PrimtiveShape is a shape primitive in conjunction with a parametrization. More...

#include <VisionX/components/pointcloud_processor/EfficientRANSACPrimitiveExtractor/EfficientRANSAC/PrimitiveShape.h>

Inheritance diagram for PrimitiveShape:

Public Types
typedef MiscLib::Vector< GfxTL::VectorXD< 2, size_t > >	BitmapPolygon

typedef MiscLib::Vector< BitmapPolygon >	ComponentPolygons

Public Member Functions
virtual PrimitiveShape *	Clone () const =0

virtual unsigned int	ConfidenceTests (unsigned int numTests, float epsilon, float normalThresh, float rms, const PointCloud &pc, const MiscLib::Vector< size_t > &indices) const =0

virtual size_t	ConnectedComponent (const PointCloud &pc, float epsilon, MiscLib::Vector< size_t > indices, bool doFiltering=true, float borderRatio=0)=0

virtual void	Description (std::string *s) const =0

virtual float	Distance (const Vec3f &p) const =0

virtual void	DistanceAndNormalDeviation (const Vec3f &p, const Vec3f &n, std::pair< float, float > *dn) const =0

virtual bool	Fit (const PointCloud &pc, float epsilon, float normalThresh, MiscLib::Vector< size_t >::const_iterator begin, MiscLib::Vector< size_t >::const_iterator end)=0

virtual void	GenerateBitmapPoints (const PointCloud &pc, float epsilon, size_t begin, size_t end, PointCloud *bmpPc) const =0

virtual size_t	Identifier () const =0

virtual bool	InSpace (float u, float v, Vec3f p, Vec3f n) const =0

virtual 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 =0

virtual void	Normal (const Vec3f &p, Vec3f *n) const =0

virtual float	NormalDeviation (const Vec3f &p, const Vec3f &n) const =0

virtual void	OptimizeParametrization (const PointCloud &pc, size_t begin, size_t end, float epsilon)

virtual void	Parameters (const Vec3f &p, std::pair< float, float > *param) const =0

virtual void	Project (const Vec3f &p, Vec3f *pp) const =0

virtual unsigned int	RequiredSamples () const =0

virtual void	Serialize (float *array) const =0

virtual void	Serialize (std::ostream *o, bool binary=true) const =0
	This is the one and only serialization function It stores all the parameters of the shape as well as the parametrization. More...

virtual size_t	SerializedFloatSize () const =0

virtual size_t	SerializedSize () const =0

virtual float	SignedDistance (const Vec3f &p) const =0

virtual LevMarFunc< float > *	SignedDistanceFunc () const =0

virtual void	SuggestSimplifications (const PointCloud &pc, MiscLib::Vector< size_t >::const_iterator begin, MiscLib::Vector< size_t >::const_iterator end, float distThresh, MiscLib::Vector< MiscLib::RefCountPtr< PrimitiveShape > > *suggestions) const

virtual void	Transform (float scale, const Vec3f &translate)=0

virtual void	TrimmingPolygons (const PointCloud &pc, float epsilon, size_t begin, size_t end, std::deque< ComponentPolygons > *polys) const =0

virtual void	Visit (PrimitiveShapeVisitor *visitor) const =0

Public Member Functions inherited from RefCount
unsigned int	AddRef () const

RefCount &	operator= (const RefCount &)

	RefCount ()

	RefCount (const RefCount &)

unsigned int	Release () const

Additional Inherited Members
Protected Member Functions inherited from RefCount
virtual	~RefCount ()

Detailed Description

PrimtiveShape is a shape primitive in conjunction with a parametrization.

The parametrization is used for connected component computations. There are some deprecated serialization functions that do not always store the parametrization (at least for some shape types). These functions should no longer be used anywhere! Note: Computing connected components may change the parametrization! (Some shapes align the parametrization so that the memory for the bitmap is reduced)

Definition at line 32 of file PrimitiveShape.h.

Member Typedef Documentation

◆ BitmapPolygon

typedef MiscLib::Vector< GfxTL::VectorXD< 2, size_t > > BitmapPolygon

Definition at line 75 of file PrimitiveShape.h.

◆ ComponentPolygons

typedef MiscLib::Vector< BitmapPolygon > ComponentPolygons

Definition at line 76 of file PrimitiveShape.h.

Member Function Documentation

◆ Clone()

virtual PrimitiveShape* Clone ( ) const

pure virtual

Implemented in SpherePrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, CylinderPrimitiveShape, and ConePrimitiveShape.

Here is the caller graph for this function:

◆ ConfidenceTests()

virtual unsigned int ConfidenceTests	(	unsigned int	numTests,
		float	epsilon,
		float	normalThresh,
		float	rms,
		const PointCloud &	pc,
		const MiscLib::Vector< size_t > &	indices
	)		const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, ConePrimitiveShape, and BasePrimitiveShape.

◆ ConnectedComponent()

virtual size_t ConnectedComponent	(	const PointCloud &	pc,
		float	epsilon,
		MiscLib::Vector< size_t > *	indices,
		bool	doFiltering = `true`,
		float *	borderRatio = `0`
	)

pure virtual

Implemented in BitmapPrimitiveShape.

Here is the caller graph for this function:

◆ Description()

virtual void Description ( std::string * s ) const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

◆ Distance()

virtual float Distance ( const Vec3f & p ) const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

Here is the caller graph for this function:

◆ DistanceAndNormalDeviation()

virtual void DistanceAndNormalDeviation	(	const Vec3f &	p,
		const Vec3f &	n,
		std::pair< float, float > *	dn
	)		const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

Here is the caller graph for this function:

◆ Fit()

virtual bool Fit	(	const PointCloud &	pc,
		float	epsilon,
		float	normalThresh,
		MiscLib::Vector< size_t >::const_iterator	begin,
		MiscLib::Vector< size_t >::const_iterator	end
	)

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

◆ GenerateBitmapPoints()

virtual void GenerateBitmapPoints	(	const PointCloud &	pc,
		float	epsilon,
		size_t	begin,
		size_t	end,
		PointCloud *	bmpPc
	)		const

pure virtual

Implemented in BitmapPrimitiveShape.

◆ Identifier()

virtual size_t Identifier ( ) const

pure virtual

Implemented in SpherePrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, CylinderPrimitiveShape, and ConePrimitiveShape.

Here is the caller graph for this function:

◆ InSpace()

virtual bool InSpace	(	float	u,
		float	v,
		Vec3f *	p,
		Vec3f *	n
	)		const

pure virtual

Implemented in BitmapPrimitiveShape, SpherePrimitiveShape, CylinderPrimitiveShape, TorusPrimitiveShape, PlanePrimitiveShape, and ConePrimitiveShape.

◆ LSFit()

virtual 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

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, TorusPrimitiveShape, PlanePrimitiveShape, and ConePrimitiveShape.

◆ Normal()

virtual void Normal	(	const Vec3f &	p,
		Vec3f *	n
	)		const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

◆ NormalDeviation()

virtual float NormalDeviation	(	const Vec3f &	p,
		const Vec3f &	n
	)		const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

◆ OptimizeParametrization()

virtual void OptimizeParametrization	(	const PointCloud &	pc,
		size_t	begin,
		size_t	end,
		float	epsilon
	)

inlinevirtual

Reimplemented in SpherePrimitiveShape, and TorusPrimitiveShape.

Definition at line 97 of file PrimitiveShape.h.

◆ Parameters()

virtual void Parameters	(	const Vec3f &	p,
		std::pair< float, float > *	param
	)		const

pure virtual

Implemented in BitmapPrimitiveShape, SpherePrimitiveShape, CylinderPrimitiveShape, TorusPrimitiveShape, PlanePrimitiveShape, and ConePrimitiveShape.

◆ Project()

virtual void Project	(	const Vec3f &	p,
		Vec3f *	pp
	)		const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

◆ RequiredSamples()

virtual unsigned int RequiredSamples ( ) const

pure virtual

Implemented in SpherePrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, CylinderPrimitiveShape, and ConePrimitiveShape.

◆ Serialize() [1/2]

virtual void Serialize ( float * array ) const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, TorusPrimitiveShape, PlanePrimitiveShape, and ConePrimitiveShape.

◆ Serialize() [2/2]

virtual void Serialize	(	std::ostream *	o,
		bool	binary = `true`
	)		const

pure virtual

This is the one and only serialization function It stores all the parameters of the shape as well as the parametrization.

The first byte written (in both, binary and ascii mode) is the shape identifier

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

◆ SerializedFloatSize()

virtual size_t SerializedFloatSize ( ) const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, TorusPrimitiveShape, PlanePrimitiveShape, and ConePrimitiveShape.

◆ SerializedSize()

virtual size_t SerializedSize ( ) const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, TorusPrimitiveShape, PlanePrimitiveShape, and ConePrimitiveShape.

◆ SignedDistance()

virtual float SignedDistance ( const Vec3f & p ) const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

◆ SignedDistanceFunc()

virtual LevMarFunc< float >* SignedDistanceFunc ( ) const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

◆ SuggestSimplifications()

virtual void SuggestSimplifications	(	const PointCloud &	pc,
		MiscLib::Vector< size_t >::const_iterator	begin,
		MiscLib::Vector< size_t >::const_iterator	end,
		float	distThresh,
		MiscLib::Vector< MiscLib::RefCountPtr< PrimitiveShape > > *	suggestions
	)		const

inlinevirtual

Reimplemented in SpherePrimitiveShape, CylinderPrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

Definition at line 93 of file PrimitiveShape.h.

◆ Transform()

virtual void Transform	(	float	scale,
		const Vec3f &	translate
	)

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, TorusPrimitiveShape, PlanePrimitiveShape, and ConePrimitiveShape.

◆ TrimmingPolygons()

virtual void TrimmingPolygons	(	const PointCloud &	pc,
		float	epsilon,
		size_t	begin,
		size_t	end,
		std::deque< ComponentPolygons > *	polys
	)		const

pure virtual

Implemented in BitmapPrimitiveShape.

◆ Visit()

virtual void Visit ( PrimitiveShapeVisitor * visitor ) const

pure virtual

Implemented in SpherePrimitiveShape, CylinderPrimitiveShape, PlanePrimitiveShape, TorusPrimitiveShape, and ConePrimitiveShape.

Here is the caller graph for this function:

The documentation for this class was generated from the following file:

VisionX/components/pointcloud_processor/EfficientRANSACPrimitiveExtractor/EfficientRANSAC/PrimitiveShape.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BitmapPolygon

◆ ComponentPolygons

Member Function Documentation

◆ Clone()

◆ ConfidenceTests()

◆ ConnectedComponent()

◆ Description()

◆ Distance()

◆ DistanceAndNormalDeviation()

◆ Fit()

◆ GenerateBitmapPoints()

◆ Identifier()

◆ InSpace()

◆ LSFit()

◆ Normal()

◆ NormalDeviation()

◆ OptimizeParametrization()

◆ Parameters()

◆ Project()

◆ RequiredSamples()

◆ Serialize() [1/2]

◆ Serialize() [2/2]

◆ SerializedFloatSize()

◆ SerializedSize()

◆ SignedDistance()

◆ SignedDistanceFunc()

◆ SuggestSimplifications()

◆ Transform()

◆ TrimmingPolygons()

◆ Visit()