ecvFastMarchingForNormsDirection.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// cloudViewer
#include <DgmOctree.h>
#include <FastMarching.h>
 
// CV_DB_LIB
#include "ecvAdvancedTypes.h"
 
// system
#include <vector>
 
class ccGenericPointCloud;
class ccPointCloud;
class ccOctree;
class ecvProgressDialog;
 
 
class ccFastMarchingForNormsDirection : public cloudViewer::FastMarching {
public:
    static int OrientNormals(ccPointCloud* theCloud,
                             unsigned char octreeLevel,
                             ecvProgressDialog* progressCb = nullptr);
    ccFastMarchingForNormsDirection();
 
 
    int init(ccGenericPointCloud* cloud,
             NormsIndexesTableType* theNorms,
             ccOctree* theOctree,
             unsigned char gridLevel);
 
 
    unsigned updateResolvedTable(ccGenericPointCloud* theCloud,
                                 std::vector<unsigned char>& resolved,
                                 NormsIndexesTableType* theNorms);
 
    // inherited methods (see FastMarchingAlgorithm)
    int propagate() override;
 
protected:
    class DirectionCell : public cloudViewer::FastMarching::Cell {
    public:
        DirectionCell()
            : Cell(),
              N(0, 0, 0),
              C(0, 0, 0),
              cellCode(0),
              signConfidence(1)
#ifdef QT_DEBUG
              ,
              scalar(0)
#endif
        {
        }
 
        ~DirectionCell() override = default;
 
        CCVector3 N;
        CCVector3 C;
        cloudViewer::DgmOctree::CellCode cellCode;
        float signConfidence;
#ifdef QT_DEBUG
        float scalar;
#endif
    };
 
    // inherited methods (see FastMarchingAlgorithm)
    float computeTCoefApprox(
            cloudViewer::FastMarching::Cell* currentCell,
            cloudViewer::FastMarching::Cell* neighbourCell) const override;
    int step() override;
    void initTrialCells() override;
    bool instantiateGrid(unsigned size) override {
        return instantiateGridTpl<DirectionCell*>(size);
    }
 
 
    float computePropagationConfidence(DirectionCell* originCell,
                                       DirectionCell* destCell) const;
 
    void resolveCellOrientation(unsigned index);
};