Aim: Use Ponca library to perform a local sphere fitting. More...

#include <DGtal/geometry/surfaces/estimation/estimationFunctors/SphereFittingEstimator.h>

Data Structures
class	PoncaPoint
struct	Quantity
	Quantity type: a 3-sphere (model of CQuantity). More...

Public Types
typedef TSurfel	Surfel
typedef TEmbedder	SCellEmbedder
typedef SCellEmbedder::RealPoint	RealPoint
typedef TNormalVectorEstimatorCache	NormalVectorEstimatorCache
typedef PoncaPoint::Scalar	Scalar
typedef PoncaPoint::VectorType	VectorType
typedef Ponca::DistWeightFunc< PoncaPoint, Ponca::SmoothWeightKernel< Scalar > >	WeightFunc
typedef Ponca::Basket< PoncaPoint, WeightFunc, Ponca::OrientedSphereFit, Ponca::GLSParam >	Fit

Public Member Functions
	SphereFittingEstimator (ConstAlias< SCellEmbedder > anEmbedder, const double h, const double radius, ConstAlias< NormalVectorEstimatorCache > anEstimator)
	~SphereFittingEstimator ()
void	pushSurfel (const Surfel &aSurf, const double aDistance)
Quantity	eval ()
void	reset ()

Private Attributes
const SCellEmbedder *	myEmbedder
	Alias of the geometrical embedder.
Fit *	myFit
	Fitting object.
double	myH
	Grid step.
bool	myFirstPoint
	Boolean for initial point.
const NormalVectorEstimatorCache *	myNormalEsitmatorCache
	NormalVectorCache.
const WeightFunc *	myWeightFunction
	const WeightFunction

Detailed Description

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>
class DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >

Aim: Use Ponca library to perform a local sphere fitting.

Description of template class 'SphereFittingEstimator'

Given a kernel radius, this functor performs a sphere fitting and outputs the parameters of an AlgebraicSphere (please see Ponca documentation for details).

Model of concepts::CLocalEstimatorFromSurfelFunctor.

Template Parameters

TSurfel	type of surfels
TEmbedder	type of functors which embed surfel to \(\mathbb{R}^3\).
TNormalVectorEstimatorCache	the type of normal vector cache to consider (see EstimatorCache class).

See also: testSphereFitting.cpp

Definition at line 88 of file SphereFittingEstimator.h.

Member Typedef Documentation

◆ Fit

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

typedef Ponca::Basket<PoncaPoint, WeightFunc, Ponca::OrientedSphereFit, Ponca::GLSParam> DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::Fit

Definition at line 126 of file SphereFittingEstimator.h.

◆ NormalVectorEstimatorCache

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

typedef TNormalVectorEstimatorCache DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::NormalVectorEstimatorCache

Definition at line 120 of file SphereFittingEstimator.h.

◆ RealPoint

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

typedef SCellEmbedder::RealPoint DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::RealPoint

Definition at line 118 of file SphereFittingEstimator.h.

◆ Scalar

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

typedef PoncaPoint::Scalar DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::Scalar

Definition at line 122 of file SphereFittingEstimator.h.

◆ SCellEmbedder

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

typedef TEmbedder DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::SCellEmbedder

Definition at line 117 of file SphereFittingEstimator.h.

◆ Surfel

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

typedef TSurfel DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::Surfel

Definition at line 116 of file SphereFittingEstimator.h.

◆ VectorType

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

typedef PoncaPoint::VectorType DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::VectorType

Definition at line 123 of file SphereFittingEstimator.h.

◆ WeightFunc

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

typedef Ponca::DistWeightFunc<PoncaPoint, Ponca::SmoothWeightKernel<Scalar> > DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::WeightFunc

Definition at line 125 of file SphereFittingEstimator.h.

Constructor & Destructor Documentation

◆ SphereFittingEstimator()

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::SphereFittingEstimator	(	ConstAlias< SCellEmbedder >	anEmbedder,
		const double	h,
		const double	radius,
		ConstAlias< NormalVectorEstimatorCache >	anEstimator )

inline

Constructor.

Parameters

[in]	anEmbedder	embedder to map surfel to R^n.
[in]	h	gridstep.
[in]	radius	radius of the convolution kernel (in \(\mathbb{Z}^n\) space).
[in]	anEstimator	normal vector estimator on the surface.

Definition at line 158 of file SphereFittingEstimator.h.

                                                                                :
        myEmbedder(&anEmbedder), myH(h), myNormalEsitmatorCache(&anEstimator)
      {
        //From Mellado's example
        myFit = new Fit();
        myWeightFunction = new WeightFunc(radius);
        myFit->setWeightFunc(*myWeightFunction);
      }

References myEmbedder, myFit, myH, myNormalEsitmatorCache, and myWeightFunction.

◆ ~SphereFittingEstimator()

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::~SphereFittingEstimator ( )

inline

Destructor.

Definition at line 174 of file SphereFittingEstimator.h.

      {
        delete myWeightFunction;
        delete myFit ;
      }

References myFit, and myWeightFunction.

Member Function Documentation

◆ eval()

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

Quantity DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::eval ( )

inline

Evaluate the sphere fitting.

Returns: the fitted sphere

Definition at line 221 of file SphereFittingEstimator.h.

      {
        myFit->finalize();
 
#ifdef DEBUG_VERBOSE
        trace.info() <<std::endl;
        
        //Test if the fitting ended without errors
        if(myFit->isStable())
        {
                std::cout << "Center: [" << myFit->center().transpose() << "] ;  radius: " << myFit->radius() << std::endl;
 
                std::cout << "Pratt normalization" 
                        << (myFit->applyPrattNorm() ? " is now done." : " has already been applied.") << std::endl;
 
        
                std::cout << "Fitted Sphere: " << std::endl
                        << "\t Tau  : "      << myFit->tau()             << std::endl
                        << "\t Eta  : "      << myFit->eta().transpose() << std::endl
                        << "\t Kappa: "      << myFit->kappa()           << std::endl;
 
        }
        else
          {
            std::cout << "Ooops... not stable result"<<std::endl;
          }
#endif
        Quantity res;
        res.center = RealPoint((myFit->center())(0),
                               (myFit->center())(1),
                               (myFit->center())(2));
        res.radius =  myFit->radius();
        res.tau = myFit->tau();
        res.kappa = myFit->kappa();
        res.eta = RealPoint((myFit->eta())(0),
                            (myFit->eta())(1),
                            (myFit->eta())(2));
        return res;
      }

References DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::Quantity::center, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::Quantity::eta, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::Quantity::kappa, myFit, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::Quantity::radius, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::Quantity::tau, and DGtal::trace.

◆ pushSurfel()

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

void DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::pushSurfel	(	const Surfel &	aSurf,
		const double	aDistance )

inline

Add the geometrical embedding of a surfel to the point list

Parameters

[in]	aSurf	a surfel to add
[in]	aDistance	of aSurf to the neighborhood boundary

Definition at line 187 of file SphereFittingEstimator.h.

      {
        BOOST_VERIFY(aDistance==aDistance);
 
        RealPoint p = myEmbedder->operator()(aSurf);
        RealPoint norm = myNormalEsitmatorCache->eval(aSurf);          
        VectorType pp;
        pp(0) = p[0]*myH;
        pp(1) = p[1]*myH;
        pp(2) = p[2]*myH;
        VectorType normal;
        normal(0) = norm[0];
        normal(1) = norm[1];
        normal(2) = norm[2];
        PoncaPoint point(pp,  normal);
        if (myFirstPoint)
          {
            myFirstPoint = false;
            myFit->init(pp);
          }
        else
          myFit->addNeighbor(point);
        
#ifdef DEBUG_VERBOSE
        trace.info() <<"#";
#endif
      }

References myEmbedder, myFirstPoint, myFit, myH, myNormalEsitmatorCache, and DGtal::trace.

◆ reset()

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

void DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::reset ( )

inline

Reset the point list.

Definition at line 266 of file SphereFittingEstimator.h.

      {
        delete myFit;
        myFit = new Fit();
        myFirstPoint = true;
        myFit->setWeightFunc(*myWeightFunction);
     }

References myFirstPoint, myFit, and myWeightFunction.

Field Documentation

◆ myEmbedder

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

const SCellEmbedder* DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myEmbedder

private

Alias of the geometrical embedder.

Definition at line 278 of file SphereFittingEstimator.h.

Referenced by pushSurfel(), and SphereFittingEstimator().

◆ myFirstPoint

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

bool DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myFirstPoint

private

Boolean for initial point.

Definition at line 287 of file SphereFittingEstimator.h.

Referenced by pushSurfel(), and reset().

◆ myFit

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

Fit* DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myFit

private

Fitting object.

Definition at line 281 of file SphereFittingEstimator.h.

Referenced by eval(), pushSurfel(), reset(), SphereFittingEstimator(), and ~SphereFittingEstimator().

◆ myH

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

double DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myH

private

Grid step.

Definition at line 284 of file SphereFittingEstimator.h.

Referenced by pushSurfel(), and SphereFittingEstimator().

◆ myNormalEsitmatorCache

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

const NormalVectorEstimatorCache* DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myNormalEsitmatorCache

private

NormalVectorCache.

Definition at line 290 of file SphereFittingEstimator.h.

Referenced by pushSurfel(), and SphereFittingEstimator().

◆ myWeightFunction

template<typename TSurfel, typename TEmbedder, typename TNormalVectorEstimatorCache>

const WeightFunc* DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myWeightFunction

private

const WeightFunction

Definition at line 293 of file SphereFittingEstimator.h.

Referenced by reset(), SphereFittingEstimator(), and ~SphereFittingEstimator().

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

SphereFittingEstimator.h

Data Structures

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Fit

◆ NormalVectorEstimatorCache

◆ RealPoint

◆ Scalar

◆ SCellEmbedder

◆ Surfel

◆ VectorType

◆ WeightFunc

Constructor & Destructor Documentation

◆ SphereFittingEstimator()

◆ ~SphereFittingEstimator()

Member Function Documentation

◆ eval()

◆ pushSurfel()

◆ reset()

Field Documentation

◆ myEmbedder

◆ myFirstPoint

◆ myFit

◆ myH

◆ myNormalEsitmatorCache

◆ myWeightFunction