PlanePrimitiveShape.h

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#ifndef PLANEPRIMITIVESHAPE_HEADER
#define PLANEPRIMITIVESHAPE_HEADER
#include "BitmapPrimitiveShape.h"
#include "Plane.h"
#include <GfxTL/HyperplaneCoordinateSystem.h>
#include <GfxTL/AABox.h>
#include <GfxTL/MatrixXX.h>
#include <GfxTL/VectorXD.h>
#include "LevMarFunc.h"
 
#ifndef DLL_LINKAGE
#define DLL_LINKAGE
#endif
 
class DLL_LINKAGE PlanePrimitiveShape
    : public BitmapPrimitiveShape
{
public:
    PlanePrimitiveShape(const Vec3f& a, const Vec3f& b, const Vec3f& c);
    PlanePrimitiveShape(const Plane& plane);
    size_t Identifier() const;
    unsigned int RequiredSamples() const
    {
        return Plane::RequiredSamples;
    }
    PrimitiveShape* Clone() const;
    float Distance(const Vec3f& p) const;
    float SignedDistance(const Vec3f& p) const;
    float NormalDeviation(const Vec3f& p, const Vec3f& n) const;
    void DistanceAndNormalDeviation(const Vec3f& p, const Vec3f& n,
                                    std::pair< float, float >* dn) const;
    void Project(const Vec3f& p, Vec3f* pp) const;
    void Normal(const Vec3f& p, Vec3f* n) const;
    unsigned int ConfidenceTests(unsigned int numTests, float epsilon,
                                 float normalThresh, float rms, const PointCloud& pc,
                                 const MiscLib::Vector< size_t >& indices) const;
    void Description(std::string* s) const;
    bool Fit(const PointCloud& pc, float epsilon, float normalThresh,
             MiscLib::Vector< size_t >::const_iterator begin,
             MiscLib::Vector< size_t >::const_iterator end);
    PrimitiveShape* LSFit(const PointCloud& pc, float epsilon,
                          float normalThresh,
                          MiscLib::Vector< size_t >::const_iterator begin,
                          MiscLib::Vector< size_t >::const_iterator end,
                          std::pair< size_t, float >* score) const;
    LevMarFunc< float >* SignedDistanceFunc() const;
    void Serialize(std::ostream* o, bool binary = true) const;
    size_t SerializedSize() const;
    virtual void Serialize(float* array) const
    {
        m_plane.Serialize(array);
    }
    virtual size_t SerializedFloatSize() const
    {
        return m_plane.SerializedFloatSize();
    }
    void Transform(float scale, const Vec3f& translate);
    void Transform(const GfxTL::MatrixXX< 3, 3, float >& rot,
                   const GfxTL::Vector3Df& trans);
    void Visit(PrimitiveShapeVisitor* visitor) const;
    bool Similar(float tolerance, const PlanePrimitiveShape&) const;
    const Plane& Internal() const
    {
        return m_plane;
    }
 
    void Parameters(const Vec3f& p,
                    std::pair< float, float >* param) const;
    void Parameters(GfxTL::IndexedIterator< MiscLib::Vector< size_t >::iterator,
                    PointCloud::const_iterator > begin,
                    GfxTL::IndexedIterator< MiscLib::Vector< size_t >::iterator,
                    PointCloud::const_iterator > end,
                    MiscLib::Vector< std::pair< float, float > >* bmpParams) const;
    void Parameters(GfxTL::IndexedIterator< IndexIterator,
                    PointCloud::const_iterator > begin,
                    GfxTL::IndexedIterator< IndexIterator,
                    PointCloud::const_iterator > end,
                    MiscLib::Vector< std::pair< float, float > >* bmpParams) const;
    bool InSpace(float u, float v, Vec3f* p, Vec3f* n) const;
    void BitmapExtent(float epsilon,
                      GfxTL::AABox< GfxTL::Vector2Df >* bbox,
                      MiscLib::Vector< std::pair< float, float > >* params,
                      size_t* uextent, size_t* vextent);
    void InBitmap(const std::pair< float, float >& param, float epsilon,
                  const GfxTL::AABox< GfxTL::Vector2Df >& bbox, size_t uextent,
                  size_t vextent, std::pair< int, int >* inBmp) const;
    void WrapBitmap(const GfxTL::AABox< GfxTL::Vector2Df >& bbox,
                    float epsilon, bool* uwrap, bool* vwrap) const;
    void SetExtent(const GfxTL::AABox< GfxTL::Vector2Df >& bbox,
                   const MiscLib::Vector< int >& componentsImg, size_t uextent,
                   size_t vextent, float epsilon, int label);
    bool InSpace(size_t u, size_t v, float epsilon,
                 const GfxTL::AABox< GfxTL::Vector2Df >& bbox, size_t uextent,
                 size_t vextent, Vec3f* p, Vec3f* n) const;
 
private:
    template< class IteratorT >
    void ParametersImpl(IteratorT begin, IteratorT end,
                        MiscLib::Vector< std::pair< float, float > >* bmpParams) const;
 
private:
    Plane m_plane;
    GfxTL::HyperplaneCoordinateSystem< float, 3 > m_hcs;
};
 
template< class IteratorT >
void PlanePrimitiveShape::ParametersImpl(IteratorT begin, IteratorT end,
        MiscLib::Vector< std::pair< float, float > >* bmpParams) const
{
    bmpParams->resize(end - begin);
    size_t j = 0;
    for (IteratorT i = begin; i != end; ++i, ++j)
    {
        Vec3f pp = *i - m_plane.getPosition();
        (*bmpParams)[j].first = pp.dot(m_hcs[0].Data());
        (*bmpParams)[j].second = pp.dot(m_hcs[1].Data());
    }
}
 
class DLL_LINKAGE PlaneLevMarFunc
    : public LevMarFunc< float >
{
public:
    PlaneLevMarFunc(const Plane& plane)
    {
        for (unsigned int i = 0; i < 3; ++i)
        {
            m_plane[i] = plane.getNormal()[i];
        }
        m_plane[3] = plane.SignedDistToOrigin();
    }
 
    float operator()(const float* x) const
    {
        return m_plane[0] * x[0] + m_plane[1] * x[1] +
               m_plane[2] * x[2] - m_plane[3];
    }
 
    void operator()(const float* x, float* gradient) const
    {
        for (unsigned int i = 0; i < 3; ++i)
        {
            gradient[i] = m_plane[i];
        }
    }
 
private:
    GfxTL::Vector4Df m_plane;
};
 
#endif