msh2DirPDTreeBase.h

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/* -*- 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: */
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//    Copyright (c) 2014, Seth Billings, Russell Taylor, Johns Hopkins University
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#ifndef _msh2DirPDTreeBase_h
#define _msh2DirPDTreeBase_h
 
#include <stdio.h>
#include <assert.h>
 
#include <cisstMesh/msh2BoundingBox.h>
#include <cisstMesh/msh2DirPDTreeNode.h>
#include <cisstMesh/msh2AlgDirPDTree.h>
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh2DirPDTreeBase
{
    //
    // 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 msh2DirPDTreeNode;
 
    //--- Variables ---//
 
 public:
 
    // reference to algorithm must exist here so that all nodes
    //  may access it
    msh2AlgDirPDTree    *algorithm;
 
    //protected:
 
#ifdef DebugDirPDTree2D
    FILE *debugFile;
    FILE *debugFile2;
#endif
 
    msh2DirPDTreeNode *Top;
    int* DataIndices;
    size_t NData;
    size_t NNodes;
    int treeDepth;
 
    //--- Methods ---//
 
 public:
 
    // constructors
    msh2DirPDTreeBase() :
        algorithm(NULL),
        Top(NULL),
        DataIndices(NULL),
        NData(0), NNodes(0), treeDepth(0)
        {
#ifdef DebugDirPDTree2D
            //debugFile = fopen("D:/Code/Repos_Git/SinusProject/MATLAB/debugDirPDTree.txt", "w");
            //debugFile2 = fopen("D:/Code/Repos_Git/SinusProject/MATLAB/debugDirPDTree2.txt", "w");
            debugFile = fopen("./debugDirPDTree.txt", "w");
            debugFile2 = fopen("./debugDirPDTree2.txt", "w");
            //debugFile = fopen("../ICP_TestData/LastRun/debugDirPDTree.txt","w");
            //debugFile2 = fopen("../ICP_TestData/LastRun/debugDirPDTree2.txt","w");
 
            //int printReturn;
            //printReturn = fprintf(debugFile, "Debug File Open\n");
            //printReturn = fprintf(debugFile2, "Debug File2 Open\n");
            //fflush(debugFile);
            //fflush(debugFile2);
#endif
        };
 
    virtual ~msh2DirPDTreeBase() {}
 
    void SetSearchAlgorithm(msh2AlgDirPDTree *alg)
    {
        algorithm = alg;
    }
 
    // 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 vct2 &v, const vct2 &n,
                         vct2 &closestPoint, vct2 &closestPointNorm,
                         int prevDatum,
                         double &matchError,
                         unsigned int &numNodesSearched);
 
    // quickly computes a nearby (not best matching) datum point
    //  used for initializing the closest datums prior to
    //  performing a true tree search
    int FastInitializeProximalDatum(const vct2 &v, const vct2 &n,
                                    vct2 &proxPoint, vct2 &proxNorm);
 
    size_t NumData() const { return NData; };
    size_t NumNodes() const { return NNodes; };
    int TreeDepth() const { return treeDepth; };
 
    // debug routines
    int ValidateClosestDatum(const vct2 &v, const vct2 &n, vct2 &closestPoint, vct2 &closestPointNorm);
    int FindTerminalNode(int datum, msh2DirPDTreeNode **termNode);
    void PrintTerminalNodes(std::ofstream &fs);
 
 
    //--- Virtual Methods ---//
    //
    // These methods require a known datum type
    //
 
    virtual vct2 DatumSortPoint(int datum) const = 0; // reference point for assigning datum to a node
    virtual vct2 DatumNorm(int datum) const = 0;      // datum orientation (normal vector)
    virtual void EnlargeBounds(const vctFrm2& F, int datum, msh2BoundingBox& BB) const = 0;
    virtual void EnlargeBounds(int datum, msh2BoundingBox& BB) const = 0;
 
    //virtual void  Print(FILE* chan, int indent);
    //virtual void  PrintDatum(FILE* chan, int indent, int datum);
 
};
 
#endif