msh3PDTreeBase.h

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//    Copyright (c) 2014, Seth Billings, Russell Taylor, Johns Hopkins University
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#ifndef _msh3PDTreeBase_h
#define _msh3PDTreeBase_h
 
#include <stdio.h>
#include <assert.h>
 
#include <cisstMesh/mshForwardDeclarations.h>
 
#include <cisstMesh/msh3BoundingBox.h>
#include <cisstMesh/msh3PDTreeNode.h>
#include <cisstMesh/msh3AlgPDTree.h>
 
//#define DEBUG_PD_TREE
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3PDTreeBase
{
    //
    // This is the base class for a PD tree.
    //  This class defines the entry point for performing
    //  a search. The type of datum (i.e. triangle, point, etc.)
    //  is unknown to this class and must be defined within a
    //  derived class, making this class abstract.
    // This class stores a pointer to an algorithm object
    //  which implements the key search routines.
    //
 
    friend class msh3PDTreeNode;
 
    //--- Variables ---//
 
 public:
 
    // reference to algorithm must exist here so that all nodes
    //  may access it
    msh3AlgPDTree *pAlgorithm;
 
 protected:
 
#ifdef DEBUG_PD_TREE
    FILE *debugFile;
    FILE *debugFile2;
#endif
 
    int NData, NNodes, treeDepth;
    int* DataIndices;
    msh3PDTreeNode *Top;
 
    //--- Methods ---//
 
 public:
 
    // constructors
    msh3PDTreeBase() :
        pAlgorithm(NULL),
        NData(0), NNodes(0), treeDepth(0),
        DataIndices(NULL), Top(NULL)
        {
#ifdef DEBUG_PD_TREE
            debugFile = fopen("debugPDTree.txt","w");
            debugFile2 = fopen("debugPDTree2.txt","w");
#endif
        };
 
    // destructor
    virtual ~msh3PDTreeBase() {}
 
    int FastInitializeProximalDatum(const vct3 &v, vct3 &proxPoint);
 
    inline void SetSearchAlgorithm(msh3AlgPDTree *pAlg) {
        pAlgorithm = pAlg;
    }
 
    // Returns the index for the datum in the tree that has lowest match error for
    //  the given point and set the closest point values
    int FindClosestDatum(const vct3 &v,
                         vct3 &closestPoint,
                         int prevDatum,
                         double &matchError,
                         unsigned int &numNodesSearched);
 
    //  // Finds the intersected points of a PDTree given a bounding distance
    //  virtual int FindIntersectedPoints(
    //            const vct3 &v, const double boundingDistance, std::vector<vct3> &intersectedPoints,
    //             std::vector<int> &datumPoints,
    //             std::vector<bool> &edgePointFlag);
 
    inline int NumData() const { return NData; };
    inline int NumNodes() const { return NNodes; };
    inline int TreeDepth() const { return treeDepth; };
 
    // debug routines
    int ValidateClosestDatum(const vct3 &v, vct3 &closestPoint);
    int ValidateClosestDatum_ByEuclideanDist(const vct3 &v, vct3 &closestPoint);
    int FindTerminalNode(int datum, msh3PDTreeNode **termNode);
    void PrintTerminalNodes(std::ofstream &fs);
 
    //--- Virtual Methods ---//
    //
    // These methods require a known datum type
    //
    virtual vct3 DatumSortPoint(int datum) const = 0;
    virtual void EnlargeBounds(const vctFrm3& F, int datum, msh3BoundingBox& BB) const = 0;
 
#ifdef ENABLE_PDTREE_NOISE_MODEL
 
    //--- Noise Model Methods ---//
 
    virtual vct3x3& DatumCov(int datum) = 0;    // return measurement noise model for this datum
    virtual vct3x3* DatumCovPtr(int datum) = 0; // return measurement noise model for this datum
    virtual vct3& DatumCovEig(int datum) = 0;
    virtual vct3* DatumCovEigPtr(int datum) = 0;
 
    // may have to be manually called by user after defining the noise
    //  model of the datums
    //  (depending on the PD tree type and constructor used)
    void ComputeNodeNoiseModels();
    void ComputeSubNodeNoiseModel(msh3PDTreeNode *node, bool useLocalVarsOverride);
 
#endif // ENABLE_PDTREE_NOISE_MODEL
 
};
 
#endif