Update classes using PlaneFrame

Ponca/src/Fitting/covariancePlaneFit.h

@@ -13,6 +13,7 @@
 #include "./primitive.h"
 #include "./mean.h"          // used to define CovarianceLineFit
 #include "./covarianceFit.h" // use to define CovariancePlaneFit
+#include "./planeFrame.h"    // use to define CovariancePlaneFit
 
 #include <Eigen/Eigenvalues>
 
@@ -38,13 +39,12 @@ PONCA_FITTING_DECLARE_MATRIX_TYPE
 protected:
     enum
     {
-        Check = Base::PROVIDES_PLANE &&
-                Base::PROVIDES_POSITION_COVARIANCE,
+        Check = Base::PROVIDES_POSITION_COVARIANCE 
+            and Base::PROVIDES_PLANE_FRAME,
         /*!
-         * \brief Expose a method worldToTangentPlane(VectorType), which turns a point
+         * \brief Fit the tangent plane and store it into Plane and PlaneFrame which turn a point
          * in ambient 3D space to the tangent plane.
-         * \see worldToTangentPlane
-         * \see tangentPlaneToWorld
+         * \see PlaneFrame
          */
         PROVIDES_TANGENT_PLANE_BASIS
     };
@@ -53,31 +53,6 @@ PONCA_FITTING_DECLARE_MATRIX_TYPE
     PONCA_EXPLICIT_CAST_OPERATORS(CovariancePlaneFitImpl,covariancePlaneFit)
     PONCA_FITTING_DECLARE_FINALIZE
 
-    /**************************************************************************/
-    /* Results                                                                */
-    /**************************************************************************/
-
-    /*!
-     * \brief Express a point in ambient space relatively to the tangent plane.
-     *
-     * Output vector is: [h, u, v]^T, where u, v are 2d coordinates on the plane,
-     * and h the height of the sample.
-     * \tparam ignoreTranslation must be set to true when passing vectors instead of points
-     * \param _q Point coordinates expressed in ambient space
-     * \return Point coordinates expressed in local tangent frame
-     */
-    template <bool ignoreTranslation = false>
-    PONCA_MULTIARCH inline VectorType worldToTangentPlane(const VectorType &_q) const;
-
-    /*!
-     * \brief Transform a point from the tangent plane [h, u, v]^T to ambient space
-     *
-     * \tparam ignoreTranslation must be set to true when passing vectors instead of points
-     * \param _q Point coordinates expressed in local tangent frame
-     * \return Point coordinates expressed in ambient space
-     */
-    template <bool ignoreTranslation = false>
-    PONCA_MULTIARCH inline VectorType tangentPlaneToWorld(const VectorType &_q) const;
 }; //class CovariancePlaneFitImpl
 
 /// \brief Helper alias for Plane fitting on 3D points using CovariancePlaneFitImpl
@@ -87,7 +62,8 @@ PONCA_FITTING_DECLARE_MATRIX_TYPE
     CovariancePlaneFitImpl<DataPoint, _WFunctor,
             CovarianceFitBase<DataPoint, _WFunctor,
                     MeanPosition<DataPoint, _WFunctor,
-                            Plane<DataPoint, _WFunctor,T>>>>;
+                        PlaneFrame<DataPoint, _WFunctor,
+                            Plane<DataPoint, _WFunctor,T>>>>>;
 //! [CovariancePlaneFit Definition]
 
 /*!

Ponca/src/Fitting/covariancePlaneFit.hpp

@@ -15,37 +15,11 @@ CovariancePlaneFitImpl<DataPoint, _WFunctor, T>::finalize ()
         if (Base::plane().isValid()) Base::m_eCurrentState = CONFLICT_ERROR_FOUND;
         Base::setPlane(Base::m_solver.eigenvectors().col(0), Base::barycenter());
     }
-
+    Base::m_u = Base::m_solver.eigenvectors().col(1);
+    Base::m_v = Base::m_solver.eigenvectors().col(2);
     return Base::m_eCurrentState;
 }
 
-template < class DataPoint, class _WFunctor, typename T>
-template <bool ignoreTranslation>
-typename CovariancePlaneFitImpl<DataPoint, _WFunctor, T>::VectorType
-CovariancePlaneFitImpl<DataPoint, _WFunctor, T>::worldToTangentPlane (const VectorType& _q) const
-{
-  if (ignoreTranslation)
-    return Base::m_solver.eigenvectors().transpose() * _q;
-  else {
-    // apply rotation and translation to get uv coordinates
-    return Base::m_solver.eigenvectors().transpose() * (Base::m_w.convertToLocalBasis(_q));
-  }
-}
-
-template < class DataPoint, class _WFunctor, typename T>
-template <bool ignoreTranslation>
-typename CovariancePlaneFitImpl<DataPoint, _WFunctor, T>::VectorType
-CovariancePlaneFitImpl<DataPoint, _WFunctor, T>::tangentPlaneToWorld (const VectorType& _lq) const
-{
-  if (ignoreTranslation)
-    return Base::m_solver.eigenvectors().transpose().inverse() * _lq;
-  else {
-    return Base::m_solver.eigenvectors().transpose().inverse() * _lq + Base::m_w.basisCenter();
-  }
-}
-
-
-
 template < class DataPoint, class _WFunctor, int DiffType, typename T>
 FIT_RESULT
 CovariancePlaneDerImpl<DataPoint, _WFunctor, DiffType, T>::finalize()

Ponca/src/Fitting/meanPlaneFit.h

@@ -20,7 +20,8 @@ namespace Ponca
 
     \inherit Concept::FittingProcedureConcept
 
-    \see Plane, PlaneFrame
+    \see Plane
+    \see PlaneFrame
 */
 template < class DataPoint, class _WFunctor, typename T >
 class MeanPlaneFitImpl : public T

Ponca/src/Fitting/mongePatch.h

@@ -29,7 +29,7 @@ class MongePatch : public T
 PONCA_FITTING_DECLARE_DEFAULT_TYPES
 
 protected:
-    enum { Check = Base::PROVIDES_PLANE && Base::PROVIDES_TANGENT_PLANE_BASIS };
+    enum { Check = Base::PROVIDES_PLANE_FRAME };
 
 public:
     using SampleMatrix = Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic>;
@@ -57,19 +57,19 @@ PONCA_FITTING_DECLARE_DEFAULT_TYPES
 
     /*! \brief Value of the scalar field at the evaluation point */
     PONCA_MULTIARCH inline Scalar potential(const VectorType& _q) const {
-      VectorType x = Base::worldToTangentPlane(_q);
+      VectorType x = Base::worldToLocalFrame(_q);
       return evalUV(*(x.data()+1),*(x.data()+2)) - *(x.data());
     }
 
     //! \brief Orthogonal projecting on the patch, such that h = f(u,v)
     PONCA_MULTIARCH inline VectorType project (const VectorType& _q) const
     {
-        VectorType x = Base::worldToTangentPlane(_q);
+        VectorType x = Base::worldToLocalFrame(_q);
         *(x.data()) = evalUV(*(x.data()+1),*(x.data()+2));
-        return Base::tangentPlaneToWorld(x);
+        return Base::localFrameToWorld(x);
     }
 
-    PONCA_MULTIARCH inline const Scalar & h_uu () const { return *(m_x.data()); }
+    PONCA_MULTIARCH inline const Scalar & h_uu () const { return *(m_x.data());   }
     PONCA_MULTIARCH inline const Scalar & h_vv () const { return *(m_x.data()+1); }
     PONCA_MULTIARCH inline const Scalar & h_uv () const { return *(m_x.data()+2); }
     PONCA_MULTIARCH inline const Scalar & h_u  () const { return *(m_x.data()+3); }
@@ -78,6 +78,17 @@ PONCA_FITTING_DECLARE_DEFAULT_TYPES
 
 };
 
+/// \brief Helper alias for MongePatch fitting on 3D points using MongePatch
+//! [MongePatchFit Definition]
+template < class DataPoint, class _WFunctor, typename T>
+    using MongePatchFit = Ponca::MongePatch<DataPoint, _WFunctor,
+                            Ponca::CovariancePlaneFitImpl<DataPoint, _WFunctor,
+                                Ponca::CovarianceFitBase<DataPoint, _WFunctor,
+                                        Ponca::MeanPosition<DataPoint, _WFunctor,
+                                            Ponca::PlaneFrame<DataPoint, _WFunctor,
+                                                Ponca::Plane<DataPoint, _WFunctor,T>>>>>>;
+//! [MongePatchFit Definition]
+
 #include "mongePatch.hpp"
 
 } //namespace Ponca

Ponca/src/Fitting/mongePatch.hpp

@@ -26,7 +26,7 @@ MongePatch<DataPoint, _WFunctor, T>::addLocalNeighbor(Scalar w,
     else // base plane is ready, we can now fit the patch
     {
         // express neighbor in local coordinate frame
-        const VectorType local = Base::worldToTangentPlane(attributes.pos());
+        const VectorType local = Base::worldToLocalFrame(attributes.pos());
         const Scalar& h = *(local.data());
         const Scalar& u = *(local.data()+1);
         const Scalar& v = *(local.data()+2);

Ponca/src/Fitting/planeFrame.h

@@ -13,6 +13,8 @@ namespace Ponca
     This class can be used to do base change from the global frame to the local frame of the plane.
 
     \see Plane
+    \see worldToLocalFrame
+    \see localFrameToWorld
 */
 template < class DataPoint, class _WFunctor, typename T >
 class PlaneFrame : public T
@@ -34,10 +36,10 @@ class PlaneFrame : public T
 
 public:
     PONCA_EXPLICIT_CAST_OPERATORS(PlaneFrame,planeFrame)
-    /*! \brief Set the scalar field values to 0 and reset the isNormalized() status
 
-        \warning Set m_ul to Zero(), which leads to nans in OrientedSphere::normal()
-    */
+    /*! \brief Set the vectors of the local frame to zero 
+     *  \param _basisCenter Center of the local frame
+     */
     PONCA_MULTIARCH inline void init(const VectorType& _basisCenter = VectorType::Zero())
     {
         Base::init(_basisCenter);
@@ -46,26 +48,26 @@ class PlaneFrame : public T
     }
 
     /*!
-     * \brief Express a point in ambient space relatively to the tangent plane.
+     * \brief Express a point in ambient space relatively to the local frame.
      *
      * Output vector is: [h, u, v]^T, where u, v are 2d coordinates on the plane,
      * and h the height of the sample.
      * \tparam ignoreTranslation must be set to true when passing vectors instead of points
      * \param _q Point coordinates expressed in ambient space
-     * \return Point coordinates expressed in local tangent frame
+     * \return Point coordinates expressed in local frame
      */
     template <bool ignoreTranslation = false>
-    PONCA_MULTIARCH inline VectorType worldToTangentPlane(const VectorType &_q) const;
+    PONCA_MULTIARCH inline VectorType worldToLocalFrame(const VectorType &_q) const;
 
         /*!
-     * \brief Transform a point from the tangent plane [h, u, v]^T to ambient space
+     * \brief Transform a point from the local frame [h, u, v]^T to ambient space
      *
      * \tparam ignoreTranslation must be set to true when passing vectors instead of points
-     * \param _q Point coordinates expressed in local tangent frame
+     * \param _q Point coordinates expressed in local frame
      * \return Point coordinates expressed in ambient space
      */
     template <bool ignoreTranslation = false>
-    PONCA_MULTIARCH inline VectorType tangentPlaneToWorld(const VectorType &_q) const;
+    PONCA_MULTIARCH inline VectorType localFrameToWorld(const VectorType &_q) const;
 
 }; //class PlaneFrame
 

Ponca/src/Fitting/planeFrame.hpp

@@ -1,7 +1,7 @@
 template < class DataPoint, class _WFunctor, typename T>
 template <bool ignoreTranslation>
 typename PlaneFrame<DataPoint, _WFunctor, T>::VectorType
-PlaneFrame<DataPoint, _WFunctor, T>::worldToTangentPlane (const VectorType& _q) const
+PlaneFrame<DataPoint, _WFunctor, T>::worldToLocalFrame (const VectorType& _q) const
 {
   MatrixType B;
   B << Base::plane().normal(), m_u, m_v;
@@ -16,7 +16,7 @@ PlaneFrame<DataPoint, _WFunctor, T>::worldToTangentPlane (const VectorType& _q)
 template < class DataPoint, class _WFunctor, typename T>
 template <bool ignoreTranslation>
 typename PlaneFrame<DataPoint, _WFunctor, T>::VectorType
-PlaneFrame<DataPoint, _WFunctor, T>::tangentPlaneToWorld (const VectorType& _lq) const
+PlaneFrame<DataPoint, _WFunctor, T>::localFrameToWorld (const VectorType& _lq) const
 {
   MatrixType B;
   B << Base::plane().normal(), m_u, m_v;

tests/src/basket.cpp

@@ -214,7 +214,7 @@ void callSubTests()
     //! [HybridType]
     // Create an hybrid structure fitting a plane and a sphere at the same time
     using Hybrid = Basket<Point, WeightFunc,
-                          AlgebraicSphere, Plane,                     // primitives
+                          AlgebraicSphere, Plane, PlaneFrame,         // primitives
                           MeanNormal, MeanPosition,                   // shared computation
                           OrientedSphereFitImpl,                      // sphere fitting
                           CovarianceFitBase, CovariancePlaneFitImpl>; // plane fitting

tests/src/fit_monge_patch.cpp

@@ -84,7 +84,7 @@ void testFunction(bool _bUnoriented = false, bool _bAddPositionNoise = false, bo
             VERIFY(Scalar(1.) - std::abs(fit.primitiveGradient(queryPos).dot(direction)) <= epsilon);
 
             // Projecting to tangent plane and going back to world should not change the position
-            VERIFY((fit.tangentPlaneToWorld(fit.worldToTangentPlane(queryPos)) - queryPos).norm() <= epsilon);
+            VERIFY((fit.localFrameToWorld(fit.worldToLocalFrame(queryPos)) - queryPos).norm() <= epsilon);
 
             if(!_bAddPositionNoise) {
               // Check if the query point is on the plane

tests/src/fit_plane.cpp

@@ -145,11 +145,11 @@ void callSubTests()
 
     // test if conflicts are detected
     //! [Conflicting type]
-    typedef Basket<Point, WeightConstantFunc, Plane,
+    typedef Basket<Point, WeightConstantFunc, Plane, PlaneFrame,
             MeanNormal, MeanPosition, MeanPlaneFitImpl,
             CovarianceFitBase, CovariancePlaneFitImpl> Hybrid1; //test conflict detection in one direction
     //! [Conflicting type]
-    typedef Basket<Point, WeightConstantFunc, Plane,
+    typedef Basket<Point, WeightConstantFunc, Plane, PlaneFrame,
             MeanPosition, CovarianceFitBase, CovariancePlaneFitImpl,
             MeanNormal, MeanPlaneFitImpl> Hybrid2;  //test conflict detection in the second direction