I would like to get the Volume of something that moves on a certain trajectory.
Let's take a cube e.g. if the cube moves in a straight line you would get a cuboid.
If this cube moves in a circular you get somehting like this:
Is there a Library out there that can calcutlate this for me with any given object and trajectory? Objects like a Toycar, Coke Bottle, drill etc.
What field of Mathematics am I in? I don't know the right words to google.
I know: C/++, Python, bash and Matlab.
I am willing to learn new Languages.
If there is a CAD programm, thats fine with me too.
Cheers
Blusser
You shouldn't need a library for that: given the Surface Area of the Square as S and the length of your trace as T, the volume of the cuboid is S * T.
You have to adapt S to whatever shape is moving along the trace
Related
Okay, so I have one OBJ file which I read into PCLpointcloud2. Now I want to feed it into a K-dTree. Which is not taking PCLPointCloud2 as input. I want to query any general point if it lies on the surface of my OBJ file.
I am finding it hard to understand their documentation. So how can it be done?
Plus, kindly point me to a good reference easily interpretable. And what is "PointT" BTW? Is it custom build type defined by us? please elaborate.
Look at the code in the provided tool pcl_mesh_sampling (in the PCL code directory under tools/mesh_sampling.cpp). It is relatively simple. It loads a model from PLY or OBJ then for each triangle it samples random points from the triangle. The final point cloud then undergoes a voxel-grid sample to make the points relatively uniform. Alternatively, you can just run the pcl_mesh_sampling program on your obj file to get an output PCD which you can then visualise with pcl_viewer before loading the PCD file into your own code.
Once you have the final point cloud, you can build and use a KD-Tree as per http://pointclouds.org/documentation/tutorials/kdtree_search.php
PointT is the template argument. The point cloud library can handle a variety of point types, from simple PointXYZ (having just x,y,z) to more complicated points like PointXYZRGBNormal (having x,y,z,normal_x,normal_y,normal_z, curvature, r, g, and b channels). Each algorithm is templated on the point type that you want to use. It would probably be easier if you used PointXYZ with your OBJ file, so use pcl::PointXYZ for all your template arguments. For more on templates see http://www.tutorialspoint.com/cplusplus/cpp_templates.htm and http://pointclouds.org/documentation/tutorials/adding_custom_ptype.php.
Update (reply to latest comment)
Added here because this reply is too long for a comment.
I think I see what you are getting at. So when you sample points from the point cloud & build a KD-tree of the object surface, and for each point you keep track which faces are nearby that point (probably all the faces adjacent to the face from which the point was sampled should be sufficient? Just one face is definitely insufficient). Then when the query point is given, you find the nearest point in the KD-tree and check whether the query point is on the "outside" or inside of the full list of nearby faces associated with that point in the KD-tree. If it's on the "inside" of all of them perhaps it is an interior point. But I cannot guarantee that this is true. That is my thinking on that question at the moment. But I do wonder if you want a mesh-based approach really. By the way, if you break your mesh up into convex parts then you can have nice guarantees when processing each convex part.
I'm trying to build an Augmented Reality Demonstration, like this iPhone App:
http://www.acrossair.com/acrossair_app_augmented_reality_nearesttube_london_for_iPhone_3GS.htm
However my geometry/math is a bit rusty nowadays.
This is what I know:
If i have my Android phone on the landscape mode (with the home button on the left), my z axis points to the direction I'm looking.
From the sensors of my phone i know what is the angle my z axis has with the North axis, let's call this angle theta.
If I have a vector from my current position to the point I want to show in my screen, i can calculate the angle this vector does with my z axis. Let's call this angle alpha.
So, based on the alpha angle I have a perception of where the point is, and I'm able to show it in the screen (like the Nearest Tube App).
This is the basic theory of a simple demonstration (of course it's nothing like the App, but it's the first step).
Can someone give me some lights on this matter?
[Update]
I've found this very interesting example, however I need to have the movement on both xx and yy axis. Any hints?
The basics are easy. You need the angle between your location and your destiny (arctangent), and the heading (from the digital compass in your phone). See this answer: Augmented Reality movement There is some objective-c code down there that you can read if you come from java.
What you want is a 3d-Space-Filling-Curve for example a hilbert-curve. That is a spatial index over 3 ccordinate. It is comparable to a octree. You want to store the object in that octree and do a depth-firat search on the coordinate you have recorded with your iphone as fixed coordinate probably the center of the screen. A octree subdivde the space continously in eigth directions and a 3d-Space-Filling-Curve is an hamiltonian path through the space which is like a fracta but it is clearly distinctable from the region of the octree. I use 2d-hilbert-curve to speed search in geospatial databases. Maybe you want to start with this first?
Basically, I'm looking for something like this awesome research project: Gmap, which was referenced in this related SO question.
It's a rather novel data visualization that combines a network graph with an imaginary set of regions that looks like a map. Basically, the map-ification helps humans comprehend the enormous data set better.
Cool, huh? GMap doesn't appear to be open source, though I plan to contact the authors.
I already know how to create a network graph with a force-directed layout (currently using Prefuse/Flare), so an answer could be a way to layer a mapping algorithm on top of an existing graph. I'm also not concerned about the client-side at all right now - this would be a backend process, and I am flexible about technology stack and data output at this stage.
There's also this paper that describes the algorithm backing GMap. If you have heard of Voronoi diagrams (which rock, but make my head hurt), this paper is for you. I quit after Calc 1, though, so I'm hoping to avoid remembering what sigmas and epsilons are.
As a start, could you do a simple closest point sort of an algorithm? So it looks something like this: You have your force directed layout and have computed some sort of bounding box. Now you want to render it. Adjust your bounding box to line up to the origin and then as you calculate the color of each pixel, find it's closest point. This should generate some semblance of regions and should be quite simple to try out. Of course, it isn't going to be as pretty as GMap, but maybe a start? The runtime would be awful, but... I don't know about you but computing boundary lines directly sounds a lot harder to me.
I'm trying to create a very specific geodesic tessellation, but I can't find anything online about it.
It is normal to subdivide the triangles of an icosahedron into triangle patches and project them onto the sphere. However, I noticed an animated GIF on the Wikipedia entry for Geodesic Domes that appears not to follow this scheme. Geodesic spheres generally comprise a mixture of mostly hexagonal triangle patches, with pentagonal patches forming at the vertices of the original icosahedron; in most cases, these pentagons are linked together; that is, following a straight edge from the center of one pentagon leads to the center of another pentagon. In the Wikipedia animation, however, the edge from the center of one pentagon doesn't appear to intersect the center of an adjacent pentagons; instead it intersects the side of the other pentagon.
Where can I go to learn about the math behind this particular geometry? Ideally, I'd like to know of an algorithm for generating such tessellations.
Marcelo,
The most-commonly employed geodesic tessellations are either Class-I or Class-II. The image you reference is of a Class-III tessellation, more-specifically, 4v{3,1}. The classes can be diagrammed, so:
Class-III tessellations are chiral, and can have left-handed or right-handed twist. Here's the mirror-image of the sample you referenced:
You can find some 3D models of Class-III spheres, at Google's 3D Warehouse:
http://sketchup.google.com/3dwarehouse/cldetails?mid=b926c2713e303860a99d92cd8fe533cd
Being properly identified should get you off to a good start.
Feel free to stop by the Geodesic Help Group; http://groups.google.com/group/GeodesicHelp?hl=en
TaffGoch
Here's an image from one of Joe Clinton's NASA publications:
I believe it is actually just a matter of resolution (i.e., number of sub-divisions). The tessellation you show does seem to emanate from an icosahedron scheme: cf p.7 here, mid-page example. Check out the rest of the document for some calculation details - also its cited references, and some further code samples here.
Marcelo,
If you want to devise algorithms to generate any class of geodesic spheres, you can do it here:
http://thomson.phy.syr.edu/thomsonapplet.htm
Start by using the "custom(m,n)" option, select your desired parameters, then hit the "pause" button. Switch to "lattice energy" and hit the "Auto" button.
If you're intimately familiar with java, you can save the "jar" file(s) for this app, and examine the contents, to back-engineer the algorithms.
BTW, this java app also has a "File" menu option, which can activate a new window, listing the "Point set" (vertex coordinates.) I copy & paste them into an Excel spreadsheet, from which I can generate a "csv" file that can be, subsequently, imported into 3D-graphic programs.
Taff
For use in a rigid body simulation, I want to compute the mass and inertia tensor (moment of inertia), given a triangle mesh representing the boundary of the (not necessarily convex) object, and assuming constant density in the interior.
Assuming your trimesh is closed (whether convex or not) there is a way!
As dmckee points out, the general approach is building tetrahedrons from each surface triangle, then applying the obvious math to total up the mass and moment contributions from each tet. The trick comes in when the surface of the body has concavities that make internal pockets when viewed from whatever your reference point is.
So, to get started, pick some reference point (the origin in model coordinates will work fine), it doesn't even need to be inside of the body. For every triangle, connect the three points of that triangle to the reference point to form a tetrahedron. Here's the trick: use the triangle's surface normal to figure out if the triangle is facing towards or away from the reference point (which you can find by looking at the sign of the dot product of the normal and a vector pointing at the centroid of the triangle). If the triangle is facing away from the reference point, treat its mass and moment normally, but if it is facing towards the reference point (suggesting that there is open space between the reference point and the solid body), negate your results for that tet.
Effectively what this does is over-count chunks of volume and then correct once those areas are shown to be not part of the solid body. If a body has lots of blubbery flanges and grotesque folds (got that image?), a particular piece of volume may be over-counted by a hefty factor, but it will be subtracted off just enough times to cancel it out if your mesh is closed. Working this way you can even handle internal bubbles of space in your objects (assuming the normals are set correctly). On top of that, each triangle can be handled independently so you can parallelize at will. Enjoy!
Afterthought: You might wonder what happens when that dot product gives you a value at or near zero. This only happens when the triangle face is parallel (its normal is perpendicular) do the direction to the reference point -- which only happens for degenerate tets with small or zero area anyway. That is to say, the decision to add or subtract a tet's contribution is only questionable when the tet wasn't going to contribute anything anyway.
Decompose your object into a set of tetrahedrons around the selected interior point. (That is solids using each triangular face element and the chosen center.)
You should be able to look up the volume of each element. The moment of inertia should also be available.
It gets to be rather more trouble if the surface is non-convex.
I seem to have miss-remembered by nomenclature and skew is not the adjective I wanted. I mean non-regular.
This is covered in the book "Game Physics, Second Edition" by D. Eberly. The chapter 2.5.5 and sample code is available online. (Just found it, haven't tried it out yet.)
Also note that the polyhedron doesn't have to be convex for the formulas to work, it just has to be simple.
I'd take a look at vtkMassProperties. This is a fairly robust algorithm for computing this, given a surface enclosing a volume.
If your polydedron is complicated, consider using Monte Carlo integration, which is often used for multidimensional integrals. You will need an enclosing hypercube, and you will need to be able to test whether a given point is inside or outside the polyhedron. And you will need to be patient, as Monte Carlo integration is slow.
Start as usual at Wikipedia, and then follow the external links pages for further reading.
(For those unfamiliar with Monte Carlo integration, here's how to compute a mass. Pick a point in the containing hypercube. Add to the point_total counter. Is it in the polyhedron? If yes, add to the point_internal counter. Do this lots (see the convergence and error bound estimates.) Then
mass_polyhedron/mass_hypercube \approx points_internal/points_total.
For a moment of inertia, you weight each count by the square of the distance of the point to the reference axis.
The tricky part is testing whether a point is inside or outside your polyhedron. I'm sure that there are computational geometry algorithms for that.