#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

Member Typedef Documentation

◆ ParametrizationType

typedef LowStretchSphereParametrization ParametrizationType

Constructor & Destructor Documentation

◆ SpherePrimitiveShape() [1/3]

SpherePrimitiveShape ( )

inline

◆ SpherePrimitiveShape() [2/3]

SpherePrimitiveShape ( const Sphere & s )

◆ SpherePrimitiveShape() [3/3]

SpherePrimitiveShape ( const SpherePrimitiveShape & sps )

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.

◆ Clone()

PrimitiveShape * Clone ( ) const

virtual

Implements PrimitiveShape.

◆ 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.

◆ Description()

void Description ( std::string * s ) const

virtual

Implements PrimitiveShape.

◆ Deserialize()

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

◆ Distance()

float Distance ( const Vec3f & p ) const

virtual

Implements PrimitiveShape.

◆ DistanceAndNormalDeviation()

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

virtual

Implements PrimitiveShape.

◆ 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.

◆ Identifier()

size_t Identifier ( ) const

virtual

Implements PrimitiveShape.

◆ 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.

◆ Init()

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

◆ InSpace() [1/2]

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

virtual

Implements BitmapPrimitiveShape.

◆ 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.

◆ Internal()

const Sphere & Internal ( ) const

inline

◆ 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.

◆ Normal()

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

virtual

Implements PrimitiveShape.

◆ NormalDeviation()

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

virtual

Implements PrimitiveShape.

◆ OptimizeParametrization() [1/2]

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

◆ OptimizeParametrization() [2/2]

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

virtual

Reimplemented from PrimitiveShape.

◆ Parameters() [1/3]

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

virtual

Implements BitmapPrimitiveShape.

◆ 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

◆ 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

◆ Project()

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

virtual

Implements PrimitiveShape.

◆ RequiredSamples()

unsigned int RequiredSamples ( ) const

inlinevirtual

Implements PrimitiveShape.

◆ Serialize() [1/2]

virtual void Serialize ( float * array ) const

inlinevirtual

Implements PrimitiveShape.

◆ 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.

◆ SerializedFloatSize()

virtual size_t SerializedFloatSize ( ) const

inlinevirtual

Implements PrimitiveShape.

◆ SerializedSize()

size_t SerializedSize ( ) const

virtual

Implements PrimitiveShape.

◆ SignedDistance()

float SignedDistance ( const Vec3f & p ) const

virtual

Implements PrimitiveShape.

◆ SignedDistanceFunc()

LevMarFunc< float > * SignedDistanceFunc ( ) const

virtual

Implements PrimitiveShape.

◆ Similar()

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

◆ 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.

◆ Transform()

void Transform	(	float	scale,
		const Vec3f &	translate )

virtual

Implements PrimitiveShape.

◆ Visit()

void Visit ( PrimitiveShapeVisitor * visitor ) const

virtual

Implements PrimitiveShape.

◆ WrapBitmap()

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

virtual

Implements BitmapPrimitiveShape.

◆ 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.

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

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()