129 lines
5.2 KiB
C++
129 lines
5.2 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/common/eigen.h>
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#include <pcl/common/bivariate_polynomial.h>
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namespace pcl
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{
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/** \brief This provides some functionality for polynomials,
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* like finding roots or approximating bivariate polynomials
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* \author Bastian Steder
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* \ingroup common
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*/
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template <typename real>
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class PolynomialCalculationsT
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{
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public:
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// =====PUBLIC STRUCTS=====
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//! Parameters used in this class
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struct Parameters
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{
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Parameters () { setZeroValue (1e-6);}
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//! Set zero_value
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void
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setZeroValue (real new_zero_value);
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real zero_value = {}; //!< Every value below this is considered to be zero
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real sqr_zero_value = {}; //!< sqr of the above
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};
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// =====PUBLIC METHODS=====
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/** Solves an equation of the form ax^4 + bx^3 + cx^2 +dx + e = 0
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* See http://en.wikipedia.org/wiki/Quartic_equation#Summary_of_Ferrari.27s_method */
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inline void
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solveQuarticEquation (real a, real b, real c, real d, real e, std::vector<real>& roots) const;
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/** Solves an equation of the form ax^3 + bx^2 + cx + d = 0
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* See http://en.wikipedia.org/wiki/Cubic_equation */
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inline void
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solveCubicEquation (real a, real b, real c, real d, std::vector<real>& roots) const;
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/** Solves an equation of the form ax^2 + bx + c = 0
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* See http://en.wikipedia.org/wiki/Quadratic_equation */
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inline void
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solveQuadraticEquation (real a, real b, real c, std::vector<real>& roots) const;
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/** Solves an equation of the form ax + b = 0 */
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inline void
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solveLinearEquation (real a, real b, std::vector<real>& roots) const;
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/** Get the bivariate polynomial approximation for Z(X,Y) from the given sample points.
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* The parameters a,b,c,... for the polynom are returned.
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* The order is, e.g., for degree 1: ax+by+c and for degree 2: ax²+bxy+cx+dy²+ey+f.
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* error is set to true if the approximation did not work for any reason
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* (not enough points, matrix not invertible, etc.) */
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inline BivariatePolynomialT<real>
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bivariatePolynomialApproximation (std::vector<Eigen::Matrix<real, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<real, 3, 1> > >& samplePoints,
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unsigned int polynomial_degree, bool& error) const;
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//! Same as above, using a reference for the return value
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inline bool
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bivariatePolynomialApproximation (std::vector<Eigen::Matrix<real, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<real, 3, 1> > >& samplePoints,
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unsigned int polynomial_degree, BivariatePolynomialT<real>& ret) const;
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//! Set the minimum value under which values are considered zero
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inline void
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setZeroValue (real new_zero_value) { parameters_.setZeroValue(new_zero_value); }
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protected:
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// =====PROTECTED METHODS=====
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//! check if std::abs(d)<zeroValue
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inline bool
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isNearlyZero (real d) const
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{
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return (std::abs (d) < parameters_.zero_value);
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}
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//! check if sqrt(std::abs(d))<zeroValue
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inline bool
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sqrtIsNearlyZero (real d) const
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{
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return (std::abs (d) < parameters_.sqr_zero_value);
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}
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// =====PROTECTED MEMBERS=====
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Parameters parameters_;
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};
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using PolynomialCalculationsd = PolynomialCalculationsT<double>;
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using PolynomialCalculations = PolynomialCalculationsT<float>;
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} // end namespace
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#include <pcl/common/impl/polynomial_calculations.hpp>
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