VertexMesh

- Changed so that there is a separate set of indexes for vector normals OBJ Files - Work in progress for supporting textures
lessthanoptimal · Jun 23, 2024 · 0e1d6a4 · 0e1d6a4
1 parent a2049f8
commit 0e1d6a4
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Showing 19 changed files with 366 additions and 149 deletions.
diff --git a/integration/boofcv-swing/src/main/java/boofcv/gui/mesh/MeshColorizeOps.java b/integration/boofcv-swing/src/main/java/boofcv/gui/mesh/MeshColorizeOps.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -40,7 +40,7 @@ public class MeshColorizeOps {
 	 * @return SurfaceColor
 	 */
 	public static RenderMesh.SurfaceColor colorizeByVertex( VertexMesh mesh, int[] vertexColor ) {
-		return ( shapeIdx ) -> vertexColor[mesh.indexes.get(mesh.offsets.get(shapeIdx))];
+		return ( shapeIdx ) -> vertexColor[mesh.faceVertexes.get(mesh.faceOffsets.get(shapeIdx))];
 	}
 
 	/**
@@ -57,7 +57,7 @@ public static RenderMesh.SurfaceColor colorizeByNormal( VertexMesh mesh ) {
 		var axisZ = new Vector3D_F64(0, 0, 1);
 
 		for (int i = 0; i < mesh.size(); i++) {
-			mesh.getShape(i, facet);
+			mesh.getFaceVectors(i, facet);
 
 			// Handle case of invalid facet gracefully by assigning it to an arbitrary color
 			if (facet.size < 3) {

diff --git a/main/boofcv-io/src/benchmark/java/boofcv/visualize/BenchmarkRenderMesh.java b/main/boofcv-io/src/benchmark/java/boofcv/visualize/BenchmarkRenderMesh.java
@@ -87,7 +87,7 @@ private void createFlatSquareScene( CameraPinhole intrinsics, Random rand ) {
 			shape.get(2).setTo(x1, y1, z);
 			shape.get(3).setTo(x0, y1, z);
 
-			mesh.addShape(shape.toList());
+			mesh.addFaceVectors(shape.toList());
 		}
 	}
 

diff --git a/main/boofcv-io/src/main/java/boofcv/io/points/StlDataStructure.java b/main/boofcv-io/src/main/java/boofcv/io/points/StlDataStructure.java
@@ -186,13 +186,13 @@ public VertexMesh toMesh( @Nullable VertexMesh out ) {
 			out = new VertexMesh();
 
 		out.vertexes.setTo(vertexes);
-		out.indexes.setTo(facetVertsIdx);
+		out.faceVertexes.setTo(facetVertsIdx);
 
 		// All facets are triangles
-		out.offsets.resize(facetCount() + 1);
-		out.offsets.set(0, 0);
-		for (int i = 1; i < out.offsets.size; i++) {
-			out.offsets.set(i, i*3);
+		out.faceOffsets.resize(facetCount() + 1);
+		out.faceOffsets.set(0, 0);
+		for (int i = 1; i < out.faceOffsets.size; i++) {
+			out.faceOffsets.set(i, i*3);
 		}
 
 		return out;

diff --git a/main/boofcv-io/src/main/java/boofcv/io/points/impl/ObjFileCodec.java b/main/boofcv-io/src/main/java/boofcv/io/points/impl/ObjFileCodec.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -21,6 +21,8 @@
 import boofcv.alg.cloud.PointCloudReader;
 import boofcv.alg.cloud.PointCloudWriter;
 import boofcv.struct.mesh.VertexMesh;
+import georegression.struct.point.Point2D_F32;
+import georegression.struct.point.Point3D_F32;
 import georegression.struct.point.Point3D_F64;
 import org.ddogleg.struct.DogArray_I32;
 
@@ -62,15 +64,36 @@ public static void save( VertexMesh mesh, Writer writer ) throws IOException {
 			obj.addVertex(p.x, p.y, p.z);
 		}
 
+		// Save vertex normals
+		for (int i = 0; i < mesh.normals.size(); i++) {
+			Point3D_F32 p = mesh.normals.getTemp(i);
+			obj.addVertex(p.x, p.y, p.z);
+		}
+
+		// Save vertex textures
+		for (int i = 0; i < mesh.texture.size(); i++) {
+			Point2D_F32 p = mesh.texture.getTemp(i);
+			obj.addTextureVertex(p.x, p.y);
+		}
+
+		// See how many different types of vertexes need to be saved
+		int count = 0;
+		if (mesh.vertexes.size() > 0)
+			count++;
+		if (mesh.normals.size() > 0)
+			count++;
+		if (mesh.texture.size() > 0)
+			count++;
+
 		// Create the faces
 		var indexes = new DogArray_I32();
-		for (int i = 1; i < mesh.offsets.size; i++) {
-			int idx0 = mesh.offsets.get(i - 1);
-			int idx1 = mesh.offsets.get(i);
+		for (int i = 1; i < mesh.faceOffsets.size; i++) {
+			int idx0 = mesh.faceOffsets.get(i - 1);
+			int idx1 = mesh.faceOffsets.get(i);
 
 			indexes.reset();
-			indexes.addAll(mesh.indexes.data, idx0, idx1);
-			obj.addFace(indexes);
+			indexes.addAll(mesh.faceVertexes.data, idx0, idx1);
+			obj.addFace(indexes, count);
 		}
 	}
 
@@ -79,9 +102,16 @@ public static void load( InputStream input, PointCloudWriter output ) throws IOE
 			@Override protected void addVertex( double x, double y, double z ) {
 				output.add(x, y, z, 0);
 			}
+
+			@Override protected void addVertexNormal( double x, double y, double z ) {}
+
+			@Override protected void addVertexTexture( double x, double y ) {}
+
 			@Override protected void addPoint( int vertex ) {}
+
 			@Override protected void addLine( DogArray_I32 vertexes ) {}
-			@Override protected void addFace( DogArray_I32 vertexes ) {}
+
+			@Override protected void addFace( DogArray_I32 indexes, int vertexCount ) {}
 		};
 		obj.parse(new BufferedReader(new InputStreamReader(input, StandardCharsets.UTF_8)));
 	}
@@ -92,11 +122,30 @@ public static void load( InputStream input, VertexMesh output ) throws IOExcepti
 			@Override protected void addVertex( double x, double y, double z ) {
 				output.vertexes.append(x, y, z);
 			}
+
+			@Override protected void addVertexNormal( double x, double y, double z ) {
+				output.normals.append((float)x, (float)y, (float)z);
+			}
+
+			@Override protected void addVertexTexture( double x, double y ) {
+				output.texture.append((float)x, (float)y);
+			}
+
 			@Override protected void addPoint( int vertex ) {}
+
 			@Override protected void addLine( DogArray_I32 vertexes ) {}
-			@Override protected void addFace( DogArray_I32 vertexes ) {
-				output.indexes.addAll(vertexes);
-				output.offsets.add(output.indexes.size);
+
+			@Override protected void addFace( DogArray_I32 indexes, int vertexCount ) {
+				int types = indexes.size/vertexCount;
+				for (int idxVert = 0; idxVert < vertexCount; idxVert++) {
+					output.faceVertexes.add(indexes.get(idxVert)/types);
+					for (int i = 1; i < types; i++) {
+						if (indexes.get(i - 1) != indexes.get(i))
+							throw new RuntimeException("Only vertexes types with the same index supported");
+					}
+				}
+
+				output.faceOffsets.add(output.faceVertexes.size);
 			}
 		};
 		obj.parse(new BufferedReader(new InputStreamReader(input, StandardCharsets.UTF_8)));

diff --git a/main/boofcv-io/src/main/java/boofcv/io/points/impl/ObjFileReader.java b/main/boofcv-io/src/main/java/boofcv/io/points/impl/ObjFileReader.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -29,12 +29,16 @@
 public abstract class ObjFileReader {
 	DogArray_I32 vertexIndexes = new DogArray_I32();
 	int vertexCount = 0;
+	int vertexTextureCount = 0;
+	int vertexNormalCount = 0;
 
 	/**
 	 * Decodes / reads the OBJ file encoded as text in the reader
 	 */
 	public void parse( BufferedReader reader ) throws IOException {
 		vertexCount = 0;
+		vertexTextureCount = 0;
+		vertexNormalCount = 0;
 
 		var builder = new StringBuilder();
 		int actualLineCount = 0;
@@ -77,14 +81,30 @@ public void parse( BufferedReader reader ) throws IOException {
 						addVertex(x, y, z);
 						vertexCount++;
 					}
+
+					case "vn" -> {
+						double x = Double.parseDouble(words[1]);
+						double y = Double.parseDouble(words[2]);
+						double z = Double.parseDouble(words[3]);
+						addVertexNormal(x, y, z);
+						vertexNormalCount++;
+					}
+
+					case "vt" -> {
+						double x = Double.parseDouble(words[1]);
+						double y = Double.parseDouble(words[2]);
+						addVertexTexture(x, y);
+						vertexTextureCount++;
+					}
+
 					case "p" -> addPoint(ensureIndex(Integer.parseInt(words[1])));
 					case "l" -> {
 						readPoints(words);
 						addLine(vertexIndexes);
 					}
 					case "f" -> {
-						readPoints(words);
-						addFace(vertexIndexes);
+						readFaceIndexes(words);
+						addFace(vertexIndexes, words.length - 1);
 					}
 					default -> handleError(actualLineCount + " Unknown object type. '" + words[0] + "'");
 				}
@@ -115,13 +135,39 @@ private void readPoints( String[] words ) {
 		}
 	}
 
+	private void readFaceIndexes( String[] words ) {
+		vertexIndexes.reset();
+		for (int i = 1; i < words.length; i++) {
+			String word = words[i];
+
+			int idx0 = 0;
+			int idx1 = word.indexOf('/');
+			while (idx1 != -1) {
+				vertexIndexes.add(ensureIndex(Integer.parseInt(word.substring(idx0, idx1))));
+				idx0 = idx1 + 1;
+				idx1 = word.indexOf('/', idx0);
+			}
+			vertexIndexes.add(ensureIndex(Integer.parseInt(word.substring(idx0))));
+		}
+	}
+
 	protected abstract void addVertex( double x, double y, double z );
 
+	protected abstract void addVertexNormal( double x, double y, double z );
+
+	protected abstract void addVertexTexture( double x, double y );
+
 	protected abstract void addPoint( int vertex );
 
 	protected abstract void addLine( DogArray_I32 vertexes );
 
-	protected abstract void addFace( DogArray_I32 vertexes );
+	/**
+	 * Adds a face. Indexes are interleaved in vertex, normal, and texture order.
+	 *
+	 * @param indexes Indexes of vertex values
+	 * @param vertexCount Number of vertexes in the face
+	 */
+	protected abstract void addFace( DogArray_I32 indexes, int vertexCount );
 
 	/**
 	 * If something goes where it's passed here

diff --git a/main/boofcv-io/src/main/java/boofcv/io/points/impl/ObjFileWriter.java b/main/boofcv-io/src/main/java/boofcv/io/points/impl/ObjFileWriter.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -90,7 +90,7 @@ public void addPoint( int vertex ) throws IOException {
 	 * @param vertexes Index of vertexes in this face. If null then automatic.
 	 */
 	public void addLine( @Nullable DogArray_I32 vertexes ) throws IOException {
-		writeObject('l', vertexes);
+		writeObject('l', vertexes, 1);
 	}
 
 	/**
@@ -99,13 +99,21 @@ public void addLine( @Nullable DogArray_I32 vertexes ) throws IOException {
 	 *
 	 * <p>NOTE: Vertexes indexes are 0-indexed. Not 1-indexed like they are in OBJ files.</p>
 	 *
+	 *
+	 * @param count Number of different vertex types, i.e. 3D, texture, normal. All are assumed to
+	 * reference a point with the same index.
 	 * @param vertexes Index of vertexes in this face. If null then automatic.
 	 */
-	public void addFace( @Nullable DogArray_I32 vertexes ) throws IOException {
-		writeObject('f', vertexes);
+	public void addFace( @Nullable DogArray_I32 vertexes, int count ) throws IOException {
+		writeObject('f', vertexes, count);
 	}
 
-	private void writeObject( char name, @Nullable DogArray_I32 vertexes ) throws IOException {
+	/**
+	 *
+	 * @param count How many times it should duplicate the index. It's assumed all vertexes reference
+	 * objects with the same index values.
+	 */
+	private void writeObject( char name, @Nullable DogArray_I32 vertexes, int count ) throws IOException {
 		writer.write(name);
 		if (vertexes == null || vertexes.size == 0) {
 			int v = -1;
@@ -125,7 +133,11 @@ else if (vertIndex <= -vertexCount)
 				// Write the index and compensate for the file format being 1-indexed.
 				if (vertIndex >= 0)
 					vertIndex++;
+
 				writer.write(" " + vertIndex);
+				for (int idxCount = 1; idxCount < count; idxCount++) {
+					writer.write("/" + vertIndex);
+				}
 			}
 		}
 		writer.write('\n');

diff --git a/main/boofcv-io/src/main/java/boofcv/io/points/impl/PlyCodec.java b/main/boofcv-io/src/main/java/boofcv/io/points/impl/PlyCodec.java
@@ -431,7 +431,7 @@ public static void readMesh( InputStream input, VertexMesh mesh, DogArray_I32 co
 				colorRGB.reset();
 				mesh.reset();
 				mesh.vertexes.reserve(vertexes);
-				mesh.indexes.reserve(triangles*3);
+				mesh.faceVertexes.reserve(triangles*3);
 			}
 
 			@Override public void addVertex( double x, double y, double z, int rgb ) {
@@ -440,12 +440,12 @@ public static void readMesh( InputStream input, VertexMesh mesh, DogArray_I32 co
 			}
 
 			@Override public void addVertexNormal( double nx, double ny, double nz ) {
-				mesh.vertexNormals.append((float)nx, (float)ny, (float)nz);
+				mesh.normals.append((float)nx, (float)ny, (float)nz);
 			}
 
 			@Override public void addPolygon( int[] indexes, int offset, int length ) {
-				mesh.offsets.add(mesh.indexes.size + length);
-				mesh.indexes.addAll(indexes, offset, offset + length);
+				mesh.faceOffsets.add(mesh.faceVertexes.size + length);
+				mesh.faceVertexes.addAll(indexes, offset, offset + length);
 			}
 
 			@Override public void setTextureName( String textureName ) {
@@ -688,7 +688,7 @@ private static PlyWriter wrapMeshForWriting( VertexMesh mesh, @Nullable DogArray
 		return new PlyWriter() {
 			@Override public int getVertexCount() {return mesh.vertexes.size();}
 
-			@Override public int getPolygonCount() {return mesh.offsets.size - 1;}
+			@Override public int getPolygonCount() {return mesh.faceOffsets.size - 1;}
 
 			@Override public boolean isColor() {return colorRGB != null;}
 
@@ -697,7 +697,7 @@ private static PlyWriter wrapMeshForWriting( VertexMesh mesh, @Nullable DogArray
 			}
 
 			@Override public boolean isVertexNormals() {
-				return mesh.vertexNormals.size() > 0;
+				return mesh.normals.size() > 0;
 			}
 
 			@Override public String getTextureName() {
@@ -707,27 +707,27 @@ private static PlyWriter wrapMeshForWriting( VertexMesh mesh, @Nullable DogArray
 			@Override public void getVertex( int which, Point3D_F64 vertex ) {mesh.vertexes.getCopy(which, vertex);}
 
 			@Override public void getVertexNormal( int which, GeoTuple3D_F64<?> normal ) {
-				Point3D_F32 tmp = mesh.vertexNormals.getTemp(which);
+				Point3D_F32 tmp = mesh.normals.getTemp(which);
 				normal.setTo(tmp.x, tmp.y, tmp.z);
 			}
 
 			@SuppressWarnings("NullAway")
 			@Override public int getColor( int which ) {return colorRGB.get(which);}
 
 			@Override public int getIndexes( int which, int[] indexes ) {
-				int idx0 = mesh.offsets.get(which);
-				int idx1 = mesh.offsets.get(which + 1);
+				int idx0 = mesh.faceOffsets.get(which);
+				int idx1 = mesh.faceOffsets.get(which + 1);
 
 				for (int i = idx0; i < idx1; i++) {
-					indexes[i - idx0] = mesh.indexes.get(i);
+					indexes[i - idx0] = mesh.faceVertexes.get(i);
 				}
 
 				return idx1 - idx0;
 			}
 
 			@Override public int getTextureCoors( int which, float[] coordinates ) {
-				int idx0 = mesh.offsets.get(which);
-				int idx1 = mesh.offsets.get(which + 1);
+				int idx0 = mesh.faceOffsets.get(which);
+				int idx1 = mesh.faceOffsets.get(which + 1);
 
 				int idxArray = 0;
 				for (int i = idx0; i < idx1; i++) {