diff --git a/CgSceneGraph/CgKdTree.cpp b/CgSceneGraph/CgKdTree.cpp
deleted file mode 100644
index 77e9fb6af797f49902297db666de20c1929d1ce1..0000000000000000000000000000000000000000
--- a/CgSceneGraph/CgKdTree.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-#include "CgKdTree.h"
-
-CgKdTree::CgKdTree() {
-
-}
-
-CgKdTree::~CgKdTree() {
- m_points.clear();
-}
-
-void CgKdTree::buildTree(glm::vec3* begin, glm::vec3* end, int depth) {
- auto half_size = (end - begin) / 2;
-
- if(begin == end || half_size == 0) {
- // zero or one element, nothing to do
- return;
- } else {
- // more than one element!
-
- // partially sort and ensure median element
- // is in the middle (runs in O(n))
- // about 4x faster on tyra.obj than std::sort
- std::nth_element(begin, begin + half_size, end, [=](glm::vec3 a, glm::vec3 b) {
- return a[depth % 3] < b[depth % 3];
- });
-
- // split array in two (excluding median) and recurse
- buildTree(begin, begin + half_size, depth + 1);
- buildTree(begin + half_size + 1, end, depth + 1);
- }
-}
-
-void CgKdTree::init(std::vector<glm::vec3>& points) {
- // copy points for now.
- m_points = points;
- buildTree(&m_points.front(), &(*(m_points.end() - 1)), 0);
-}
-
-std::vector<int> CgKdTree::getNearestNeighbors(int current_point, unsigned int k) {
- std::vector<int> erg(k);
- std::iota(erg.begin(), erg.end(), 0);
- return erg;
-}
-
-void CgKdTree::traverseBFO(std::function<void(glm::vec3*, const unsigned int)> fn) {
- // queue of pairs of vec3 pointers
- // (range of points in the current node and its children)
- std::queue<std::pair<glm::vec3*, glm::vec3*>> q;
- if(m_points.empty()) return;
- unsigned int depth = 0;
- q.push({&m_points.front(), &(*(m_points.end() - 1))});
- while(!q.empty()) {
- int level_count = q.size();
- for(int i = 0; i < level_count; i++) {
- auto curr = q.front();
- glm::vec3* begin = curr.first;
- glm::vec3* end = curr.second;
- unsigned int half_size = (end - begin) / 2;
- glm::vec3* curr_pointer = begin + half_size;
- fn(curr_pointer, depth);
- // push left & right half of array to reconstruct splits
- if(half_size != 0) q.push({begin, begin + half_size});
- if(begin + half_size != end) q.push({begin + half_size + 1, end});
- q.pop();
- }
- depth += 1;
- }
-}
-
-const std::vector<glm::vec3>& CgKdTree::getVertices() const {
- return m_points;
-}
\ No newline at end of file
diff --git a/CgSceneGraph/CgKdTree.h b/CgSceneGraph/CgKdTree.h
deleted file mode 100644
index 228c39ddcae161e51c65316cb43034e5a2ec86a9..0000000000000000000000000000000000000000
--- a/CgSceneGraph/CgKdTree.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef CGKDTREE_H
-#define CGKDTREE_H
-
-#include <vector>
-#include <queue>
-#include <glm/glm.hpp>
-#include <string>
-#include <iostream>
-#include <algorithm>
-#include <numeric>
-#include <utility>
-#include <functional>
-
-class CgKdTree
-{
-public:
- CgKdTree();
- ~CgKdTree();
- void init(std::vector<glm::vec3>& points);
- std::vector<int> getNearestNeighbors(int current_point,unsigned int k);
- std::vector<double> getSplits();
- const std::vector<glm::vec3>& getVertices() const;
- // traverse the tree in BFO and call a function on each node
- void traverseBFO(std::function<void(glm::vec3*, const unsigned int)> fn);
-
-private:
- // builds a kd-tree between the pointers begin and end
- void buildTree(glm::vec3* begin, glm::vec3* end, int depth);
- std::vector<glm::vec3> m_points;
-};
-
-#endif // CGKDTREE_H
\ No newline at end of file
diff --git a/CgSceneGraph/CgPointCloud.cpp b/CgSceneGraph/CgPointCloud.cpp
index b79cba5c43af9af8a7c6a729b01cf5df77293162..c419e3f0b6816e4bcf0071d5ab44518e914c319b 100644
--- a/CgSceneGraph/CgPointCloud.cpp
+++ b/CgSceneGraph/CgPointCloud.cpp
@@ -9,20 +9,15 @@ CgPointCloud::CgPointCloud(51)
CgPointCloud::CgPointCloud(int id):
m_type(Cg::PointCloud),
-m_id(id)
-{
-
+m_id(id) {
m_vertices.push_back(glm::vec3(0.0,0.0,0.0));
m_vertex_normals.push_back(glm::vec3(0.0,0.0,1.0));
m_vertex_colors.push_back(glm::vec3(0.0,0.0,1.0));
-
calculateSplatOrientations();
-
}
-CgPointCloud::~CgPointCloud()
-{
+CgPointCloud::~CgPointCloud() {
m_vertices.clear();
m_vertex_normals.clear();
m_vertex_colors.clear();
@@ -30,8 +25,7 @@ CgPointCloud::~CgPointCloud()
}
-void CgPointCloud::calculateSplatOrientations()
-{
+void CgPointCloud::calculateSplatOrientations() {
// calculate local coordinate system for splats (arbitrary orientation of ellipse in plane)
// replace this if you have the real coordinate system, use up vector = y-Axis of your local coordinate system instead of getPerpendicularVector(...)
@@ -52,15 +46,6 @@ void CgPointCloud::calculateSplatOrientations()
}
-CgKdTree* CgPointCloud::getKdTree() {
- return &m_kd_tree;
-}
-
-const std::vector<glm::vec3>& CgPointCloud::getVertices() const {
- return m_kd_tree.getVertices();
-}
-
-
void CgPointCloud::init( std::string filename, bool cheat_normals)
{
m_vertices.clear();
@@ -74,44 +59,83 @@ void CgPointCloud::init( std::string filename, bool cheat_normals)
ObjLoader loader;
loader.load(filename);
loader.getPositionData(m_vertices);
- m_kd_tree.init(m_vertices);
- //run_timed(10, [=]{m_kd_tree.init(m_vertices);});
// do this for cheating with the normals
// you need to replace this by a normal estimation algorithm
- if(cheat_normals)
- loader.getNormalData(m_vertex_normals);
+ if(cheat_normals) loader.getNormalData(m_vertex_normals);
+ buildKdTree(&m_vertices.front(), &(*(m_vertices.end() - 1)), 0);
- // calculate local coordinate system for splats (arbitrary orientation of ellipse in plane)
- // replace this if you have the real coordinate system, use up vector = y-Axis of your local coordinate system instead of getPerpendicularVector(...)
-
+ // calculate local coordinate system for splats
+ // (arbitrary orientation of ellipse in plane)
+ // replace this if you have the real coordinate
+ // system, use up vector = y-Axis of your local
+ // coordinate system instead of getPerpendicularVector(...)
calculateSplatOrientations();
//add a standard color for each point if lighting turned off
- for(unsigned int i=0;i<m_vertices.size();i++)
- {
- m_vertex_colors.push_back(glm::vec3(0.0,1.0,0.0));
- }
-
-
- //test of getNeartestNeighbors(..) method
- // generates blue dots on the tail of the bunny
+ for(unsigned int i=0;i<m_vertices.size();i++) {
+ m_vertex_colors.push_back(glm::vec3(0.0,1.0,0.0));
+ }
unsigned int k=50;
- std::vector<int> neighbors = m_kd_tree.getNearestNeighbors(0,k);
+ std::vector<int> neighbors = getNearestNeighbors(0,k);
- for(unsigned int i=0;i<k;i++)
- {
- m_vertex_colors[neighbors[i]]=glm::vec3(0.0,0.0,1.0);
- }
+ for(unsigned int i = 0;i < k; i++) {
+ m_vertex_colors[neighbors[i]] = glm::vec3(0.0,0.0,1.0);
+ }
}
+void CgPointCloud::buildKdTree(glm::vec3* begin, glm::vec3* end, int depth) {
+ auto half_size = (end - begin) / 2;
+
+ if(begin == end || half_size == 0) {
+ // zero or one element, nothing to do
+ return;
+ } else {
+ // more than one element!
+
+ // partially sort and ensure median element
+ // is in the middle (runs in O(n))
+ // about 4x faster on tyra.obj than std::sort
+ std::nth_element(begin, begin + half_size, end, [=](glm::vec3 a, glm::vec3 b) {
+ return a[depth % 3] < b[depth % 3];
+ });
+
+ // split array in two (excluding median) and recurse
+ buildKdTree(begin, begin + half_size, depth + 1);
+ buildKdTree(begin + half_size + 1, end, depth + 1);
+ }
+}
-std::vector<int> CgPointCloud::getNearestNeighbors(int current_point,unsigned int k)
-{
+void CgPointCloud::traverseBFO(std::function<void(glm::vec3*, const unsigned int)> fn) {
+ // queue of pairs of vec3 pointers
+ // (range of points in the current node and its children)
+ std::queue<std::pair<glm::vec3*, glm::vec3*>> q;
+ if(m_vertices.empty()) return;
+ unsigned int depth = 0;
+ q.push({&m_vertices.front(), &(*(m_vertices.end() - 1))});
+ while(!q.empty()) {
+ int level_count = q.size();
+ for(int i = 0; i < level_count; i++) {
+ auto curr = q.front();
+ glm::vec3* begin = curr.first;
+ glm::vec3* end = curr.second;
+ unsigned int half_size = (end - begin) / 2;
+ glm::vec3* curr_pointer = begin + half_size;
+ fn(curr_pointer, depth);
+ // push left & right half of array to reconstruct splits
+ if(half_size != 0) q.push({begin, begin + half_size});
+ if(begin + half_size != end) q.push({begin + half_size + 1, end});
+ q.pop();
+ }
+ depth += 1;
+ }
+}
+
+std::vector<int> CgPointCloud::getNearestNeighbors(int current_point,unsigned int k) {
- glm::vec3 q= m_vertices[current_point];
+ glm::vec3 q = m_vertices[current_point];
std::vector<std::pair<double,int>> distances;
diff --git a/CgSceneGraph/CgPointCloud.h b/CgSceneGraph/CgPointCloud.h
index 83ddbbcb97246db2f6e246ef1456b2a28c950884..ddbfba204b3082b2074a2fcbfeff26287e7730f5 100644
--- a/CgSceneGraph/CgPointCloud.h
+++ b/CgSceneGraph/CgPointCloud.h
@@ -2,16 +2,20 @@
#define CGPOINTCLOUD_H
#include <vector>
+#include <queue>
#include <limits>
#include <glm/glm.hpp>
#include <string>
+#include <algorithm>
+#include <iostream>
+#include <numeric>
+#include <utility>
+#include <functional>
#include "CgBase/CgBasePointCloud.h"
-#include "CgSceneGraph/CgKdTree.h"
#include "CgSceneGraph/CgAABB.h"
#include "CgBase/CgEnums.h"
#include "CgUtils/ObjLoader.h"
#include <glm/gtc/matrix_transform.hpp>
-#include <algorithm>
class CgPointCloud : public CgBasePointCloud
{
@@ -49,14 +53,15 @@ public:
// read a dataset from file, can cheat the normals, i.e read the mormals from file
void init( std::string filename, bool cheat_normals=false);
- CgKdTree* getKdTree();
-
// the center of gravity of the object, for rendering
const glm::vec3 getCenter() const;
// returns the point clouds AABB
const CgAABB getAABB() const;
+ // traverse the kd-tree in BFO and call a function on each node
+ void traverseBFO(std::function<void(glm::vec3*, const unsigned int)> fn);
+
private:
// the following demonstration methods have to be replaced by your own calculations
@@ -68,13 +73,14 @@ private:
glm::vec3 getPerpendicularVector(glm::vec3 arg);
// for demonstration purposes, very inefficient
- std::vector<int> getNearestNeighbors(int current_point,unsigned int k);
+ std::vector<int> getNearestNeighbors(int current_point, unsigned int k);
+ // rearrange the vec3 between begin and end so they form a kd-tree
+ void buildKdTree(glm::vec3* begin, glm::vec3* end, int depth);
std::vector<glm::vec3> m_vertices;
std::vector<glm::vec3> m_vertex_normals;
std::vector<glm::vec3> m_vertex_colors;
- CgKdTree m_kd_tree;
// indices of vertices for which a splat will be rendered
std::vector<unsigned int> m_splat_indices;
@@ -85,12 +91,11 @@ private:
const Cg::ObjectType m_type;
const unsigned int m_id;
-
-
};
inline Cg::ObjectType CgPointCloud::getType() const {return m_type;}
inline unsigned int CgPointCloud::getID() const {return m_id;}
+inline const std::vector<glm::vec3>& CgPointCloud::getVertices() const{return m_vertices;}
inline const std::vector<glm::vec3>& CgPointCloud::getVertexNormals() const{return m_vertex_normals;}
inline const std::vector<glm::vec3>& CgPointCloud::getVertexColors() const{return m_vertex_colors;}
inline const std::vector<glm::mat4>& CgPointCloud::getSplatOrientations() const{return m_splat_orientations;}
diff --git a/CgSceneGraph/CgSceneControl.cpp b/CgSceneGraph/CgSceneControl.cpp
index a40c1dd16cfbc9740f55db704971797295b35424..997e33991b5d00b64a0864a2ea22003203400c0d 100644
--- a/CgSceneGraph/CgSceneControl.cpp
+++ b/CgSceneGraph/CgSceneControl.cpp
@@ -177,7 +177,7 @@ void CgSceneControl::createKdTreeViz(int max_depth) {
// recalculate mesh
if(m_pointcloud != nullptr && max_depth != -1) {
std::vector<double> splits;
- m_pointcloud->getKdTree()->traverseBFO([&](glm::vec3* point, unsigned int depth) {
+ m_pointcloud->traverseBFO([&](glm::vec3* point, unsigned int depth) {
splits.push_back((*point)[depth % 3]);
});
std::queue<CgAABB> aabb_queue;
diff --git a/ExerciseVC.pro b/ExerciseVC.pro
index aabdf813e2bb4f62fff05a902764c57e4e50546d..f7cb3432e8ffd2006512908262d5de3db9ae01dd 100644
--- a/ExerciseVC.pro
+++ b/ExerciseVC.pro
@@ -26,7 +26,6 @@ SOURCES += main.cpp \
CgQtViewer/CgTrackball.cpp \
CgEvents/CgWindowResizeEvent.cpp \
CgSceneGraph/CgTriangleMesh.cpp \
- CgSceneGraph/CgKdTree.cpp \
CgUtils/ObjLoader.cpp \
CgEvents/CgTrackballEvent.cpp
@@ -65,7 +64,6 @@ HEADERS += \
CgQtViewer/CgTrackball.h \
CgEvents/CgWindowResizeEvent.h \
CgSceneGraph/CgTriangleMesh.h \
- CgSceneGraph/CgKdTree.h \
CgSceneGraph/CgAABB.h \
CgUtils/ObjLoader.h \
CgUtils/Timer.h \