Point Cloud Library (PCL)  1.10.0
bspline_data.h
1 /*
2 Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
3 All rights reserved.
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28 
29 #ifndef BSPLINE_DATA_INCLUDED
30 #define BSPLINE_DATA_INCLUDED
31 
32 
33 #include "ppolynomial.h"
34 
35 namespace pcl
36 {
37  namespace poisson
38  {
39 
40 
41  template< int Degree , class Real >
43  {
44  bool useDotRatios;
45  bool reflectBoundary;
46  public:
48  {
50  Polynomial< Degree >& operator[] ( int idx ) { return polys[idx]; }
51  const Polynomial< Degree >& operator[] ( int idx ) const { return polys[idx]; }
52  void printnl( void ) const { for( int d=0 ; d<=Degree ; d++ ) polys[d].printnl(); }
53  BSplineComponents scale( double s ) const { BSplineComponents b ; for( int d=0 ; d<=Degree ; d++ ) b[d] = polys[d].scale(s) ; return b; }
54  BSplineComponents shift( double s ) const { BSplineComponents b ; for( int d=0 ; d<=Degree ; d++ ) b[d] = polys[d].shift(s) ; return b; }
55  };
56  const static int VV_DOT_FLAG = 1;
57  const static int DV_DOT_FLAG = 2;
58  const static int DD_DOT_FLAG = 4;
59  const static int VALUE_FLAG = 1;
60  const static int D_VALUE_FLAG = 2;
61 
67  BSplineComponents baseBSpline, leftBSpline , rightBSpline;
69  BSplineComponents* baseBSplines;
70 
71  BSplineData(void);
72  ~BSplineData(void);
73 
74  virtual void setDotTables( int flags );
75  virtual void clearDotTables( int flags );
76 
77  virtual void setValueTables( int flags,double smooth=0);
78  virtual void setValueTables( int flags,double valueSmooth,double normalSmooth);
79  virtual void clearValueTables(void);
80 
81  void setSampleSpan( int idx , int& start , int& end , double smooth=0 ) const;
82 
83  /********************************************************
84  * Sets the translates and scales of the basis function
85  * up to the prescribed depth
86  * <maxDepth> the maximum depth
87  * <useDotRatios> specifies if dot-products of derivatives
88  * should be pre-divided by function integrals
89  * <reflectBoundary> spcifies if function space should be
90  * forced to be reflectively symmetric across the boundary
91  ********************************************************/
92  void set( int maxDepth , bool useDotRatios=true , bool reflectBoundary=false );
93 
94  inline int Index( int i1 , int i2 ) const;
95  static inline int SymmetricIndex( int i1 , int i2 );
96  static inline int SymmetricIndex( int i1 , int i2 , int& index );
97  };
98 
99  template< int Degree >
101  {
102  int coeffs[Degree+1];
103  BSplineElementCoefficients( void ) { memset( coeffs , 0 , sizeof( int ) * ( Degree+1 ) ); }
104  int& operator[]( int idx ){ return coeffs[idx]; }
105  const int& operator[]( int idx ) const { return coeffs[idx]; }
106  };
107  template< int Degree >
108  struct BSplineElements : public std::vector< BSplineElementCoefficients< Degree > >
109  {
110  static const int _off = (Degree+1)/2;
111  void _addLeft ( int offset , int boundary );
112  void _addRight( int offset , int boundary );
113  public:
114  enum
115  {
116  NONE = 0,
117  DIRICHLET = -1,
119  };
120  // Coefficients are ordered as "/" "-" "\"
122 
123  BSplineElements( void ) { denominator = 1; }
124  BSplineElements( int res , int offset , int boundary=NONE );
125 
126  void upSample( BSplineElements& high ) const;
128 
129  void print( FILE* fp=stdout ) const
130  {
131  for( int i=0 ; i<this->size() ; i++ )
132  {
133  printf( "%d]" , i );
134  for( int j=0 ; j<=Degree ; j++ ) printf( " %d" , (*this)[i][j] );
135  printf( " (%d)\n" , denominator );
136  }
137  }
138  };
139  template< int Degree1 , int Degree2 > void SetBSplineElementIntegrals( double integrals[Degree1+1][Degree2+1] );
140 
141 
142  }
143 }
144 
145 
146 #include "bspline_data.hpp"
147 
148 #endif // BSPLINE_DATA_INCLUDED
pcl::poisson::PPolynomial
Definition: ppolynomial.h:58
pcl::poisson::BSplineData::valueTables
Real * valueTables
Definition: bspline_data.h:64
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::poisson::BSplineData::clearDotTables
virtual void clearDotTables(int flags)
Definition: bspline_data.hpp:293
pcl::poisson::BSplineElements::upSample
void upSample(BSplineElements &high) const
Definition: bspline_data.hpp:445
pcl::poisson::Polynomial
Definition: polynomial.h:40
pcl::poisson::BSplineData::dValueTables
Real * dValueTables
Definition: bspline_data.h:64
pcl::poisson::BSplineData::DD_DOT_FLAG
const static int DD_DOT_FLAG
Definition: bspline_data.h:58
pcl::poisson::BSplineData::dvDotTable
Real * dvDotTable
Definition: bspline_data.h:63
pcl::poisson::BSplineData::leftBaseFunction
PPolynomial< Degree > leftBaseFunction
Definition: bspline_data.h:65
pcl::poisson::BSplineData::setValueTables
virtual void setValueTables(int flags, double smooth=0)
Definition: bspline_data.hpp:319
pcl::poisson::BSplineElements::_addLeft
void _addLeft(int offset, int boundary)
Definition: bspline_data.hpp:421
pcl::poisson::BSplineData::dRightBaseFunction
PPolynomial< Degree-1 > dRightBaseFunction
Definition: bspline_data.h:66
pcl::poisson::BSplineData::Index
int Index(int i1, int i2) const
Definition: bspline_data.hpp:376
pcl::poisson::BSplineData::D_VALUE_FLAG
const static int D_VALUE_FLAG
Definition: bspline_data.h:60
pcl::poisson::BSplineElements::_off
static const int _off
Definition: bspline_data.h:110
pcl::poisson::BSplineData::rightBSpline
BSplineComponents rightBSpline
Definition: bspline_data.h:67
pcl::poisson::BSplineData::vvDotTable
Real * vvDotTable
Definition: bspline_data.h:63
pcl::poisson::BSplineData::baseBSpline
BSplineComponents baseBSpline
Definition: bspline_data.h:67
pcl::poisson::BSplineData::BSplineComponents
Definition: bspline_data.h:47
pcl::poisson::BSplineData::rightBaseFunction
PPolynomial< Degree > rightBaseFunction
Definition: bspline_data.h:65
pcl::poisson::BSplineData::baseFunctions
PPolynomial< Degree > * baseFunctions
Definition: bspline_data.h:68
pcl::poisson::BSplineElementCoefficients::BSplineElementCoefficients
BSplineElementCoefficients(void)
Definition: bspline_data.h:103
pcl::poisson::BSplineData::baseBSplines
BSplineComponents * baseBSplines
Definition: bspline_data.h:69
pcl::poisson::BSplineElementCoefficients::operator[]
int & operator[](int idx)
Definition: bspline_data.h:104
pcl::poisson::BSplineElements::_addRight
void _addRight(int offset, int boundary)
Definition: bspline_data.hpp:433
pcl::poisson::BSplineData::VALUE_FLAG
const static int VALUE_FLAG
Definition: bspline_data.h:59
pcl::poisson::BSplineData::BSplineComponents::polys
Polynomial< Degree > polys[Degree+1]
Definition: bspline_data.h:49
pcl::poisson::BSplineData::BSplineComponents::scale
BSplineComponents scale(double s) const
Definition: bspline_data.h:53
pcl::poisson::BSplineData::VV_DOT_FLAG
const static int VV_DOT_FLAG
Definition: bspline_data.h:56
pcl::poisson::SetBSplineElementIntegrals
void SetBSplineElementIntegrals(double integrals[Degree1+1][Degree2+1])
Definition: bspline_data.hpp:520
pcl::poisson::BSplineElements
Definition: bspline_data.h:108
pcl::poisson::BSplineData::setSampleSpan
void setSampleSpan(int idx, int &start, int &end, double smooth=0) const
Definition: bspline_data.hpp:300
pcl::poisson::BSplineData::ddDotTable
Real * ddDotTable
Definition: bspline_data.h:63
pcl::poisson::BSplineElements::print
void print(FILE *fp=stdout) const
Definition: bspline_data.h:129
pcl::poisson::BSplineElements::denominator
int denominator
Definition: bspline_data.h:121
pcl::poisson::BSplineData::DV_DOT_FLAG
const static int DV_DOT_FLAG
Definition: bspline_data.h:57
pcl::poisson::BSplineData::BSplineComponents::shift
BSplineComponents shift(double s) const
Definition: bspline_data.h:54
pcl::poisson::BSplineData
Definition: bspline_data.h:42
pcl::poisson::BSplineElements::NEUMANN
Definition: bspline_data.h:118
pcl::poisson::BSplineElements::DIRICHLET
Definition: bspline_data.h:117
pcl::poisson::BSplineData::sampleCount
int sampleCount
Definition: bspline_data.h:62
pcl::poisson::BSplineData::depth
int depth
Definition: bspline_data.h:62
pcl::poisson::BSplineData::clearValueTables
virtual void clearValueTables(void)
Definition: bspline_data.hpp:369
pcl::poisson::BSplineElements::BSplineElements
BSplineElements(void)
Definition: bspline_data.h:123
pcl::poisson::BSplineData::leftBSpline
BSplineComponents leftBSpline
Definition: bspline_data.h:67
pcl::poisson::BSplineData::baseFunction
PPolynomial< Degree > baseFunction
Definition: bspline_data.h:65
pcl::poisson::BSplineElementCoefficients::operator[]
const int & operator[](int idx) const
Definition: bspline_data.h:105
pcl::poisson::BSplineElementCoefficients::coeffs
int coeffs[Degree+1]
Definition: bspline_data.h:102
pcl::poisson::BSplineData::BSplineComponents::printnl
void printnl(void) const
Definition: bspline_data.h:52
pcl::poisson::BSplineElementCoefficients
Definition: bspline_data.h:100
pcl::poisson::BSplineData::dBaseFunction
PPolynomial< Degree-1 > dBaseFunction
Definition: bspline_data.h:66
pcl::poisson::BSplineData::~BSplineData
~BSplineData(void)
Definition: bspline_data.hpp:94
pcl::poisson::BSplineData::setDotTables
virtual void setDotTables(int flags)
Definition: bspline_data.hpp:175
pcl::poisson::BSplineData::BSplineData
BSplineData(void)
Definition: bspline_data.hpp:84
pcl::poisson::Real
float Real
Definition: multi_grid_octree_data.h:85
pcl::poisson::BSplineElements::NONE
Definition: bspline_data.h:116
pcl::poisson::BSplineData::BSplineComponents::operator[]
Polynomial< Degree > & operator[](int idx)
Definition: bspline_data.h:50
pcl::poisson::BSplineElements::differentiate
void differentiate(BSplineElements< Degree-1 > &d) const
Definition: bspline_data.hpp:506
pcl::poisson::BSplineData::set
void set(int maxDepth, bool useDotRatios=true, bool reflectBoundary=false)
Definition: bspline_data.hpp:116
pcl::poisson::BSplineData::SymmetricIndex
static int SymmetricIndex(int i1, int i2)
Definition: bspline_data.hpp:378
pcl::poisson::BSplineData::functionCount
int functionCount
Definition: bspline_data.h:62
pcl::poisson::BSplineData::dLeftBaseFunction
PPolynomial< Degree-1 > dLeftBaseFunction
Definition: bspline_data.h:66