CylinderPrimitiveShape.h

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#ifndef CYLINDERPRIMITIVESHAPE_HEADER
#define CYLINDERPRIMITIVESHAPE_HEADER
#include "BitmapPrimitiveShape.h"
#include "Cylinder.h"
#include "LevMarFunc.h"
 
#ifndef DLL_LINKAGE
#define DLL_LINKAGE
#endif
 
class DLL_LINKAGE CylinderPrimitiveShape : public BitmapPrimitiveShape
{
public:
    CylinderPrimitiveShape();
    size_t Identifier() const;
 
    unsigned int
    RequiredSamples() const
    {
        return Cylinder::RequiredSamples;
    }
 
    CylinderPrimitiveShape(const Cylinder& cylinder);
    PrimitiveShape* Clone() const;
    bool Init(const Vec3f& pointA, const Vec3f& pointB, const Vec3f& normalA, const Vec3f& normalB);
 
    bool
    Init(bool binary, std::istream* i)
    {
        return BitmapPrimitiveShape::Init(binary, i);
    }
 
    float Distance(const Vec3f& p) const;
    float SignedDistance(const Vec3f& p) const;
    float NormalDeviation(const Vec3f& p, const Vec3f& n) const;
    void
    DistanceAndNormalDeviation(const Vec3f& p, const Vec3f& n, std::pair<float, float>* dn) const;
    void Project(const Vec3f& p, Vec3f* pp) const;
    void Normal(const Vec3f& p, Vec3f* n) 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;
    bool Fit(const PointCloud& pc,
             float epsilon,
             float normalThresh,
             MiscLib::Vector<size_t>::const_iterator begin,
             MiscLib::Vector<size_t>::const_iterator end);
    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;
    LevMarFunc<float>* SignedDistanceFunc() const;
    void Serialize(std::ostream* o, bool binary = true) const;
    size_t SerializedSize() const;
 
    virtual void
    Serialize(float* array) const
    {
        m_cylinder.Serialize(array);
    }
 
    virtual size_t
    SerializedFloatSize() const
    {
        return m_cylinder.SerializedFloatSize();
    }
 
    void Transform(float scale, const Vec3f& translate);
    void Transform(const GfxTL::MatrixXX<3, 3, float>& rot, const GfxTL::Vector3Df& trans);
    void Visit(PrimitiveShapeVisitor* visitor) 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;
    bool Similar(float tolerance, const CylinderPrimitiveShape& shape) const;
 
    const Cylinder&
    Internal() const
    {
        return m_cylinder;
    }
 
    float Height() const;
    float MinHeight() const;
    float MaxHeight() const;
 
    void Parameters(const Vec3f& p, std::pair<float, float>* param) 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 Parameters(GfxTL::IndexedIterator<IndexIterator, PointCloud::const_iterator> begin,
                    GfxTL::IndexedIterator<IndexIterator, PointCloud::const_iterator> end,
                    MiscLib::Vector<std::pair<float, float>>* bmpParams) const;
    bool InSpace(float u, float v, Vec3f* p, Vec3f* n) const;
    void BitmapExtent(float epsilon,
                      GfxTL::AABox<GfxTL::Vector2Df>* bbox,
                      MiscLib::Vector<std::pair<float, float>>* params,
                      size_t* uextent,
                      size_t* vextent);
    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;
    void WrapBitmap(const GfxTL::AABox<GfxTL::Vector2Df>& bbox,
                    float epsilon,
                    bool* uwrap,
                    bool* vwrap) const;
    void PreWrapBitmap(const GfxTL::AABox<GfxTL::Vector2Df>& bbox,
                       float epsilon,
                       size_t uextent,
                       size_t vextent,
                       MiscLib::Vector<char>* bmp) const;
    void SetExtent(const GfxTL::AABox<GfxTL::Vector2Df>& bbox,
                   const MiscLib::Vector<int>& componentsImg,
                   size_t uextent,
                   size_t vextent,
                   float epsilon,
                   int label);
    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;
 
private:
    template <class IteratorT>
    void ParametersImpl(IteratorT begin,
                        IteratorT end,
                        MiscLib::Vector<std::pair<float, float>>* bmpParams) const;
 
private:
    Cylinder m_cylinder;
    bool m_clip;
    float m_minPhi;
    float m_maxPhi;
};
 
template <class IteratorT>
void
CylinderPrimitiveShape::ParametersImpl(IteratorT begin,
                                       IteratorT end,
                                       MiscLib::Vector<std::pair<float, float>>* bmpParams) const
{
    bmpParams->resize(end - begin);
    size_t j = 0;
    for (IteratorT i = begin; i != end; ++i, ++j)
    {
        m_cylinder.Parameters(*i, &(*bmpParams)[j]);
        (*bmpParams)[j].second = (*bmpParams)[j].second * m_cylinder.Radius();
    }
}
 
class DLL_LINKAGE CylinderLevMarFunc : public LevMarFunc<float>
{
public:
    CylinderLevMarFunc(const Cylinder& cy) : m_cylinder(cy)
    {
    }
 
    float
    operator()(const float* x) const
    {
        return m_cylinder.SignedDistance(*((const Vec3f*)x));
    }
 
    void
    operator()(const float* x, float* gradient) const
    {
        m_cylinder.Normal(*((const Vec3f*)x), (Vec3f*)gradient);
    }
 
private:
    Cylinder m_cylinder;
};
 
#endif