bool ccMinimumSpanningTreeForNormsDirection::Process( ccPointCloud* cloud,
CCLib::GenericProgressCallback* progressCb/*=0*/,
CCLib::DgmOctree* _octree/*=0*/)
{
assert(cloud);
if (!cloud->hasNormals())
{
ccLog::Warning(QString("Cloud '%1' has no normals!").arg(cloud->getName()));
return false;
}
//ask for parameter
bool ok;
#ifdef MST_USE_KNN
unsigned kNN = static_cast<unsigned>(QInputDialog::getInt(0,"Neighborhood size", "Neighbors", 6, 1, 1000, 1, &ok));
if (!ok)
return false;
#else
PointCoordinateType radius = static_cast<PointCoordinateType>(QInputDialog::getDouble(0,"Neighborhood radius", "radius", cloud->getOwnBB().getDiagNorm() * 0.01, 0, 1.0e9, 6, &ok));
if (!ok)
return false;
#endif
//build octree if necessary
CCLib::DgmOctree* octree = _octree;
if (!octree)
{
octree = new CCLib::DgmOctree(cloud);
if (octree->build(progressCb) <= 0)
{
ccLog::Warning(QString("Failed to compute octree on cloud '%1'").arg(cloud->getName()));
delete octree;
return false;
}
}
#ifdef MST_USE_KNN
uchar level = octree->findBestLevelForAGivenPopulationPerCell(kNN*2);
#else
uchar level = octree->findBestLevelForAGivenNeighbourhoodSizeExtraction(radius);
#endif
bool result = true;
try
{
Graph graph;
if (!graph.reserve(cloud->size()))
{
//not enough memory!
result = false;
}
//parameters
void* additionalParameters[3] = { reinterpret_cast<void*>(&graph),
reinterpret_cast<void*>(cloud),
#ifdef MST_USE_KNN
reinterpret_cast<void*>(&kNN)
#else
reinterpret_cast<void*>(&radius)
#endif
};
if (octree->executeFunctionForAllCellsAtLevel( level,
&ComputeMSTGraphAtLevel,
additionalParameters,
false, //not compatible with parallel strategies!
progressCb,
"Build Spanning Tree") == 0)
{
//something went wrong
ccLog::Warning(QString("Failed to compute Spanning Tree on cloud '%1'").arg(cloud->getName()));
result = false;
}
else
{
if (!ResolveNormalsWithMST(cloud,graph,progressCb))
{
//something went wrong
ccLog::Warning(QString("Failed to compute Minimum Spanning Tree on cloud '%1'").arg(cloud->getName()));
result = false;
}
}
}
catch(...)
{
ccLog::Error(QString("Process failed on cloud '%1'").arg(cloud->getName()));
result = false;
}
if (octree && !_octree)
{
delete octree;
octree = 0;
}
return result;
}
bool ccMinimumSpanningTreeForNormsDirection::OrientNormals( ccPointCloud* cloud,
unsigned kNN/*=6*/,
ccProgressDialog* progressDlg/*=0*/)
{
assert(cloud);
if (!cloud->hasNormals())
{
ccLog::Warning(QString("Cloud '%1' has no normals!").arg(cloud->getName()));
return false;
}
//we need the octree
if (!cloud->getOctree())
{
if (!cloud->computeOctree(progressDlg))
{
ccLog::Warning(QString("[orientNormalsWithMST] Could not compute octree on cloud '%1'").arg(cloud->getName()));
return false;
}
}
ccOctree::Shared octree = cloud->getOctree();
assert(octree);
unsigned char level = octree->findBestLevelForAGivenPopulationPerCell(kNN*2);
bool result = true;
try
{
Graph graph;
if (!graph.reserve(cloud->size()))
{
//not enough memory!
result = false;
}
//parameters
void* additionalParameters[3] = { reinterpret_cast<void*>(&graph),
reinterpret_cast<void*>(cloud),
reinterpret_cast<void*>(&kNN)
};
if (octree->executeFunctionForAllCellsAtLevel( level,
&ComputeMSTGraphAtLevel,
additionalParameters,
false, //not compatible with parallel strategies!
progressDlg,
"Build Spanning Tree") == 0)
{
//something went wrong
ccLog::Warning(QString("Failed to compute Spanning Tree on cloud '%1'").arg(cloud->getName()));
result = false;
}
else
{
if (!ResolveNormalsWithMST(cloud, graph, progressDlg))
{
//something went wrong
ccLog::Warning(QString("Failed to compute Minimum Spanning Tree on cloud '%1'").arg(cloud->getName()));
result = false;
}
}
}
catch (...)
{
ccLog::Error(QString("Process failed on cloud '%1'").arg(cloud->getName()));
result = false;
}
return result;
}
