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/************************************************************************
*
* Copyright (C) 2017-2023 IRCAD France
* Copyright (C) 2017-2020 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "geometry/data/point_list.hpp"
#include <data/point.hpp>
#include <data/point_list.hpp>
#include <geometry/data/matrix4.hpp>
#include <glm/geometric.hpp>
#include <glm/vec3.hpp>
#include <cmath>
#include <list>
namespace sight::geometry::data
{
//-----------------------------------------------------------------------------
sight::data::array::sptr point_list::compute_distance(
sight::data::point_list::sptr _point_list1,
sight::data::point_list::sptr _point_list2
)
{
SIGHT_ASSERT(
"the 2 pointLists must have the same number of points",
_point_list1->get_points().size() == _point_list2->get_points().size()
);
const auto points1 = _point_list1->get_points();
const auto points2 = _point_list2->get_points();
const std::size_t size = points1.size();
sight::data::array::sptr output_array = std::make_shared<sight::data::array>();
output_array->resize({size}, sight::core::type::DOUBLE);
const auto dump_lock = output_array->dump_lock();
auto distance_array_itr = output_array->begin<double>();
for(std::size_t i = 0 ; i < size ; ++i)
{
const sight::data::point::point_coord_array_t tmp1 = points1[i]->get_coord();
const sight::data::point::point_coord_array_t tmp2 = points2[i]->get_coord();
const glm::dvec3 pt1 = glm::dvec3(tmp1[0], tmp1[1], tmp1[2]);
const glm::dvec3 pt2 = glm::dvec3(tmp2[0], tmp2[1], tmp2[2]);
*distance_array_itr = glm::distance(pt1, pt2);
++distance_array_itr;
}
return output_array;
}
//------------------------------------------------------------------------------
void point_list::transform(
sight::data::point_list::sptr& _point_list,
const sight::data::matrix4::csptr& _matrix
)
{
const sight::data::point_list::container_t points = _point_list->get_points();
const std::size_t size = points.size();
for(std::size_t i = 0 ; i < size ; ++i)
{
sight::data::point& pt = *points[i];
// Transform the current point with the input matrix
sight::geometry::data::multiply(*_matrix, pt, pt);
}
}
//------------------------------------------------------------------------------
void point_list::associate(
const sight::data::point_list::csptr& _point_list1,
sight::data::point_list::sptr _point_list2
)
{
SIGHT_ASSERT(
"the 2 pointLists must have the same number of points",
_point_list1->get_points().size() == _point_list2->get_points().size()
);
const sight::data::point_list::container_t points1 = _point_list1->get_points();
const sight::data::point_list::container_t points2 = _point_list2->get_points();
const std::size_t size = points1.size();
// Transform first point list into vector< glm::dvec3 > (no erase is performed)
std::vector<glm::dvec3> vec1;
vec1.reserve(size);
//and second one into a list (since we will erase associated points)
std::list<glm::dvec3> list2;
for(std::size_t i = 0 ; i < size ; ++i)
{
const sight::data::point::point_coord_array_t tmp1 = points1[i]->get_coord();
const sight::data::point::point_coord_array_t tmp2 = points2[i]->get_coord();
// Add the point to vector/list
vec1.emplace_back(tmp1[0], tmp1[1], tmp1[2]);
list2.emplace_back(tmp2[0], tmp2[1], tmp2[2]);
}
std::size_t index = 0;
for(auto point1 : vec1)
{
// Identify the closest point
double distance_min = std::numeric_limits<double>::max();
std::list<glm::dvec3>::iterator it_closest_point;
for(auto it2 = list2.begin() ; it2 != list2.end() ; ++it2)
{
const glm::dvec3 point2 = *it2;
const double distance = glm::distance(point1, point2);
if(distance < distance_min)
{
distance_min = distance;
it_closest_point = it2;
}
}
sight::data::point::point_coord_array_t point_coord;
point_coord[0] = it_closest_point->x;
point_coord[1] = it_closest_point->y;
point_coord[2] = it_closest_point->z;
const sight::data::point::sptr& pt = points2[index];
pt->set_coord(point_coord);
++index;
// Erase the already matched point
list2.erase(it_closest_point);
}
}
//------------------------------------------------------------------------------
sight::data::point::sptr point_list::remove_closest_point(
const sight::data::point_list::sptr& _point_list,
const sight::data::point::csptr& _point,
float _delta
)
{
// Initial data
const auto& list = _point_list->get_points();
if(!list.empty())
{
const auto& coord1 = _point->get_coord();
const glm::vec3 p1 {coord1[0], coord1[1], coord1[2]};
// Data to find the closest point
float closest = std::numeric_limits<float>::max();
sight::data::point::sptr point = nullptr;
std::size_t index = 0;
bool point_is_found = false;
// Find the closest one
for(std::size_t i = 0 ; i < list.size() ; ++i)
{
const auto& coord2 = list[i]->get_coord();
const glm::vec3 p2 {coord2[0], coord2[1], coord2[2]};
float temp_closest = NAN;
if((temp_closest = glm::distance(p1, p2)) < _delta && temp_closest < closest)
{
closest = temp_closest;
point = list[i];
index = i;
point_is_found = true;
}
}
// Remove the closest point if it has been found
if(point_is_found)
{
_point_list->remove(index);
}
return point;
}
return nullptr;
}
//-----------------------------------------------------------------------------
} // namespace sight::geometry::data
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