FrameToPointSet.cu

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#pragma once
#include "FrameToPointSet.h"
#include "Topology/Frame.h"
#include "Topology/PointSet.h"
 
namespace dyno
{
    template<typename TDataType>
    FrameToPointSet<TDataType>::FrameToPointSet()
        : TopologyMapping()
    {
 
    }
 
    template<typename TDataType>
    FrameToPointSet<TDataType>::FrameToPointSet(std::shared_ptr<Frame<TDataType>> from, std::shared_ptr<PointSet<TDataType>> to)
        : TopologyMapping()
    {
        m_from = from;
        m_to = to;
    }
 
 
    template<typename TDataType>
    FrameToPointSet<TDataType>::~FrameToPointSet()
    {
        if (m_refPoints.begin() != NULL)
        {
            m_refPoints.clear();
        }
    }
 
 
    template<typename TDataType>
    void FrameToPointSet<TDataType>::initialize(const Rigid& rigid, DArray<Coord>& points)
    {
        m_refRigid = rigid;
        m_refPoints.resize(points.size());
        m_refPoints.assign(points);
    }
 
 
    template<typename TDataType>
    void FrameToPointSet<TDataType>::match(std::shared_ptr<Frame<TDataType>> from, std::shared_ptr<PointSet<TDataType>> to)
    {
        m_initFrom = std::make_shared<Frame<TDataType>>();
        m_initTo = std::make_shared<PointSet<TDataType>>();
 
        m_initFrom->copyFrom(*from);
        m_initTo->copyFrom(*to);
    }
 
 
    template <typename Coord, typename Rigid, typename Matrix>
    __global__ void ApplyRigidTranform(
        DArray<Coord> points,
        Coord curCenter,
        Matrix curMat,
        DArray<Coord> refPoints,
        Coord refCenter,
        Matrix refMat)
    {
        int pId = threadIdx.x + (blockIdx.x * blockDim.x);
        if (pId >= points.size()) return;
 
        points[pId] = curCenter + curMat*refMat.transpose()*(refPoints[pId] - refCenter);
    }
 
    template<typename TDataType>
    void FrameToPointSet<TDataType>::applyTransform(const Rigid& rigid, DArray<Coord>& points)
    {
        if (points.size() != m_refPoints.size())
        {
            std::cout << "The array sizes does not match for RigidToPoints" << std::endl;
        }
 
        uint pDims = cudaGridSize(points.size(), BLOCK_SIZE);
 
        ApplyRigidTranform<Coord, Rigid, Matrix><< <pDims, BLOCK_SIZE >> >(points, rigid.getCenter(), rigid.getRotationMatrix(), m_refPoints, m_refRigid.getCenter(), m_refRigid.getRotationMatrix());
    }
 
    template<typename TDataType>
    bool FrameToPointSet<TDataType>::apply()
    {
        DArray<Coord>& m_coords = m_initTo->getPoints();
 
        uint pDims = cudaGridSize(m_coords.size(), BLOCK_SIZE);
 
        ApplyRigidTranform<Coord, Rigid, Matrix> << <pDims, BLOCK_SIZE >> >(
            m_to->getPoints(),
            m_from->getCenter(), 
            m_from->getOrientation(),
            m_coords,
            m_initFrom->getCenter(), 
            m_initFrom->getOrientation());
 
        return true;
    }
 
 
    template<typename TDataType>
    bool FrameToPointSet<TDataType>::initializeImpl()
    {
        match(m_from, m_to);
        return true;
    }
 
    DEFINE_CLASS(FrameToPointSet);
}