Merge branch 'dev' into alpha

apps/test_scanner.cpp

@@ -9,19 +9,17 @@
 
 int main(int argc, char* argv[])
 {
-	if(argc < 2 || argc > 7)
+	if(argc != 6)
 	{
-		std::cerr << "Correct usage: ./apps/test_scanner n_rows n_cols pc_radius ptx_folder jpg_folder" << std::endl;
+		std::cerr << "Correct usage: ./apps/test_scanner mesh n_rows n_cols ptx_folder jpg_folder" << std::endl;
 		return -1;
  	}
 
 	size_t n_rows = atoi(argv[2]);
 	size_t n_cols = atoi(argv[3]);
 
-	float pc_radius = atof(argv[4]);
-
-	char * ptx_folder = argv[5];
-	char * jpg_folder = argv[6];
+	char * ptx_folder = argv[4];
+	char * jpg_folder = argv[5];
 
 	gproshan_log_var(ptx_folder);
 	gproshan_log_var(jpg_folder);
@@ -30,7 +28,7 @@ int main(int argc, char* argv[])
 
 	const gproshan::mat4 & model_mat = mesh_ply->normalize_box();
 
-	gproshan::rt::raytracing * rt_embree = new gproshan::rt::embree({mesh_ply}, {model_mat}, false, pc_radius);
+	gproshan::rt::raytracing * rt_embree = new gproshan::rt::embree({mesh_ply}, {model_mat});
 
 	gproshan::che * ptx_mesh = gproshan::scanner_ptx_jpg(rt_embree, n_rows, n_cols, {0, 0, 0}, jpg_folder + mesh_ply->name());
 

include/gproshan/raytracing/embree.h

@@ -16,13 +16,25 @@ namespace gproshan::rt {
 
 class embree : public raytracing
 {
+	public:
+		struct pc_opts
+		{
+			bool enable		= false;
+			bool normals	= false;
+			float radius	= 0.01;
+			int knn			= 0;
+
+			pc_opts() {};
+		};
+
 	protected:
 		struct ray_hit : public RTCRayHit
 		{
 			ray_hit(const vertex & p_org = {0, 0, 0},
 					const vertex & v_dir = {0, 0, 0},
 					float near = 1e-5f,
-					float far = 1e20f);
+					float far = 1e20f
+					);
 
 			vertex org() const;
 			vertex dir() const;
@@ -37,14 +49,11 @@ class embree : public raytracing
 		std::vector<CHE *> g_meshes;
 		scene_data sc;
 
-		float pc_radius = 0.01;
-
 	public:
 		embree();
 		embree(	const std::vector<che *> & meshes,
 				const std::vector<mat4> & model_mats,
-				const bool & pointcloud = false,
-				const float pcr = 0.01
+				const pc_opts & pc = pc_opts()
 				);
 		virtual ~embree();
 
@@ -55,13 +64,13 @@ class embree : public raytracing
 	protected:
 		void build_bvh(	const std::vector<che *> & meshes,
 						const std::vector<mat4> & model_mats,
-						const bool & pointcloud = false
+						const pc_opts & pc = pc_opts()
 						);
 
 		index_t add_sphere(const vec4 & xyzr);
 		index_t add_mesh(const che * mesh, const mat4 & model_mat);
 
-		virtual index_t add_pointcloud(const che * mesh, const mat4 & model_mat);
+		virtual index_t add_pointcloud(const che * mesh, const mat4 & model_mat, const pc_opts & pc);
 
 		virtual bool closesthit_radiance(	vertex & color,
 											vertex & attenuation,

src/gproshan/raytracing/embree.cpp

@@ -2,6 +2,7 @@
 
 
 #include <gproshan/util.h>
+#include <gproshan/pointcloud/knn.h>
 
 #include <random>
 #include <cstring>
@@ -67,10 +68,9 @@ embree::embree()
 	rtcSetDeviceErrorFunction(rtc_device, embree_error, NULL);
 }
 
-embree::embree(const std::vector<che *> & meshes, const std::vector<mat4> & model_mats, const bool & pointcloud, const float pcr): embree()
+embree::embree(const std::vector<che *> & meshes, const std::vector<mat4> & model_mats, const pc_opts & pc): embree()
 {
-	pc_radius = pcr;
-	build_bvh(meshes, model_mats, pointcloud);
+	build_bvh(meshes, model_mats, pc);
 }
 
 embree::~embree()
@@ -122,20 +122,20 @@ eval_hit embree::intersect(const vertex & org, const vertex & dir, const bool &
 	return hit;
 }
 
-void embree::build_bvh(const std::vector<che *> & meshes, const std::vector<mat4> & model_mats, const bool & pointcloud)
+void embree::build_bvh(const std::vector<che *> & meshes, const std::vector<mat4> & model_mats, const pc_opts & pc)
 {
 	g_meshes.resize(size(meshes));
 	for(index_t i = 0; i < size(meshes); ++i)
 	{
 		g_meshes[i] = new CHE(meshes[i]);
 
-		if(!meshes[i]->n_trigs || pointcloud)
+		if(!meshes[i]->n_trigs || pc.enable)
 			g_meshes[i]->n_trigs = 0;
 
 		[[maybe_unused]]
 		const index_t geomID = g_meshes[i]->n_trigs || meshes[i]->is_scene() ?
 											add_mesh(meshes[i], model_mats[i]) :
-											add_pointcloud(meshes[i], model_mats[i]);
+											add_pointcloud(meshes[i], model_mats[i], pc);
 
 		gproshan_debug_var(i == geomID);
 	}
@@ -214,30 +214,47 @@ index_t embree::add_mesh(const che * mesh, const mat4 & model_mat)
 	return geom_id;
 }
 
-index_t embree::add_pointcloud(const che * mesh, const mat4 & model_mat)
+index_t embree::add_pointcloud(const che * mesh, const mat4 & model_mat, const pc_opts & pc)
 {
-	RTCGeometry geom = rtcNewGeometry(rtc_device, RTC_GEOMETRY_TYPE_DISC_POINT);
+	RTCGeometry geom = rtcNewGeometry(rtc_device, pc.normals ? RTC_GEOMETRY_TYPE_ORIENTED_DISC_POINT 
+															: RTC_GEOMETRY_TYPE_DISC_POINT);
 
 	vec4 * pxyzr = (vec4 *) rtcSetNewGeometryBuffer(	geom,
 														RTC_BUFFER_TYPE_VERTEX, 0,
 														RTC_FORMAT_FLOAT4,
 														4 * sizeof(float),
 														mesh->n_vertices
 														);
-/*
-	vertex * normal = (vertex *) rtcSetNewGeometryBuffer(	geom,
-															RTC_BUFFER_TYPE_NORMAL, 0,
-															RTC_FORMAT_FLOAT3,
-															3 * sizeof(float),
-															mesh->n_vertices
-															);
-*/
+
+	vertex * normals = !pc.normals	? nullptr
+									: (vertex *) rtcSetNewGeometryBuffer(	geom,
+																			RTC_BUFFER_TYPE_NORMAL, 0,
+																			RTC_FORMAT_FLOAT3,
+																			3 * sizeof(float),
+																			mesh->n_vertices
+																			);
+
+
+	knn::k3tree * nn = !pc.knn	? nullptr
+								: new knn::k3tree(&mesh->point(0), mesh->n_vertices, pc.knn);
+
+
 	#pragma omp parallel for
 	for(index_t i = 0; i < mesh->n_vertices; ++i)
 	{
 		pxyzr[i] = model_mat * (mesh->point(i), 1);
-		pxyzr[i][3] = pc_radius;
-//		normal[i] = mesh->normal(i);
+		pxyzr[i][3] = nn ? length(model_mat * (mesh->point(i), 1) - model_mat * (mesh->point((*nn)(i, pc.knn - 1)), 1)) : pc.radius;
+	}
+
+
+	delete nn;
+
+
+	if(normals)
+	{
+		#pragma omp parallel for
+		for(index_t i = 0; i < mesh->n_vertices; ++i)
+			normals[i] = mesh->normal(i);
 	}
 
 	rtcCommitGeometry(geom);

src/gproshan/viewer/viewer.cpp

@@ -977,21 +977,33 @@ bool viewer::m_setup_raytracing(viewer * view)
 
 	static int rt = 0;
 	static double time = 0;
+	static rt::embree::pc_opts pc;
 
 	ImGui::SliderInt("depth", (int *) &view->render_params.depth, 1, 1 << 5);
 	ImGui::SliderInt("n_samples", (int *) &view->render_params.n_samples, 1, 1 << 5);
 	ImGui::Combo("rt", &rt, "Select\0Embree\0OptiX\0\0");
 
+	if(rt == R_EMBREE && (mesh.render_pointcloud || mesh->is_pointcloud()))
+	{
+		ImGui::Indent();
+		ImGui::SliderInt("pc.knn", &pc.knn, 0, 1 << 5);
+		ImGui::SliderFloat("pc.radius", &pc.radius, 0, 1);
+		ImGui::Checkbox("pc.normals", &pc.normals);
+		ImGui::Unindent();
+	}
+
 	if(ImGui::Button("Build"))
 	{
+		pc.enable |= mesh.render_pointcloud;
+
 		switch(rt)
 		{
 			case R_GL: break;
 
 			case R_EMBREE:
 				delete mesh.rt_embree;
 				TIC(time);
-					mesh.rt_embree = new rt::embree({mesh}, {mesh.model_mat}, mesh.render_pointcloud);
+					mesh.rt_embree = new rt::embree({mesh}, {mesh.model_mat}, pc);
 				TOC(time);
 				view->update_status_message("build embree in %.3fs", time);
 				break;