int ccFastMarchingForNormsDirection::init(ccGenericPointCloud* aList,
NormsIndexesTableType* theNorms,
CCLib::DgmOctree* _theOctree,
uchar level)
{
//on commence par créer une grille 3D
theOctree = _theOctree;
gridLevel = level;
int result = initGrid();
if (result<0) return result;
//printf("cellSize=%f\n",cellSize);
//on remplit la grille
CCLib::DgmOctree::cellCodesContainer cellCodes;
theOctree->getCellCodes(gridLevel,cellCodes,true);
int cellPos[3];
while (!cellCodes.empty())
{
//on transforme le code de cellule en position
theOctree->getCellPos(cellCodes.back(),gridLevel,cellPos,true);
//on renseigne la grille
unsigned gridPos = FM_pos2index(cellPos);
DirectionCell* aCell = new DirectionCell;
aCell->state = CCLib::FastMarching::Cell::FAR_CELL;
aCell->T = FM_INF;
aCell->treated = false;
aCell->v = 0.0;
aCell->cellCode = cellCodes.back();
CCLib::ReferenceCloud* Yk = theOctree->getPointsInCell(cellCodes.back(),gridLevel,true);
if (Yk)
{
ccOctree::ComputeRobustAverageNorm(Yk,aList,aCell->N);
//Yk->clear(); //inutile
//printf("code %i -> cell(%i,%i,%i) --> %i\n",cellCodes.back(),cellPos[0],cellPos[1],cellPos[2],gridPos);
theGrid[gridPos] = (CCLib::FastMarching::Cell*)aCell;
}
cellCodes.pop_back();
}
initialized = true;
return 0;
}
int ccFastMarchingForNormsDirection::init( ccGenericPointCloud* cloud,
NormsIndexesTableType* theNorms,
CCLib::DgmOctree* theOctree,
uchar level)
{
int result = initGridWithOctree(theOctree, level);
if (result < 0)
return result;
//fill the grid with the octree
CCLib::DgmOctree::cellCodesContainer cellCodes;
theOctree->getCellCodes(level,cellCodes,true);
CCLib::ReferenceCloud Yk(theOctree->associatedCloud());
while (!cellCodes.empty())
{
if (!theOctree->getPointsInCell(cellCodes.back(),level,&Yk,true))
{
//not enough memory
return -1;
}
//convert the octree cell code to grid position
int cellPos[3];
theOctree->getCellPos(cellCodes.back(),level,cellPos,true);
//convert it to FM cell pos index
unsigned gridPos = FM_pos2index(cellPos);
//create corresponding cell
DirectionCell* aCell = new DirectionCell;
{
//aCell->signConfidence = 1;
aCell->cellCode = cellCodes.back();
aCell->N = ComputeRobustAverageNorm(&Yk,cloud);
aCell->C = *CCLib::Neighbourhood(&Yk).getGravityCenter();
}
m_theGrid[gridPos] = aCell;
cellCodes.pop_back();
}
m_initialized = true;
return 0;
}
