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[meshing] export computed bounding box #1473

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Aug 14, 2023
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[meshing] export computed bounding box #1473

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aa22b34
[meshing] export computed bounding box
almarouk Jun 20, 2023
41213e2
minor code cleanup
fabiencastan Aug 11, 2023
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52 changes: 52 additions & 0 deletions src/software/pipeline/main_meshing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -218,6 +218,45 @@ struct BoundingBox
hexah[6] = Point3d(vertex6.x(), vertex6.y(), vertex6.z());
hexah[7] = Point3d(vertex7.x(), vertex7.y(), vertex7.z());
}

static BoundingBox fromHexahedron(const Point3d* hexah)
{
BoundingBox bbox = BoundingBox();
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// Compute the scale
bbox.scale(0) = (hexah[0] - hexah[1]).size() / 2.;
bbox.scale(1) = (hexah[0] - hexah[3]).size() / 2.;
bbox.scale(2) = (hexah[0] - hexah[4]).size() / 2.;

// Compute the translation
Point3d cg(0., 0., 0.);
for(int i = 0; i < 8; i++)
{
cg += hexah[i];
}
cg /= 8.;

bbox.translation(0) = cg.x;
bbox.translation(1) = cg.y;
bbox.translation(2) = cg.z;

// Compute the rotation matrix
Eigen::Matrix3d rotateMat = Eigen::Matrix3d::Identity();
Point3d cx = ((hexah[1] + hexah[2] + hexah[5] + hexah[6]) / 4. - cg).normalize();
Point3d cy = ((hexah[3] + hexah[2] + hexah[7] + hexah[6]) / 4. - cg).normalize();
Point3d cz = ((hexah[7] + hexah[4] + hexah[5] + hexah[6]) / 4. - cg).normalize();
rotateMat.col(0).head<3>() << cx.x, cx.y, cx.z;
rotateMat.col(1).head<3>() << cy.x, cy.y, cy.z;
rotateMat.col(2).head<3>() << cz.x, cz.y, cz.z;

// eurlar rotation angles on Qt side
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Eigen::Vector3d ea = rotateMat.eulerAngles(1, 0, 2) * 180. / M_PI;
bbox.rotation(0) = ea(1);
bbox.rotation(1) = ea(0);
bbox.rotation(2) = ea(2);

return bbox;
}
};

inline std::istream& operator>>(std::istream& in, BoundingBox& out_bbox)
Expand Down Expand Up @@ -481,6 +520,19 @@ int aliceVision_main(int argc, char* argv[])
const double height = hexah[0].z - hexah[4].z;

ALICEVISION_LOG_INFO("bounding Box : length: " << length << ", width: " << width << ", height: " << height);

// Save bounding box
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I'm not sure we should be saving this bounding box with a custom txt format.
A more standard mesh format (OBJ for instance) would probably be more suited as it would allow opening the bounding box in any 3D software.

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Good remark, but easier to use the same parameters to represent the bbox everywhere.

BoundingBox bbox = BoundingBox::fromHexahedron(&hexah[0]);
std::string filename = (outDirectory / "boundingBox.txt").string();
std::ofstream fs(filename, std::ios::out);
if(!fs.is_open())
{
ALICEVISION_LOG_WARNING("Unable to create the bounding box file " << filename);
}
fs << bbox.translation << std::endl;
fs << bbox.rotation << std::endl;
fs << bbox.scale << std::endl;
fs.close();
}

StaticVector<int> cams;
Expand Down