Fast Marching algorithm for normals direction resolution. More...

#include <ecvFastMarchingForNormsDirection.h>

Inheritance diagram for ccFastMarchingForNormsDirection:

Collaboration diagram for ccFastMarchingForNormsDirection:

[legend]

Classes
class	DirectionCell
	A Fast Marching grid cell for normals direction resolution. More...

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

int	init (ccGenericPointCloud cloud, NormsIndexesTableType theNorms, ccOctree *theOctree, unsigned char gridLevel)
	Initializes the grid with a point cloud (and ist corresponding octree) More...

unsigned	updateResolvedTable (ccGenericPointCloud theCloud, std::vector< unsigned char > &resolved, NormsIndexesTableType theNorms)
	Updates a list of point flags, indicating the points already processed. More...

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

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

virtual	~FastMarching ()
	Destructor. More...

virtual bool	setSeedCell (const Tuple3i &pos)
	Sets a given cell as "seed". 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	OrientNormals (ccPointCloud theCloud, unsigned char octreeLevel, ecvProgressDialog progressCb=nullptr)
	Static entry point (helper) More...

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

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

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

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

float	computePropagationConfidence (DirectionCell originCell, DirectionCell destCell) const
	Computes relative 'confidence' between two cells (orientations) More...

void	resolveCellOrientation (unsigned index)
	Resolves the direction of a given cell (once and for all) More...

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...

Additional Inherited Members
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 normals direction resolution.

Extends the FastMarching class.

Definition at line 28 of file ecvFastMarchingForNormsDirection.h.

Constructor & Destructor Documentation

◆ ccFastMarchingForNormsDirection()

ccFastMarchingForNormsDirection::ccFastMarchingForNormsDirection ( )

Default constructor.

Definition at line 24 of file ecvFastMarchingForNormsDirection.cpp.

Member Function Documentation

◆ computePropagationConfidence()

float ccFastMarchingForNormsDirection::computePropagationConfidence	(	DirectionCell *	originCell,
		DirectionCell *	destCell
	)		const

protected

Computes relative 'confidence' between two cells (orientations)

Returns: confidence between 0 and 1

Definition at line 107 of file ecvFastMarchingForNormsDirection.cpp.

References ccFastMarchingForNormsDirection::DirectionCell::C, Vector3Tpl< Type >::dot(), ccFastMarchingForNormsDirection::DirectionCell::N, and Vector3Tpl< Type >::normalize().

Referenced by computeTCoefApprox(), and resolveCellOrientation().

◆ computeTCoefApprox()

float ccFastMarchingForNormsDirection::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

Implements cloudViewer::FastMarching.

Definition at line 239 of file ecvFastMarchingForNormsDirection.cpp.

References computePropagationConfidence(), and ccFastMarchingForNormsDirection::DirectionCell::signConfidence.

Referenced by initTrialCells().

◆ init()

int ccFastMarchingForNormsDirection::init	(	ccGenericPointCloud *	cloud,
		NormsIndexesTableType *	theNorms,
		ccOctree *	theOctree,
		unsigned char	gridLevel
	)

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
theNorms	the normals array
theOctree	the associated octree
gridLevel	the level of subdivision

Returns: a negative value if something went wrong

Definition at line 62 of file ecvFastMarchingForNormsDirection.cpp.

References cloudViewer::DgmOctree::associatedCloud(), ccFastMarchingForNormsDirection::DirectionCell::C, ccFastMarchingForNormsDirection::DirectionCell::cellCode, ComputeRobustAverageNorm(), cloudViewer::DgmOctree::getCellCodes(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::Neighbourhood::getGravityCenter(), cloudViewer::DgmOctree::getPointsInCell(), cloudViewer::FastMarching::initGridWithOctree(), cloudViewer::FastMarching::m_initialized, cloudViewer::FastMarching::m_theGrid, ccFastMarchingForNormsDirection::DirectionCell::N, cloudViewer::FastMarching::pos2index(), and result.

Referenced by OrientNormals().

◆ initTrialCells()

void ccFastMarchingForNormsDirection::initTrialCells ( )

overrideprotectedvirtual

Initializes the TRIAL cells list.

See the Fast Marching algorithm theory for more information

Reimplemented from cloudViewer::FastMarching.

Definition at line 306 of file ecvFastMarchingForNormsDirection.cpp.

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

Referenced by propagate().

◆ instantiateGrid()

bool ccFastMarchingForNormsDirection::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 103 of file ecvFastMarchingForNormsDirection.h.

References size.

◆ OrientNormals()

int ccFastMarchingForNormsDirection::OrientNormals	(	ccPointCloud *	theCloud,
		unsigned char	octreeLevel,
		ecvProgressDialog *	progressCb = `nullptr`
	)

static

Static entry point (helper)

Definition at line 339 of file ecvFastMarchingForNormsDirection.cpp.

References ccPointCloud::addScalarField(), cloudViewer::FastMarching::cleanLastPropagation(), ccScalarField::computeMinAndMax(), ccGenericPointCloud::computeOctree(), count, ccPointCloud::deleteScalarField(), cloudViewer::PointCloudTpl< T >::enableScalarField(), CVLog::Error(), ccPointCloud::getCurrentDisplayedScalarField(), ccPointCloud::getCurrentDisplayedScalarFieldIndex(), ccObject::getName(), ccGenericPointCloud::getOctree(), cloudViewer::PointCloudTpl< T >::getPoint(), cloudViewer::PointCloudTpl< T >::getScalarFieldIndexByName(), cloudViewer::DgmOctree::getTheCellPosWhichIncludesThePoint(), init(), name, ccPointCloud::normals(), octree, octreeLevel, propagate(), result, ccPointCloud::setCurrentDisplayedScalarField(), cloudViewer::PointCloudTpl< T >::setCurrentScalarField(), ecvProgressDialog::setInfo(), ecvProgressDialog::setMethodTitle(), cloudViewer::FastMarching::setSeedCell(), ccDrawableObject::sfShown(), ccDrawableObject::showNormals(), ccDrawableObject::showSF(), cloudViewer::PointCloudTpl< T >::size(), ecvProgressDialog::start(), ecvProgressDialog::stop(), cloudViewer::GenericProgressCallback::textCanBeEdited(), ecvProgressDialog::update(), updateResolvedTable(), CVLog::Warning(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccPointCloud::orientNormalsWithFM().

◆ propagate()

int ccFastMarchingForNormsDirection::propagate ( )

overridevirtual

Propagates the front.

The seeds should have already been initialized

Returns: propagation result (errors = negative values)

Implements cloudViewer::FastMarching.

Definition at line 250 of file ecvFastMarchingForNormsDirection.cpp.

References initTrialCells(), result, and step().

Referenced by OrientNormals().

◆ resolveCellOrientation()

void ccFastMarchingForNormsDirection::resolveCellOrientation ( unsigned index )

protected

Resolves the direction of a given cell (once and for all)

Definition at line 125 of file ecvFastMarchingForNormsDirection.cpp.

References cloudViewer::FastMarching::Cell::ACTIVE_CELL, computePropagationConfidence(), Vector3Tpl< Type >::dot(), cloudViewer::FastMarching::m_neighboursIndexShift, cloudViewer::FastMarching::m_numberOfNeighbours, cloudViewer::FastMarching::m_theGrid, ccFastMarchingForNormsDirection::DirectionCell::N, ccFastMarchingForNormsDirection::DirectionCell::signConfidence, and cloudViewer::FastMarching::Cell::state.

Referenced by step().

◆ step()

int ccFastMarchingForNormsDirection::step ( )

overrideprotectedvirtual

Propagates the front (one step)

Returns: a negative value if a problem occurred

Implements cloudViewer::FastMarching.

Definition at line 184 of file ecvFastMarchingForNormsDirection.cpp.

Referenced by propagate().

◆ updateResolvedTable()

unsigned ccFastMarchingForNormsDirection::updateResolvedTable	(	ccGenericPointCloud *	theCloud,
		std::vector< unsigned char > &	resolved,
		NormsIndexesTableType *	theNorms
	)

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

Returns: the number of resolved points

Definition at line 262 of file ecvFastMarchingForNormsDirection.cpp.

References cloudViewer::DgmOctree::associatedCloud(), ccFastMarchingForNormsDirection::DirectionCell::cellCode, count, Vector3Tpl< Type >::dot(), ccNormalVectors::GetNormal(), ccNormalVectors::GetNormIndex(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::DgmOctree::getPointsInCell(), ccArray< Type, N, ComponentType >::getValue(), cloudViewer::FastMarching::m_activeCells, cloudViewer::FastMarching::m_gridLevel, cloudViewer::FastMarching::m_initialized, cloudViewer::FastMarching::m_octree, cloudViewer::FastMarching::m_theGrid, cloudViewer::DgmOctree::MAX_OCTREE_LEVEL, ccFastMarchingForNormsDirection::DirectionCell::N, cloudViewer::GenericCloud::setPointScalarValue(), ccArray< Type, N, ComponentType >::setValue(), cloudViewer::ReferenceCloud::size(), and cloudViewer::FastMarching::Cell::T.

Referenced by OrientNormals().

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

/root/ACloudViewer/libs/CV_db/include/ecvFastMarchingForNormsDirection.h
/root/ACloudViewer/libs/CV_db/src/ecvFastMarchingForNormsDirection.cpp

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ccFastMarchingForNormsDirection()

Member Function Documentation

◆ computePropagationConfidence()

◆ computeTCoefApprox()

◆ init()

◆ initTrialCells()

◆ instantiateGrid()

◆ OrientNormals()

◆ propagate()

◆ resolveCellOrientation()

◆ step()

◆ updateResolvedTable()