GCC Code Coverage Report

Directory: ./
File: include/coal/internal/BV_fitter.h
Date: 2025-04-13 14:25:19
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Lines: 36 40 90.0%
Branches: 2 2 100.0%
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 */
35
36 /** \author Jia Pan */
37
38 #ifndef COAL_BV_FITTER_H
39 #define COAL_BV_FITTER_H
40
41 #include "coal/BVH/BVH_internal.h"
42 #include "coal/BV/kIOS.h"
43 #include "coal/BV/OBBRSS.h"
44 #include "coal/BV/AABB.h"
45 #include <iostream>
46
47 namespace coal {
48
49 /// @brief Compute a bounding volume that fits a set of n points.
50 template <typename BV>
51 39240 void fit(Vec3s* ps, unsigned int n, BV& bv) {
52
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 156960 for (unsigned int i = 0; i < n; ++i) // TODO(jcarpent): vectorize
53 {
54 117720 bv += ps[i];
55 }
56 39240 }
57
58 template <>
59 void fit<OBB>(Vec3s* ps, unsigned int n, OBB& bv);
60
61 template <>
62 void fit<RSS>(Vec3s* ps, unsigned int n, RSS& bv);
63
64 template <>
65 void fit<kIOS>(Vec3s* ps, unsigned int n, kIOS& bv);
66
67 template <>
68 void fit<OBBRSS>(Vec3s* ps, unsigned int n, OBBRSS& bv);
69
70 template <>
71 void fit<AABB>(Vec3s* ps, unsigned int n, AABB& bv);
72
73 /// @brief The class for the default algorithm fitting a bounding volume to a
74 /// set of points
75 template <typename BV>
76 class COAL_DLLAPI BVFitterTpl {
77 public:
78 /// @brief default deconstructor
79 6088 virtual ~BVFitterTpl() {}
80
81 /// @brief Prepare the geometry primitive data for fitting
82 6350 void set(Vec3s* vertices_, Triangle* tri_indices_, BVHModelType type_) {
83 6350 vertices = vertices_;
84 6350 prev_vertices = NULL;
85 6350 tri_indices = tri_indices_;
86 6350 type = type_;
87 6350 }
88
89 /// @brief Prepare the geometry primitive data for fitting, for deformable
90 /// mesh
91 136 void set(Vec3s* vertices_, Vec3s* prev_vertices_, Triangle* tri_indices_,
92 BVHModelType type_) {
93 136 vertices = vertices_;
94 136 prev_vertices = prev_vertices_;
95 136 tri_indices = tri_indices_;
96 136 type = type_;
97 }
98
99 /// @brief Compute the fitting BV
100 virtual BV fit(unsigned int* primitive_indices,
101 unsigned int num_primitives) = 0;
102
103 /// @brief Clear the geometry primitive data
104 6486 void clear() {
105 6486 vertices = NULL;
106 6486 prev_vertices = NULL;
107 6486 tri_indices = NULL;
108 6486 type = BVH_MODEL_UNKNOWN;
109 6486 }
110
111 protected:
112 Vec3s* vertices;
113 Vec3s* prev_vertices;
114 Triangle* tri_indices;
115 BVHModelType type;
116 };
117
118 /// @brief The class for the default algorithm fitting a bounding volume to a
119 /// set of points
120 template <typename BV>
121 class COAL_DLLAPI BVFitter : public BVFitterTpl<BV> {
122 typedef BVFitterTpl<BV> Base;
123
124 public:
125 /// @brief Compute a bounding volume that fits a set of primitives (points or
126 /// triangles). The primitive data was set by set function and
127 /// primitive_indices is the primitive index relative to the data
128 493014 BV fit(unsigned int* primitive_indices, unsigned int num_primitives) {
129 493014 BV bv;
130
131 493014 if (type == BVH_MODEL_TRIANGLES) /// The primitive is triangle
132 {
133 3599952 for (unsigned int i = 0; i < num_primitives; ++i) {
134 3107028 Triangle t = tri_indices[primitive_indices[i]];
135 3107028 bv += vertices[t[0]];
136 3107028 bv += vertices[t[1]];
137 3107028 bv += vertices[t[2]];
138
139 3107028 if (prev_vertices) /// can fitting both current and previous frame
140 {
141 ✗ bv += prev_vertices[t[0]];
142 ✗ bv += prev_vertices[t[1]];
143 ✗ bv += prev_vertices[t[2]];
144 }
145 }
146 90 } else if (type == BVH_MODEL_POINTCLOUD) /// The primitive is point
147 {
148 282 for (unsigned int i = 0; i < num_primitives; ++i) {
149 192 bv += vertices[primitive_indices[i]];
150
151 192 if (prev_vertices) /// can fitting both current and previous frame
152 {
153 ✗ bv += prev_vertices[primitive_indices[i]];
154 }
155 }
156 }
157
158 493014 return bv;
159 }
160
161 protected:
162 using Base::prev_vertices;
163 using Base::tri_indices;
164 using Base::type;
165 using Base::vertices;
166 };
167
168 /// @brief Specification of BVFitter for OBB bounding volume
169 template <>
170 class COAL_DLLAPI BVFitter<OBB> : public BVFitterTpl<OBB> {
171 public:
172 /// @brief Compute a bounding volume that fits a set of primitives (points or
173 /// triangles). The primitive data was set by set function and
174 /// primitive_indices is the primitive index relative to the data.
175 OBB fit(unsigned int* primitive_indices, unsigned int num_primitives);
176 };
177
178 /// @brief Specification of BVFitter for RSS bounding volume
179 template <>
180 class COAL_DLLAPI BVFitter<RSS> : public BVFitterTpl<RSS> {
181 public:
182 /// @brief Compute a bounding volume that fits a set of primitives (points or
183 /// triangles). The primitive data was set by set function and
184 /// primitive_indices is the primitive index relative to the data.
185 RSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
186 };
187
188 /// @brief Specification of BVFitter for kIOS bounding volume
189 template <>
190 class COAL_DLLAPI BVFitter<kIOS> : public BVFitterTpl<kIOS> {
191 public:
192 /// @brief Compute a bounding volume that fits a set of primitives (points or
193 /// triangles). The primitive data was set by set function and
194 /// primitive_indices is the primitive index relative to the data.
195 kIOS fit(unsigned int* primitive_indices, unsigned int num_primitives);
196 };
197
198 /// @brief Specification of BVFitter for OBBRSS bounding volume
199 template <>
200 class COAL_DLLAPI BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS> {
201 public:
202 /// @brief Compute a bounding volume that fits a set of primitives (points or
203 /// triangles). The primitive data was set by set function and
204 /// primitive_indices is the primitive index relative to the data.
205 OBBRSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
206 };
207
208 /// @brief Specification of BVFitter for AABB bounding volume
209 template <>
210 class COAL_DLLAPI BVFitter<AABB> : public BVFitterTpl<AABB> {
211 public:
212 /// @brief Compute a bounding volume that fits a set of primitives (points or
213 /// triangles). The primitive data was set by set function and
214 /// primitive_indices is the primitive index relative to the data.
215 AABB fit(unsigned int* primitive_indices, unsigned int num_primitives);
216 };
217
218 } // namespace coal
219
220 #endif
221