I am interested to read and understand the 2D mesh algorithms. A search on Google reveals a lot of papers and sources, however most are too academic and not much on beginner's side.
So, would anyone here recommend any reading sources ( suitable for the beginners), or open source implementation that I can learn from the start? Thanks.
Also, compared to triangular mesh generation, I have more interest in quadrilateral mesh and mix mesh( quad and tri combined).
I second David's answer regarding Jonathan Shewchuk's site as a good starting point.
In terms of open source software, it depends on what you are looking for exactly.
If you are interested in mesh generation, you can have a look at CGAL's code. Understanding the low level parts of CGAL's code is too much for a beginner. However, having a look at the higher level algorithms can be quite interesting even for a beginner. Also note that the documentation of CGAL is very detailed.
You can also have a look at TetGen, but its source code is monolithic and is not documented (it is more of an end user software rather than a library, even if it can also be called simply from other programs). Still, it is fairly readable, and the user manual contains a short presentation of mesh generation, with some references.
If you are also interested in mesh processing, you can have a look at OpenMesh.
More informations about your goals would definitely help providing more relevant pointers.
The first link on your Google search takes you to Jonathan Shewchuk's site. This is not actually a bad place to start. He has a program called triangle which you can download for 2D triangulation. On that page there is a link to references used in creating triangle, including a link to a description of the triangluation algorithm.
There are several approaches to mesh generation. One of the most common is to create a Delaunay triangulation. Triangulating a set of points is fairly simple and there are several algorithms which do that, including Watson's and Rupert's as used in triangle
When you want to create a constrained triangulation, where the edges of the triangulation match the edges of your input shape it is a bit harder, because you need to recover certain edges.
I would start by understanding Delaunay triangulation. Then maybe look at some of the other meshing algorithms.
Some of the common topics that you will find in mesh generation papers are
Robustness - that is how to deal with floating point round off errors.
Mesh quality - ensuring the shapes of the triangles/tetrahedrons are close to equilateral. Whether this is important depends on why you are creating the mesh. For analysis work it is very important,
How to choose where to insert the nodes in the mesh to give a good mesh distribution.
Meshing speed
Quadrilateral/Hexahedral mesh generation. This is harder than using triangles/tetrahedra.
3D mesh generation is much harder than 2D so a lot of the papers are on 3D generation
Mesh generation is a large topic. It would be helpful if you could give some more information on what aspects (eg 2D or 3D) that you are interested in. If you can give some idea of what you ant to do then maybe I can find some better sources of information.
Related
Recently I've been looking into some different methods of polygon simplification.
Popular methods include Ramer-Douglas-Peucker path simplification algorithm & Visvalingam, while they are both good algorithms, in some cases gives poor results by only ever removing points, never placing points in new locations (both a pro and a con depending on the usage).
I've been looking into using a simplified segment collapsing method, common for 3D geometry, see: Surface simplification using quadric error metrics.
From some quick tests this works reasonably well, however I suspect this isn't all that novel, possibly there are better methods for 2D polygons too.
I also looked into PO-Trace's method of polygon simplification, which is excellent, but focused on simplifying polygons extracted from bitmap images.
Are there well known algorithms for polygon simplification using segment collapsing?
Asking because I'm about to write my own function that uses quadric error metrics, but suspect this may exist already, possibly named differently.
If not, I'll link the code once its done.
The CGAL library provides an implementation of a polyline simplification algorithm.
It is based on the work of Dyken et al..
I have a point cloud of an object, obtained with a laser scanner, and a CAD surface model of that object.
How can I match the point cloud to the surface, to obtain the translation and rotation between cloud and model?
I suppose I could sample the surface and try the Iterative Closest Point (ICP) algorithm to match the resulting sampled point cloud to the scanner point cloud.
Would that actually work?
And are there better algorithms for this task?
In new OpenCV, I have implemented a surface matching module to match a 3D model to a 3D scene. No initial pose is required and the detection process is fully automatic. The model also involves an ICP.
To get an idea, please check that out a video here (though it is not generated by the implementation in OpenCV):
https://www.youtube.com/watch?v=uFnqLFznuZU
The full source code is here and the documentation is here.
You mentioned that you needed to sample your CAD model. This is correct and we have given a sampling algorithm suited for point pair feature matching, such as the one implemented in OpenCV:
Birdal, Tolga, and Slobodan Ilic. A point sampling algorithm for 3D matching of irregular geometries. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017.
http://campar.in.tum.de/pub/tbirdal2017iros/tbirdal2017iros.pdf
Yes, ICP can be applied to this problem, as you suggest with sampling the surface. It would be best if you have all available faces in your laser scan otherwise you may have to remove invisible faces from your model (depending on how many of these there are).
One way of automatically preparing a model by getting rid of some of the hidden faces is to calculate the concave hull which can be used to discard hidden faces (which are for example faces that are not close to the concave hull). Depending on how involved the model is this may or may not be necessary.
ICP works well if given a good initial guess because it ignores points that are not close with respect to the current guess. If ICP is not coming up with a good alignment you may try it with multiple random restarts to try and fix this problem, choosing the best alignment.
A more involved solution is to do local feature matching. You sample and calculate an invariant descriptor like SHOT or FPFH. You find the best matches, reject non-consistent matches, use them to come up with a good initial alignment and then refine with ICP. But you may not need this step depending on how robust and fast the random-restart ICP is.
There's an open source library for point cloud algorithms which implements registration against other point clouds. May be you can try some of their methods to see if any fit.
As a starter, if they don't have anything specific to fit against a polygon mesh, you can treat the mesh vertices as another point cloud and fit your point cloud against it. This is something that they definitely support.
I have a lot of polygons. Ideally, all the polygons must not overlap one other, but they can be located adjacent to one another.
But practically, I would have to allow for slight polygon overlap ( defined by a certain tolerance) because all these polygons are obtained from user hand drawing input, which is not as machine-precised as I want them to be.
My question is, is there any software library components that:
Allows one to input a range of polygons
Check if the polygons are overlapped more than a prespecified tolerance
If yes, then stop, or else, continue
Create mesh in terms of coordinates and elements for the polygons by grouping common vertex and edges together?
More importantly, link back the mesh edges to the original polygon(s)'s edge?
Or is there anyone tackle this issue before?
This issue is a daily "bread" of GIS applications - this is what is exactly done there. We also learned that at a GIS course. Look into GIS systems how they address this issue. E.g. ArcGIS define so called topology rules and has some functions to check if the edited features are topologically correct. See http://webhelp.esri.com/arcgisdesktop/9.2/index.cfm?TopicName=Topology_rules
This is pretty long, only because the question is so big. I've tried to group my comments based on your bullet points.
Components to draw polygons
My guess is that you'll have limited success without providing more information - a component to draw polygons will be very much coupled to the language and UI paradigm you are using for the rest of your project, ie. code for a web component will look very different to a native component.
Perhaps an alternative is to separate this element of the process out from the rest of what you're trying to do. There are some absolutely fantastic pre-existing editors that you can use to create 2d and 3d polygons.
Inkscape is an example of a vector graphics editor that makes it easy to enter 2d polygons, and has the advantage of producing output SVG, which is reasonably easy to parse.
In three dimensions Blender is an open source editor that can be used to produce arbitrary geometries that can be exported to a number of formats.
If you can use a google-maps API (possibly in an native HTML rendering control), and you are interested in adding spatial points on a map overlay, you may be interested in related click-to-draw polygon question on stackoverflow. From past experience, other map APIs like OpenLayers support similar approaches.
Check whether polygons are overlapped
Thomas T made the point in his answer, that there are families of related predicates that can be used to address this and related queries. If you are literally just looking for overlaps and other set theoretic operations (union, intersection, set difference) in two dimensions you can use the General Polygon Clipper
You may also need to consider the slightly more generic problem when two polygons that don't overlap or share a vertex when they should. You can use a Minkowski sum to dilate (enlarge) two and three dimensional polygons to avoid such problems. The Computational Geometry Algorithms Library has robust implementations of these algorithms.
I think that it's more likely that you are really looking for a piece of software that can perform vertex welding, Christer Ericson's book Real-time Collision Detection includes extensive and very readable description of the basics in this field, and also on related issues of edge snapping, crack detection, T-junctions and more. However, even though code snippets are included for that book, I know of no ready made library that addresses these problems, in particular, no complete implementation is given for anything beyond basic vertex welding.
Obviously all 3D packages (blender, maya, max, rhino) all include built in software and tools to solve this problem.
Group polygons based on vertices
From past experience, this turned out to be one of the most time consuming parts of developing software to solve problems in this area. It requires reasonable understanding of graph theory and algorithms to traverse boundaries. It is worth relying upon a solid geometry or graph library to do the heavy lifting for you. In the past I've had success with igraph.
Link the updated polygons back to the originals.
Again, from past experience, this is just a case of careful bookkeeping, and some very careful design of your mesh classes up-front. I'd like to give more advice, but even after spending a big chunk of the last six months on this, I'm still struggling to find a "nice" way to do this.
Other Comments
If you're interacting with users, I would strongly recommend avoiding this issue where possible by using an editor that "snaps", rounding all user entered points onto a grid. This will hopefully significantly reduce the amount of work that you have to do.
Yes, you can use OGR. It has python bindings. Specifically, the Geometry class has an Intersects method. I don't fully understand what you want in points 4 and 5.
Does anybody know what triangulation algorithm Maya uses? Lacking that, what would be the most probable algoritms to try? I tried a few simple off the top of my head (shortest/longest resulting edges, smallest minimum angle, smallest/biggest area), but they where all wrong. Is Delaunay the most plausible algoritm?
Edit: by the way, pseudo code on how to implement Delaunay for a 2D quad in 3D space to generate two triangles are more than welcome!
Edit 2: Unfortunately, this is not the answer in 3D-space (only applicable in 2D).
I don't like to second-guess people's intentions but if you are simply trying to get out of Maya what is shown in the viewport you can extract Maya's triangulation by starting with MItMeshPolygon::getTriangles.
(The corresponding normals and vertex colours are straightforwardly accessible. UVs require a little more effort -- I don't remember the details (all my Maya code is with my ex employer) but whilst at first glance it may seem like you don't have the data, in fact it's all there, just not conveniently.)
(One further note -- if your artists try hard enough, they can create polygons that crash Maya when getTriangles is called, even though they render OK and can be manipulated with the UI. This used to happen every few months, so it's worth bearing in mind but probably not worth worrying about too much.)
If you don't want to use the API or Python, then running polyTriangulate before exporting, then undo afterwards (to get back the original polygons) would let you examine out the triangulated mesh. (You may want or need to save the scene to a temp file, then reload it afterwards and use file to give it its old name back, if your export process does stuff that is difficult or impossible to undo.)
This is a bit hacky, but you're guaranteed to get the exact triangulation Maya is using. Rather easier than writing your own triangulation code, and almost certainly a LOT easier than trying to work out whatever Maya does internally...
Jonathan Shewchuk has a very popular 2D triangulation tool called Triangle, and a 3D version should appear soon. He also has a number of papers on this topic that might be of use.
You might try looking at Voronoi and Delaunay Techniques by Henrik Zimmer. I don't know if it's what Maya uses, but the paper describes some common techniques.
Here you can find an applet that demonstrates the Incremental, Gift Wrap, Divide and Conquer and QuickHull algorithms computing the Delaunay triangulation in 3D. Pointers to each algorithm are provided.
I am trying to figure out what algorithms there are to do surface reconstruction from 3D range data. At a first glance, it seems that the Ball pivoting algorithm (BPA) and Poisson surface reconstruction are the more established methods?
What are the established, more robust algorithm in the field other than BPA and Poisson surface reconstruction algorithm?
Recommended research publications?
Is there available source code?
I have been facing this dilemma for some months now, and made exhaustive research.
Algorithms
Mainly there are 2 categories of algorithms: computation geometry, and implicit surfaces.
Computation Geometry
They fit the mesh on the existing points.
Probably the most famous algorithm of this group is powercrust, because it is theoretically well-established - it guarantees watertight mesh.
Ball Pivoting is patented by IBM. Also, it is not suitable for pointclouds with varying point density.
Implicit functions
One fits implicit functions on the pointcloud, then uses a marching-cube-like algorithm to extract the zero-set of the function into a mesh.
Methods in this category differ mainly by the different implicit functions used.
Poisson, Hoppe's, and MPU are the most famous algorithms in this category. If you are new to the topic, i recommend to read Hoppe's thesis, it is very explanatory.
The algorithms of this category usually can be implemented so that they are able to process huge inputs very efficiently, and one can scale their quality<->speed trade-off. They are not disturbed by noise, varying point-density, holes. A disadvantage of them is that they require consistently oriented surface normals at the input points.
Implementations
You will find small number of free implementations. However it depends on whether You are going to integrate it into free software (in this case GPL license is acceptable for You) or into a commercial software (in this case You need a more liberal license). The latter is very rare.
One is in VTK. I suspect it to be difficult to integrate (no documentation is available for free), it has a strange, over-complicated architecture, and is not designed for high-performance applications. Also has some limitations for the allowed input pointclouds.
Take a look at this Poisson implementation, and after that share your experience about it with me please.
Also:
here are a few high-performance algorithms, with surface reconstruction among them.
CGAL is a famous 3d library, but it is free only for free projects.
Meshlab is a famous application with GPL.
Also (Added August 2013):
The library PCL has a module dedicated to surface reconstruction and is in active development (and is part of Google's Summer of Code). The surface module contains a number of different algorithms for reconstruction. PCL also has the ability to estimate surface normals, incase you do not have them provided with your point data, this functionality can be found in the features module. PCL is released under the terms of the BSD license and is open source software, it is free for commercial and research use.
If you want make some direct experiments with various surface reconstruction algorithms you should try MeshLab, the mesh-processing system, it is open source and it contains implementations of many of the previously cited surface reconstruction algorithms, like:
Poisson Surface Recon
a couple of MLS based approach,
a ball pivoting implementation
a variant of the Curless volume based approach
Delaunay based techniques (Alpha shapes and Voronoi filtering)
tools for computing normals from scattered point sets
and many other tools for comparing/measuring/cleaning/simplifying the resulting meshes.
Sources are protected by GPL, so you could not use them in a commercial closed source project, but it is very important to get the right feeling about the properties of the various surface reconstruction algorithms (how sensitive to noise they are, the speed, the robustness to outliers, how they preserve fine details etc etc) before starting to implement one of them.
You might start looking at some recent work in the field - currently something like Fast low-memory streaming MLS reconstruction of point-sampled surfaces by Gianmauro Cuccuru, Enrico Gobbetti, Fabio Marton, Renato Pajarola, and Ruggero Pintus. Its citations can get you going through the literature pretty quickly.
While not a mesh representation, an ex-colleague recommended me this link
to source code for a Thin Plate Spline method:
Link
Anyone tried it?
Not sure if it's exactly right for your case, since it seems weird that you omitted it, but marching cubes is commonly mentioned in cases like these.
As I had this problem too, I did develop and implement my own point cloud crust algorithm. The sources, as well as the documentation, can be found on github.com: https://github.com/meixxi/PointCloudCrust. The algorithm is implemented in Java.
Maybe, this can help you. You can find also a short python script on the page which illustrates how to use the library. Have fun!
Here on GitHub, is a open source Mesh Processing Library in C++ by Dr. Hugues Hoppe, in which the surface reconstruction program Recon is a good option for your problem...
There is 3D Delaunay tool by Geometric Tools. This tool is used DirecX and OpenGL. Unfortunately, you may need buy a book to see actual example code of the library. You still read the code and figure out.
Matlab also introduced a surface reconstruction tool using Delaunay, delaunayTriangulation class.
You might be interested in Alpha Shapes.