CorePoints.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "CorePoints.h"
 
// qCC_db
#include <ecvPointCloud.h>
 
// CCLib
#include <CloudSamplingTools.h>
 
// system
#include <assert.h>
 
using namespace masc;
 
bool CorePoints::prepare(
        cloudViewer::GenericProgressCallback* progressCb /*=nullptr*/) {
    if (!origin) {
        assert(false);
        return false;
    }
 
    if (selection) {
        // nothing to do
        return true;
    }
 
    // now we can compute the subsampled version
    cloudViewer::ReferenceCloud* ref = nullptr;
    switch (selectionMethod) {
        case SPATIAL: {
            // we'll need an octree
            if (!origin->getOctree()) {
                if (!origin->computeOctree(progressCb)) {
                    CVLog::Warning(
                            "[CorePoints::prepare] Failed to compute the "
                            "octree");
                    return false;
                }
            }
 
            cloudViewer::CloudSamplingTools::SFModulationParams modParams;
            modParams.enabled = false;
            ref = cloudViewer::CloudSamplingTools::resampleCloudSpatially(
                    origin, static_cast<PointCoordinateType>(selectionParam),
                    modParams, origin->getOctree().data(), progressCb);
 
            break;
        }
 
        case RANDOM: {
            if (selectionParam <= 0.0 || selectionParam >= 1.0) {
                CVLog::Warning(
                        "[CorePoints::prepare] Random subsampling ration must "
                        "be between 0 and 1 (excluded)");
                return false;
            }
            int targetCount = static_cast<int>(origin->size() * selectionParam);
            ref = cloudViewer::CloudSamplingTools::subsampleCloudRandomly(
                    origin, targetCount, progressCb);
            break;
        }
 
        case NONE:
            // nothing to do
            cloud = origin;
            return true;
 
        default:
            assert(false);
            break;
    }
 
    // store the references
    if (!ref) {
        CVLog::Warning(
                "[CorePoints::prepare] Failed to subsampled the origin cloud");
        return false;
    }
    selection.reset(ref);
 
    // and create the subsampled version of the cloud
    cloud = origin->partialClone(ref);
    if (!cloud) {
        CVLog::Warning(
                "[CorePoints::prepare] Failed to subsampled the origin cloud "
                "(not enough memory)");
        return false;
    }
 
    return true;
}