * g3UnityUtils.SetGOMesh(transform.gameObject, resultMesh); */ }
public void fpMeshPointsfromTextFileWithaSecondPoints() { //this is used in the fast points winding scene to optimize algorithm and make sure its working well //it reads points via text files and then meshes them List <Vector3d> points = new List <Vector3d>(); List <int> tris = new List <int>(); List <Vector3d> normals = new List <Vector3d>(); float normal = .01f; string toPull = ReadString(); string[] linesInFile = toPull.Split('\n'); int counter = 0; foreach (string line in linesInFile) { counter++; //Debug.Log(line); if (!string.IsNullOrEmpty(line)) { points.Add(StringToVector3(line)); tris.Add(counter); tris.Add(counter); tris.Add(counter); normals.Add(new Vector3d(normal, normal, normal)); } } DMesh3 pointSet = DMesh3Builder.Build(points, tris, normals); PointAABBTree3 bvtree = new PointAABBTree3(pointSet, true); bvtree.FastWindingNumber(Vector3d.Zero); // estimate point area based on nearest-neighbour distance double[] areas = new double[pointSet.MaxVertexID]; foreach (int vid in pointSet.VertexIndices()) { bvtree.PointFilterF = (i) => { return(i != vid); }; // otherwise vid is nearest to vid! int near_vid = bvtree.FindNearestPoint(pointSet.GetVertex(vid)); double dist = pointSet.GetVertex(vid).Distance(pointSet.GetVertex(near_vid)); areas[vid] = Circle2d.RadiusArea(dist); } bvtree.FWNAreaEstimateF = (vid) => { return(areas[vid]); }; MarchingCubes mc = new MarchingCubes(); mc.Implicit = new PWNImplicit() { Spatial = bvtree }; mc.IsoValue = 0.0; mc.CubeSize = bvtree.Bounds.MaxDim / 50; mc.Bounds = bvtree.Bounds.Expanded(mc.CubeSize * 3); mc.RootMode = MarchingCubes.RootfindingModes.Bisection; mc.Generate(); DMesh3 resultMesh = mc.Mesh; g3UnityUtils.SetGOMesh(transform.gameObject, resultMesh); /* MarchingCubes mc = new MarchingCubes(); * mc.Implicit = new PWNImplicit() { Spatial = bvtree }; * mc.IsoValue = 0.0; * mc.CubeSize = bvtree.Bounds.MaxDim / 10; * mc.Bounds = bvtree.Bounds.Expanded(mc.CubeSize * 3); * mc.RootMode = MarchingCubes.RootfindingModes.Bisection; * mc.Generate(); * DMesh3 resultMesh = mc.Mesh; * g3UnityUtils.SetGOMesh(transform.gameObject, resultMesh); */ //ok now that we meshed the first point set, lets try to take in a second frame of points and then add to orginal dmesh points = new List <Vector3d>(); tris = new List <int>(); normals = new List <Vector3d>(); toPull = ReadString1(); linesInFile = toPull.Split('\n'); counter = 0; foreach (string line in linesInFile) { counter++; Debug.Log(line); if (!string.IsNullOrEmpty(line)) { points.Add(StringToVector3(line)); tris.Add(counter); tris.Add(counter); tris.Add(counter); normals.Add(new Vector3d(normal, normal, normal)); } } pointSet = DMesh3Builder.Build(points, tris, normals); bvtree = new PointAABBTree3(pointSet, true); bvtree.FastWindingNumber(Vector3d.Zero); // estimate point area based on nearest-neighbour distance areas = new double[pointSet.MaxVertexID]; foreach (int vid in pointSet.VertexIndices()) { bvtree.PointFilterF = (i) => { return(i != vid); }; // otherwise vid is nearest to vid! int near_vid = bvtree.FindNearestPoint(pointSet.GetVertex(vid)); double dist = pointSet.GetVertex(vid).Distance(pointSet.GetVertex(near_vid)); areas[vid] = Circle2d.RadiusArea(dist); } bvtree.FWNAreaEstimateF = (vid) => { return(areas[vid]); }; mc = new MarchingCubes(); mc.Implicit = new PWNImplicit() { Spatial = bvtree }; mc.IsoValue = 0.0; mc.CubeSize = bvtree.Bounds.MaxDim / 50; mc.Bounds = bvtree.Bounds.Expanded(mc.CubeSize * 3); mc.RootMode = MarchingCubes.RootfindingModes.Bisection; mc.Generate(); DMesh3 resultMesh1 = mc.Mesh; MeshEditor editor = new MeshEditor(resultMesh); editor.AppendMesh(resultMesh1, resultMesh.AllocateTriangleGroup()); g3UnityUtils.SetGOMesh(transform.gameObject, resultMesh1); // g3UnityUtils.SetGOMesh(transform.gameObject, resultMesh); }
public void takePointsinandAddtoMesh(List <Vector3d> pointers) { List <int> tris = new List <int>(); List <Vector3d> normals = new List <Vector3d>(); float normal = .01f; if (currentMesh == null) { //ok so first mesh is not been created yet so create it from the first frame int counter = 0; foreach (Vector3d line in pointers) { counter++; //Debug.Log(line); tris.Add(counter); tris.Add(counter); tris.Add(counter); normals.Add(new Vector3d(normal, normal, normal)); } DMesh3 pointSet = DMesh3Builder.Build(pointers, tris, normals); PointAABBTree3 bvtree = new PointAABBTree3(pointSet, true); bvtree.FastWindingNumber(Vector3d.Zero); // estimate point area based on nearest-neighbour distance double[] areas = new double[pointSet.MaxVertexID]; foreach (int vid in pointSet.VertexIndices()) { bvtree.PointFilterF = (i) => { return(i != vid); }; // otherwise vid is nearest to vid! int near_vid = bvtree.FindNearestPoint(pointSet.GetVertex(vid)); double dist = pointSet.GetVertex(vid).Distance(pointSet.GetVertex(near_vid)); areas[vid] = Circle2d.RadiusArea(dist); } bvtree.FWNAreaEstimateF = (vid) => { return(areas[vid]); }; MarchingCubes mc = new MarchingCubes(); mc.Implicit = new PWNImplicit() { Spatial = bvtree }; mc.IsoValue = 0.0; mc.CubeSize = bvtree.Bounds.MaxDim / 10; mc.Bounds = bvtree.Bounds.Expanded(mc.CubeSize * 3); mc.RootMode = MarchingCubes.RootfindingModes.Bisection; mc.Generate(); DMesh3 resultMesh = mc.Mesh; // g3UnityUtils.SetGOMesh(transform.gameObject, resultMesh); currentMesh = resultMesh; } else { //ok so this is where we are proscessing second mesh int counter = 0; foreach (Vector3d line in pointers) { counter++; //Debug.Log(line); tris.Add(counter); tris.Add(counter); tris.Add(counter); normals.Add(new Vector3d(normal, normal, normal)); } DMesh3 pointSet = DMesh3Builder.Build(pointers, tris, normals); PointAABBTree3 bvtree = new PointAABBTree3(pointSet, true); bvtree.FastWindingNumber(Vector3d.Zero); // estimate point area based on nearest-neighbour distance double[] areas = new double[pointSet.MaxVertexID]; foreach (int vid in pointSet.VertexIndices()) { bvtree.PointFilterF = (i) => { return(i != vid); }; // otherwise vid is nearest to vid! int near_vid = bvtree.FindNearestPoint(pointSet.GetVertex(vid)); double dist = pointSet.GetVertex(vid).Distance(pointSet.GetVertex(near_vid)); areas[vid] = Circle2d.RadiusArea(dist); } bvtree.FWNAreaEstimateF = (vid) => { return(areas[vid]); }; MarchingCubes mc = new MarchingCubes(); mc.Implicit = new PWNImplicit() { Spatial = bvtree }; mc.IsoValue = 0.0; mc.CubeSize = bvtree.Bounds.MaxDim / 10; mc.Bounds = bvtree.Bounds.Expanded(mc.CubeSize * 3); mc.RootMode = MarchingCubes.RootfindingModes.Bisection; mc.Generate(); DMesh3 resultMesh = mc.Mesh; MeshEditor editor = new MeshEditor(currentMesh); editor.AppendMesh(resultMesh, currentMesh.AllocateTriangleGroup()); //suspected its crashing after mesh is over 64000 faces, faceLog.text = "Vertex Count = " + transform.gameObject.GetComponent <MeshFilter>().mesh.triangles.Length; g3UnityUtils.SetGOMesh(transform.gameObject, currentMesh); } }
public List <CubicBezier> FitBezier(List <Vector3> pts, List <float> times, bool useRdp = true) { AllInputPoints = new List <Vector3d>(pts.Count); foreach (var pt in pts) { AllInputPoints.Add(pt); } inputPointsTree = new PointAABBTree3(new PointSet(AllInputPoints.ToArray())); AllInputPointTimes = times; if (useRdp) { var reduced = CurvePreprocess.RdpReduce(pts, Globals.RDP_ERROR, out List <int> keepIdx); PointsKeepIdx = keepIdx; InputPoints = reduced; Curves = new List <CubicBezier>(CurveFit.Fit(reduced, Globals.BEZIER_FIT_MAX_ERROR)); } else { InputPoints = pts; Curves = new List <CubicBezier>(CurveFit.Fit(pts, Globals.BEZIER_FIT_MAX_ERROR)); } Curves[0] = new CubicBezier( Curves[0].p0, Curves[0].p0 + (Curves[0].p1 - Curves[0].p0).magnitude * Vector3.forward, Curves[0].p2, Curves[0].p3); if (Curves.Count == 0) { ControlPoints = new Vector3[0]; } else { ControlPoints = new Vector3[1 + 3 * Curves.Count]; ControlPoints[0] = Curves[0].p0; } for (int i = 0; i < Curves.Count; ++i) { ControlPoints[3 * i + 1] = Curves[i].p1; ControlPoints[3 * i + 2] = Curves[i].p2; ControlPoints[3 * i + 3] = Curves[i].p3; } float[] cpData = new float[ControlPoints.Length * 3]; for (int i = 0; i < ControlPoints.Length; ++i) { cpData[3 * i + 0] = ControlPoints[i].x; cpData[3 * i + 1] = ControlPoints[i].y; cpData[3 * i + 2] = ControlPoints[i].z; } if (_path != IntPtr.Zero) { _DeleteUnmanagedPathObject(_path); } _path = _CreateUnmanagedPathObject(cpData, ControlPoints.Length); CacheArcLength(); if (times.Count == 0) { paramToTimeCache = paramToArcLengthCache; } else { CacheTime(); } InputPointArcLengths = new List <float>(InputPoints.Count); foreach (var pt in InputPoints) { var res = GetClosestPoint(pt, out Vector3 closest, out int bezierIdx, out float param); if (res) { InputPointArcLengths.Add(GetArcLengthFromSplineParam(bezierIdx, param)); } else { throw new Exception("Something horrible happened!"); } } return(Curves); }