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

Inheritance diagram for ConePrimitiveShape:

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

	ConePrimitiveShape (const Cone &cone)

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

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

virtual size_t	SerializedFloatSize () const

size_t	SerializedSize () const

void	SetExtent (const GfxTL::AABox< GfxTL::Vector2Df > &bbox)

void	SetExtent (const GfxTL::AABox< GfxTL::Vector2Df > &bbox, const MiscLib::Vector< int > &componentsImg, size_t uextent, size_t vextent, float epsilon, int label)

float	SignedDistance (const Vec3f &p) const

LevMarFunc< float > *	SignedDistanceFunc () const

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

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 (const GfxTL::MatrixXX< 3, 3, float > &rot, const GfxTL::Vector3Df &trans)

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)

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

Public Member Functions inherited from PrimitiveShape
virtual void	OptimizeParametrization (const PointCloud &pc, size_t begin, size_t end, float epsilon)

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

typedef MiscLib::Vector< BitmapPolygon >	ComponentPolygons

Protected Member Functions inherited from RefCount
virtual	~RefCount ()

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

Detailed Description

Definition at line 11 of file ConePrimitiveShape.h.

Constructor & Destructor Documentation

◆ ConePrimitiveShape()

ConePrimitiveShape ( const Cone & cone )

Definition at line 22 of file ConePrimitiveShape.cpp.

Here is the caller graph for this function:

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 375 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Clone()

PrimitiveShape * Clone ( ) const

virtual

Implements PrimitiveShape.

Definition at line 33 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ 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 81 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Description()

void Description ( std::string * s ) const

virtual

Implements PrimitiveShape.

Definition at line 93 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Distance()

float Distance ( const Vec3f & p ) const

virtual

Implements PrimitiveShape.

Definition at line 39 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ DistanceAndNormalDeviation()

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

virtual

Implements PrimitiveShape.

Definition at line 59 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ 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 99 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Identifier()

size_t Identifier ( ) const

virtual

Implements PrimitiveShape.

Definition at line 27 of file ConePrimitiveShape.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 438 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ InSpace() [1/2]

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

virtual

Implements BitmapPrimitiveShape.

Definition at line 613 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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 639 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Internal()

const Cone& Internal ( ) const

inline

Definition at line 77 of file ConePrimitiveShape.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 115 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Normal()

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

virtual

Implements PrimitiveShape.

Definition at line 75 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ NormalDeviation()

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

virtual

Implements PrimitiveShape.

Definition at line 51 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Parameters() [1/3]

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

virtual

Implements BitmapPrimitiveShape.

Definition at line 165 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ 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

virtual

Implements BitmapPrimitiveShape.

Definition at line 195 of file ConePrimitiveShape.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

virtual

Implements BitmapPrimitiveShape.

Definition at line 186 of file ConePrimitiveShape.cpp.

◆ PreWrapBitmap()

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

virtual

Reimplemented from BitmapPrimitiveShape.

Definition at line 451 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Project()

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

virtual

Implements PrimitiveShape.

Definition at line 69 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ RequiredSamples()

unsigned int RequiredSamples ( ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 17 of file ConePrimitiveShape.h.

◆ Serialize() [1/2]

virtual void Serialize ( float * array ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 54 of file ConePrimitiveShape.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 139 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ SerializedFloatSize()

virtual size_t SerializedFloatSize ( ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 60 of file ConePrimitiveShape.h.

◆ SerializedSize()

size_t SerializedSize ( ) const

virtual

Implements PrimitiveShape.

Definition at line 159 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ SetExtent() [1/2]

void SetExtent ( const GfxTL::AABox< GfxTL::Vector2Df > & bbox )

◆ SetExtent() [2/2]

void SetExtent	(	const GfxTL::AABox< GfxTL::Vector2Df > &	bbox,
		const MiscLib::Vector< int > &	componentsImg,
		size_t	uextent,
		size_t	vextent,
		float	epsilon,
		int	label
	)

Definition at line 603 of file ConePrimitiveShape.cpp.

◆ SignedDistance()

float SignedDistance ( const Vec3f & p ) const

virtual

Implements PrimitiveShape.

Definition at line 45 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ SignedDistanceFunc()

LevMarFunc< float > * SignedDistanceFunc ( ) const

virtual

Implements PrimitiveShape.

Definition at line 133 of file ConePrimitiveShape.cpp.

◆ Similar()

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

Definition at line 368 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ 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 223 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Transform() [1/2]

void Transform	(	const GfxTL::MatrixXX< 3, 3, float > &	rot,
		const GfxTL::Vector3Df &	trans
	)

Definition at line 210 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Transform() [2/2]

void Transform	(	float	scale,
		const Vec3f &	translate
	)

virtual

Implements PrimitiveShape.

Definition at line 204 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ Visit()

void Visit ( PrimitiveShapeVisitor * visitor ) const

virtual

Implements PrimitiveShape.

Definition at line 217 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

◆ WrapBitmap()

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

virtual

Implements BitmapPrimitiveShape.

Definition at line 482 of file ConePrimitiveShape.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 491 of file ConePrimitiveShape.cpp.

Here is the call graph for this function:

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ConePrimitiveShape()

Member Function Documentation

◆ BitmapExtent()

◆ Clone()

◆ ConfidenceTests()

◆ Description()

◆ Distance()

◆ DistanceAndNormalDeviation()

◆ Fit()

◆ Identifier()

◆ InBitmap()

◆ InSpace() [1/2]

◆ InSpace() [2/2]

◆ Internal()

◆ LSFit()

◆ Normal()

◆ NormalDeviation()

◆ Parameters() [1/3]

◆ Parameters() [2/3]

◆ Parameters() [3/3]

◆ PreWrapBitmap()

◆ Project()

◆ RequiredSamples()

◆ Serialize() [1/2]

◆ Serialize() [2/2]

◆ SerializedFloatSize()

◆ SerializedSize()

◆ SetExtent() [1/2]

◆ SetExtent() [2/2]

◆ SignedDistance()

◆ SignedDistanceFunc()

◆ Similar()

◆ SuggestSimplifications()

◆ Transform() [1/2]

◆ Transform() [2/2]

◆ Visit()

◆ WrapBitmap()

◆ WrapComponents()