msh3PDTreePointCloud.h

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#ifndef _msh3PDTreePointCloud_h
#define _msh3PDTreePointCloud_h
 
#include <limits>
 
#include <cisstMesh/msh3PDTreeBase.h>
#include <cisstMesh/msh3PointCloud.h>
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3PDTreePointCloud : public msh3PDTreeBase
{
    //
    // This class implements a PD tree for a point cloud shape
    //
 
    //--- Variables ---//
 
 public:
 
    msh3PointCloud pointCloud;
 
    //--- Methods ---//
 
    // constructors
    //  pointCloud - target shape from which to construct the tree
    //                (each point of the cloud becomes a datum in the tree)
    //  nThresh    - min number of datums to subdivide a node
    //  diagThresh - min physical size to subdivide a node
    msh3PDTreePointCloud(msh3PointCloud &pointCloud,
                         int nThresh,
                         double diagThresh);
 
    // destructor
    virtual ~msh3PDTreePointCloud();
 
    void SavePointCloud(std::string &file)
    {
        pointCloud.WritePointCloudToFile(file);
        pointCloud.SavePLY(file);
    }
 
    //--- Base Class Virtual Methods ---//
    virtual vct3 DatumSortPoint(int datum) const;  // return sort point of this datum
    virtual void EnlargeBounds(const vctFrm3& F, int datum, msh3BoundingBox& BB) const;
 
 
#ifdef ENABLE_PDTREE_NOISE_MODEL
 
    //--- Noise Model Methods ---//
 
    inline vct3x3& DatumCov(int datum)         // return measurement noise model for this datum
    {
        return pointCloud.pointCov.Element(datum);
    }
    inline vct3x3* DatumCovPtr(int datum)      // return measurement noise model for this datum
    {
        return &(pointCloud.pointCov.Element(datum));
    }
 
    inline vct3& DatumCovEig(int datum)         // return measurement noise model for this datum
    {
        return pointCloud.pointCovEig.Element(datum);
    }
    inline vct3* DatumCovEigPtr(int datum)      // return measurement noise model for this datum
    {
        return &(pointCloud.pointCovEig.Element(datum));
    }
 
#endif // ENABLE_PDTREE_NOISE_MODEL
 
};
 
#endif