best_fit.h

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/***************************************************************************
 *   Copyright (c) 2007                                                    *
 *   Joachim Zettler <Joachim.Zettler@gmx.de>                              *
 *   Human Rezai <human@mytum.de>                                          *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  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 Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/

#ifndef BEST_FIT_H
#define BEST_FIT_H


#include <Mod/Mesh/App/Core/Approximation.h>
#include <Mod/Mesh/App/Core/Evaluation.h>
#include <Mod/Mesh/App/Core/MeshKernel.h>
#include <Base/Exception.h>
#include <gp_Vec.hxx>
#include <TopoDS_Shape.hxx>
#include <TopoDS_Face.hxx>
#include <SMESH_Mesh.hxx>
#include <SMDS_VolumeTool.hxx>


#define SMALL_NUM  1e-6
#define ERR_TOL    0.001       // Abbruchkriterium für Least-Square-Matching (Fehleränderung zweier aufeinanderfolgenden Iterationsschritten)


class CamExport best_fit
{
public:
    best_fit();
    ~best_fit();

    void Load(const MeshCore::MeshKernel &InputMesh, const TopoDS_Shape &CAD_Shape);

    bool Initialize_Mesh_Geometrie_1();
    bool Initialize_Mesh_Geometrie_2();

    bool MeshFit_Coarse();

    bool ShapeFit_Coarse();

    bool PointCloud_Coarse();

    bool Perform();

    bool Perform_PointCloud();

    bool output_best_fit_mesh();

    //double CompError(std::vector<Base::Vector3f> &pnts, std::vector<Base::Vector3f> &normals);
    //double CompError(std::vector<Base::Vector3f> &pnts, std::vector<Base::Vector3f> &normals, bool plot);

    //std::vector<double> CompError_GetPnts(std::vector<Base::Vector3f> pnts,
    //                                     std::vector<Base::Vector3f> &normals);

    double CompTotalError();

    double CompTotalError(MeshCore::MeshKernel &mesh);
        
    static bool Tesselate_Shape(const TopoDS_Shape &shape, MeshCore::MeshKernel &mesh, float deflection);
        
    static bool Tesselate_Face (const TopoDS_Face  &aface, MeshCore::MeshKernel &mesh, float deflection);

    static std::vector<Base::Vector3f> Comp_Normals(MeshCore::MeshKernel &Mesh);
        
    bool Coarse_correction();

    double ANN();

    TopoDS_Shape m_Cad;              // CAD-Geometrie

    MeshCore::MeshKernel m_Mesh;     // das zu fittende Netz

    MeshCore::MeshKernel m_MeshWork;

    MeshCore::MeshKernel m_CadMesh;  // Netz aus CAD-Triangulierung


        std::vector<Base::Vector3f> m_pntCloud_1;
        std::vector<Base::Vector3f> m_pntCloud_2;


    std::vector<Base::Vector3f> m_pnts;

    std::vector<Base::Vector3f> m_normals;

    std::vector<double>         m_error;

    std::vector<std::vector<Base::Vector3f> > m_LSPnts;  // zu fittende Punktesätze für den Least-Square

    std::vector<double> m_weights;                       // gewichtungen für den Least-Square bzgl. allen Netzpunkte

    std::vector<double> m_weights_loc;                   // gewichtungen für den Least-Square bzgl. den projezierten Netzpunkten

    gp_Vec m_cad2orig;                     // Translationsvektor welche die CAD-Geometrie um den Ursprung zentriert
    
    std::vector<TopoDS_Face> m_LowFaces;   // Vektor der in der GUI selektierten Faces mit geringer Gewichtung

private:
    inline bool RotMat(Base::Matrix4D &matrix, double degree, int rotationAxis);
        
    inline bool TransMat(Base::Matrix4D &matrix, double translation, int translationAxis);
        
    inline bool PointNormalTransform(std::vector<Base::Vector3f> &pnts,
                                     std::vector<Base::Vector3f> &normals,
                                     Base::Matrix4D              &M);
        
    bool PointTransform(std::vector<Base::Vector3f> &pnts, const Base::Matrix4D &M);
        
    bool Comp_Weights();

    bool LSM();

    std::vector<double> Comp_Jacobi(const std::vector<double> &params);

    std::vector<std::vector<double> > Comp_Hess (const std::vector<double> &params);

    SMESH_Mesh *m_referencemesh;
    SMESH_Mesh *m_meshtobefit;
    SMESH_Gen *m_aMeshGen1;
    SMESH_Gen *m_aMeshGen2;

        
    
        //int intersect_RayTriangle(const Base::Vector3f &normal,const MeshCore::MeshGeomFacet &T, Base::Vector3f &P, Base::Vector3f &I);
        // bool Intersect(const Base::Vector3f &normal,const MeshCore::MeshKernel &mesh, Base::Vector3f &P, Base::Vector3f &I);
};

#endif