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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#ifndef CC_FAST_MARCHING_DIRECTION_HEADER
#define CC_FAST_MARCHING_DIRECTION_HEADER
//CCLib
#include <DgmOctree.h>
#include <FastMarching.h>
//qCC_db
#include "ccAdvancedTypes.h"
//system
#include <vector>
class ccGenericPointCloud;
class ccPointCloud;
class ccOctree;
class ccProgressDialog;
//! Fast Marching algorithm for normals direction resolution
/** Extends the FastMarching class.
**/
class ccFastMarchingForNormsDirection : public CCLib::FastMarching
{
public:
//! Static entry point (helper)
static int OrientNormals( ccPointCloud* theCloud,
unsigned char octreeLevel,
ccProgressDialog* progressCb = nullptr);
//! Default constructor
ccFastMarchingForNormsDirection();
//! 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.
\param cloud the point cloud
\param theNorms the normals array
\param theOctree the associated octree
\param gridLevel the level of subdivision
\return a negative value if something went wrong
**/
int init( ccGenericPointCloud* cloud,
NormsIndexesTableType* theNorms,
ccOctree* theOctree,
unsigned char gridLevel);
//! Updates a list of point flags, indicating the points already processed
/** \return the number of resolved points
**/
unsigned updateResolvedTable( ccGenericPointCloud* theCloud,
std::vector<unsigned char>& resolved,
NormsIndexesTableType* theNorms);
//inherited methods (see FastMarchingAlgorithm)
int propagate() override;
protected:
//! A Fast Marching grid cell for normals direction resolution
class DirectionCell : public CCLib::FastMarching::Cell
{
public:
//! Default constructor
DirectionCell()
: Cell()
, N(0,0,0)
, C(0,0,0)
, cellCode(0)
, signConfidence(1)
#ifdef QT_DEBUG
, scalar(0)
#endif
{}
///! Destructor
~DirectionCell() override = default;
//! The local cell normal
CCVector3 N;
//! The local cell center
CCVector3 C;
//! the code of the equivalent cell in the octree
CCLib::DgmOctree::CellCode cellCode;
//! Confidence value
float signConfidence;
#ifdef QT_DEBUG
//! Undefined scalar for debug purposes
float scalar;
#endif
};
//inherited methods (see FastMarchingAlgorithm)
float computeTCoefApprox(CCLib::FastMarching::Cell* currentCell, CCLib::FastMarching::Cell* neighbourCell) const override;
int step() override;
void initTrialCells() override;
bool instantiateGrid(unsigned size) override { return instantiateGridTpl<DirectionCell*>(size); }
//! Computes relative 'confidence' between two cells (orientations)
/** \return confidence between 0 and 1
**/
float computePropagationConfidence(DirectionCell* originCell, DirectionCell* destCell) const;
//! Resolves the direction of a given cell (once and for all)
void resolveCellOrientation(unsigned index);
};
#endif
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