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

Inheritance diagram for PlanePrimitiveShape:

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

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 Plane &	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

	PlanePrimitiveShape (const Plane &plane)

	PlanePrimitiveShape (const Vec3f &a, const Vec3f &b, const Vec3f &c)

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

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 PlanePrimitiveShape &) 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

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

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

virtual 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

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 15 of file PlanePrimitiveShape.h.

Constructor & Destructor Documentation

◆ PlanePrimitiveShape() [1/2]

PlanePrimitiveShape	(	const Vec3f &	a,
		const Vec3f &	b,
		const Vec3f &	c )

Definition at line 15 of file PlanePrimitiveShape.cpp.

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◆ PlanePrimitiveShape() [2/2]

PlanePrimitiveShape ( const Plane & plane )

Definition at line 21 of file PlanePrimitiveShape.cpp.

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 219 of file PlanePrimitiveShape.cpp.

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◆ Clone()

PrimitiveShape * Clone ( ) const

virtual

Implements PrimitiveShape.

Definition at line 33 of file PlanePrimitiveShape.cpp.

◆ 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 78 of file PlanePrimitiveShape.cpp.

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◆ Description()

void Description ( std::string * s ) const

virtual

Implements PrimitiveShape.

Definition at line 90 of file PlanePrimitiveShape.cpp.

◆ Distance()

float Distance ( const Vec3f & p ) const

virtual

Implements PrimitiveShape.

Definition at line 39 of file PlanePrimitiveShape.cpp.

◆ DistanceAndNormalDeviation()

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

virtual

Implements PrimitiveShape.

Definition at line 57 of file PlanePrimitiveShape.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 96 of file PlanePrimitiveShape.cpp.

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◆ Identifier()

size_t Identifier ( ) const

virtual

Implements PrimitiveShape.

Definition at line 27 of file PlanePrimitiveShape.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 230 of file PlanePrimitiveShape.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 262 of file PlanePrimitiveShape.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 270 of file PlanePrimitiveShape.cpp.

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◆ Internal()

const Plane & Internal ( ) const

inline

Definition at line 76 of file PlanePrimitiveShape.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 114 of file PlanePrimitiveShape.cpp.

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◆ Normal()

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

virtual

Implements PrimitiveShape.

Definition at line 72 of file PlanePrimitiveShape.cpp.

◆ NormalDeviation()

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

virtual

Implements PrimitiveShape.

Definition at line 51 of file PlanePrimitiveShape.cpp.

◆ Parameters() [1/3]

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

virtual

Implements BitmapPrimitiveShape.

Definition at line 193 of file PlanePrimitiveShape.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

Definition at line 210 of file PlanePrimitiveShape.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 201 of file PlanePrimitiveShape.cpp.

◆ Project()

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

virtual

Implements PrimitiveShape.

Definition at line 66 of file PlanePrimitiveShape.cpp.

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◆ RequiredSamples()

unsigned int RequiredSamples ( ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 23 of file PlanePrimitiveShape.h.

◆ Serialize() [1/2]

virtual void Serialize ( float * array ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 59 of file PlanePrimitiveShape.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 132 of file PlanePrimitiveShape.cpp.

◆ SerializedFloatSize()

virtual size_t SerializedFloatSize ( ) const

inlinevirtual

Implements PrimitiveShape.

Definition at line 65 of file PlanePrimitiveShape.h.

◆ SerializedSize()

size_t SerializedSize ( ) const

virtual

Implements PrimitiveShape.

Definition at line 152 of file PlanePrimitiveShape.cpp.

◆ 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 252 of file PlanePrimitiveShape.cpp.

◆ SignedDistance()

float SignedDistance ( const Vec3f & p ) const

virtual

Implements PrimitiveShape.

Definition at line 45 of file PlanePrimitiveShape.cpp.

◆ SignedDistanceFunc()

LevMarFunc< float > * SignedDistanceFunc ( ) const

virtual

Implements PrimitiveShape.

Definition at line 187 of file PlanePrimitiveShape.cpp.

◆ Similar()

bool Similar	(	float	tolerance,
		const PlanePrimitiveShape &	) const

Definition at line 181 of file PlanePrimitiveShape.cpp.

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◆ Transform() [1/2]

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

Definition at line 164 of file PlanePrimitiveShape.cpp.

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◆ Transform() [2/2]

void Transform	(	float	scale,
		const Vec3f &	translate )

virtual

Implements PrimitiveShape.

Definition at line 158 of file PlanePrimitiveShape.cpp.

◆ Visit()

void Visit ( PrimitiveShapeVisitor * visitor ) const

virtual

Implements PrimitiveShape.

Definition at line 175 of file PlanePrimitiveShape.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 242 of file PlanePrimitiveShape.cpp.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PlanePrimitiveShape() [1/2]

◆ PlanePrimitiveShape() [2/2]

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]

◆ Project()

◆ RequiredSamples()

◆ Serialize() [1/2]

◆ Serialize() [2/2]

◆ SerializedFloatSize()

◆ SerializedSize()

◆ SetExtent()

◆ SignedDistance()

◆ SignedDistanceFunc()

◆ Similar()

◆ Transform() [1/2]

◆ Transform() [2/2]

◆ Visit()

◆ WrapBitmap()