| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Copyright (c) 2000-2022 Inria | ||
| 3 | * All rights reserved. | ||
| 4 | * | ||
| 5 | * Redistribution and use in source and binary forms, with or without | ||
| 6 | * modification, are permitted provided that the following conditions are met: | ||
| 7 | * | ||
| 8 | * * Redistributions of source code must retain the above copyright notice, | ||
| 9 | * this list of conditions and the following disclaimer. | ||
| 10 | * * Redistributions in binary form must reproduce the above copyright notice, | ||
| 11 | * this list of conditions and the following disclaimer in the documentation | ||
| 12 | * and/or other materials provided with the distribution. | ||
| 13 | * * Neither the name of the ALICE Project-Team nor the names of its | ||
| 14 | * contributors may be used to endorse or promote products derived from this | ||
| 15 | * software without specific prior written permission. | ||
| 16 | * | ||
| 17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| 18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| 19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| 20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| 21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| 22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| 23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| 24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| 25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| 26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 27 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 28 | * | ||
| 29 | * Contact: Bruno Levy | ||
| 30 | * | ||
| 31 | * https://www.inria.fr/fr/bruno-levy | ||
| 32 | * | ||
| 33 | * Inria, | ||
| 34 | * Domaine de Voluceau, | ||
| 35 | * 78150 Le Chesnay - Rocquencourt | ||
| 36 | * FRANCE | ||
| 37 | * | ||
| 38 | */ | ||
| 39 | |||
| 40 | #ifndef GEOGRAM_POINTS_PRINCIPAL_AXES | ||
| 41 | #define GEOGRAM_POINTS_PRINCIPAL_AXES | ||
| 42 | |||
| 43 | #include <geogram/basic/common.h> | ||
| 44 | #include <geogram/basic/numeric.h> | ||
| 45 | #include <geogram/basic/geometry.h> | ||
| 46 | #include <geogram/basic/logger.h> | ||
| 47 | #include <geogram/numerics/matrix_util.h> | ||
| 48 | |||
| 49 | /** | ||
| 50 | * \file geogram/points/principal_axes.h | ||
| 51 | * \brief A class to compute the principal axes of a point | ||
| 52 | * cloud. | ||
| 53 | */ | ||
| 54 | |||
| 55 | namespace GEO { | ||
| 56 | |||
| 57 | /** | ||
| 58 | * PrincipalAxes3d enables the center and inertia axes of | ||
| 59 | * a cloud of 3d points to be computed. | ||
| 60 | */ | ||
| 61 | class GEOGRAM_API PrincipalAxes3d { | ||
| 62 | public: | ||
| 63 | /** | ||
| 64 | * \brief PrincipalAxes3d constructor. | ||
| 65 | */ | ||
| 66 | PrincipalAxes3d(); | ||
| 67 | |||
| 68 | /** | ||
| 69 | * \brief Begins a principal axes estimation. | ||
| 70 | */ | ||
| 71 | void begin(); | ||
| 72 | |||
| 73 | /** | ||
| 74 | * \brief Ends a principal axes estimation. | ||
| 75 | */ | ||
| 76 | void end(); | ||
| 77 | |||
| 78 | /** | ||
| 79 | * \brief Adds a point to the current principal axes | ||
| 80 | * estimation. | ||
| 81 | * \param[in] p the current point | ||
| 82 | * \param[in] weight an optional weight | ||
| 83 | */ | ||
| 84 | void add_point(const vec3& p, double weight = 1.0); | ||
| 85 | |||
| 86 | /** | ||
| 87 | * \brief Gets the center. | ||
| 88 | * \details Can be called only after end_points(). | ||
| 89 | * \return the center of the point cloud. | ||
| 90 | */ | ||
| 91 | vec3 center() const { | ||
| 92 | return vec3(center_[0], center_[1], center_[2]); | ||
| 93 | } | ||
| 94 | |||
| 95 | /** | ||
| 96 | * \brief Gets one of the axes. | ||
| 97 | * \details Can be called only after end_points(). | ||
| 98 | * \param[in] i one of 0,1,2 | ||
| 99 | * \return the axis. | ||
| 100 | */ | ||
| 101 | const vec3& axis(index_t i) const { | ||
| 102 | return axis_[i]; | ||
| 103 | } | ||
| 104 | |||
| 105 | /** | ||
| 106 | * \brief Gets one of the eigenvalues. | ||
| 107 | * \details Can be called only after end_points(). | ||
| 108 | * \param[in] i one of 0,1,2 | ||
| 109 | * \return the eigenvalue. | ||
| 110 | */ | ||
| 111 | double eigen_value(index_t i) const { | ||
| 112 | return eigen_value_[i]; | ||
| 113 | } | ||
| 114 | |||
| 115 | /** | ||
| 116 | * \brief Gets the estimated normal to the point cloud. | ||
| 117 | * \details Equivalent to axis(2). | ||
| 118 | * \return the estimated normal. | ||
| 119 | */ | ||
| 120 | vec3 normal() const { | ||
| 121 | 158810 | return axis(2); | |
| 122 | } | ||
| 123 | |||
| 124 | private: | ||
| 125 | double center_[3] ; | ||
| 126 | vec3 axis_[3] ; | ||
| 127 | double eigen_value_[3] ; | ||
| 128 | |||
| 129 | double M_[6] ; | ||
| 130 | int nb_points_ ; | ||
| 131 | double sum_weights_ ; | ||
| 132 | }; | ||
| 133 | } | ||
| 134 | |||
| 135 | #endif | ||
| 136 |