DGtal: DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache

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

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

Data Structures
class	PatatePoint

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 PatatePoint::Scalar	Scalar

typedef PatatePoint::VectorType	VectorType

typedef Grenaille::DistWeightFunc< PatatePoint, Grenaille::SmoothWeightKernel< Scalar > >	WeightFunc

typedef Grenaille::Basket< PatatePoint, WeightFunc, Grenaille::OrientedSphereFit, Grenaille::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. More...

Fit *	myFit
	Fitting object. More...

double	myH
	Grid step. More...

bool	myFirstPoint
	Boolean for initial point. More...

const NormalVectorEstimatorCache *	myNormalEsitmatorCache
	NormalVectorCache. More...

const WeightFunc *	myWeightFunction
	const WeightFunction More...

Detailed Description

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

Aim: Use Patate 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 Patate 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 Grenaille::Basket<PatatePoint,WeightFunc,Grenaille::OrientedSphereFit, Grenaille::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 PatatePoint::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 PatatePoint::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 Grenaille::DistWeightFunc<PatatePoint,Grenaille::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 DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myFit, and DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::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 ;
       }

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::Trace::info(), DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myFit, 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];
         PatatePoint point(pp,  normal);
         if (myFirstPoint)
           {
             myFirstPoint = false;
             myFit->init(pp);
           }
         else
           myFit->addNeighbor(point);
         
 #ifdef DEBUG_VERBOSE
         trace.info() <<"#";
 #endif
       }

References DGtal::Trace::info(), DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myEmbedder, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myFirstPoint, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myFit, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myH, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::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 DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myFirstPoint, DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::myFit, and DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::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 DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::pushSurfel().

◆ 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 DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::pushSurfel(), and DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::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 DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::eval(), DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::pushSurfel(), DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::reset(), DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::SphereFittingEstimator(), and DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::~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 DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::pushSurfel().

◆ 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 DGtal::functors::SphereFittingEstimator< TSurfel, TEmbedder, TNormalVectorEstimatorCache >::pushSurfel().

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

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

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

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