GeometricalAnalysisTools.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
// Local
#include "DgmOctree.h"
#include "Neighbourhood.h"
 
namespace cloudViewer {
 
class GenericProgressCallback;
class GenericCloud;
class ScalarField;
 
class CV_CORE_LIB_API GeometricalAnalysisTools : public CVToolbox {
public:
    enum GeomCharacteristic {
        Feature,            
        Curvature,          
        LocalDensity,       
        ApproxLocalDensity, 
        Roughness,          
        MomentOrder1        
    };
 
    enum Density {
        DENSITY_KNN =
                1,  
        DENSITY_2D, 
        DENSITY_3D, 
    };
 
    enum ErrorCode {
        NoError = 0,
        InvalidInput = -1,
        NotEnoughPoints = -2,
        OctreeComputationFailed = -3,
        ProcessFailed = -4,
        UnhandledCharacteristic = -5,
        NotEnoughMemory = -6,
        ProcessCancelledByUser = -7
    };
 
    static ErrorCode ComputeCharactersitic(
            GeomCharacteristic c,
            int subOption,
            GenericIndexedCloudPersist* cloud,
            PointCoordinateType kernelRadius,
            const CCVector3* roughnessUpDir = nullptr,
            GenericProgressCallback* progressCb = nullptr,
            DgmOctree* inputOctree = nullptr);
 
 
    static ErrorCode ComputeLocalDensityApprox(
            GenericIndexedCloudPersist* cloud,
            Density densityType,
            GenericProgressCallback* progressCb = nullptr,
            DgmOctree* inputOctree = nullptr);
 
 
    static CCVector3 ComputeGravityCenter(const GenericCloud* theCloud);
 
 
    static CCVector3 ComputeWeightedGravityCenter(GenericCloud* theCloud,
                                                  ScalarField* weights);
 
 
    static SquareMatrixd ComputeCrossCovarianceMatrix(
            GenericCloud* P,
            GenericCloud* Q,
            const CCVector3& pGravityCenter,
            const CCVector3& qGravityCenter);
 
 
    static SquareMatrixd ComputeWeightedCrossCovarianceMatrix(
            GenericCloud* P,
            GenericCloud* Q,
            const CCVector3& pGravityCenter,
            const CCVector3& qGravityCenter,
            ScalarField* coupleWeights = nullptr);
 
 
    static cloudViewer::SquareMatrixd ComputeCovarianceMatrix(
            const GenericCloud* theCloud,
            const PointCoordinateType* _gravityCenter = nullptr);
 
 
    static ErrorCode FlagDuplicatePoints(
            GenericIndexedCloudPersist* theCloud,
            double minDistanceBetweenPoints =
                    std::numeric_limits<double>::epsilon(),
            GenericProgressCallback* progressCb = nullptr,
            DgmOctree* inputOctree = nullptr);
 
 
    static ErrorCode DetectSphereRobust(
            GenericIndexedCloudPersist* cloud,
            double outliersRatio,
            CCVector3& center,
            PointCoordinateType& radius,
            double& rms,
            GenericProgressCallback* progressCb = nullptr,
            double confidence = 0.99,
            unsigned seed = 0);
 
 
    static ErrorCode ComputeSphereFrom4(const CCVector3& A,
                                        const CCVector3& B,
                                        const CCVector3& C,
                                        const CCVector3& D,
                                        CCVector3& center,
                                        PointCoordinateType& radius);
 
 
    static ErrorCode DetectCircle(
            GenericIndexedCloudPersist* cloud,
            CCVector3& center,
            CCVector3& normal,
            PointCoordinateType& radius,
            double& rms,
            GenericProgressCallback* progressCb = nullptr);
 
protected:
 
    static bool ComputeGeomCharacteristicAtLevel(
            const DgmOctree::octreeCell& cell,
            void** additionalParameters,
            NormalizedProgress* nProgress = nullptr);
 
    static bool ComputeApproxPointsDensityInACellAtLevel(
            const DgmOctree::octreeCell& cell,
            void** additionalParameters,
            NormalizedProgress* nProgress = nullptr);
 
 
    static bool FlagDuplicatePointsInACellAtLevel(
            const DgmOctree::octreeCell& cell,
            void** additionalParameters,
            NormalizedProgress* nProgress = nullptr);
 
    static bool RefineSphereLS(GenericIndexedCloudPersist* cloud,
                               CCVector3& center,
                               PointCoordinateType& radius,
                               double minReltaiveCenterShift = 1.0e-3);
};
 
}  // namespace cloudViewer