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Add tests & docs for ccMesh
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‎docs/examples.rst‎

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@@ -9,6 +9,12 @@ Creating a ccPointCloud from Python
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:language: Python
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Using ccMesh
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-----------------------------------
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.. literalinclude:: ../script_examples/creating_a_mesh.py
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:language: Python
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Loading a file
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--------------
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‎script_examples/creating_a_mesh.py‎

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"""
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An example of how to create a mesh or query a mesh
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"""
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import cccorelib
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import pycc
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import numpy as np
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# Vertices of the cube
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VERTICES = np.array([
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[-0.5, -0.5, -0.5],
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[-0.5, -0.5, 0.5],
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[-0.5, 0.5, -0.5],
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[-0.5, 0.5, 0.5],
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[0.5, -0.5, -0.5],
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[0.5, -0.5, 0.5],
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[0.5, 0.5, -0.5],
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[0.5, 0.5, 0.5]
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])
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# Indices of the cube
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INDICES = np.array([
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[0, 1, 3],
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[0, 3, 2],
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[0, 2, 4],
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[2, 6, 4],
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[0, 4, 1],
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[1, 4, 5],
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[2, 3, 6],
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[3, 7, 6],
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[4, 6, 5],
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[5, 6, 7],
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[1, 5, 7],
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[1, 7, 3]
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])
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def main():
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# Creating mesh
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vertices = pycc.ccPointCloud(VERTICES[:, 0], VERTICES[:, 1], VERTICES[:, 2])
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mesh = pycc.ccMesh(vertices)
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for (i1, i2, i3) in INDICES:
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mesh.addTriangle(i1, i2, i3)
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assert vertices.size() == len(VERTICES)
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assert mesh.size() == len(INDICES)
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assert vertices == mesh.getAssociatedCloud()
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# Query triangles
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x, y, z = cccorelib.CCVector3(), cccorelib.CCVector3(), cccorelib.CCVector3()
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for i in range(mesh.size()):
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vert_indices = mesh.getTriangleVertIndexes(i)
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assert vert_indices.i1 == INDICES[i, 0]
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assert vert_indices.i2 == INDICES[i, 1]
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assert vert_indices.i3 == INDICES[i, 2]
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for j in range(3):
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assert vert_indices[j] == INDICES[i, j]
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vertices.getPoint(vert_indices.i1, x)
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vertices.getPoint(vert_indices.i2, y)
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vertices.getPoint(vert_indices.i3, z)
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# or
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mesh.getTriangleVertices(i, x, y, z)
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CC = pycc.GetInstance()
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CC.addToDB(mesh)
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CC.updateUI()
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if __name__ == '__main__':
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main()

‎wrapper/cccorelib/src/GenericMesh.cpp‎

Lines changed: 14 additions & 3 deletions
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@@ -25,10 +25,21 @@ using namespace pybind11::literals;
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void define_GenericMesh(py::module &cccorelib)
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{
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py::class_<CCCoreLib::GenericMesh>(cccorelib, "GenericMesh")
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.def("size", &CCCoreLib::GenericMesh::size)
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py::class_<CCCoreLib::GenericMesh>(cccorelib, "GenericMesh", R"pbdoc(
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A generic mesh interface for data communication between library and client applications
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)pbdoc")
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.def("size", &CCCoreLib::GenericMesh::size, R"pbdoc(
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Returns the number of triangles
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)pbdoc")
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.def("forEach", &CCCoreLib::GenericMesh::forEach, "action"_a)
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.def("getBoundingBox", &CCCoreLib::GenericMesh::getBoundingBox, "bbMin"_a, "bbMax"_a)
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.def("getBoundingBox", &CCCoreLib::GenericMesh::getBoundingBox, "bbMin"_a, "bbMax"_a, R"pbdoc(
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Returns the mesh bounding-box
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Parameters
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----------
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bbMin: out parameter, lower bounding-box limits (Xmin,Ymin,Zmin)
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bbMax: out parameter, higher bounding-box limits (Xmax,Ymax,Zmax)
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)pbdoc")
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.def("placeIteratorAtBeginning", &CCCoreLib::GenericMesh::placeIteratorAtBeginning)
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.def("_getNextTriangle",
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&CCCoreLib::GenericMesh::_getNextTriangle,

‎wrapper/pycc/src/qcc_db/ccMesh.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -22,12 +22,43 @@
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#include <ccGenericMesh.h>
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#include <ccGenericPointCloud.h>
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#include <ccMesh.h>
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#include <ccPointCloud.h>
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namespace py = pybind11;
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using namespace pybind11::literals;
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void define_ccMesh(py::module &m)
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{
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py::class_<ccMesh, ccGenericMesh>(m, "ccMesh")
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.def("setAssociatedCloud", &ccMesh::setAssociatedCloud, "cloud"_a);
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.def(
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py::init<ccGenericPointCloud *, unsigned>(),
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"vertices"_a,
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"uniquedID"_a = []() { return ccUniqueIDGenerator::InvalidUniqueID; }(),
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// Keep the cloud (2) alive while the mesh (1) is alive py::keep_alive<1,
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// 2>())
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// one could have expected <0, 1> as the mesh is the return value in C++
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// but in python __init__ there is a self/this as arg 1
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py::keep_alive<1, 2>())
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.def("setAssociatedCloud",
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&ccMesh::setAssociatedCloud,
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"cloud"_a,
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py::keep_alive<1, 2>() /* Keep the cloud (2) alive while the mesh (1) is alive */)
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.def("addTriangle",
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&ccMesh::addTriangle,
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"i1"_a,
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"i2"_a,
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"i3"_a,
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R"pbdoc(
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Adds a triangle to the mesh
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Bounding-box validity is broken after a call to this method.
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However, for the sake of performance, no call to notifyGeometryUpdate
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is made automatically. Make sure to do so when all modifications are done!
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Parameters
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----------
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i1 first vertex index (relatively to the vertex cloud)
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i2 second vertex index (relatively to the vertex cloud)
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i3 third vertex index (relatively to the vertex cloud)
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)pbdoc");
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}

‎wrapper/pycc/src/qcc_db/ccObject.cpp‎

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@@ -292,7 +292,10 @@ void define_ccObject(py::module &m)
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"trans"_a = nullptr)
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.def("getGLTransformationHistory", &ccHObject::getGLTransformationHistory)
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.def("setGLTransformationHistory", &ccHObject::setGLTransformationHistory, "mat"_a)
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.def("resetGLTransformationHistory", &ccHObject::resetGLTransformationHistory);
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.def("resetGLTransformationHistory", &ccHObject::resetGLTransformationHistory)
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.def("notifyGeometryUpdate", &ccHObject::notifyGeometryUpdate, R"pbdoc(
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Notifies all dependent entities that the geometry of this entity has changed
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)pbdoc");
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py::class_<ccShiftedObject, ccHObject>(m, "ccShiftedObject")
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.def("setGlobalShift",

‎wrapper/pycc/tests/test_cc_mesh.py‎

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import cccorelib
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import numpy as np
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import pycc
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import pytest
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# Vertices of the cube
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VERTICES = np.array([
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[-0.5, -0.5, -0.5],
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[-0.5, -0.5, 0.5],
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[-0.5, 0.5, -0.5],
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[-0.5, 0.5, 0.5],
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[0.5, -0.5, -0.5],
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[0.5, -0.5, 0.5],
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[0.5, 0.5, -0.5],
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[0.5, 0.5, 0.5]
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])
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# Indices of the cube
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INDICES = np.array([
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[0, 1, 3],
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[0, 3, 2],
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[0, 2, 4],
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[2, 6, 4],
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[0, 4, 1],
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[1, 4, 5],
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[2, 3, 6],
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[3, 7, 6],
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[4, 6, 5],
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[5, 6, 7],
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[1, 5, 7],
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[1, 7, 3]
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])
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def assert_ccvector_are_equal(a: cccorelib.CCVector3, b: cccorelib.CCVector3):
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assert a.x == b.x
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assert a.y == b.y
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assert a.z == b.z
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def expected_points_of_triangle(triangle_index):
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x = cccorelib.CCVector3(
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VERTICES[INDICES[triangle_index, 0], 0],
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VERTICES[INDICES[triangle_index, 0], 1],
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VERTICES[INDICES[triangle_index, 0], 2]
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)
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y = cccorelib.CCVector3(
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VERTICES[INDICES[triangle_index, 1], 0],
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VERTICES[INDICES[triangle_index, 1], 1],
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VERTICES[INDICES[triangle_index, 1], 2]
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)
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z = cccorelib.CCVector3(
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VERTICES[INDICES[triangle_index, 2], 0],
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VERTICES[INDICES[triangle_index, 2], 1],
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VERTICES[INDICES[triangle_index, 2], 2]
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)
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return x, y, z
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def build_cube_mesh():
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vertices = pycc.ccPointCloud(VERTICES[:, 0], VERTICES[:, 1], VERTICES[:, 2])
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mesh = pycc.ccMesh(vertices)
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for (i1, i2, i3) in INDICES:
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mesh.addTriangle(i1, i2, i3)
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return mesh, vertices
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def test_building_mesh():
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mesh, vertices = build_cube_mesh()
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assert vertices.size() == len(VERTICES)
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assert mesh.size() == len(INDICES)
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assert vertices == mesh.getAssociatedCloud()
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def test_mesh_lifetime_1():
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mesh, vertices = build_cube_mesh()
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assert vertices == mesh.getAssociatedCloud()
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del mesh
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# If mesh is deleted, vertices should still be alive
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assert vertices.size() == len(VERTICES)
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def test_mesh_lifetime_2():
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mesh, vertices = build_cube_mesh()
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assert vertices == mesh.getAssociatedCloud()
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del vertices
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# If vertices is deleted, then actually the mesh still have access to it
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# i.e. the mesh keeps it alive.
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# In CPP API, there is a HOjbect dependency between the two, and so when
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# the vertices are deleted, the mesh is notified of it and empties himself, so it is actually safe
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# to delete the vertices, but as lifetime is not manual in Python, it's better to keep it alive
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assert mesh.size() == len(INDICES)
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assert mesh.getAssociatedCloud().size() == len(VERTICES)
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def test_getTriangleVertIndexes():
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x, y, z = cccorelib.CCVector3(), cccorelib.CCVector3(), cccorelib.CCVector3()
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mesh, vertices = build_cube_mesh()
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for i in range(mesh.size()):
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vert_indices = mesh.getTriangleVertIndexes(i)
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assert vert_indices.i1 == INDICES[i, 0]
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assert vert_indices.i2 == INDICES[i, 1]
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assert vert_indices.i3 == INDICES[i, 2]
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for j in range(3):
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assert vert_indices[j] == INDICES[i, j]
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vertices.getPoint(vert_indices.i1, x)
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vertices.getPoint(vert_indices.i2, y)
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vertices.getPoint(vert_indices.i3, z)
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ex, ey, ez = expected_points_of_triangle(i)
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assert_ccvector_are_equal(x, ex)
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assert_ccvector_are_equal(y, ey)
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assert_ccvector_are_equal(z, ez)
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with pytest.raises(IndexError):
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mesh.getTriangleVertIndexes(mesh.size())
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with pytest.raises(IndexError):
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mesh.getTriangleVertIndexes(mesh.size() + 1)
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def test_getTriangleVertices():
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x, y, z = cccorelib.CCVector3(), cccorelib.CCVector3(), cccorelib.CCVector3()
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mesh, _ = build_cube_mesh()
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for i in range(mesh.size()):
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mesh.getTriangleVertices(i, x, y, z)
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ex, ey, ez = expected_points_of_triangle(i)
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assert_ccvector_are_equal(x, ex)
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assert_ccvector_are_equal(y, ey)
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assert_ccvector_are_equal(z, ez)
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with pytest.raises(IndexError):
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mesh.getTriangleVertices(mesh.size(), x, y, z)
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with pytest.raises(IndexError):
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mesh.getTriangleVertices(mesh.size() + 1, x, y, z)

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