89 lines
2.1 KiB
Text
89 lines
2.1 KiB
Text
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#ifndef __GEOM_MATH_H__
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#define __GEOM_MATH_H__
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#include "newmat/newmatio.h"
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#include "newmat/newmatap.h"
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//using namespace NEWMAT;
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#include <vector>
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using std::vector;
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template <class T, class F>
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T planeDist(const T *p, F nx, F ny, F nz, F d) {
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return p[0]*nx + p[1]*ny + p[2]*nz + d;
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}
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bool SphereInAABB( float x, float y, float z, float size ) ;
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void setNumber(double *plane, double *center, double _radius, double _maxDist) ;
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bool PlaneInCube( float x, float y, float z, float size, float nx, float ny, float nz, float d);
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bool PlaneInCube( float x, float y, float z, float size);
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bool closeToPlane(double *p);
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// given a set of points this will calculate the best fit plane
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template <class T>
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static T fitPlane(vector<T *> &ppoints, T plane[4], T centroid[3]) {
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NEWMAT::SymmetricMatrix A(3);
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A = 0;
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int n;
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n = ppoints.size();
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double cx, cy, cz;
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cx = 0.0;
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cy = 0.0;
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cz = 0.0;
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for (int i = 0; i < n; i++) {
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T* p = ppoints[i];
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cx += p[0];
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cy += p[1];
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cz += p[2];
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}
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cx /= n;
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cy /= n;
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cz /= n;
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centroid[0] = cx;
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centroid[1] = cy;
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centroid[2] = cz;
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for (int i = 0; i < n; i++) {
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T* p = ppoints[i];
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A(1, 1) += (p[0] - cx)*(p[0] - cx);
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A(2, 2) += (p[1] - cy)*(p[1] - cy);
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A(3, 3) += (p[2] - cz)*(p[2] - cz);
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A(1, 2) += (p[0] - cx)*(p[1] - cy);
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A(1, 3) += (p[0] - cx)*(p[2] - cz);
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A(2, 3) += (p[1] - cy)*(p[2] - cz);
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}
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NEWMAT::DiagonalMatrix D;
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NEWMAT::Matrix V;
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try {
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NEWMAT::Jacobi(A,D,V);
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} catch (NEWMAT::ConvergenceException) {
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cout << "couldn't find plane..." << endl;
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return 0;
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}
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/*
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cout << "A: "<< endl << A << endl;
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cout << "D: "<< endl << D << endl;
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cout << "V: "<< endl << V << endl;
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*/
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int index;
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D.MinimumAbsoluteValue1(index);
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plane[0] = V(1,index);
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plane[1] = V(2,index);
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plane[2] = V(3,index);
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plane[3] = -planeDist(plane, cx, cy, cz, 0.0);
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//plane[3] = -(plane[0]*cx + plane[1]*cy + plane[2]*cz);
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double sum = 0.0;
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for(int i = 1; i < 4; i++) {
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sum += D(i);
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}
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sum = D(index)/sum;
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return D(index)/n;
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}
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#endif
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