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//##########################################################################
//# #
//# CLOUDCOMPARE PLUGIN: qCANUPO #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: UEB (UNIVERSITE EUROPEENNE DE BRETAGNE) / CNRS #
//# #
//##########################################################################
#ifndef CC_POINT_DESCRIPTOR_HEADER
#define CC_POINT_DESCRIPTOR_HEADER
//Qt
#include <QByteArray>
#include <QString>
//CCLib
#include <ReferenceCloud.h>
//system
#include <vector>
#include <math.h>
// Descriptors' ID must be declared here and then implemented in 'ccPointDescriptor.cpp'.
//
// WARNING: the ID must be unique and must not be changed once set!
//
// Once declared (and implemented) in ccPointDescriptor.cpp, the descriptor must be added
// to the static 'vault' (see ScaleParamsComputerVault's constructor).
static const unsigned DESC_INVALID = 0; // Unknown descritpr
static const unsigned DESC_DIMENSIONALITY = 1; // Original CANUPO's "Dimensionality" descriptor
static const unsigned DESC_DIMENSIONALITY_SF = 2; // "Dimensionality" + scalar field descriptor
static const unsigned DESC_CURVATURE = 3; // Test: Gaussian curvature descriptor
//static const unsigned DESC_CUSTOM = ?; // Example of custom descriptor (to be reimplemented)
//! Generic parameters 'computer' class (at a given scale)
/** Must be inherited by any custom computer.
**/
class ScaleParamsComputer
{
public:
//! Vault: returns the computer corresponding to the given ID
static ScaleParamsComputer* GetByID(unsigned descID);
public:
//! Returns the number of available 'descriptors'
static unsigned AvailableCount();
//! Vault: returns the ith computer
static ScaleParamsComputer* GetByIndex(unsigned index);
public:
virtual ~ScaleParamsComputer() = default;
//! Returns the associated descriptor ID
virtual unsigned getID() const = 0;
//! Returns the associated descriptor name
virtual QString getName() const = 0;
//! Returns the number of dimensions per scale for this descriptor
virtual unsigned dimPerScale() const = 0;
//! Returns whether the computer requires a scalar field or not
virtual bool needSF() const { return false; }
//! Called once before computing parameters at first scale
virtual void reset() = 0;
//! Computes the parameters at a given scale
/** Scales are always called in decreasing order.
\param[in] neighbors the set of neighbors at the current scale
\param[in] radius current radius (half scale) value
\param[out] params the computed parameters
\param[out] invalidScale whether this scale is 'invalid' (i.e. parameters couldn't be computed, default one have been returned instead)
\return false if an error occurred (e.g. not enough memory)
**/
virtual bool computeScaleParams(CCLib::ReferenceCloud& neighbors, double radius, float params[], bool& invalidScale) = 0;
protected:
};
//! Set of descriptors
/** Typically computed on (core) points
**/
struct CorePointDesc
{
//! Parameters array (its size should be 'number of scales' * 'dimensions per scale')
std::vector<float> params;
};
class ccPointCloud;
//! Set of (core) point descriptors
class CorePointDescSet : public std::vector<CorePointDesc>
{
public:
CorePointDescSet() : m_descriptorID(0), m_dimPerScale(0) {}
CorePointDescSet(size_t sz) : std::vector<CorePointDesc>(sz), m_descriptorID(0), m_dimPerScale(0) {}
CorePointDescSet(size_t sz, const CorePointDesc& defaultVal) : std::vector<CorePointDesc>(sz,defaultVal), m_descriptorID(0), m_dimPerScale(0) {}
CorePointDescSet(const CorePointDescSet& descSet) : std::vector<CorePointDesc>(descSet), m_descriptorID(descSet.m_descriptorID), m_dimPerScale(descSet.m_dimPerScale) {}
//! Converts structure to a byte array
QByteArray toByteArray() const;
//! Inits structure from a byte array
bool fromByteArray(const QByteArray& data);
//! Loads structure of descriptors from an ".msc" file (see Brodu's version)
bool loadFromMSC(QString filename, QString& error, ccPointCloud* corePoints = 0);
//! Returns associated scales
inline const std::vector<float>& scales() const { return m_scales; }
//! Sets associated scales
/** \warning Automatically resize the descriptors 'params' vector
\warning Call this AFTER having resized the vector!
\return success
**/
bool setScales(const std::vector<float>& scales);
//! Returns associated descriptor ID
inline const unsigned descriptorID() const { return m_descriptorID; }
//! Sets associated descriptor ID
inline void setDescriptorID(unsigned ID) { m_descriptorID = ID; }
//! Returns the number of dimensions per scale
inline const unsigned dimPerScale() const { return m_dimPerScale; }
//! Sets associated descriptor ID
inline void setDimPerScale(unsigned dim) { m_dimPerScale = dim; }
protected:
//! Associated scales
std::vector<float> m_scales;
//! Associated descriptor ID
unsigned m_descriptorID;
//! Dimensions per scale
unsigned m_dimPerScale;
};
#endif
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