fastMarchingForFacetExtraction.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// cloudViewer
#include <DistanceComputationTools.h>
#include <FastMarching.h>
#include <GenericProgressCallback.h>
 
// CV_DB_LIB
#include <ecvAdvancedTypes.h>
 
class ccGenericPointCloud;
class ccPointCloud;
 
 
class FastMarchingForFacetExtraction : public cloudViewer::FastMarching {
public:
    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);
 
    FastMarchingForFacetExtraction();
 
    virtual ~FastMarchingForFacetExtraction();
 
 
    int init(ccGenericPointCloud* cloud,
             cloudViewer::DgmOctree* theOctree,
             unsigned char gridLevel,
             ScalarType maxError,
             cloudViewer::DistanceComputationTools::ERROR_MEASURES errorMeasure,
             bool useRetroProjectionError,
             cloudViewer::GenericProgressCallback* progressCb = 0);
 
 
    unsigned updateFlagsTable(ccGenericPointCloud* theCloud,
                              std::vector<unsigned char>& flags,
                              unsigned facetIndex);
 
    void setPropagateCallback(
            cloudViewer::GenericProgressCallback* propagateProgressCb) {
        m_propagateProgressCb = propagateProgressCb;
        m_propagateProgress = 0;
    }
 
    // inherited methods (see FastMarchingAlgorithm)
    virtual int propagate() override;
    virtual bool setSeedCell(const Tuple3i& pos) override;
 
protected:
    class PlanarCell : public cloudViewer::FastMarching::Cell {
    public:
        PlanarCell()
            : Cell(), N(0, 0, 0), C(0, 0, 0), cellCode(0), planarError(0) {}
 
        virtual ~PlanarCell() {}
 
        CCVector3 N;
        CCVector3 C;
        cloudViewer::DgmOctree::CellCode cellCode;
        ScalarType planarError;
    };
 
    // inherited methods (see FastMarchingAlgorithm)
    virtual float computeTCoefApprox(
            cloudViewer::FastMarching::Cell* currentCell,
            cloudViewer::FastMarching::Cell* neighbourCell) const override;
    virtual int step() override;
    virtual void initTrialCells() override;
    virtual bool instantiateGrid(unsigned size) override {
        return instantiateGridTpl<PlanarCell*>(size);
    }
 
    ScalarType addCellToCurrentFacet(unsigned index);
 
    cloudViewer::ReferenceCloud* m_currentFacetPoints;
 
    ScalarType m_currentFacetError;
 
    ScalarType m_maxError;
 
    cloudViewer::DistanceComputationTools::ERROR_MEASURES m_errorMeasure;
 
    bool m_useRetroProjectionError;
 
    cloudViewer::GenericProgressCallback* m_propagateProgressCb;
    unsigned m_propagateProgress;
};