ppolynomial.hpp
/*
Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
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
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may be used to endorse or promote products derived from this software without specific
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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
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TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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*/
#include "factor.h"
////////////////////////
// StartingPolynomial //
////////////////////////
namespace pcl
{
namespace poisson
{
template<int Degree>
template<int Degree2>
StartingPolynomial<Degree+Degree2> StartingPolynomial<Degree>::operator * (const StartingPolynomial<Degree2>& p) const{
StartingPolynomial<Degree+Degree2> sp;
if(start>p.start){sp.start=start;}
else{sp.start=p.start;}
sp.p=this->p*p.p;
return sp;
}
template<int Degree>
StartingPolynomial<Degree> StartingPolynomial<Degree>::scale(double s) const{
StartingPolynomial q;
q.start=start*s;
q.p=p.scale(s);
return q;
}
template<int Degree>
StartingPolynomial<Degree> StartingPolynomial<Degree>::shift(double s) const{
StartingPolynomial q;
q.start=start+s;
q.p=p.shift(s);
return q;
}
template<int Degree>
int StartingPolynomial<Degree>::operator < (const StartingPolynomial<Degree>& sp) const{
if(start<sp.start){return 1;}
else{return 0;}
}
template<int Degree>
int StartingPolynomial<Degree>::Compare(const void* v1,const void* v2){
double d=((StartingPolynomial*)(v1))->start-((StartingPolynomial*)(v2))->start;
if (d<0) {return -1;}
else if (d>0) {return 1;}
else {return 0;}
}
/////////////////
// PPolynomial //
/////////////////
template<int Degree>
PPolynomial<Degree>::PPolynomial(void){
polyCount=0;
polys=NULL;
}
template<int Degree>
PPolynomial<Degree>::PPolynomial(const PPolynomial<Degree>& p){
polyCount=0;
polys=NULL;
set(p.polyCount);
memcpy(polys,p.polys,sizeof(StartingPolynomial<Degree>)*p.polyCount);
}
template<int Degree>
PPolynomial<Degree>::~PPolynomial(void){
if(polyCount){free(polys);}
polyCount=0;
polys=NULL;
}
template<int Degree>
void PPolynomial<Degree>::set(StartingPolynomial<Degree>* sps,int count){
int i,c=0;
set(count);
qsort(sps,count,sizeof(StartingPolynomial<Degree>),StartingPolynomial<Degree>::Compare);
for( i=0 ; i<count ; i++ )
{
if( !c || sps[i].start!=polys[c-1].start ) polys[c++] = sps[i];
else{polys[c-1].p+=sps[i].p;}
}
reset( c );
}
template <int Degree>
int PPolynomial<Degree>::size(void) const{return int(sizeof(StartingPolynomial<Degree>)*polyCount);}
template<int Degree>
void PPolynomial<Degree>::set( std::size_t size )
{
if(polyCount){free(polys);}
polyCount=0;
polys=NULL;
polyCount=size;
if(size){
polys=(StartingPolynomial<Degree>*)malloc(sizeof(StartingPolynomial<Degree>)*size);
memset(polys,0,sizeof(StartingPolynomial<Degree>)*size);
}
}
template<int Degree>
void PPolynomial<Degree>::reset( std::size_t newSize )
{
polyCount=newSize;
polys=(StartingPolynomial<Degree>*)realloc(polys,sizeof(StartingPolynomial<Degree>)*newSize);
}
template<int Degree>
PPolynomial<Degree>& PPolynomial<Degree>::operator = (const PPolynomial<Degree>& p){
set(p.polyCount);
memcpy(polys,p.polys,sizeof(StartingPolynomial<Degree>)*p.polyCount);
return *this;
}
template<int Degree>
template<int Degree2>
PPolynomial<Degree>& PPolynomial<Degree>::operator = (const PPolynomial<Degree2>& p){
set(p.polyCount);
for(int i=0;i<int(polyCount);i++){
polys[i].start=p.polys[i].start;
polys[i].p=p.polys[i].p;
}
return *this;
}
template<int Degree>
double PPolynomial<Degree>::operator ()( double t ) const
{
double v=0;
for( int i=0 ; i<int(polyCount) && t>polys[i].start ; i++ ) v+=polys[i].p(t);
return v;
}
template<int Degree>
double PPolynomial<Degree>::integral( double tMin , double tMax ) const
{
int m=1;
double start,end,s,v=0;
start=tMin;
end=tMax;
if(tMin>tMax){
m=-1;
start=tMax;
end=tMin;
}
for(int i=0;i<int(polyCount) && polys[i].start<end;i++){
if(start<polys[i].start){s=polys[i].start;}
else{s=start;}
v+=polys[i].p.integral(s,end);
}
return v*m;
}
template<int Degree>
double PPolynomial<Degree>::Integral(void) const{return integral(polys[0].start,polys[polyCount-1].start);}
template<int Degree>
PPolynomial<Degree> PPolynomial<Degree>::operator + (const PPolynomial<Degree>& p) const{
PPolynomial q;
int i,j;
std::size_t idx=0;
q.set(polyCount+p.polyCount);
i=j=-1;
while(idx<q.polyCount){
if (j>=int(p.polyCount)-1) {q.polys[idx]= polys[++i];}
else if (i>=int( polyCount)-1) {q.polys[idx]=p.polys[++j];}
else if(polys[i+1].start<p.polys[j+1].start){q.polys[idx]= polys[++i];}
else {q.polys[idx]=p.polys[++j];}
idx++;
}
return q;
}
template<int Degree>
PPolynomial<Degree> PPolynomial<Degree>::operator - (const PPolynomial<Degree>& p) const{
PPolynomial q;
int i,j;
std::size_t idx=0;
q.set(polyCount+p.polyCount);
i=j=-1;
while(idx<q.polyCount){
if (j>=int(p.polyCount)-1) {q.polys[idx]= polys[++i];}
else if (i>=int( polyCount)-1) {q.polys[idx].start=p.polys[++j].start;q.polys[idx].p=p.polys[j].p*(-1.0);}
else if(polys[i+1].start<p.polys[j+1].start){q.polys[idx]= polys[++i];}
else {q.polys[idx].start=p.polys[++j].start;q.polys[idx].p=p.polys[j].p*(-1.0);}
idx++;
}
return q;
}
template<int Degree>
PPolynomial<Degree>& PPolynomial<Degree>::addScaled(const PPolynomial<Degree>& p,double scale){
int i,j;
StartingPolynomial<Degree>* oldPolys=polys;
std::size_t idx=0,cnt=0,oldPolyCount=polyCount;
polyCount=0;
polys=NULL;
set(oldPolyCount+p.polyCount);
i=j=-1;
while(cnt<polyCount){
if (j>=int( p.polyCount)-1) {polys[idx]=oldPolys[++i];}
else if (i>=int(oldPolyCount)-1) {polys[idx].start= p.polys[++j].start;polys[idx].p=p.polys[j].p*scale;}
else if (oldPolys[i+1].start<p.polys[j+1].start){polys[idx]=oldPolys[++i];}
else {polys[idx].start= p.polys[++j].start;polys[idx].p=p.polys[j].p*scale;}
if(idx && polys[idx].start==polys[idx-1].start) {polys[idx-1].p+=polys[idx].p;}
else{idx++;}
cnt++;
}
free(oldPolys);
reset(idx);
return *this;
}
template<int Degree>
template<int Degree2>
PPolynomial<Degree+Degree2> PPolynomial<Degree>::operator * (const PPolynomial<Degree2>& p) const{
PPolynomial<Degree+Degree2> q;
StartingPolynomial<Degree+Degree2> *sp;
int i,j,spCount=int(polyCount*p.polyCount);
sp=(StartingPolynomial<Degree+Degree2>*)malloc(sizeof(StartingPolynomial<Degree+Degree2>)*spCount);
for(i=0;i<int(polyCount);i++){
for(j=0;j<int(p.polyCount);j++){
sp[i*p.polyCount+j]=polys[i]*p.polys[j];
}
}
q.set(sp,spCount);
free(sp);
return q;
}
template<int Degree>
template<int Degree2>
PPolynomial<Degree+Degree2> PPolynomial<Degree>::operator * (const Polynomial<Degree2>& p) const{
PPolynomial<Degree+Degree2> q;
q.set(polyCount);
for(int i=0;i<int(polyCount);i++){
q.polys[i].start=polys[i].start;
q.polys[i].p=polys[i].p*p;
}
return q;
}
template<int Degree>
PPolynomial<Degree> PPolynomial<Degree>::scale( double s ) const
{
PPolynomial q;
q.set(polyCount);
for(std::size_t i=0;i<polyCount;i++){q.polys[i]=polys[i].scale(s);}
return q;
}
template<int Degree>
PPolynomial<Degree> PPolynomial<Degree>::shift( double s ) const
{
PPolynomial q;
q.set(polyCount);
for(std::size_t i=0;i<polyCount;i++){q.polys[i]=polys[i].shift(s);}
return q;
}
template<int Degree>
PPolynomial<Degree-1> PPolynomial<Degree>::derivative(void) const{
PPolynomial<Degree-1> q;
q.set(polyCount);
for(std::size_t i=0;i<polyCount;i++){
q.polys[i].start=polys[i].start;
q.polys[i].p=polys[i].p.derivative();
}
return q;
}
template<int Degree>
PPolynomial<Degree+1> PPolynomial<Degree>::integral(void) const{
int i;
PPolynomial<Degree+1> q;
q.set(polyCount);
for(i=0;i<int(polyCount);i++){
q.polys[i].start=polys[i].start;
q.polys[i].p=polys[i].p.integral();
q.polys[i].p-=q.polys[i].p(q.polys[i].start);
}
return q;
}
template<int Degree>
PPolynomial<Degree>& PPolynomial<Degree>::operator += ( double s ) {polys[0].p+=s;}
template<int Degree>
PPolynomial<Degree>& PPolynomial<Degree>::operator -= ( double s ) {polys[0].p-=s;}
template<int Degree>
PPolynomial<Degree>& PPolynomial<Degree>::operator *= ( double s )
{
for(int i=0;i<int(polyCount);i++){polys[i].p*=s;}
return *this;
}
template<int Degree>
PPolynomial<Degree>& PPolynomial<Degree>::operator /= ( double s )
{
for(std::size_t i=0;i<polyCount;i++){polys[i].p/=s;}
return *this;
}
template<int Degree>
PPolynomial<Degree> PPolynomial<Degree>::operator + ( double s ) const
{
PPolynomial q=*this;
q+=s;
return q;
}
template<int Degree>
PPolynomial<Degree> PPolynomial<Degree>::operator - ( double s ) const
{
PPolynomial q=*this;
q-=s;
return q;
}
template<int Degree>
PPolynomial<Degree> PPolynomial<Degree>::operator * ( double s ) const
{
PPolynomial q=*this;
q*=s;
return q;
}
template<int Degree>
PPolynomial<Degree> PPolynomial<Degree>::operator / ( double s ) const
{
PPolynomial q=*this;
q/=s;
return q;
}
template<int Degree>
void PPolynomial<Degree>::printnl(void) const{
Polynomial<Degree> p;
if(!polyCount){
Polynomial<Degree> p;
printf("[-Infinity,Infinity]\n");
}
else{
for(std::size_t i=0;i<polyCount;i++){
printf("[");
if (polys[i ].start== DBL_MAX){printf("Infinity,");}
else if (polys[i ].start==-DBL_MAX){printf("-Infinity,");}
else {printf("%f,",polys[i].start);}
if(i+1==polyCount) {printf("Infinity]\t");}
else if (polys[i+1].start== DBL_MAX){printf("Infinity]\t");}
else if (polys[i+1].start==-DBL_MAX){printf("-Infinity]\t");}
else {printf("%f]\t",polys[i+1].start);}
p=p+polys[i].p;
p.printnl();
}
}
printf("\n");
}
template< >
PPolynomial< 0 > PPolynomial< 0 >::BSpline( double radius )
{
PPolynomial q;
q.set(2);
q.polys[0].start=-radius;
q.polys[1].start= radius;
q.polys[0].p.coefficients[0]= 1.0;
q.polys[1].p.coefficients[0]=-1.0;
return q;
}
template< int Degree >
PPolynomial< Degree > PPolynomial<Degree>::BSpline( double radius )
{
return PPolynomial< Degree-1 >::BSpline().MovingAverage( radius );
}
template<int Degree>
PPolynomial<Degree+1> PPolynomial<Degree>::MovingAverage( double radius )
{
PPolynomial<Degree+1> A;
Polynomial<Degree+1> p;
StartingPolynomial<Degree+1>* sps;
sps=(StartingPolynomial<Degree+1>*)malloc(sizeof(StartingPolynomial<Degree+1>)*polyCount*2);
for(int i=0;i<int(polyCount);i++){
sps[2*i ].start=polys[i].start-radius;
sps[2*i+1].start=polys[i].start+radius;
p=polys[i].p.integral()-polys[i].p.integral()(polys[i].start);
sps[2*i ].p=p.shift(-radius);
sps[2*i+1].p=p.shift( radius)*-1;
}
A.set(sps,int(polyCount*2));
free(sps);
return A*1.0/(2*radius);
}
template<int Degree>
void PPolynomial<Degree>::getSolutions(double c,std::vector<double>& roots,double EPS,double min,double max) const{
Polynomial<Degree> p;
std::vector<double> tempRoots;
p.setZero();
for(std::size_t i=0;i<polyCount;i++){
p+=polys[i].p;
if(polys[i].start>max){break;}
if(i<polyCount-1 && polys[i+1].start<min){continue;}
p.getSolutions(c,tempRoots,EPS);
for(std::size_t j=0;j<tempRoots.size();j++){
if(tempRoots[j]>polys[i].start && (i+1==polyCount || tempRoots[j]<=polys[i+1].start)){
if(tempRoots[j]>min && tempRoots[j]<max){roots.push_back(tempRoots[j]);}
}
}
}
}
template<int Degree>
void PPolynomial<Degree>::write(FILE* fp,int samples,double min,double max) const{
fwrite(&samples,sizeof(int),1,fp);
for(int i=0;i<samples;i++){
double x=min+i*(max-min)/(samples-1);
float v=(*this)(x);
fwrite(&v,sizeof(float),1,fp);
}
}
}
}
pcl::poisson::PPolynomial
Definition: ppolynomial.h:58
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::poisson::PPolynomial::set
void set(std::size_t size)
Definition: ppolynomial.hpp:117
pcl::poisson::PPolynomial::BSpline
static PPolynomial BSpline(double radius=0.5)
Definition: ppolynomial.hpp:387
pcl::poisson::Polynomial
Definition: polynomial.h:40
pcl::poisson::Polynomial::getSolutions
void getSolutions(double c, std::vector< double > &roots, double EPS) const
Definition: polynomial.hpp:272
pcl::poisson::StartingPolynomial::Compare
static int Compare(const void *v1, const void *v2)
Definition: ppolynomial.hpp:72
pcl::poisson::PPolynomial::operator/=
PPolynomial & operator/=(double s)
Definition: ppolynomial.hpp:315
pcl::poisson::Polynomial::printnl
void printnl(void) const
Definition: polynomial.hpp:264
pcl::poisson::StartingPolynomial::start
double start
Definition: ppolynomial.h:47
pcl::poisson::PPolynomial::operator=
PPolynomial & operator=(const PPolynomial &p)
Definition: ppolynomial.hpp:136
pcl::poisson::PPolynomial::~PPolynomial
~PPolynomial(void)
Definition: ppolynomial.hpp:96
pcl::poisson::PPolynomial::MovingAverage
PPolynomial< Degree+1 > MovingAverage(double radius)
Definition: ppolynomial.hpp:392
pcl::poisson::PPolynomial::operator*=
PPolynomial & operator*=(double s)
Definition: ppolynomial.hpp:309
pcl::poisson::StartingPolynomial::operator<
int operator<(const StartingPolynomial &sp) const
Definition: ppolynomial.hpp:67
pcl::poisson::PPolynomial::operator*
PPolynomial< Degree+Degree2 > operator*(const Polynomial< Degree2 > &p) const
Definition: ppolynomial.hpp:257
pcl::poisson::PPolynomial::getSolutions
void getSolutions(double c, std::vector< double > &roots, double EPS, double min=-DBL_MAX, double max=DBL_MAX) const
Definition: ppolynomial.hpp:412
pcl::poisson::PPolynomial::integral
PPolynomial< Degree+1 > integral(void) const
Definition: ppolynomial.hpp:293
pcl::poisson::PPolynomial::polyCount
std::size_t polyCount
Definition: ppolynomial.h:61
pcl::poisson::PPolynomial::write
void write(FILE *fp, int samples, double min, double max) const
Definition: ppolynomial.hpp:431
pcl::poisson::StartingPolynomial::shift
StartingPolynomial shift(double t) const
Definition: ppolynomial.hpp:58
pcl::poisson::PPolynomial::operator+
PPolynomial operator+(const PPolynomial &p) const
Definition: ppolynomial.hpp:183
pcl::poisson::PPolynomial::size
int size(void) const
Definition: ppolynomial.hpp:114
pcl::poisson::StartingPolynomial::operator*
StartingPolynomial< Degree+Degree2 > operator*(const StartingPolynomial< Degree2 > &p) const
Definition: ppolynomial.hpp:43
pcl::poisson::PPolynomial::operator-=
PPolynomial & operator-=(double s)
Definition: ppolynomial.hpp:307
pcl::poisson::PPolynomial::PPolynomial
PPolynomial(void)
Definition: ppolynomial.hpp:83
pcl::poisson::PPolynomial::shift
PPolynomial shift(double t) const
Definition: ppolynomial.hpp:275
pcl::poisson::StartingPolynomial::p
Polynomial< Degree > p
Definition: ppolynomial.h:46
pcl::poisson::PPolynomial::reset
void reset(std::size_t newSize)
Definition: ppolynomial.hpp:129
pcl::poisson::PPolynomial::derivative
PPolynomial< Degree-1 > derivative(void) const
Definition: ppolynomial.hpp:283
pcl::poisson::PPolynomial::operator+=
PPolynomial & operator+=(double s)
Definition: ppolynomial.hpp:305
pcl::poisson::PPolynomial::Integral
double Integral(void) const
Definition: ppolynomial.hpp:181
pcl::poisson::Polynomial::integral
double integral(double tMin, double tMax) const
Definition: polynomial.hpp:87
pcl::poisson::PPolynomial::operator-
PPolynomial operator-(const PPolynomial &p) const
Definition: ppolynomial.hpp:200
pcl::poisson::StartingPolynomial
Definition: ppolynomial.h:44
pcl::poisson::PPolynomial::operator()
double operator()(double t) const
Definition: ppolynomial.hpp:154
pcl::poisson::PPolynomial::polys
StartingPolynomial< Degree > * polys
Definition: ppolynomial.h:62
pcl::poisson::PPolynomial::operator/
PPolynomial operator/(double s) const
Definition: ppolynomial.hpp:342
pcl::poisson::StartingPolynomial::scale
StartingPolynomial scale(double s) const
Definition: ppolynomial.hpp:51
pcl::poisson::PPolynomial::printnl
void printnl(void) const
Definition: ppolynomial.hpp:350
pcl::poisson::Polynomial::shift
Polynomial shift(double t) const
Definition: polynomial.hpp:250
pcl::poisson::PPolynomial::scale
PPolynomial scale(double s) const
Definition: ppolynomial.hpp:267
pcl::poisson::PPolynomial::addScaled
PPolynomial & addScaled(const PPolynomial &poly, double scale)
Definition: ppolynomial.hpp:217
pcl::poisson::Polynomial::setZero
void setZero(void)
Definition: polynomial.hpp:116