msh3PDTreeNode.h

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//    Copyright (c) 2014, Seth Billings, Russell Taylor, Johns Hopkins University
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#ifndef _msh3PDTreeNode_h
#define _msh3PDTreeNode_h
 
#include <stdio.h>
#include <assert.h>
 
#include <cisstMesh/mshForwardDeclarations.h>
 
#include <cisstMesh/msh3BoundingBox.h>
#include <cisstMesh/msh3Mesh.h>
 
// if the PDTree noise model is not needed then PDTree construction
// time may be reduced by disabling it
#define ENABLE_PDTREE_NOISE_MODEL
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3PDTreeNode
{
    //
    // This class implements a node of a PD tree;
    //  there are no derived versions of this class.
    //
 
    //--- Variables ---//
 
 public:
 
    msh3PDTreeBase  *pMyTree;
    msh3PDTreeNode  *pParent;
    msh3PDTreeNode  *pLEq, *pMore; // child nodes
 
    int *pDataIndices;
    int NData;
    int myDepth;
 
    vctFrm3 F;                // transforms world -> local node coords
    msh3BoundingBox Bounds;  // bounding box for this node
 
#ifdef ENABLE_PDTREE_NOISE_MODEL
 
    // Noise Model for this Node
    //  Note:  this group of variables depend only on the node and are
    //         computed only once when the tree is built
    double EigMax;      // largest eigenvector of covariances in the node
    vct3   EigRankMin;  // min eigenvalues by rank w/in node
    // Switch to use parent noise model instead of local noise model bounds
    bool bUseParentEigMaxBound;
    // this is for the spherical node bounds where the effective bound
    //  is comprised of only the log term and eigenvalues of the node and
    //  sample noise models
    bool bUseParentEigRankMinBounds;
 
    // these point to local values if using local noise model for this node
    //  or to parent's "values in use" if using parent's noise model for this node
    double *pEigMax;
    vct3 *pEigRankMin;
 
#endif
 
    //--- Methods ---//
 
 public:
 
    // constructor
    msh3PDTreeNode(int *pDataIndexArray, int numIndexes,
                   msh3PDTreeBase *pTree, msh3PDTreeNode *pParent);
 
    // debug constructor
    msh3PDTreeNode(double)
        : pMyTree(NULL),
        pParent(NULL),
        pLEq(NULL),
        pMore(NULL),
        pDataIndices(NULL),
        NData(0)
#ifdef ENABLE_PDTREE_NOISE_MODEL
        ,pEigMax(NULL),
        pEigRankMin(NULL)
#endif
            {}
 
    // destructor
    ~msh3PDTreeNode();
 
    // Check if a datum in this node has a lower match error than the error bound
    //  If a lower match error is found, set the new closest point, update error
    //  bound, and return the global datum index of the closest datum.
    //  Otherwise, return -1.
    int FindClosestDatum(const vct3 &v,
                         vct3 &closestPoint,
                         double &ErrorBound,
                         unsigned int &numNodesVisited,
                         unsigned int &numNodesSearched);
 
    // Find intersected points in node given a point and bounding distance
    void FindIntersectedPoints(const vct3 &v,
                               const double boundingDistance,
                               msh3Mesh& mesh,
                               std::vector<int> &faceIdx);
 
    inline int NumData() const { return NData; };
    inline int IsTerminalNode() const { return pLEq == NULL; };
 
    int SortNodeForSplit();
    vctFrm3 ComputeCovFrame(int i0, int i1);
    int ConstructSubtree(int CountThresh, double DiagThresh);
 
    void AccumulateCentroid(int datum, vct3 &sum) const;
    void AccumulateVariances(int datum, const vct3 &mean, vctDouble3x3 &C) const;
 
    // Return the global datum index of the ith datum in this node
    inline int Datum(int i) const
    {
        assert(i >= 0 && i < NData);
        return pDataIndices[i];
    };
    inline int& Datum(int i)
    {
        assert(i >= 0 && i < NData);
        return pDataIndices[i];
    };
 
    msh3PDTreeNode* GetChildSplitNode(const vct3 &datumPos);
 
    // debug routines
    int FindTerminalNode(int datum, msh3PDTreeNode **termNode);
    void PrintTerminalNodes(std::ofstream &fs);
    inline bool NodeContainsDatum(int datum)
    {
        for (int i = 0; i < NData; i++) {
            if (datum == pDataIndices[i]) return true;
        }
        return false;
    }
 
};
 
#endif