From bc75290c1db43c7218bd30b1adf288d8057b8895 Mon Sep 17 00:00:00 2001
From: Lucile Remigy <lucile.remigy@epitech.eu>
Date: Thu, 26 Sep 2019 15:07:15 +0200
Subject: [PATCH] delete class variance3f, 0 tests failed
---
CMakeLists.txt | 2 -
include/hpp/fcl/BVH/BV_fitter.h | 228 -------------------------
include/hpp/fcl/BVH/BV_splitter.h | 274 ------------------------------
include/hpp/fcl/math/types.h | 15 --
src/BVH/BVH_utility.cpp | 62 -------
5 files changed, 581 deletions(-)
delete mode 100644 include/hpp/fcl/BVH/BV_fitter.h
delete mode 100644 include/hpp/fcl/BVH/BV_splitter.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6fdcca6b..24ff1d0a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,10 +128,8 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/math/types.h
include/hpp/fcl/math/transform.h
include/hpp/fcl/data_types.h
- include/hpp/fcl/BVH/BV_splitter.h
include/hpp/fcl/BVH/BVH_internal.h
include/hpp/fcl/BVH/BVH_model.h
- include/hpp/fcl/BVH/BV_fitter.h
include/hpp/fcl/BVH/BVH_front.h
include/hpp/fcl/BVH/BVH_utility.h
include/hpp/fcl/intersect.h
diff --git a/include/hpp/fcl/BVH/BV_fitter.h b/include/hpp/fcl/BVH/BV_fitter.h
deleted file mode 100644
index d8070d69..00000000
--- a/include/hpp/fcl/BVH/BV_fitter.h
+++ /dev/null
@@ -1,228 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#ifndef HPP_FCL_BV_FITTER_H
-#define HPP_FCL_BV_FITTER_H
-
-#include <hpp/fcl/BVH/BVH_internal.h>
-#include <hpp/fcl/BV/kIOS.h>
-#include <hpp/fcl/BV/OBBRSS.h>
-#include <hpp/fcl/BV/AABB.h>
-#include <iostream>
-
-namespace hpp
-{
-namespace fcl
-{
-
-/// @brief Compute a bounding volume that fits a set of n points.
-template<typename BV>
-void fit(Vec3f* ps, int n, BV& bv)
-{
- for(int i = 0; i < n; ++i)
- {
- bv += ps[i];
- }
-}
-
-template<>
-void fit<OBB>(Vec3f* ps, int n, OBB& bv);
-
-template<>
-void fit<RSS>(Vec3f* ps, int n, RSS& bv);
-
-template<>
-void fit<kIOS>(Vec3f* ps, int n, kIOS& bv);
-
-template<>
-void fit<OBBRSS>(Vec3f* ps, int n, OBBRSS& bv);
-
-template<>
-void fit<AABB>(Vec3f* ps, int n, AABB& bv);
-
-/// @brief The class for the default algorithm fitting a bounding volume to a set of points
-template<typename BV>
-class BVFitterTpl
-{
-public:
- /// @brief default deconstructor
- virtual ~BVFitterTpl() {}
-
- /// @brief Prepare the geometry primitive data for fitting
- void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_)
- {
- vertices = vertices_;
- prev_vertices = NULL;
- tri_indices = tri_indices_;
- type = type_;
- }
-
- /// @brief Prepare the geometry primitive data for fitting, for deformable mesh
- void set(Vec3f* vertices_, Vec3f* prev_vertices_, Triangle* tri_indices_, BVHModelType type_)
- {
- vertices = vertices_;
- prev_vertices = prev_vertices_;
- tri_indices = tri_indices_;
- type = type_;
- }
-
- /// @brief Compute the fitting BV
- virtual BV fit(unsigned int* primitive_indices, int num_primitives) = 0;
-
- /// @brief Clear the geometry primitive data
- void clear()
- {
- vertices = NULL;
- prev_vertices = NULL;
- tri_indices = NULL;
- type = BVH_MODEL_UNKNOWN;
- }
-
-protected:
-
- Vec3f* vertices;
- Vec3f* prev_vertices;
- Triangle* tri_indices;
- BVHModelType type;
-};
-
-/// @brief The class for the default algorithm fitting a bounding volume to a set of points
-template<typename BV>
-class BVFitter : public BVFitterTpl<BV>
-{
-public:
- /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
- /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data
- BV fit(unsigned int* primitive_indices, int num_primitives)
- {
- BV bv;
-
- if(type == BVH_MODEL_TRIANGLES) /// The primitive is triangle
- {
- for(int i = 0; i < num_primitives; ++i)
- {
- Triangle t = tri_indices[primitive_indices[i]];
- bv += vertices[t[0]];
- bv += vertices[t[1]];
- bv += vertices[t[2]];
-
- if(prev_vertices) /// can fitting both current and previous frame
- {
- bv += prev_vertices[t[0]];
- bv += prev_vertices[t[1]];
- bv += prev_vertices[t[2]];
- }
- }
- }
- else if(type == BVH_MODEL_POINTCLOUD) /// The primitive is point
- {
- for(int i = 0; i < num_primitives; ++i)
- {
- bv += vertices[primitive_indices[i]];
-
- if(prev_vertices) /// can fitting both current and previous frame
- {
- bv += prev_vertices[primitive_indices[i]];
- }
- }
- }
-
- return bv;
- }
-
-protected:
- using BVFitterTpl<BV>::vertices;
- using BVFitterTpl<BV>::prev_vertices;
- using BVFitterTpl<BV>::tri_indices;
- using BVFitterTpl<BV>::type;
-};
-
-/// @brief Specification of BVFitter for OBB bounding volume
-template<>
-class BVFitter<OBB> : public BVFitterTpl<OBB>
-{
-public:
- /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
- /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
- OBB fit(unsigned int* primitive_indices, int num_primitives);
-};
-
-/// @brief Specification of BVFitter for RSS bounding volume
-template<>
-class BVFitter<RSS> : public BVFitterTpl<RSS>
-{
-public:
- /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
- /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
- RSS fit(unsigned int* primitive_indices, int num_primitives);
-};
-
-/// @brief Specification of BVFitter for kIOS bounding volume
-template<>
-class BVFitter<kIOS> : public BVFitterTpl<kIOS>
-{
-public:
- /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
- /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
- kIOS fit(unsigned int* primitive_indices, int num_primitives);
-};
-
-/// @brief Specification of BVFitter for OBBRSS bounding volume
-template<>
-class BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS>
-{
-public:
- /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
- /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
- OBBRSS fit(unsigned int* primitive_indices, int num_primitives);
-};
-
-/// @brief Specification of BVFitter for AABB bounding volume
-template<>
-class BVFitter<AABB> : public BVFitterTpl<AABB>
-{
-public:
- /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
- /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
- AABB fit(unsigned int* primitive_indices, int num_primitives);
-};
-
-}
-
-} // namespace hpp
-
-#endif
diff --git a/include/hpp/fcl/BVH/BV_splitter.h b/include/hpp/fcl/BVH/BV_splitter.h
deleted file mode 100644
index 7be8ca74..00000000
--- a/include/hpp/fcl/BVH/BV_splitter.h
+++ /dev/null
@@ -1,274 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011-2014, Willow Garage, Inc.
- * Copyright (c) 2014-2015, Open Source Robotics Foundation
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Open Source Robotics Foundation nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#ifndef HPP_FCL_BV_SPLITTER_H
-#define HPP_FCL_BV_SPLITTER_H
-
-#include <hpp/fcl/BVH/BVH_internal.h>
-#include <hpp/fcl/BV/kIOS.h>
-#include <hpp/fcl/BV/OBBRSS.h>
-#include <vector>
-#include <iostream>
-
-namespace hpp
-{
-namespace fcl
-{
-
-/// @brief Three types of split algorithms are provided in FCL as default
-enum SplitMethodType {SPLIT_METHOD_MEAN, SPLIT_METHOD_MEDIAN, SPLIT_METHOD_BV_CENTER};
-
-
-/// @brief A class describing the split rule that splits each BV node
-template<typename BV>
-class BVSplitter
-{
-public:
-
- BVSplitter(SplitMethodType method) : split_vector(0,0,0), split_method(method)
- {
- }
-
- /// @brief Default deconstructor
- virtual ~BVSplitter() {}
-
- /// @brief Set the geometry data needed by the split rule
- void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_)
- {
- vertices = vertices_;
- tri_indices = tri_indices_;
- type = type_;
- }
-
- /// @brief Compute the split rule according to a subset of geometry and the corresponding BV node
- void computeRule(const BV& bv, unsigned int* primitive_indices, int num_primitives)
- {
- switch(split_method)
- {
- case SPLIT_METHOD_MEAN:
- computeRule_mean(bv, primitive_indices, num_primitives);
- break;
- case SPLIT_METHOD_MEDIAN:
- computeRule_median(bv, primitive_indices, num_primitives);
- break;
- case SPLIT_METHOD_BV_CENTER:
- computeRule_bvcenter(bv, primitive_indices, num_primitives);
- break;
- default:
- std::cerr << "Split method not supported" << std::endl;
- }
- }
-
- /// @brief Apply the split rule on a given point
- bool apply(const Vec3f& q) const
- {
- return q[split_axis] > split_value;
- }
-
- /// @brief Clear the geometry data set before
- void clear()
- {
- vertices = NULL;
- tri_indices = NULL;
- type = BVH_MODEL_UNKNOWN;
- }
-
-private:
-
- /// @brief The axis based on which the split decision is made. For most BV, the axis is aligned with one of the world coordinate, so only split_axis is needed.
- /// For oriented node, we can use a vector to make a better split decision.
- int split_axis;
- Vec3f split_vector;
-
- /// @brief The split threshold, different primitives are splitted according whether their projection on the split_axis is larger or smaller than the threshold
- FCL_REAL split_value;
-
- /// @brief The mesh vertices or points handled by the splitter
- Vec3f* vertices;
-
- /// @brief The triangles handled by the splitter
- Triangle* tri_indices;
-
- /// @brief Whether the geometry is mesh or point cloud
- BVHModelType type;
-
- /// @brief The split algorithm used
- SplitMethodType split_method;
-
- /// @brief Split algorithm 1: Split the node from center
- void computeRule_bvcenter(const BV& bv, unsigned int*, int)
- {
- Vec3f center = bv.center();
- int axis = 2;
-
- if(bv.width() >= bv.height() && bv.width() >= bv.depth())
- axis = 0;
- else if(bv.height() >= bv.width() && bv.height() >= bv.depth())
- axis = 1;
-
- split_axis = axis;
- split_value = center[axis];
- }
-
- /// @brief Split algorithm 2: Split the node according to the mean of the data contained
- void computeRule_mean(const BV& bv, unsigned int* primitive_indices, int num_primitives)
- {
- int axis = 2;
-
- if(bv.width() >= bv.height() && bv.width() >= bv.depth())
- axis = 0;
- else if(bv.height() >= bv.width() && bv.height() >= bv.depth())
- axis = 1;
-
- split_axis = axis;
- FCL_REAL sum = 0;
-
- if(type == BVH_MODEL_TRIANGLES)
- {
- for(int i = 0; i < num_primitives; ++i)
- {
- const Triangle& t = tri_indices[primitive_indices[i]];
- sum += (vertices[t[0]][split_axis] + vertices[t[1]][split_axis] + vertices[t[2]][split_axis]);
- }
-
- sum /= 3;
- }
- else if(type == BVH_MODEL_POINTCLOUD)
- {
- for(int i = 0; i < num_primitives; ++i)
- {
- sum += vertices[primitive_indices[i]][split_axis];
- }
- }
-
- split_value = sum / num_primitives;
- }
-
- /// @brief Split algorithm 3: Split the node according to the median of the data contained
- void computeRule_median(const BV& bv, unsigned int* primitive_indices, int num_primitives)
- {
- int axis = 2;
-
- if(bv.width() >= bv.height() && bv.width() >= bv.depth())
- axis = 0;
- else if(bv.height() >= bv.width() && bv.height() >= bv.depth())
- axis = 1;
-
- split_axis = axis;
- std::vector<FCL_REAL> proj(num_primitives);
-
- if(type == BVH_MODEL_TRIANGLES)
- {
- for(int i = 0; i < num_primitives; ++i)
- {
- const Triangle& t = tri_indices[primitive_indices[i]];
- proj[i] = (vertices[t[0]][split_axis] + vertices[t[1]][split_axis] + vertices[t[2]][split_axis]) / 3;
- }
- }
- else if(type == BVH_MODEL_POINTCLOUD)
- {
- for(int i = 0; i < num_primitives; ++i)
- proj[i] = vertices[primitive_indices[i]][split_axis];
- }
-
- std::sort(proj.begin(), proj.end());
-
- if(num_primitives % 2 == 1)
- {
- split_value = proj[(num_primitives - 1) / 2];
- }
- else
- {
- split_value = (proj[num_primitives / 2] + proj[num_primitives / 2 - 1]) / 2;
- }
- }
-};
-
-
-template<>
-bool BVSplitter<OBB>::apply(const Vec3f& q) const;
-
-template<>
-bool BVSplitter<RSS>::apply(const Vec3f& q) const;
-
-template<>
-bool BVSplitter<kIOS>::apply(const Vec3f& q) const;
-
-template<>
-bool BVSplitter<OBBRSS>::apply(const Vec3f& q) const;
-
-template<>
-void BVSplitter<OBB>::computeRule_bvcenter(const OBB& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<OBB>::computeRule_mean(const OBB& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<OBB>::computeRule_median(const OBB& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<RSS>::computeRule_bvcenter(const RSS& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<RSS>::computeRule_mean(const RSS& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<RSS>::computeRule_median(const RSS& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<kIOS>::computeRule_bvcenter(const kIOS& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<kIOS>::computeRule_mean(const kIOS& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<kIOS>::computeRule_median(const kIOS& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<OBBRSS>::computeRule_bvcenter(const OBBRSS& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<OBBRSS>::computeRule_mean(const OBBRSS& bv, unsigned int* primitive_indices, int num_primitives);
-
-template<>
-void BVSplitter<OBBRSS>::computeRule_median(const OBBRSS& bv, unsigned int* primitive_indices, int num_primitives);
-
-}
-
-} // namespace hpp
-
-#endif
diff --git a/include/hpp/fcl/math/types.h b/include/hpp/fcl/math/types.h
index f6788e46..a60b25a7 100644
--- a/include/hpp/fcl/math/types.h
+++ b/include/hpp/fcl/math/types.h
@@ -66,21 +66,6 @@ namespace fcl
typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
-/// @brief Class for variance matrix in 3d
-class Variance3f
-{
-public:
- /// @brief Variation matrix
- Matrix3f Sigma;
-
- /// @brief Variations along the eign axes
- Matrix3f::Scalar sigma[3];
-
- /// @brief Eigen axes of the variation matrix
- Vec3f axis[3];
-
-};
-
}
} // namespace hpp
diff --git a/src/BVH/BVH_utility.cpp b/src/BVH/BVH_utility.cpp
index ae7b0542..e846635e 100644
--- a/src/BVH/BVH_utility.cpp
+++ b/src/BVH/BVH_utility.cpp
@@ -45,68 +45,6 @@ namespace hpp
namespace fcl
{
-void BVHExpand(BVHModel<OBB>& model, const Variance3f* ucs, FCL_REAL r = 1.0)
-{
- for(int i = 0; i < model.getNumBVs(); ++i)
- {
- BVNode<OBB>& bvnode = model.getBV(i);
-
- Vec3f* vs = new Vec3f[bvnode.num_primitives * 6];
-
- for(int j = 0; j < bvnode.num_primitives; ++j)
- {
- int v_id = bvnode.first_primitive + j;
- const Variance3f& uc = ucs[v_id];
-
- Vec3f&v = model.vertices[bvnode.first_primitive + j];
-
- for(int k = 0; k < 3; ++k)
- {
- vs[6 * j + 2 * k] = v + uc.axis[k] * (r * uc.sigma[k]);
- vs[6 * j + 2 * k + 1] = v - uc.axis[k] * (r * uc.sigma[k]);
- }
- }
-
- OBB bv;
- fit(vs, bvnode.num_primitives * 6, bv);
-
- delete [] vs;
-
- bvnode.bv = bv;
- }
-}
-
-void BVHExpand(BVHModel<RSS>& model, const Variance3f* ucs, FCL_REAL r = 1.0)
-{
- for(int i = 0; i < model.getNumBVs(); ++i)
- {
- BVNode<RSS>& bvnode = model.getBV(i);
-
- Vec3f* vs = new Vec3f[bvnode.num_primitives * 6];
-
- for(int j = 0; j < bvnode.num_primitives; ++j)
- {
- int v_id = bvnode.first_primitive + j;
- const Variance3f& uc = ucs[v_id];
-
- Vec3f&v = model.vertices[bvnode.first_primitive + j];
-
- for(int k = 0; k < 3; ++k)
- {
- vs[6 * j + 2 * k] = v + uc.axis[k] * (r * uc.sigma[k]);
- vs[6 * j + 2 * k + 1] = v - uc.axis[k] * (r * uc.sigma[k]);
- }
- }
-
- RSS bv;
- fit(vs, bvnode.num_primitives * 6, bv);
-
- delete [] vs;
-
- bvnode.bv = bv;
- }
-}
-
template<typename BV>
BVHModel<BV>* BVHExtract(const BVHModel<BV>& model, const Transform3f& pose, const AABB& _aabb)
{
--
GitLab