NormalSpace.h

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2018,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

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modification, are permitted provided that the following conditions are met:
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      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
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*/
#pragma once

#include "PointMatcher.h"

template<typename T>
struct NormalSpaceDataPointsFilter : public PointMatcher<T>::DataPointsFilter
{
        // Type definitions
        typedef PointMatcher<T> PM;
        typedef typename PM::DataPoints DataPoints;
        typedef typename PM::DataPointsFilter DataPointsFilter;

        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        typedef Parametrizable::InvalidParameter InvalidParameter;
        
        typedef typename DataPoints::Index Index;

        typedef typename PointMatcher<T>::DataPoints::InvalidField InvalidField;

        inline static const std::string description()
        {
                return "Normal Space Sampling (NSS) \\cite{Rusinkiewicz2001}. Construct a set of buckets in the normal-space, then put all points of the data into buckets based on their normal direction; Finally, uniformly pick points from all the buckets until the desired number of points is selected. **Required** to compute normals as pre-step.";
        }

        inline static const ParametersDoc availableParameters()
        {
                return {
                        {"nbSample", "Number of point to select.", "5000", "1", "4294967295", &P::Comp<std::size_t>},
                        {"seed", "Seed for the random generator.", "1", "0", "4294967295", &P::Comp<std::size_t>},
                        {"epsilon", "Step of discretization for the angle spaces", "0.09817477042" /* PI/32 */, "0.04908738521" /* PI/64 */, "3.14159265359" /* PI */, &P::Comp<T>}
                };
        }

public:
        const std::size_t nbSample;
        const std::size_t seed;
        const T epsilon;
        
        //Ctor, uses parameter interface
        NormalSpaceDataPointsFilter(const Parameters& params = Parameters());
        //NormalSpaceDataPointsFilter();
        
        //Dtor
        virtual ~NormalSpaceDataPointsFilter() {};

        virtual DataPoints filter(const DataPoints& input);
        virtual void inPlaceFilter(DataPoints& cloud);

private:
        inline std::size_t bucketIdx(T theta, T phi) const;
        
        const std::size_t nbBucket;
};