msh3DirPDTreeBase.h

Go to the documentation of this file.

/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
// ****************************************************************************
//
//    Copyright (c) 2014, Seth Billings, Russell Taylor, Johns Hopkins University
//    All rights reserved.
//
//    Redistribution and use in source and binary forms, with or without
//    modification, are permitted provided that the following conditions are
//    met:
//
//    1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
//    2. Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//
//    3. Neither the name of the copyright holder nor the names of its
//    contributors may be used to endorse or promote products derived from
//    this software without specific prior written permission.
//
//    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
//    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
//    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
//    A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
//    HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//    SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
//    LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
//    DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
//    THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
//    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
//    OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// ****************************************************************************
 
#ifndef _msh3DirPDTreeBase_h
#define _msh3DirPDTreeBase_h
 
#include <limits>
 
#include <stdio.h>
#include <assert.h>
 
#include <cisstMesh/msh3BoundingBox.h>
#include <cisstMesh/msh3DirPDTreeNode.h>
#include <cisstMesh/msh3AlgDirPDTree.h>
 
//#define DebugDirPDTree
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3DirPDTreeBase
{
    //
    // This is the base class for a directional PD tree
    //  (i.e. for oriented data).
    // 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 pAlgorithm object
    //  which implements the key search routines.
    //
 
    friend class msh3DirPDTreeNode;
 
    //--- Variables ---//
 
 public:
 
    // reference to pAlgorithm must exist here so that all nodes
    //  may access it
    msh3AlgDirPDTree *pAlgorithm;
 
 protected:
 
#ifdef DebugDirPDTree
    FILE *debugFile;
    FILE *debugFile2;
#endif
 
    int NData, NNodes, treeDepth;
    int* DataIndices;
    msh3DirPDTreeNode *Top;
 
    //--- Methods ---//
 
 public:
 
    // constructors
    msh3DirPDTreeBase():
        pAlgorithm(NULL),
        NData(0), NNodes(0), treeDepth(0),
        DataIndices(NULL), Top(NULL)
        {
#ifdef DebugDirPDTree
            debugFile = fopen("../ICP_TestData/LastRun/debugDirPDTree.txt","w");
            debugFile2 = fopen("../ICP_TestData/LastRun/debugDirPDTree2.txt","w");
#endif
        };
 
    // destructor
    virtual ~msh3DirPDTreeBase() {}
 
    int FastInitializeProximalDatum(const vct3 &v, const vct3 &n, vct3 &proxPoint, vct3 &proxNorm);
 
    void SetSearchAlgorithm(msh3AlgDirPDTree *pAlg)
    {
        pAlgorithm = pAlg;
    }
 
    // Return 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, const vct3 &n,
                         vct3 &closestPoint, vct3 &closestPointNorm,
                         int prevDatum,
                         double &matchError,
                         unsigned int &numNodesSearched,
                         double currentMatchError = std::numeric_limits<double>::max());
 
    // Compute the match error for a given datum
    double ComputeDatumMatchError(const vct3 &v, const vct3 &n, int datum);
 
    int NumData() const { return NData; };
    int NumNodes() const { return NNodes; };
    int TreeDepth() const { return treeDepth; };
 
    // debug routines
    int ValidateClosestDatum(const vct3 &v, const vct3 &n,
                             vct3 &closestPoint, vct3 &closestPointNorm);
    int FindTerminalNode(int datum, msh3DirPDTreeNode **termNode);
    void PrintTerminalNodes(std::ofstream &fs);
 
 
    //--- Virtual Methods ---//
    //
    // These methods require a known datum type
    //
    virtual vct3 DatumSortPoint(int datum) = 0; // reference point for assigning datum to a node
    virtual vct3 DatumNorm(int datum) = 0;      // datum orientation (normal vector)
    virtual void EnlargeBounds(const vctFrm3& F, int datum, msh3BoundingBox& BB) const = 0;
 
};
 
#endif