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

Inheritance diagram for SpherePrimitiveShape:

Public Types
typedef LowStretchSphereParametrization	ParametrizationType

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

typedef MiscLib::Vector< BitmapPolygon >	ComponentPolygons

Public Member Functions
void	BitmapExtent (float epsilon, GfxTL::AABox< GfxTL::Vector2Df > bbox, MiscLib::Vector< std::pair< float, float > > params, size_t uextent, size_t vextent)

PrimitiveShape *	Clone () 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

void	Deserialize (std::istream *i, bool binary)

float	Distance (const Vec3f &p) const

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

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

size_t	Identifier () const

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

bool	Init (bool binary, std::istream *i)

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

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

const Sphere &	Internal () const

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

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

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

void	OptimizeParametrization (const PointCloud &pc, MiscLib::Vector< size_t >::const_iterator begin, MiscLib::Vector< size_t >::const_iterator end, float epsilon)

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

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

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

unsigned int	RequiredSamples () const

virtual void	Serialize (float *array) const

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

virtual size_t	SerializedFloatSize () const

size_t	SerializedSize () const

float	SignedDistance (const Vec3f &p) const

LevMarFunc< float > *	SignedDistanceFunc () const

bool	Similar (float tolerance, const SpherePrimitiveShape &shape) const

	SpherePrimitiveShape ()

	SpherePrimitiveShape (const Sphere &s)

	SpherePrimitiveShape (const SpherePrimitiveShape &sps)

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

void	Transform (float scale, const Vec3f &translate)

void	Visit (PrimitiveShapeVisitor *visitor) const

void	WrapBitmap (const GfxTL::AABox< GfxTL::Vector2Df > &bbox, float epsilon, bool uwrap, bool vwrap) const

void	WrapComponents (const GfxTL::AABox< GfxTL::Vector2Df > &bbox, float epsilon, size_t uextent, size_t vextent, MiscLib::Vector< int > componentImg, MiscLib::Vector< std::pair< int, size_t > > labels) const

Public Member Functions inherited from BitmapPrimitiveShape
size_t	AllConnectedComponents (const PointCloud &pc, float epsilon, BitmapInfo &bitmapInfo, MiscLib::Vector< size_t > *indices, MiscLib::Vector< int > &componentsImg, MiscLib::Vector< std::pair< int, size_t > > &labels, bool doFiltering=true)

template<class IteratorT>
void	BuildBitmap (const PointCloud &pc, float epsilon, IteratorT begin, IteratorT end, MiscLib::Vector< std::pair< float, float > > params, GfxTL::AABox< GfxTL::Vector2Df > bbox, MiscLib::Vector< char > bitmap, size_t uextent, size_t vextent, MiscLib::Vector< size_t > *bmpIdx) const

template<class IteratorT>
void	BuildBitmap (const PointCloud &pc, float epsilon, IteratorT begin, IteratorT end, MiscLib::Vector< std::pair< float, float > > params, GfxTL::AABox< GfxTL::Vector2Df > bbox, MiscLib::Vector< char > bitmap, size_t uextent, size_t vextent, MiscLib::Vector< size_t > *bmpIdx, size_t border) const

void	BuildPolygons (const PointCloud &pc, float epsilon, size_t begin, size_t end, GfxTL::AABox< GfxTL::Vector2Df > bbox, size_t uextent, size_t vextent, std::deque< ComponentPolygons > polys) const

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

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

bool	Init (bool binary, std::istream *i)

virtual void	Parameters (GfxTL::IndexedIterator< IndexIterator, PointCloud::const_iterator > begin, GfxTL::IndexedIterator< IndexIterator, PointCloud::const_iterator > end, MiscLib::Vector< std::pair< float, float > > *bmpParams) const =0

virtual 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 =0

virtual void	PreWrapBitmap (const GfxTL::AABox< GfxTL::Vector2Df > &bbox, float epsilon, size_t uextent, size_t vextent, MiscLib::Vector< char > *bmp) const

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

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 ()

Protected Attributes inherited from BitmapPrimitiveShape
GfxTL::AABox< GfxTL::Vector2Df >	m_extBbox

Detailed Description

Definition at line 20 of file SpherePrimitiveShape.h.

Member Typedef Documentation

◆ ParametrizationType

typedef LowStretchSphereParametrization ParametrizationType

Definition at line 23 of file SpherePrimitiveShape.h.

Constructor & Destructor Documentation

◆ SpherePrimitiveShape() [1/3]

SpherePrimitiveShape ( )

inline

Definition at line 25 of file SpherePrimitiveShape.h.

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◆ SpherePrimitiveShape() [2/3]

SpherePrimitiveShape ( const Sphere & s )

Definition at line 33 of file SpherePrimitiveShape.cpp.

◆ SpherePrimitiveShape() [3/3]

SpherePrimitiveShape ( const SpherePrimitiveShape & sps )

Definition at line 38 of file SpherePrimitiveShape.cpp.

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Member Function Documentation

◆ BitmapExtent()

void BitmapExtent	(	float	epsilon,
		GfxTL::AABox< GfxTL::Vector2Df > *	bbox,
		MiscLib::Vector< std::pair< float, float > > *	params,
		size_t *	uextent,
		size_t *	vextent )

virtual

Implements BitmapPrimitiveShape.

Definition at line 493 of file SpherePrimitiveShape.cpp.

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◆ Clone()

PrimitiveShape * Clone ( ) const

virtual

Implements PrimitiveShape.

Definition at line 177 of file SpherePrimitiveShape.cpp.

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◆ ConfidenceTests()

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

virtual

Reimplemented from BasePrimitiveShape.

Definition at line 225 of file SpherePrimitiveShape.cpp.

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◆ Description()

void Description ( std::string * s ) const

virtual

Implements PrimitiveShape.

Definition at line 237 of file SpherePrimitiveShape.cpp.

◆ Deserialize()

void Deserialize	(	std::istream *	i,
		bool	binary )

Definition at line 301 of file SpherePrimitiveShape.cpp.

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◆ Distance()

float Distance ( const Vec3f & p ) const

virtual

Implements PrimitiveShape.

Definition at line 183 of file SpherePrimitiveShape.cpp.

◆ DistanceAndNormalDeviation()

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

virtual

Implements PrimitiveShape.

Definition at line 203 of file SpherePrimitiveShape.cpp.

◆ Fit()

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

virtual

Implements PrimitiveShape.

Definition at line 243 of file SpherePrimitiveShape.cpp.

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◆ Identifier()

size_t Identifier ( ) const

virtual

Implements PrimitiveShape.

Definition at line 45 of file SpherePrimitiveShape.cpp.

◆ InBitmap()

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

virtual

Implements BitmapPrimitiveShape.

Definition at line 504 of file SpherePrimitiveShape.cpp.

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◆ Init()

bool Init	(	bool	binary,
		std::istream *	i )

Definition at line 51 of file SpherePrimitiveShape.cpp.

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◆ InSpace() [1/2]

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

virtual

Implements BitmapPrimitiveShape.

Definition at line 487 of file SpherePrimitiveShape.cpp.

◆ InSpace() [2/2]

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

virtual

Implements BitmapPrimitiveShape.

Definition at line 536 of file SpherePrimitiveShape.cpp.

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◆ Internal()

const Sphere & Internal ( ) const

inline

Definition at line 99 of file SpherePrimitiveShape.h.

◆ LSFit()

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

virtual

Implements PrimitiveShape.

Definition at line 261 of file SpherePrimitiveShape.cpp.

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◆ Normal()

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

virtual

Implements PrimitiveShape.

Definition at line 219 of file SpherePrimitiveShape.cpp.

◆ NormalDeviation()

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

virtual

Implements PrimitiveShape.

Definition at line 195 of file SpherePrimitiveShape.cpp.

◆ OptimizeParametrization() [1/2]

void OptimizeParametrization	(	const PointCloud &	pc,
		MiscLib::Vector< size_t >::const_iterator	begin,
		MiscLib::Vector< size_t >::const_iterator	end,
		float	epsilon )

Definition at line 435 of file SpherePrimitiveShape.cpp.

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◆ OptimizeParametrization() [2/2]

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

virtual

Reimplemented from PrimitiveShape.

Definition at line 445 of file SpherePrimitiveShape.cpp.

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◆ Parameters() [1/3]

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

virtual

Implements BitmapPrimitiveShape.

Definition at line 463 of file SpherePrimitiveShape.cpp.

◆ Parameters() [2/3]

void Parameters	(	GfxTL::IndexedIterator< IndexIterator, PointCloud::const_iterator >	begin,
		GfxTL::IndexedIterator< IndexIterator, PointCloud::const_iterator >	end,
		MiscLib::Vector< std::pair< float, float > > *	bmpParams ) const

Definition at line 478 of file SpherePrimitiveShape.cpp.

◆ Parameters() [3/3]

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

Definition at line 469 of file SpherePrimitiveShape.cpp.

◆ Project()

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

virtual

Implements PrimitiveShape.

Definition at line 213 of file SpherePrimitiveShape.cpp.

◆ RequiredSamples()

unsigned int RequiredSamples ( ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 34 of file SpherePrimitiveShape.h.

◆ Serialize() [1/2]

virtual void Serialize ( float * array ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 72 of file SpherePrimitiveShape.h.

◆ Serialize() [2/2]

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

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

Implements PrimitiveShape.

Definition at line 280 of file SpherePrimitiveShape.cpp.

◆ SerializedFloatSize()

virtual size_t SerializedFloatSize ( ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 78 of file SpherePrimitiveShape.h.

◆ SerializedSize()

size_t SerializedSize ( ) const

virtual

Implements PrimitiveShape.

Definition at line 309 of file SpherePrimitiveShape.cpp.

◆ SignedDistance()

float SignedDistance ( const Vec3f & p ) const

virtual

Implements PrimitiveShape.

Definition at line 189 of file SpherePrimitiveShape.cpp.

◆ SignedDistanceFunc()

LevMarFunc< float > * SignedDistanceFunc ( ) const

virtual

Implements PrimitiveShape.

Definition at line 315 of file SpherePrimitiveShape.cpp.

◆ Similar()

bool Similar	(	float	tolerance,
		const SpherePrimitiveShape &	shape ) const

Definition at line 456 of file SpherePrimitiveShape.cpp.

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◆ SuggestSimplifications()

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

Reimplemented from PrimitiveShape.

Definition at line 333 of file SpherePrimitiveShape.cpp.

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◆ Transform()

void Transform	(	float	scale,
		const Vec3f &	translate )

virtual

Implements PrimitiveShape.

Definition at line 321 of file SpherePrimitiveShape.cpp.

◆ Visit()

void Visit ( PrimitiveShapeVisitor * visitor ) const

virtual

Implements PrimitiveShape.

Definition at line 327 of file SpherePrimitiveShape.cpp.

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◆ WrapBitmap()

void WrapBitmap	(	const GfxTL::AABox< GfxTL::Vector2Df > &	bbox,
		float	epsilon,
		bool *	uwrap,
		bool *	vwrap ) const

virtual

Implements BitmapPrimitiveShape.

Definition at line 516 of file SpherePrimitiveShape.cpp.

◆ WrapComponents()

void WrapComponents	(	const GfxTL::AABox< GfxTL::Vector2Df > &	bbox,
		float	epsilon,
		size_t	uextent,
		size_t	vextent,
		MiscLib::Vector< int > *	componentImg,
		MiscLib::Vector< std::pair< int, size_t > > *	labels ) const

virtual

Reimplemented from BitmapPrimitiveShape.

Definition at line 525 of file SpherePrimitiveShape.cpp.

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

VisionX/components/pointcloud_processor/EfficientRANSACPrimitiveExtractor/EfficientRANSAC/SpherePrimitiveShape.h
VisionX/components/pointcloud_processor/EfficientRANSACPrimitiveExtractor/EfficientRANSAC/SpherePrimitiveShape.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ParametrizationType

Constructor & Destructor Documentation

◆ SpherePrimitiveShape() [1/3]

◆ SpherePrimitiveShape() [2/3]

◆ SpherePrimitiveShape() [3/3]

Member Function Documentation

◆ BitmapExtent()

◆ Clone()

◆ ConfidenceTests()

◆ Description()

◆ Deserialize()

◆ Distance()

◆ DistanceAndNormalDeviation()

◆ Fit()

◆ Identifier()

◆ InBitmap()

◆ Init()

◆ InSpace() [1/2]

◆ InSpace() [2/2]

◆ Internal()

◆ LSFit()

◆ Normal()

◆ NormalDeviation()

◆ OptimizeParametrization() [1/2]

◆ OptimizeParametrization() [2/2]

◆ Parameters() [1/3]

◆ Parameters() [2/3]

◆ Parameters() [3/3]

◆ Project()

◆ RequiredSamples()

◆ Serialize() [1/2]

◆ Serialize() [2/2]

◆ SerializedFloatSize()

◆ SerializedSize()

◆ SignedDistance()

◆ SignedDistanceFunc()

◆ Similar()

◆ SuggestSimplifications()

◆ Transform()

◆ Visit()

◆ WrapBitmap()

◆ WrapComponents()