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TorusPrimitiveShape Class Reference

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

+ Inheritance diagram for TorusPrimitiveShape:

Public Types

typedef LowStretchTorusParametrization 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 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 Torus & 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, 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. More...
 
virtual size_t SerializedFloatSize () const
 
size_t SerializedSize () const
 
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 TorusPrimitiveShape &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
 
 TorusPrimitiveShape ()
 
 TorusPrimitiveShape (const Torus &torus)
 
 TorusPrimitiveShape (const TorusPrimitiveShape &tps)
 
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 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 12 of file TorusPrimitiveShape.h.

Member Typedef Documentation

◆ ParametrizationType

typedef LowStretchTorusParametrization ParametrizationType

Definition at line 15 of file TorusPrimitiveShape.h.

Constructor & Destructor Documentation

◆ TorusPrimitiveShape() [1/3]

TorusPrimitiveShape ( )
inline

Definition at line 17 of file TorusPrimitiveShape.h.

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◆ TorusPrimitiveShape() [2/3]

TorusPrimitiveShape ( const Torus &  torus)

Definition at line 13 of file TorusPrimitiveShape.cpp.

◆ TorusPrimitiveShape() [3/3]

TorusPrimitiveShape ( const TorusPrimitiveShape &  tps)

Definition at line 18 of file TorusPrimitiveShape.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 404 of file TorusPrimitiveShape.cpp.

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◆ Clone()

PrimitiveShape * Clone ( ) const
virtual

Implements PrimitiveShape.

Definition at line 31 of file TorusPrimitiveShape.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 79 of file TorusPrimitiveShape.cpp.

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◆ Description()

void Description ( std::string *  s) const
virtual

Implements PrimitiveShape.

Definition at line 91 of file TorusPrimitiveShape.cpp.

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◆ Deserialize()

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

Definition at line 162 of file TorusPrimitiveShape.cpp.

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◆ Distance()

float Distance ( const Vec3f &  p) const
virtual

Implements PrimitiveShape.

Definition at line 37 of file TorusPrimitiveShape.cpp.

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◆ DistanceAndNormalDeviation()

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

Implements PrimitiveShape.

Definition at line 57 of file TorusPrimitiveShape.cpp.

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◆ 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 100 of file TorusPrimitiveShape.cpp.

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◆ Identifier()

size_t Identifier ( ) const
virtual

Implements PrimitiveShape.

Definition at line 25 of file TorusPrimitiveShape.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 415 of file TorusPrimitiveShape.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 398 of file TorusPrimitiveShape.cpp.

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◆ 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 457 of file TorusPrimitiveShape.cpp.

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◆ Internal()

const Torus& Internal ( ) const
inline

Definition at line 133 of file TorusPrimitiveShape.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 117 of file TorusPrimitiveShape.cpp.

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◆ Normal()

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

Implements PrimitiveShape.

Definition at line 73 of file TorusPrimitiveShape.cpp.

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◆ NormalDeviation()

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

Implements PrimitiveShape.

Definition at line 49 of file TorusPrimitiveShape.cpp.

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◆ OptimizeParametrization()

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

Reimplemented from PrimitiveShape.

Definition at line 354 of file TorusPrimitiveShape.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 374 of file TorusPrimitiveShape.cpp.

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◆ 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 389 of file TorusPrimitiveShape.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 380 of file TorusPrimitiveShape.cpp.

◆ Project()

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

Implements PrimitiveShape.

Definition at line 67 of file TorusPrimitiveShape.cpp.

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◆ RequiredSamples()

unsigned int RequiredSamples ( ) const
inlinevirtual

Implements PrimitiveShape.

Definition at line 26 of file TorusPrimitiveShape.h.

◆ Serialize() [1/2]

virtual void Serialize ( float *  array) const
inlinevirtual

Implements PrimitiveShape.

Definition at line 64 of file TorusPrimitiveShape.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 141 of file TorusPrimitiveShape.cpp.

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◆ SerializedFloatSize()

virtual size_t SerializedFloatSize ( ) const
inlinevirtual

Implements PrimitiveShape.

Definition at line 70 of file TorusPrimitiveShape.h.

◆ SerializedSize()

size_t SerializedSize ( ) const
virtual

Implements PrimitiveShape.

Definition at line 170 of file TorusPrimitiveShape.cpp.

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◆ SetExtent()

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 447 of file TorusPrimitiveShape.cpp.

◆ SignedDistance()

float SignedDistance ( const Vec3f &  p) const
virtual

Implements PrimitiveShape.

Definition at line 43 of file TorusPrimitiveShape.cpp.

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◆ SignedDistanceFunc()

LevMarFunc< float > * SignedDistanceFunc ( ) const
virtual

Implements PrimitiveShape.

Definition at line 135 of file TorusPrimitiveShape.cpp.

◆ Similar()

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

Definition at line 365 of file TorusPrimitiveShape.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 188 of file TorusPrimitiveShape.cpp.

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◆ Transform()

void Transform ( float  scale,
const Vec3f &  translate 
)
virtual

Implements PrimitiveShape.

Definition at line 176 of file TorusPrimitiveShape.cpp.

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◆ Visit()

void Visit ( PrimitiveShapeVisitor *  visitor) const
virtual

Implements PrimitiveShape.

Definition at line 182 of file TorusPrimitiveShape.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 427 of file TorusPrimitiveShape.cpp.

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◆ 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 436 of file TorusPrimitiveShape.cpp.

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