Function segment_mesh_wrapper

utils/cpp_utils/segmentator.cpp:159–251

// Wrapper function to first process input data
namespace py = pybind11;
py::tuple segment_mesh_wrapper(py::array np_vertices, py::array np_faces, py::array np_colors, const float kthr=0.005, const int segMinVerts=20){

    // get sizes of objects
    auto castedVertices = np_vertices.request();
    auto castedFaces = np_faces.request();
    auto castedColors = np_colors.request();
    uint32_t nVertices = castedVertices.shape[0];
    uint32_t nFaces = castedFaces.shape[0];

    // Request buffers
    float* request_vertices = (float*) castedVertices.ptr;
    int* request_faces = (int*) castedFaces.ptr;
    float* request_colors = (float*) castedColors.ptr;

    // allocate and parse vectors
    vector<vec3f> vertices(nVertices, vec3f(0., 0., 0.));
    vector<vec3f> normals(nVertices, vec3f(0., 0., 0.));
    vector<vec3f> colors(nVertices, vec3f(0., 0., 0.));
    vector<vec3i> faces(nFaces, vec3f(0., 0., 0.));

    for (int i = 0; i < nVertices; ++i) {
        vertices[i] = vec3f(request_vertices[i * 3], request_vertices[i * 3 + 1], request_vertices[i * 3 + 2]);
        colors[i] = vec3f(request_colors[i * 3], request_colors[i * 3 + 1], request_colors[i * 3 + 2]);
    }
    for (int i = 0; i < nFaces; ++i) {
        faces[i] = vec3i(request_faces[i * 3], request_faces[i * 3 + 1], request_faces[i * 3 + 2]);
    }

    // Parse to MeshDataf object
    // std::cout << "Segmenting: " << meshFile << ", threshold: " << kthr << ", min verts: " << segMinVerts << std::endl;
    MeshDataf mesh;
    mesh.m_Vertices = vertices;
    mesh.m_Normals = normals;
    mesh.m_Colors = colors;
    mesh.m_FaceIndicesVertices = faces;

    // Do the actual processing
    // std::cout << "Starting segmentation with " << nVertices << " vertices and " << nFaces << " faces." << std::endl;
    std::map<std::pair<int, int>, int> connectivity;
    const vector<int> comps = segment_mesh(mesh, kthr, segMinVerts, connectivity);

    // Map comps and connectivity to a [0-N] range instead of vertex indices
    std::map<int, int> comp_mapping;
    vector<int> comps_new;
    comps_new = comps;  // copy by value

    // Get sorted unique components
    sort(comps_new.begin(), comps_new.end());
    auto last = unique(comps_new.begin(), comps_new.end());
    comps_new.erase(last, comps_new.end());

    // Add components to mapping
    for (int unique_index = 0; unique_index < comps_new.size(); unique_index++) {
        comp_mapping.insert(std::pair<int, int>(comps_new[unique_index], unique_index));
    }

    // Map components
    comps_new = comps;  // copy by value