MRBestFit.h

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#pragma once
 
#include "MRSymMatrix3.h"
#include "MRPlane3.h"
#include "MRLine3.h"
#include "MRPolyline.h"
#include "MRAffineXf3.h"
#include "MRPointCloudPart.h"
#include <array>
 
namespace MR
{
 
 
class PointAccumulator
{
public:
    MRMESH_API void addPoint( const Vector3d & pt );
    MRMESH_API void addPoint( const Vector3d & pt, double weight );
    void addPoint( const Vector3f& pt ) { addPoint( Vector3d( pt ) ); }
    void addPoint( const Vector3f& pt, float weight ) { addPoint( Vector3d( pt ), weight ); }
 
    MRMESH_API Plane3d getBestPlane() const;
    Plane3f getBestPlanef() const { return Plane3f( getBestPlane() ); }
    MRMESH_API Line3d getBestLine() const;
    Line3f getBestLinef() const { return Line3f( getBestLine() ); }
 
    MRMESH_API bool getCenteredCovarianceEigen( Vector3d & centroid, Matrix3d & eigenvectors, Vector3d & eigenvalues ) const;
    MRMESH_API bool getCenteredCovarianceEigen( Vector3f& centroid, Matrix3f& eigenvectors, Vector3f& eigenvalues ) const;
 
    MRMESH_API AffineXf3d getBasicXf() const;
    AffineXf3f getBasicXf3f() const { return AffineXf3f( getBasicXf() ); }
 
    MRMESH_API std::array<AffineXf3d, 4> get4BasicXfs() const;
    MRMESH_API std::array<AffineXf3f, 4> get4BasicXfs3f() const;
 
    bool valid() const { return sumWeight_ > 0; };
 
private:
    double sumWeight_ = 0;
    Vector3d momentum1_;
    SymMatrix3d momentum2_;
};
 
MRMESH_API void accumulatePoints( PointAccumulator& accum, const std::vector<Vector3f>& points, const AffineXf3f* xf = nullptr );
 
MRMESH_API void accumulateWeighedPoints( PointAccumulator& accum, const std::vector<Vector3f>& points, const std::vector<float>& weights, const AffineXf3f* xf = nullptr );
 
MRMESH_API void accumulateFaceCenters( PointAccumulator& accum, const MeshPart& mp, const AffineXf3f* xf = nullptr );
 
MRMESH_API void accumulateLineCenters( PointAccumulator& accum, const Polyline3& pl, const AffineXf3f* xf = nullptr );
 
MRMESH_API void accumulatePoints( PointAccumulator& accum, const PointCloudPart& pcp, const AffineXf3f* xf = nullptr );
 
 
class PlaneAccumulator
{
public:
    MRMESH_API void addPlane( const Plane3d & pl );
    void addPlane( const Plane3f& pl ) { addPlane( Plane3d( pl ) ); }
 
    MRMESH_API Vector3d findBestCrossPoint( const Vector3d & p0, double tol, int * rank = nullptr, Vector3d * space = nullptr ) const;
    MRMESH_API Vector3f findBestCrossPoint( const Vector3f & p0, float tol, int * rank = nullptr, Vector3f * space = nullptr ) const;
 
private:
    SymMatrix3d mat_;
    Vector3d rhs_;
};
 
} // namespace MR