/**
* @brief Compute the coefficients of the number of planes specified for a given cloud.
*
* @param cloud Point cloud in which the computation is based.
*/
void MultiplePlaneSegmentation::computeCoefficients(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud) {
// Cloud containing the points without the planes.
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr remainingCloud = pcl::PointCloud<pcl::PointXYZRGBA>::Ptr(new pcl::PointCloud<pcl::PointXYZRGBA>(*cloud));
// Create the segmentation object.
pcl::SACSegmentation<pcl::PointXYZRGBA> seg;
// Set segmentation parameters.
seg.setModelType(pcl::SACMODEL_PARALLEL_PLANE);
seg.setOptimizeCoefficients(true);
seg.setAxis(orientation);
seg.setEpsAngle(angleThreshold);
seg.setMethodType(pcl::SAC_RANSAC);
seg.setMaxIterations(5000);
seg.setDistanceThreshold(planeDistance);
// Create the filtering object.
pcl::ExtractIndices<pcl::PointXYZRGBA> extract;
// At each step, one plane is removed from remainingCloud.
for(int i = 0; i < nPlanes; i++){
pcl::ModelCoefficients coefficients;
pcl::PointIndices::Ptr inliers(new pcl::PointIndices());
// Segment the largest planar component from the remaining cloud.
seg.setInputCloud(remainingCloud);
seg.segment(*inliers, coefficients);
// Remove non valid points.
removeNans(cloud, inliers);
// Make sure the normal is looking to the camera.
float origin[] = {0,0,0};
correctNormal(origin, cloud->points[inliers->indices[0]], coefficients);
// With 0 inliers, nothing needs to be done.
if (inliers->indices.size() == 0) break;
// Extract the plane inliers from the remainingCloud.
extract.setInputCloud(remainingCloud);
extract.setIndices(inliers);
extract.setNegative(true);
extract.filter(*remainingCloud);
// Update plane coefficients.
planes[i].setCoefficients(coefficients);
}
}
bool Foam::parcel::move(spray& sDB)
{
const polyMesh& mesh = cloud().pMesh();
const polyBoundaryMesh& pbMesh = mesh.boundaryMesh();
const liquidMixture& fuels = sDB.fuels();
scalar deltaT = sDB.runTime().deltaT().value();
label Nf = fuels.components().size();
label Ns = sDB.composition().Y().size();
// Calculate the interpolated gas properties at the position of the parcel
vector Up = sDB.UInterpolator().interpolate(position(), cell())
+ Uturb();
scalar rhog = sDB.rhoInterpolator().interpolate(position(), cell());
scalar pg = sDB.pInterpolator().interpolate(position(), cell());
scalar Tg = sDB.TInterpolator().interpolate(position(), cell());
scalarField Yfg(Nf, 0.0);
scalar cpMixture = 0.0;
for(label i=0; i<Ns; i++)
{
const volScalarField& Yi = sDB.composition().Y()[i];
if (sDB.isLiquidFuel()[i])
{
label j = sDB.gasToLiquidIndex()[i];
scalar Yicelli = Yi[cell()];
Yfg[j] = Yicelli;
}
cpMixture += Yi[cell()]*sDB.gasProperties()[i].Cp(Tg);
}
// Correct the gaseous temperature for evaporated fuel
scalar cellV = sDB.mesh().V()[cell()];
scalar cellMass = rhog*cellV;
Tg += sDB.shs()[cell()]/(cpMixture*cellMass);
// Changed cut-off temperature for evaporation. HJ, 27/Apr/2011
Tg = max(273, Tg);
scalar tauMomentum = GREAT;
scalar tauHeatTransfer = GREAT;
scalarField tauEvaporation(Nf, GREAT);
scalarField tauBoiling(Nf, GREAT);
bool keepParcel = true;
setRelaxationTimes
(
cell(),
tauMomentum,
tauEvaporation,
tauHeatTransfer,
tauBoiling,
sDB,
rhog,
Up,
Tg,
pg,
Yfg,
m()*fuels.Y(X()),
deltaT
);
// set the end-time for the track
scalar tEnd = (1.0 - stepFraction())*deltaT;
// Set the maximum time step for this parcel
// FPK changes: avoid temperature-out-of-range errors
// in spray tracking. HJ, 13/Oct/2007
// tauEvaporation no longer multiplied by 1e20,
// to account for the evaporation timescale
// FPK, 13/Oct/2007
scalar dtMax = min
(
tEnd,
min
(
tauMomentum,
min
(
mag(min(tauEvaporation)),
min
(
mag(tauHeatTransfer),
mag(min(tauBoiling))
)
)
)
)/sDB.subCycles();
// prevent the number of subcycles from being too many
// (10 000 seems high enough)
dtMax = max(dtMax, 1.0e-4*tEnd);
bool switchProcessor = false;
vector planeNormal = vector::zero;
if (sDB.twoD())
{
planeNormal = n() ^ sDB.axisOfSymmetry();
planeNormal /= mag(planeNormal);
}
// move the parcel until there is no 'timeLeft'
while (keepParcel && tEnd > SMALL && !switchProcessor)
{
// set the lagrangian time-step
scalar dt = min(dtMax, tEnd);
// remember which cell the parcel is in
// since this will change if a face is hit
label celli = cell();
scalar p = sDB.p()[celli];
// track parcel to face, or end of trajectory
if (keepParcel)
{
// Track and adjust the time step if the trajectory
// is not completed
dt *= trackToFace(position() + dt*U_, sDB);
// Decrement the end-time acording to how much time the track took
tEnd -= dt;
// Set the current time-step fraction.
stepFraction() = 1.0 - tEnd/deltaT;
if (onBoundary()) // hit face
{
# include "boundaryTreatment.H"
}
}
if (keepParcel && sDB.twoD())
{
scalar z = position() & sDB.axisOfSymmetry();
vector r = position() - z*sDB.axisOfSymmetry();
if (mag(r) > SMALL)
{
correctNormal(sDB.axisOfSymmetry());
}
}
// **** calculate the lagrangian source terms ****
// First we get the 'old' properties.
// and then 'update' them to get the 'new'
// properties.
// The difference is then added to the source terms.
scalar oRho = fuels.rho(p, T(), X());
scalarField oMass(Nf, 0.0);
scalar oHg = 0.0;
scalar oTotMass = m();
scalarField oYf(fuels.Y(X()));
forAll(oMass, i)
{
oMass[i] = m()*oYf[i];
label j = sDB.liquidToGasIndex()[i];
oHg += oYf[i]*sDB.gasProperties()[j].Hs(T());
}
vector oMom = m()*U();
scalar oHv = fuels.hl(p, T(), X());
scalar oH = oHg - oHv;
scalar oPE = (p - fuels.pv(p, T(), X()))/oRho;
// update the parcel properties (U, T, D)
updateParcelProperties
(
dt,
sDB,
celli,
face()
);
scalar nRho = fuels.rho(p, T(), X());
scalar nHg = 0.0;
scalarField nMass(Nf, 0.0);
scalarField nYf(fuels.Y(X()));
forAll(nMass, i)
{
nMass[i] = m()*nYf[i];
label j = sDB.liquidToGasIndex()[i];
nHg += nYf[i]*sDB.gasProperties()[j].Hs(T());
}
