BasePrimitiveShape.h

Go to the documentation of this file.

#ifndef BASEPRIMITIVESHAPE_HEADER
#define BASEPRIMITIVESHAPE_HEADER
#include "PrimitiveShape.h"
#include "ScoreComputer.h"
#include <GfxTL/MathHelper.h>
#include <MiscLib/Random.h>
 
#ifndef DLL_LINKAGE
#define DLL_LINKAGE
#endif
 
class DLL_LINKAGE BasePrimitiveShape : public PrimitiveShape
{
protected:
    template <class ShapeT>
    unsigned int
    ConfidenceTests(unsigned int numTests,
                    float epsilon,
                    float normalThresh,
                    float rms,
                    const PointCloud& pc,
                    const MiscLib::Vector<size_t>& indices) const
    {
        unsigned int numFailures = 0;
        // estimate shapes
        const unsigned int numSamples = ShapeT::RequiredSamples;
        if (numSamples >= indices.size())
        {
            return numTests;
        }
        MiscLib::Vector<ShapeT> shapes;
        for (unsigned int i = 0; i < numTests; ++i)
        {
            MiscLib::Vector<size_t> sampleIndices;
            for (unsigned int j = 0; j < numSamples; ++j)
            {
                size_t idx;
                do
                {
                    idx = indices[MiscLib::rn_rand() % indices.size()];
                } while (std::find(sampleIndices.begin(), sampleIndices.end(), idx) !=
                         sampleIndices.end());
                sampleIndices.push_back(idx);
            }
            MiscLib::Vector<Vec3f> samples(numSamples << 1);
            for (unsigned int j = 0; j < numSamples; ++j)
            {
                samples[j] = pc[sampleIndices[j]].pos;
                samples[j + numSamples] = pc[sampleIndices[j]].normal;
            }
            ShapeT shape;
            if (shape.Init(samples))
            {
                shapes.push_back(shape);
            }
            else
            {
                ++numFailures;
            }
        }
 
        MiscLib::Vector<size_t> scores(shapes.size(), 0);
        //MiscLib::Vector< float > sse(shapes.size(), 0.f);
        Vec3f n;
        for (size_t i = 0; i < indices.size(); ++i)
        {
            for (size_t j = 0; j < shapes.size(); ++j)
            {
                //float d = shapes[j].Distance(pc[indices[i]].pos);
                //sse[j] += d * d;
                float d = shapes[j].DistanceAndNormal(pc[indices[i]].pos, &n);
                if (d > epsilon)
                {
                    continue;
                }
                float dn = n.dot(pc[indices[i]].normal);
                if (abs(dn) > normalThresh)
                {
                    ++scores[j];
                }
            }
        }
 
        for (size_t i = 0; i < /*sse.size()*/ scores.size(); ++i)
        {
            if (scores[i] < .9f * indices.size())
            //if(abs(std::sqrt(sse[i] / indices.size()) - rms) > 1e-2)
            {
                ++numFailures;
            }
        }
 
        return numFailures;
    }
};
 
#endif