Merge branch 'dev' into alpha

apps/test_scanner.cpp

@@ -32,11 +32,15 @@ int main(int argc, char* argv[])
 
 	gproshan::rt::raytracing * rt_embree = new gproshan::rt::embree({mesh_ply}, {model_mat}, false, pc_radius);
 
-	gproshan::che * ptx_mesh = scanner_ptx(mesh_ply, rt_embree, n_rows, n_cols, {0, 0, 0}, jpg_folder);
+	gproshan::che * ptx_mesh = gproshan::scanner_ptx_jpg(rt_embree, n_rows, n_cols, {0, 0, 0}, jpg_folder + mesh_ply->name());
 
 	std::string ptx_filename = ptx_folder + mesh_ply->name();
 	gproshan::che_ptx::write_file(ptx_mesh, ptx_filename, n_rows, n_cols);
 
+	delete mesh_ply;
+	delete rt_embree;
+	delete ptx_mesh;
+
 	return 0;
 }
 

include/gproshan/mesh/che.h

@@ -96,7 +96,7 @@ class che
 		void reload();
 		mat4 normalize_sphere(const real_t & r = 1) const;
 		mat4 normalize_box(const real_t & side = 2) const;
-		che * merge(const che * mesh, const std::vector<index_t> & com_vertices);
+		che * merge(const che * mesh, const std::vector<index_t> & com_vertices = {});
 		void update_vertices(const vertex * positions, const size_t & n = 0, const index_t & v_i = 0);
 		void update_heatmap(const real_t * hm = nullptr);
 		void update_normals();

include/gproshan/raytracing/embree.h

@@ -48,8 +48,8 @@ class embree : public raytracing
 				);
 		virtual ~embree();
 
-		virtual index_t closest_vertex(const vertex & org, const vertex & dir);
-		virtual eval_hit intersect(const vertex & org, const vertex & dir);
+		virtual index_t closest_vertex(const vertex & org, const vertex & dir) const;
+		virtual eval_hit intersect(const vertex & org, const vertex & dir) const;
 
 
 	protected:
@@ -59,12 +59,12 @@ class embree : public raytracing
 
 		virtual index_t add_pointcloud(const che * mesh, const mat4 & model_mat);
 
-		virtual vec3 closesthit_radiance(const vertex & org, const vertex & dir, const light & ambient, const light * lights, const int & n_lights, const vertex & cam_pos, const bool & flat);
+		virtual vec3 closesthit_radiance(const vertex & org, const vertex & dir, const light & ambient, const light * lights, const int & n_lights, const vertex & cam_pos, const bool & flat) const;
 
-		float intersect_depth(const vertex & org, const vertex & dir);
+		float intersect_depth(const vertex & org, const vertex & dir) const;
 
-		bool intersect(ray_hit & r);
-		bool occluded(ray_hit & r);
+		bool intersect(ray_hit & r) const;
+		bool occluded(ray_hit & r) const;
 };
 
 

include/gproshan/raytracing/raytracing.h

@@ -27,15 +27,15 @@ class raytracing
 									const mat4 & inv_proj_view,
 									const vertex & cam_pos,
 									const index_t & samples = 4
-									);
+									) const;
 
 		virtual eval_hit intersect(	const vertex &,	// org
 									const vertex &	//dir
-									) { return {}; }
+									) const { return {}; }
 
 		virtual index_t closest_vertex(	const vertex &,	// org,
 										const vertex &	// dir
-										) { return NIL; };
+										) const { return NIL; }
 
 	protected:
 		virtual vec3 closesthit_radiance(	const vertex &, // org
@@ -45,11 +45,11 @@ class raytracing
 											const int &, // n_lights
 											const vertex &, // cam_pos
 											const bool & // flat
-											) { return {}; };
+											) const { return {}; };
 
 		virtual float intersect_depth(	const vertex &,	// org,
 										const vertex &	// dir
-										) { return 0; };
+										) const { return 0; };
 };
 
 

include/gproshan/scenes/scanner.h

@@ -11,7 +11,7 @@ namespace gproshan {
 
 che * scanner_ptx(const rt::raytracing * rt, const size_t & n_rows, const size_t & n_cols, const vertex & cam_pos);
 
-che * scanner_ptx(const che * mesh, rt::raytracing * rt, const size_t & n_rows, const size_t & n_cols, const vertex & cam_pos, const std::string & file_jpg = "");
+che * scanner_ptx_jpg(const rt::raytracing * rt, const size_t & n_rows, const size_t & n_cols, const vertex & cam_pos, const std::string & file_jpg = "");
 
 
 } // namespace gproshan

src/gproshan/app_viewer.cpp

@@ -190,7 +190,7 @@ bool app_viewer::process_simulate_scanner(viewer * p_view)
 
 	if(ImGui::Button("Scan"))
 	{
-		che * ptx_mesh = scanner_ptx(mesh, mesh.rt_embree, n_rows, n_cols, cam_pos);
+		che * ptx_mesh = scanner_ptx_jpg(mesh.rt_embree, n_rows, n_cols, cam_pos, mesh->filename);
 		che_ptx::write_file(ptx_mesh, mesh->filename, n_rows, n_cols);
 		view->add_mesh(ptx_mesh);
 	}

src/gproshan/mesh/che.cpp

@@ -293,6 +293,8 @@ che * che::merge(const che * mesh, const std::vector<index_t> & vcommon)
 
 	memcpy(new_mesh->GT, GT, sizeof(vertex) * n_vertices);
 	memcpy(new_mesh->GT + n_vertices, mesh->GT + n_vcommon, sizeof(vertex) * n_vnew);
+	memcpy(new_mesh->VN, VN, sizeof(vertex) * n_vertices);
+	memcpy(new_mesh->VN + n_vertices, mesh->VN + n_vcommon, sizeof(vertex) * n_vnew);
 	memcpy(new_mesh->VC, VC, sizeof(rgb_t) * n_vertices);
 	memcpy(new_mesh->VC + n_vertices, mesh->VC + n_vcommon, sizeof(rgb_t) * n_vnew);
 	memcpy(new_mesh->VHC, VHC, sizeof(real_t) * n_vertices);
@@ -307,8 +309,6 @@ che * che::merge(const che * mesh, const std::vector<index_t> & vcommon)
 	new_mesh->update_evt_ot_et();
 	new_mesh->update_eht();
 
-	new_mesh->update_normals();
-
 	return new_mesh;
 }
 

src/gproshan/mesh/che_ply.cpp

@@ -106,14 +106,18 @@ void che_ply::read_file(const std::string & file)
 
 	if(format[0] == 'a')	// ascii
 	{
-		float x, y, z;
+		float x, y, z, nx, ny, nz;
 		unsigned char r, g, b;
 		for(index_t v = 0; v < n_vertices; ++v)
 		{
 			fgets(line, sizeof(line), fp);
-			if(sscanf(line, "%f %f %f %hhu %hhu %hhu", &x, &y, &z, &r, &g, &b) > 5)
-				VC[v] = {r, g, b};
+
+			rgb ? sscanf(line, "%f %f %f %hhu %hhu %hhu %f %f %f", &x, &y, &z, &r, &g, &b, &nx, &ny, &nz)
+				: sscanf(line, "%f %f %f %f %f %f", &x, &y, &z, &nx, &ny, &nz);
+
 			GT[v] = {x, y, z};
+			if(rgb) VC[v] = {r, g, b};
+			if(normal) VN[v] = {nx, ny, nz};
 		}
 
 		while(nf--)

src/gproshan/raytracing/embree.cpp

@@ -82,7 +82,7 @@ embree::~embree()
 	rtcReleaseDevice(rtc_device);
 }
 
-index_t embree::closest_vertex(const vertex & org, const vertex & dir)
+index_t embree::closest_vertex(const vertex & org, const vertex & dir) const
 {
 	ray_hit r(org, dir);
 	if(!intersect(r)) return NIL;
@@ -109,7 +109,7 @@ index_t embree::closest_vertex(const vertex & org, const vertex & dir)
 	return mesh->VT[he];
 }
 
-eval_hit embree::intersect(const vertex & org, const vertex & dir)
+eval_hit embree::intersect(const vertex & org, const vertex & dir) const
 {
 	ray_hit r(org, dir);
 	if(!intersect(r)) return {};
@@ -246,7 +246,7 @@ index_t embree::add_pointcloud(const che * mesh, const mat4 & model_mat)
 	return geom_id;
 }
 
-vec3 embree::closesthit_radiance(const vertex & org, const vertex & dir, const light & ambient, const light * lights, const int & n_lights, const vertex & cam_pos, const bool & flat)
+vec3 embree::closesthit_radiance(const vertex & org, const vertex & dir, const light & ambient, const light * lights, const int & n_lights, const vertex & cam_pos, const bool & flat) const
 {
 	ray_hit r(org, dir);
 	if(!intersect(r)) return {};
@@ -267,19 +267,19 @@ vec3 embree::closesthit_radiance(const vertex & org, const vertex & dir, const l
 					});
 }
 
-float embree::intersect_depth(const vertex & org, const vertex & dir)
+float embree::intersect_depth(const vertex & org, const vertex & dir) const
 {
 	ray_hit r(org, dir);
 	return intersect(r) ? r.ray.tfar : 0.f;
 }
 
-bool embree::intersect(ray_hit & r)
+bool embree::intersect(ray_hit & r) const
 {
 	rtcIntersect1(rtc_scene, &r);
 	return r.hit.geomID != RTC_INVALID_GEOMETRY_ID;
 }
 
-bool embree::occluded(ray_hit & r)
+bool embree::occluded(ray_hit & r) const
 {
 	rtcIntersect1(rtc_scene, &r);
 	return r.hit.geomID != RTC_INVALID_GEOMETRY_ID;

src/gproshan/raytracing/raytracing.cpp

@@ -44,7 +44,7 @@ void raytracing::render(vec4 * img, const render_params & params, const bool & f
 float * raytracing::raycaster(	const ivec2 & windows_size,
 								const mat4 & inv_proj_view,
 								const vertex & cam_pos,
-								const index_t & samples	)
+								const index_t & samples	) const
 {
 	float * frame = new float[windows_size.x() * windows_size.y()];
 

src/gproshan/scenes/scanner.cpp

@@ -19,7 +19,7 @@ using namespace cimg_library;
 namespace gproshan {
 
 
-che * scanner_ptx(rt::raytracing * rt, const size_t & n_rows, const size_t & n_cols, const vertex & cam_pos)
+che * scanner_ptx(const rt::raytracing * rt, const size_t & n_rows, const size_t & n_cols, const vertex & cam_pos)
 {
 	che * mesh_ptx = new che(n_cols * n_rows);
 
@@ -47,14 +47,14 @@ che * scanner_ptx(rt::raytracing * rt, const size_t & n_rows, const size_t & n_c
 	return mesh_ptx;
 }
 
-che * scanner_ptx(const che * mesh, rt::raytracing * rt, const size_t & n_rows, const size_t & n_cols, const vertex & cam_pos, const std::string & file_jpg)
+che * scanner_ptx_jpg(const rt::raytracing * rt, const size_t & n_rows, const size_t & n_cols, const vertex & cam_pos, const std::string & file_jpg)
 {
 	che * mesh_ptx = scanner_ptx(rt, n_rows, n_cols, cam_pos);
 
 	CImg<unsigned char> img((unsigned char *) &mesh_ptx->rgb(0), 3, n_cols, n_rows);
 	img.permute_axes("zycx");
 
-	std::string img_filename = file_jpg + mesh->name() + ".jpg";
+	std::string img_filename = file_jpg + ".jpg";
 	img.save(img_filename.c_str());
 
 	std::thread([](const CImg<unsigned char> & img) { img.display(); }, img).detach();