plane_polygon.h

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//========================================================================
//  This software is free: you can redistribute it and/or modify
//  it under the terms of the GNU Lesser General Public License Version 3,
//  as published by the Free Software Foundation.
//
//  This software 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
//  Version 3 in the file COPYING that came with this distribution.
//  If not, see <http://www.gnu.org/licenses/>.
//========================================================================
//========================================================================

#include <vector>
#include <fstream>
#include <string>
#include <stdio.h>
#include <stdlib.h>
#include <xmmintrin.h>
#include <smmintrin.h>
#include "geometry.h"
#include "quaternion_helper.h"
#include "terminal_utils.h"
#include "timer.h"
#include "grahams_scan.h"
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Eigenvalues>
#include <eigen3/Eigen/Geometry>

#ifndef PLANE_POLYGON_H
#define PLANE_POLYGON_H

using namespace std;
using namespace Eigen;


class PlanePolygon{
protected:
  vector<vector2d> normals2D; 
  vector<vector2d> edgeDir2D; 
  vector<double> edgeLengths; 
  vector<double> offsets2D;

  GrahamsScan grahamsScan;
  Matrix3d m, eigenVectors;
  Vector3d eigenValues;
  SelfAdjointEigenSolver<Matrix3d> solver;

public:
  double numPoints;
  vector<vector2i> pixelLocs; 
  vector<vector3f> vertices; 
  vector<vector2f> vertices2D;
  // Plane equation: for points p on the plane, (p-p0).dot(normal) = 0 or p.dot(normal) + offset = 0
  vector3f normal; 
  vector3f p0; 
  double offset;
  vector3f b1, b2; 

  
  double sum_xx, sum_yy, sum_zz, sum_xy, sum_xz, sum_yz;
  float width, height;
  vector2f min2D, max2D;
  vector3f corners[4];
  
  bool validPolygon;
  
  double conditionNumber;
  
protected:
  bool constructConvexPoly(vector<vector3f>& points);
  bool computePlaneParameters(vector<vector3f>& points);
  
public:
  PlanePolygon();
  PlanePolygon(vector< vector3f > points);
  PlanePolygon(vector<vector3f> points, vector<vector2i> _pixelLocs);
  ~PlanePolygon();
  
  double distFromPlane(vector3f p);
  vector3f rayFromPlane(vector3f p);
  vector2f projectOnto (const vector3f& p) const {return vector2f(b1.dot(p-p0), b2.dot(p-p0));} 
  bool liesAlongside(const vector3f& p) const;
  void merge(PlanePolygon& poly2);
  void merge(vector< PlanePolygon >& polygons);
  void transform(vector3f translation, Quaternionf rotation);
  void transform(const GVector::matrix3d< float >& M);
  vector3f intersect(vector3f l0, vector3f l);
};

#endif //PLANE_POLYGON_H