The class maintains a graph for applying a shortest path algorithm on. More...

#include <CSOLiveWireGraph.h>

Public Member Functions
	CSOLiveWireGraph ()
	Standard constructor.
	CSOLiveWireGraph (float *imageData, unsigned int sizex, unsigned int sizey, const bool useCostsDirectly, float voxelSizeX=1.0f, float voxelSizeY=1.0f)
	Constructor, takes an array with image values and the image's size as arguments.
	~CSOLiveWireGraph ()
	Standard destructor.
void	setStartPosition (VoxelPos startVoxelPos)
	Sets the starting position.
void	setWeights (float w1, float w2, float w3)
	Sets the weights for individual costs.
void	setLengthPenalty (float weight)
	Sets the weight for length penalty.
void	setPathCostThreshold (bool useThreshold, float threshold)
	Sets whether the path cost threshold shall be used, and its value.
void	getShortestPathToStart (VoxelPos endPos, std::vector< VoxelPos > &intermediatePositions, int neighborhoodMode, bool reverse=true)
	Computes the shortest path from the given endPos to the graph's internal start position.
void	resetGraphAndHeap ()
	Resets all costs and visited states.
void	setMaxPathLength (float maxLength)
	Sets the maximal allowed length of the path.
void	updateResultCosts ()
	Computes the costs for all edges as a preprocessing step to speedup runtime computation.
Protected Member Functions
void	_computeCosts ()
	compute the costs of all nodes
float	_getEdgeCosts (unsigned char direction, int posx, int posy)
	Returns the edge costs in the given direction of the node, given by its position.
void	_computeAdditionalCostsAndNormalizeValues ()
	Computes additional costs and normalizes the nodes' values.
void	_normalizeValues ()
	Normalizes node values (for using input costs directly)
Protected Attributes
std::vector< VoxelPos >	_lastPathPositions
	The last found path (used to determine intersections with the new path).
unsigned int	_imageSizeX
	The image size x.
unsigned int	_imageSizeY
	The image size y.
float	_voxelSizeX
	The size of the voxels in x direction.
float	_voxelSizeY
	The size of the voxels in y direction.
CSOLiveWireNode **	_lwGraph
	The 2D array of nodes, representing the graph (edges exists from each voxel to its 8 neighborhood).
CSOObjectHeap< CSOLiveWireNode > *	_nodeHeap
	A heap for the shortest path algorithm.
VoxelPos	_startVoxelPos
	The starting voxel position.
int	_offsetX [8]
	Array of x-offsets depending on a direction.
int	_offsetY [8]
	Array of y-offsets depending on a direction.
float	_maxGlobalGradient
	the max gradient found in the whole graph
float	_w1
	the weights for the individual costs
float	_w2
float	_w3
float	_lengthPenalty
	the higher this value the more direct path are preferred over longer paths
bool	_usePathCostThreshold
	Shall the path cost threshold be used?
float	_pathConstThreshold
	Threshold value for path costs: if the path costs are greater than this value, the according section is not added to the output list of positions.
bool	_useCostsDirectly
	Should we use the cost values from the image directly?
float	_maxPathLength
	The maximal allowed length of a path that are search by live-wire.
float	_directionLengths [8]
	The lengths of all possible 8 edges.

Detailed Description

The class maintains a graph for applying a shortest path algorithm on.

Definition at line 64 of file CSOLiveWireGraph.h.

Constructor & Destructor Documentation

ml::CSOLiveWireGraph::CSOLiveWireGraph ( )

Standard constructor.

ml::CSOLiveWireGraph::CSOLiveWireGraph	(	float *	imageData,
		unsigned int	sizex,
		unsigned int	sizey,
		const bool	useCostsDirectly,
		float	voxelSizeX = `1.0f`,
		float	voxelSizeY = `1.0f`
	)

Constructor, takes an array with image values and the image's size as arguments.

ml::CSOLiveWireGraph::~CSOLiveWireGraph ( )

Standard destructor.

Member Function Documentation

void ml::CSOLiveWireGraph::_computeAdditionalCostsAndNormalizeValues ( ) [protected]

Computes additional costs and normalizes the nodes' values.

void ml::CSOLiveWireGraph::_computeCosts ( ) [protected]

compute the costs of all nodes

float ml::CSOLiveWireGraph::_getEdgeCosts	(	unsigned char	direction,
		int	posx,
		int	posy
	)		`[protected]`

Returns the edge costs in the given direction of the node, given by its position.

void ml::CSOLiveWireGraph::_normalizeValues ( ) [protected]

Normalizes node values (for using input costs directly)

void ml::CSOLiveWireGraph::getShortestPathToStart	(	VoxelPos	endPos,
		std::vector< VoxelPos > &	intermediatePositions,
		int	neighborhoodMode,
		bool	reverse = `true`
	)

Computes the shortest path from the given endPos to the graph's internal start position.

The voxel positions of the computed path are filled into the given vector 'intermediatePositions'. The given neighborhood mode sets if whether a 4- or a 8-neighborhood should be searched. reverse indicates that the path should go from end to start instead of start to end

void ml::CSOLiveWireGraph::resetGraphAndHeap ( )

Resets all costs and visited states.

void ml::CSOLiveWireGraph::setLengthPenalty ( float weight ) [inline]

Sets the weight for length penalty.

Definition at line 84 of file CSOLiveWireGraph.h.

void ml::CSOLiveWireGraph::setMaxPathLength ( float maxLength ) [inline]

Sets the maximal allowed length of the path.

Definition at line 101 of file CSOLiveWireGraph.h.