ScoreComputer.h

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#ifndef SCORECOMPUTER_HEADER
#define SCORECOMPUTER_HEADER
#include <GfxTL/NullClass.h>
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#include <cmath>
 
#include "PointCloud.h"
 
inline float
weigh(const float d, const float eps)
{
    return std::exp(-d * d / (2.f / 9.f * eps * eps)); // gaussian weighting eps / 3 == sigma
    // return 1.f - (d / eps) * (d / eps);  // anti-quadratic weighting
    // return 1.f - d / eps;            // linear weighting
    //return d * d; // SSE
}
 
template <class BaseT>
class LocalScoreComputer : public BaseT
{
public:
    template <class ShapeT>
    static void
    Score(const ShapeT& shape,
          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,
          MiscLib::Vector<size_t>* indices = NULL)
    {
        Vec3f n;
        size_t size = end - begin;
        for (size_t iter = 0; iter < size; ++iter)
        {
            float d = shape.DistanceAndNormal(pc[begin[iter]].pos, &n);
            float nd = n.dot(pc[begin[iter]].normal);
            if (d < epsilon && abs(nd) > normalThresh)
            {
                ++score->first;
                score->second += weigh(d, epsilon);
            }
        }
    }
};
 
#endif