CloudSamplingTools.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// Local
#include "CVToolbox.h"
#include "DgmOctree.h"
 
namespace cloudViewer {
 
class GenericIndexedCloud;
class GenericIndexedCloudPersist;
class GenericIndexedMesh;
class GenericProgressCallback;
class PointCloud;
class ReferenceCloud;
class ReferenceCloudPersist;
 
class CV_CORE_LIB_API CloudSamplingTools : public CVToolbox {
public:
    enum RESAMPLING_CELL_METHOD { CELL_CENTER, CELL_GRAVITY_CENTER };
 
    enum SUBSAMPLING_CELL_METHOD { RANDOM_POINT, NEAREST_POINT_TO_CELL_CENTER };
 
 
    static PointCloud* resampleCloudWithOctreeAtLevel(
            GenericIndexedCloudPersist* cloud,
            unsigned char octreeLevel,
            RESAMPLING_CELL_METHOD resamplingMethod,
            GenericProgressCallback* progressCb = nullptr,
            DgmOctree* inputOctree = nullptr);
 
 
    static GenericIndexedCloud* resampleCloudWithOctree(
            GenericIndexedCloudPersist* cloud,
            int newNumberOfPoints,
            RESAMPLING_CELL_METHOD resamplingMethod,
            GenericProgressCallback* progressCb = nullptr,
            DgmOctree* inputOctree = nullptr);
 
 
    static ReferenceCloud* subsampleCloudWithOctreeAtLevel(
            GenericIndexedCloudPersist* cloud,
            unsigned char octreeLevel,
            SUBSAMPLING_CELL_METHOD subsamplingMethod,
            GenericProgressCallback* progressCb = nullptr,
            DgmOctree* inputOctree = nullptr);
 
 
    static ReferenceCloud* subsampleCloudWithOctree(
            GenericIndexedCloudPersist* cloud,
            int newNumberOfPoints,
            SUBSAMPLING_CELL_METHOD subsamplingMethod,
            GenericProgressCallback* progressCb = nullptr,
            DgmOctree* inputOctree = nullptr);
 
 
    static ReferenceCloud* subsampleCloudRandomly(
            GenericIndexedCloudPersist* cloud,
            unsigned newNumberOfPoints,
            GenericProgressCallback* progressCb = nullptr);
 
    static ReferenceCloud* UniformDownSample(GenericIndexedCloudPersist* cloud,
                                             unsigned every_k_points);
 
    struct SFModulationParams {
        explicit SFModulationParams(bool state = false)
            : enabled(state), a(0.0), b(1.0) {}
 
        bool enabled;
        double a;
        double b;
    };
 
 
    static ReferenceCloud* resampleCloudSpatially(
            GenericIndexedCloudPersist* cloud,
            PointCoordinateType minDistance,
            const SFModulationParams& modParams,
            DgmOctree* octree = nullptr,
            GenericProgressCallback* progressCb = nullptr);
 
 
    static ReferenceCloud* sorFilter(
            GenericIndexedCloudPersist* cloud,
            int knn = 6,
            double nSigma = 1.0,
            DgmOctree* octree = nullptr,
            GenericProgressCallback* progressCb = nullptr);
 
 
    static ReferenceCloud* noiseFilter(
            GenericIndexedCloudPersist* cloud,
            PointCoordinateType kernelRadius,
            double nSigma,
            bool removeIsolatedPoints = false,
            bool useKnn = false,
            int knn = 6,
            bool useAbsoluteError = true,
            double absoluteError = 0.0,
            DgmOctree* octree = nullptr,
            GenericProgressCallback* progressCb = nullptr);
 
protected:
 
    static bool resampleCellAtLevel(const DgmOctree::octreeCell& cell,
                                    void** additionalParameters,
                                    NormalizedProgress* nProgress = nullptr);
 
 
    static bool subsampleCellAtLevel(const DgmOctree::octreeCell& cell,
                                     void** additionalParameters,
                                     NormalizedProgress* nProgress = nullptr);
 
 
    static bool applyNoiseFilterAtLevel(
            const DgmOctree::octreeCell& cell,
            void** additionalParameters,
            NormalizedProgress* nProgress = nullptr);
 
 
    static bool applySORFilterAtLevel(const DgmOctree::octreeCell& cell,
                                      void** additionalParameters,
                                      NormalizedProgress* nProgress = nullptr);
};
 
}  // namespace cloudViewer