Fast Marching algorithm for planar facets extraction (qFacets plugin) More...

#include <fastMarchingForFacetExtraction.h>

Inheritance diagram for FastMarchingForFacetExtraction:

Collaboration diagram for FastMarchingForFacetExtraction:

[legend]

Classes
class	PlanarCell
	A Fast Marching grid cell for planar facets extraction. More...

Public Member Functions
	FastMarchingForFacetExtraction ()
	Default constructor. More...

virtual	~FastMarchingForFacetExtraction ()
	Destructor. More...

int	init (ccGenericPointCloud cloud, cloudViewer::DgmOctree theOctree, unsigned char gridLevel, ScalarType maxError, cloudViewer::DistanceComputationTools::ERROR_MEASURES errorMeasure, bool useRetroProjectionError, cloudViewer::GenericProgressCallback *progressCb=0)
	Initializes the grid with a point cloud (and ist corresponding octree) More...

unsigned	updateFlagsTable (ccGenericPointCloud *theCloud, std::vector< unsigned char > &flags, unsigned facetIndex)
	Updates a list of point flags, indicating the points alreay processed. More...

void	setPropagateCallback (cloudViewer::GenericProgressCallback *propagateProgressCb)
	Sets the propagation progress callback. More...

virtual int	propagate () override
	Propagates the front. More...

virtual bool	setSeedCell (const Tuple3i &pos) override
	Sets a given cell as "seed". More...

Public Member Functions inherited from cloudViewer::FastMarching
	FastMarching ()
	Default constructor. More...

virtual	~FastMarching ()
	Destructor. More...

virtual void	cleanLastPropagation ()

virtual float	getTime (Tuple3i &pos, bool absoluteCoordinates=false) const
	Returns the front arrival time at a given cell. More...

virtual void	setExtendedConnectivity (bool state)
	Sets extended connectivity mode. More...

Static Public Member Functions
static int	ExtractPlanarFacets (ccPointCloud theCloud, unsigned char octreeLevel, ScalarType maxError, cloudViewer::DistanceComputationTools::ERROR_MEASURES errorMeasure, bool useRetroProjectionError=true, cloudViewer::GenericProgressCallback progressCb=0, cloudViewer::DgmOctree *_theOctree=0)
	Static entry point (helper) More...

Protected Member Functions
virtual float	computeTCoefApprox (cloudViewer::FastMarching::Cell currentCell, cloudViewer::FastMarching::Cell neighbourCell) const override
	Computes the front acceleration between two cells. More...

virtual int	step () override
	Propagates the front (one step) More...

virtual void	initTrialCells () override
	Initializes the TRIAL cells list. More...

virtual bool	instantiateGrid (unsigned size) override
	Instantiates grid in memory. More...

ScalarType	addCellToCurrentFacet (unsigned index)

Protected Member Functions inherited from cloudViewer::FastMarching
unsigned	pos2index (const Tuple3i &pos) const

virtual int	initGridWithOctree (DgmOctree *octree, unsigned char gridLevel)

virtual int	initGrid (float step, unsigned dim[3])
	Intializes the grid with a given step and dimensions. More...

virtual int	initOther ()

virtual float	computeT (unsigned index)
	Computes the front arrival time at a given cell. More...

template<class T >
bool	instantiateGridTpl (unsigned size)
	Grid instantiation helper. More...

virtual void	addTrialCell (unsigned index)
	Add a cell to the TRIAL cells list. More...

virtual void	addActiveCell (unsigned index)
	Add a cell to the ACTIVE cells list. More...

virtual void	addIgnoredCell (unsigned index)
	Add a cell to the IGNORED cells list. More...

virtual unsigned	getNearestTrialCell ()
	Returns the TRIAL cell with the smallest front arrival time. More...

void	resetCells (std::vector< unsigned > &list)
	Resets the state of cells in a given list. More...

Protected Attributes
cloudViewer::ReferenceCloud *	m_currentFacetPoints
	Current facet points. More...

ScalarType	m_currentFacetError
	Current facet error. More...

ScalarType	m_maxError
	Max facet error. More...

cloudViewer::DistanceComputationTools::ERROR_MEASURES	m_errorMeasure
	Error measrue. More...

bool	m_useRetroProjectionError
	Whether to use retro-projection error in propagation. More...

cloudViewer::GenericProgressCallback *	m_propagateProgressCb
	Propagation progress callback. More...

unsigned	m_propagateProgress
	Propagation progress. More...

Protected Attributes inherited from cloudViewer::FastMarching
std::vector< unsigned >	m_activeCells
	ACTIVE cells list. More...

std::vector< unsigned >	m_trialCells
	TRIAL cells list. More...

std::vector< unsigned >	m_ignoredCells
	IGNORED cells lits. More...

bool	m_initialized
	Specifiies whether structure is initialized or not. More...

unsigned	m_dx
	Grid size along the X dimension. More...

unsigned	m_dy
	Grid size along the Y dimension. More...

unsigned	m_dz
	Grid size along the Z dimension. More...

unsigned	m_rowSize
	Shift for cell access acceleration (Y dimension) More...

unsigned	m_sliceSize
	Shift for cell access acceleration (Z dimension) More...

unsigned	m_indexShift
	First index of innerbound grid. More...

unsigned	m_gridSize
	Grid size. More...

Cell **	m_theGrid
	Grid used to process Fast Marching. More...

DgmOctree *	m_octree
	Associated octree. More...

unsigned char	m_gridLevel
	Equivalent octree subdivision level. More...

float	m_cellSize
	Octree cell size at equivalent subdivision level. More...

Tuple3i	m_minFillIndexes
	Octree min fill indexes at 'm_gridLevel'. More...

unsigned	m_numberOfNeighbours
	Current number of neighbours (6 or 26) More...

int	m_neighboursIndexShift [26]
	Neighbours coordinates shifts in grid. More...

float	m_neighboursDistance [26]
	Neighbours distance weight. More...

Detailed Description

Fast Marching algorithm for planar facets extraction (qFacets plugin)

Extends the FastMarching class.

Definition at line 24 of file fastMarchingForFacetExtraction.h.

Constructor & Destructor Documentation

◆ FastMarchingForFacetExtraction()

FastMarchingForFacetExtraction::FastMarchingForFacetExtraction ( )

Default constructor.

Definition at line 26 of file fastMarchingForFacetExtraction.cpp.

◆ ~FastMarchingForFacetExtraction()

FastMarchingForFacetExtraction::~FastMarchingForFacetExtraction ( )

virtual

Destructor.

Definition at line 36 of file fastMarchingForFacetExtraction.cpp.

References m_currentFacetPoints.

Member Function Documentation

◆ addCellToCurrentFacet()

ScalarType FastMarchingForFacetExtraction::addCellToCurrentFacet ( unsigned index )

protected

Adds a given cell's points to the current facet and returns the resulting RMS

Definition at line 356 of file fastMarchingForFacetExtraction.cpp.

References cloudViewer::ReferenceCloud::add(), cloudViewer::DgmOctree::associatedCloud(), FastMarchingForFacetExtraction::PlanarCell::cellCode, ComputeCellStats(), error(), cloudViewer::DgmOctree::getPointsInCell(), m_currentFacetPoints, m_errorMeasure, cloudViewer::FastMarching::m_gridLevel, cloudViewer::FastMarching::m_initialized, cloudViewer::FastMarching::m_octree, cloudViewer::FastMarching::m_theGrid, and cloudViewer::DgmOctree::MAX_OCTREE_LEVEL.

Referenced by setSeedCell(), and step().

◆ computeTCoefApprox()

float FastMarchingForFacetExtraction::computeTCoefApprox	(	cloudViewer::FastMarching::Cell *	currentCell,
		cloudViewer::FastMarching::Cell *	neighbourCell
	)		const

overrideprotectedvirtual

Computes the front acceleration between two cells.

Parameters

currentCell	the "central" cell
neighbourCell	the other cell

Returns: the front acceleration

oCell->planarError

Implements cloudViewer::FastMarching.

Definition at line 220 of file fastMarchingForFacetExtraction.cpp.

References cloudViewer::DgmOctree::associatedCloud(), FastMarchingForFacetExtraction::PlanarCell::C, FastMarchingForFacetExtraction::PlanarCell::cellCode, cloudViewer::DistanceComputationTools::ComputeCloud2PlaneDistance(), Vector3Tpl< Type >::dot(), fabs(), cloudViewer::DgmOctree::getPointsInCell(), m_errorMeasure, cloudViewer::FastMarching::m_gridLevel, cloudViewer::FastMarching::m_octree, m_useRetroProjectionError, FastMarchingForFacetExtraction::PlanarCell::N, Vector3Tpl< Type >::norm2(), Vector3Tpl< Type >::normalize(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by initTrialCells().

◆ ExtractPlanarFacets()

int FastMarchingForFacetExtraction::ExtractPlanarFacets	(	ccPointCloud *	theCloud,
		unsigned char	octreeLevel,
		ScalarType	maxError,
		cloudViewer::DistanceComputationTools::ERROR_MEASURES	errorMeasure,
		bool	useRetroProjectionError = `true`,
		cloudViewer::GenericProgressCallback *	progressCb = `0`,
		cloudViewer::DgmOctree *	_theOctree = `0`
	)

static

Static entry point (helper)

Definition at line 413 of file fastMarchingForFacetExtraction.cpp.

References cloudViewer::DgmOctree::build(), cloudViewer::FastMarching::cleanLastPropagation(), count, cloudViewer::PointCloudTpl< T >::enableScalarField(), CVLog::Error(), cloudViewer::PointCloudTpl< T >::getCurrentOutScalarField(), cloudViewer::PointCloudTpl< T >::getPoint(), cloudViewer::DgmOctree::getTheCellPosWhichIncludesThePoint(), init(), min(), octreeLevel, propagate(), result, cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::PointCloudTpl< T >::setPointScalarValue(), setPropagateCallback(), setSeedCell(), cloudViewer::PointCloudTpl< T >::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::stop(), cloudViewer::GenericProgressCallback::textCanBeEdited(), cloudViewer::GenericProgressCallback::update(), updateFlagsTable(), CVLog::Warning(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by qFacets::extractFacets().

◆ init()

int FastMarchingForFacetExtraction::init	(	ccGenericPointCloud *	cloud,
		cloudViewer::DgmOctree *	theOctree,
		unsigned char	gridLevel,
		ScalarType	maxError,
		cloudViewer::DistanceComputationTools::ERROR_MEASURES	errorMeasure,
		bool	useRetroProjectionError,
		cloudViewer::GenericProgressCallback *	progressCb = `0`
	)

Initializes the grid with a point cloud (and ist corresponding octree)

The points should be associated to an (active) scalar field. The Fast Marching grid will have the same dimensions as the input octree considered at a given level of subdivision.

Parameters

cloud	the point cloud
theOctree	the associated octree
gridLevel	the level of subdivision
maxError	maximum error allowed by 'propagated' facet
errorMeasure	error measure
useRetroProjectionError	whether to use retro-projection error in propagation
progressCb	progeress callback

Returns: a negative value if something went wrong

Definition at line 70 of file fastMarchingForFacetExtraction.cpp.

References cloudViewer::DgmOctree::associatedCloud(), FastMarchingForFacetExtraction::PlanarCell::C, FastMarchingForFacetExtraction::PlanarCell::cellCode, ComputeCellStats(), error(), cloudViewer::DgmOctree::getCellCodes(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::DgmOctree::getPointsInCell(), cloudViewer::FastMarching::initGridWithOctree(), m_errorMeasure, cloudViewer::FastMarching::m_initialized, m_maxError, cloudViewer::FastMarching::m_theGrid, m_useRetroProjectionError, FastMarchingForFacetExtraction::PlanarCell::N, nProgress, cloudViewer::NormalizedProgress::oneStep(), FastMarchingForFacetExtraction::PlanarCell::planarError, cloudViewer::FastMarching::pos2index(), result, cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::stop(), cloudViewer::GenericProgressCallback::textCanBeEdited(), and cloudViewer::GenericProgressCallback::update().

Referenced by ExtractPlanarFacets().

◆ initTrialCells()

void FastMarchingForFacetExtraction::initTrialCells ( )

overrideprotectedvirtual

Initializes the TRIAL cells list.

See the Fast Marching algorithm theory for more information

Reimplemented from cloudViewer::FastMarching.

Definition at line 382 of file fastMarchingForFacetExtraction.cpp.

References cloudViewer::FastMarching::addTrialCell(), computeTCoefApprox(), cloudViewer::FastMarching::Cell::FAR_CELL, cloudViewer::FastMarching::m_activeCells, m_currentFacetError, m_maxError, cloudViewer::FastMarching::m_neighboursDistance, cloudViewer::FastMarching::m_neighboursIndexShift, cloudViewer::FastMarching::m_numberOfNeighbours, cloudViewer::FastMarching::m_theGrid, cloudViewer::FastMarching::Cell::state, and cloudViewer::FastMarching::Cell::T.

Referenced by propagate().

◆ instantiateGrid()

virtual bool FastMarchingForFacetExtraction::instantiateGrid ( unsigned size )

inlineoverrideprotectedvirtual

Instantiates grid in memory.

Grid is also filled with zeros.

Parameters

size grid size

Returns: success

Implements cloudViewer::FastMarching.

Definition at line 108 of file fastMarchingForFacetExtraction.h.

References size.

◆ propagate()

int FastMarchingForFacetExtraction::propagate ( )

overridevirtual

Propagates the front.

The seeds should have already been initialized

Returns: propagation result (errors = negative values)

Implements cloudViewer::FastMarching.

Definition at line 267 of file fastMarchingForFacetExtraction.cpp.

References initTrialCells(), cloudViewer::GenericProgressCallback::isCancelRequested(), m_propagateProgressCb, result, and step().

Referenced by ExtractPlanarFacets().

◆ setPropagateCallback()

void FastMarchingForFacetExtraction::setPropagateCallback ( cloudViewer::GenericProgressCallback * propagateProgressCb )

inline

Sets the propagation progress callback.

Definition at line 71 of file fastMarchingForFacetExtraction.h.

References m_propagateProgress, and m_propagateProgressCb.

Referenced by ExtractPlanarFacets().

◆ setSeedCell()

bool FastMarchingForFacetExtraction::setSeedCell ( const Tuple3i & pos )

overridevirtual

Sets a given cell as "seed".

Parameters

pos	the cell position in the grid (3 integer coordinates)

Returns: whether the cell could be set as a seed or not

Reimplemented from cloudViewer::FastMarching.

Definition at line 333 of file fastMarchingForFacetExtraction.cpp.

References addCellToCurrentFacet(), cloudViewer::DgmOctree::associatedCloud(), m_currentFacetError, m_currentFacetPoints, cloudViewer::FastMarching::m_octree, m_propagateProgress, cloudViewer::FastMarching::pos2index(), cloudViewer::FastMarching::setSeedCell(), and cloudViewer::ReferenceCloud::size().

Referenced by ExtractPlanarFacets().

◆ step()

int FastMarchingForFacetExtraction::step ( )

overrideprotectedvirtual

Propagates the front (one step)

Returns: a negative value if a problem occurred

Implements cloudViewer::FastMarching.

Definition at line 150 of file fastMarchingForFacetExtraction.cpp.

Referenced by propagate().

◆ updateFlagsTable()

unsigned FastMarchingForFacetExtraction::updateFlagsTable	(	ccGenericPointCloud *	theCloud,
		std::vector< unsigned char > &	flags,
		unsigned	facetIndex
	)

Updates a list of point flags, indicating the points alreay processed.

Returns: the number of newly flagged points

Definition at line 284 of file fastMarchingForFacetExtraction.cpp.

References cloudViewer::DgmOctree::associatedCloud(), FastMarchingForFacetExtraction::PlanarCell::cellCode, cloudViewer::ReferenceCloud::clear(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::DgmOctree::getPointsInCell(), cloudViewer::FastMarching::m_activeCells, m_currentFacetPoints, cloudViewer::FastMarching::m_gridLevel, cloudViewer::FastMarching::m_initialized, cloudViewer::FastMarching::m_octree, cloudViewer::FastMarching::m_theGrid, cloudViewer::GenericCloud::setPointScalarValue(), and cloudViewer::ReferenceCloud::size().

Referenced by ExtractPlanarFacets().

Member Data Documentation

◆ m_currentFacetError

ScalarType FastMarchingForFacetExtraction::m_currentFacetError

protected

Current facet error.

Definition at line 120 of file fastMarchingForFacetExtraction.h.

Referenced by initTrialCells(), setSeedCell(), and step().

◆ m_currentFacetPoints

cloudViewer::ReferenceCloud* FastMarchingForFacetExtraction::m_currentFacetPoints

protected

Current facet points.

Definition at line 117 of file fastMarchingForFacetExtraction.h.

Referenced by addCellToCurrentFacet(), setSeedCell(), step(), updateFlagsTable(), and ~FastMarchingForFacetExtraction().

◆ m_errorMeasure

cloudViewer::DistanceComputationTools::ERROR_MEASURES FastMarchingForFacetExtraction::m_errorMeasure

protected

Error measrue.

Definition at line 126 of file fastMarchingForFacetExtraction.h.

Referenced by addCellToCurrentFacet(), computeTCoefApprox(), and init().

◆ m_maxError

ScalarType FastMarchingForFacetExtraction::m_maxError

protected

Max facet error.

Definition at line 123 of file fastMarchingForFacetExtraction.h.

Referenced by init(), initTrialCells(), and step().

◆ m_propagateProgress

unsigned FastMarchingForFacetExtraction::m_propagateProgress

protected

Propagation progress.

Definition at line 134 of file fastMarchingForFacetExtraction.h.

Referenced by setPropagateCallback(), setSeedCell(), and step().

◆ m_propagateProgressCb

cloudViewer::GenericProgressCallback* FastMarchingForFacetExtraction::m_propagateProgressCb

protected

Propagation progress callback.

Definition at line 132 of file fastMarchingForFacetExtraction.h.

Referenced by propagate(), setPropagateCallback(), and step().

◆ m_useRetroProjectionError

bool FastMarchingForFacetExtraction::m_useRetroProjectionError

protected

Whether to use retro-projection error in propagation.

Definition at line 129 of file fastMarchingForFacetExtraction.h.

Referenced by computeTCoefApprox(), and init().

The documentation for this class was generated from the following files:

/root/ACloudViewer/plugins/core/Standard/qFacets/include/fastMarchingForFacetExtraction.h
/root/ACloudViewer/plugins/core/Standard/qFacets/src/fastMarchingForFacetExtraction.cpp

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FastMarchingForFacetExtraction()

◆ ~FastMarchingForFacetExtraction()

Member Function Documentation

◆ addCellToCurrentFacet()

◆ computeTCoefApprox()

◆ ExtractPlanarFacets()

◆ init()

◆ initTrialCells()

◆ instantiateGrid()

◆ propagate()

◆ setPropagateCallback()

◆ setSeedCell()

◆ step()

◆ updateFlagsTable()

Member Data Documentation

◆ m_currentFacetError

◆ m_currentFacetPoints

◆ m_errorMeasure

◆ m_maxError

◆ m_propagateProgress

◆ m_propagateProgressCb

◆ m_useRetroProjectionError