#include <ecvOctree.h>

Inheritance diagram for ccOctree:

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Collaboration diagram for ccOctree:

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Classes
struct	BestRadiusParams
	Parameters for the GuessBestRadius method. More...

Public Types
enum	DisplayMode { WIRE = 0 , MEAN_POINTS , MEAN_CUBES = 2 }
	Octree displaying methods. More...

typedef QSharedPointer< ccOctree >	Shared
	Shared pointer. More...

Public Types inherited from cloudViewer::DgmOctree
enum	RayCastProcess { RC_NEAREST_POINT , RC_CLOSE_POINTS }
	Ray casting processes. More...

using	CellCode = unsigned
	Type of the code of an octree cell. More...

using	cellCodesContainer = std::vector< CellCode >
	Octree cell codes container. More...

using	cellIndexesContainer = std::vector< unsigned int >
	Octree cell indexes container. More...

using	NeighboursSet = std::vector< PointDescriptor >
	A set of neighbours. More...

using	NeighbourCellsSet = std::vector< CellDescriptor >
	A set of neighbour cells descriptors. More...

using	cellsContainer = std::vector< IndexAndCode >
	Container of 'IndexAndCode' structures. More...

using	octreeCellFunc = bool()(const octreeCell &, void , NormalizedProgress )

Signals
void	updated ()
	Signal sent when the octree organization is modified (cleared, etc.) More...

Public Member Functions
	ccOctree (ccGenericPointCloud *cloud)
	Default constructor. More...

virtual	~ccOctree ()
	Destructor. More...

void	multiplyBoundingBox (const PointCoordinateType multFactor)
	Multiplies the bounding-box of the octree. More...

void	translateBoundingBox (const CCVector3 &T)
	Translates the bounding-box of the octree. More...

ccBBox	getSquareBB () const
	Returns the octree (square) bounding-box. More...

ccBBox	getPointsBB () const
	Returns the points bounding-box. More...

virtual void	clear () override
	Clears the octree. More...

int	getDisplayedLevel () const
	Returns the currently displayed octree level. More...

void	setDisplayedLevel (int level)
	Sets the currently displayed octree level. More...

bool	isVisible () const
	Returns whether octree is visible or not. More...

void	setVisible (bool state)
	Sets octree visibility. More...

DisplayMode	getDisplayMode () const
	Returns the currently display mode. More...

void	setDisplayMode (DisplayMode mode)
	Sets the currently display mode. More...

void	draw (CC_DRAW_CONTEXT &context)
	Draws the octree. More...

bool	intersectWithFrustum (ccCameraSensor *sensor, std::vector< unsigned > &inCameraFrustum)
	Intersects octree with a camera sensor. More...

bool	pointPicking (const CCVector2d &clickPos, const ccGLCameraParameters &camera, PointDescriptor &output, double pickWidth_pix=3.0) const
	Octree-driven point picking algorithm. More...

Public Member Functions inherited from cloudViewer::DgmOctree
	DgmOctree (GenericIndexedCloudPersist *cloud)
	DgmOctree constructor. More...

	~DgmOctree () override=default
	DgmOctree destructor. More...

int	build (GenericProgressCallback *progressCb=nullptr)
	Builds the structure. More...

int	build (const CCVector3 &octreeMin, const CCVector3 &octreeMax, const CCVector3 pointsMinFilter=nullptr, const CCVector3 pointsMaxFilter=nullptr, GenericProgressCallback *progressCb=nullptr)
	Builds the structure with constraints. More...

unsigned	getNumberOfProjectedPoints () const
	Returns the number of points projected into the octree. More...

const CCVector3 &	getOctreeMins () const
	Returns the lower boundaries of the octree. More...

const CCVector3 &	getOctreeMaxs () const
	Returns the higher boundaries of the octree. More...

void	getBoundingBox (CCVector3 &bbMin, CCVector3 &bbMax) const
	Returns the octree bounding box. More...

const int *	getMinFillIndexes (unsigned char level) const

const int *	getMaxFillIndexes (unsigned char level) const

const PointCoordinateType &	getCellSize (unsigned char level) const
	Returns the octree cells length for a given level of subdivision. More...

void	getCellDistanceFromBorders (const Tuple3i &cellPos, unsigned char level, int *cellDists) const

void	getCellDistanceFromBorders (const Tuple3i &cellPos, unsigned char level, int neighbourhoodLength, int *cellDists) const

bool	getPointsInCellByCellIndex (ReferenceCloud *cloud, unsigned cellIndex, unsigned char level, bool clearOutputCloud=true) const
	Returns the points lying in a specific cell. More...

bool	getPointsInCell (CellCode cellCode, unsigned char level, ReferenceCloud *subset, bool isCodeTruncated=false, bool clearOutputCloud=true) const
	Returns the points lying in a specific cell. More...

ReferenceCloud *	getPointsInCellsWithSortedCellCodes (cellCodesContainer &cellCodes, unsigned char level, ReferenceCloud *subset, bool areCodesTruncated=false) const
	Returns the points lying in multiple cells. More...

unsigned	findPointNeighbourhood (const CCVector3 _queryPoint, ReferenceCloud Yk, unsigned maxNumberOfNeighbors, unsigned char level, double &maxSquareDist, double maxSearchDist=0, int *finalNeighbourhoodSize=nullptr) const
	Finds the nearest neighbours around a query point. More...

double	findTheNearestNeighborStartingFromCell (NearestNeighboursSearchStruct &nNSS) const

unsigned	findNearestNeighborsStartingFromCell (NearestNeighboursSearchStruct &nNSS, bool getOnlyPointsWithValidScalar=false) const

int	findNeighborsInASphereStartingFromCell (NearestNeighboursSearchStruct &nNSS, double radius, bool sortValues=true) const
	Advanced form of the nearest neighbours search algorithm (in a sphere) More...

int	getPointsInSphericalNeighbourhood (const CCVector3 &sphereCenter, PointCoordinateType radius, NeighboursSet &neighbours, unsigned char level) const
	Returns the points falling inside a sphere. More...

std::size_t	getPointsInCylindricalNeighbourhood (CylindricalNeighbourhood &params) const
	Returns the points falling inside a cylinder. More...

std::size_t	getPointsInCylindricalNeighbourhoodProgressive (ProgressiveCylindricalNeighbourhood &params) const
	Same as getPointsInCylindricalNeighbourhood with progressive approach. More...

std::size_t	getPointsInBoxNeighbourhood (BoxNeighbourhood &params) const
	Returns the points falling inside a box. More...

void	getTheCellPosWhichIncludesThePoint (const CCVector3 *thePoint, Tuple3i &cellPos) const

void	getTheCellPosWhichIncludesThePoint (const CCVector3 *thePoint, Tuple3i &cellPos, unsigned char level) const

void	getTheCellPosWhichIncludesThePoint (const CCVector3 *thePoint, Tuple3i &cellPos, unsigned char level, bool &inBounds) const

void	getCellPos (CellCode code, unsigned char level, Tuple3i &cellPos, bool isCodeTruncated) const

void	computeCellCenter (CellCode code, unsigned char level, CCVector3 &center, bool isCodeTruncated=false) const

void	computeCellCenter (const Tuple3i &cellPos, unsigned char level, CCVector3 &center) const

void	computeCellCenter (const Tuple3s &cellPos, unsigned char level, CCVector3 &center) const
	Short version of computeCellCenter. More...

void	computeCellLimits (CellCode code, unsigned char level, CCVector3 &cellMin, CCVector3 &cellMax, bool isCodeTruncated=false) const
	Returns the spatial limits of a given cell. More...

unsigned char	findBestLevelForAGivenNeighbourhoodSizeExtraction (PointCoordinateType radius) const

unsigned char	findBestLevelForComparisonWithOctree (const DgmOctree *theOtherOctree) const

unsigned char	findBestLevelForAGivenPopulationPerCell (unsigned indicativeNumberOfPointsPerCell) const

unsigned char	findBestLevelForAGivenCellNumber (unsigned indicativeNumberOfCells) const

const CellCode &	getCellCode (unsigned index) const
	Returns the ith cell code. More...

bool	getCellCodes (unsigned char level, cellCodesContainer &vec, bool truncatedCodes=false) const

bool	getCellIndexes (unsigned char level, cellIndexesContainer &vec) const

bool	getCellCodesAndIndexes (unsigned char level, cellsContainer &vec, bool truncatedCodes=false) const

void	diff (const cellCodesContainer &codesA, const cellCodesContainer &codesB, cellCodesContainer &diffA, cellCodesContainer &diffB) const

bool	diff (unsigned char octreeLevel, const cellsContainer &codesA, const cellsContainer &codesB, int &diffA, int &diffB, int &cellsA, int &cellsB) const

const unsigned &	getCellNumber (unsigned char level) const
	Returns the number of cells for a given level of subdivision. More...

double	computeMeanOctreeDensity (unsigned char level) const

int	extractCCs (const cellCodesContainer &cellCodes, unsigned char level, bool sixConnexity, GenericProgressCallback *progressCb=nullptr) const

int	extractCCs (unsigned char level, bool sixConnexity, GenericProgressCallback *progressCb=nullptr) const

unsigned	executeFunctionForAllCellsStartingAtLevel (unsigned char startingLevel, octreeCellFunc func, void *additionalParameters, unsigned minNumberOfPointsPerCell, unsigned maxNumberOfPointsPerCell, bool multiThread=true, GenericProgressCallback progressCb=nullptr, const char *functionTitle=nullptr, int maxThreadCount=0)

unsigned	executeFunctionForAllCellsAtLevel (unsigned char level, octreeCellFunc func, void *additionalParameters, bool multiThread=false, GenericProgressCallback progressCb=nullptr, const char *functionTitle=nullptr, int maxThreadCount=0)

bool	rayCast (const CCVector3 &rayAxis, const CCVector3 &rayOrigin, double maxRadiusOrFov, bool isFOV, RayCastProcess process, std::vector< PointDescriptor > &output) const
	Ray casting algorithm. More...

GenericIndexedCloudPersist *	associatedCloud () const
	Returns the associated cloud. More...

const cellsContainer &	pointsAndTheirCellCodes () const
	Returns the octree 'structure'. More...

Public Member Functions inherited from cloudViewer::GenericOctree
virtual	~GenericOctree ()=default
	Default destructor. More...

Static Public Member Functions
static void	ComputeAverageColor (cloudViewer::ReferenceCloud subset, ccGenericPointCloud sourceCloud, ColorCompType meanCol[])
	Computes the average color of a set of points. More...

static CCVector3	ComputeAverageNorm (cloudViewer::ReferenceCloud subset, ccGenericPointCloud sourceCloud)
	Computes the average normal of a set of points. More...

static PointCoordinateType	GuessNaiveRadius (ccGenericPointCloud *cloud)
	Tries to guess a very naive 'local radius' for octree-based computation. More...

static PointCoordinateType	GuessBestRadius (ccGenericPointCloud cloud, const BestRadiusParams &params, cloudViewer::DgmOctree cloudOctree=nullptr, cloudViewer::GenericProgressCallback *progressCb=nullptr)
	Tries to guess the best 'local radius' for octree-based computation. More...

static PointCoordinateType	GuessBestRadiusAutoComputeOctree (ccGenericPointCloud cloud, const BestRadiusParams &params, QWidget parentWidget=nullptr)

Static Public Member Functions inherited from cloudViewer::DgmOctree
static unsigned char	GET_BIT_SHIFT (unsigned char level)
	Returns the binary shift for a given level of subdivision. More...

static int	OCTREE_LENGTH (int level)

static CellCode	GenerateTruncatedCellCode (const Tuple3i &cellPos, unsigned char level)

static CellCode	GenerateTruncatedCellCode (const Tuple3s &pos, unsigned char level)
	Short version of GenerateTruncatedCellCode. More...

static PointCoordinateType	ComputeMinDistanceToCellBorder (const CCVector3 &queryPoint, PointCoordinateType cs, const CCVector3 &cellCenter)

static bool	MultiThreadSupport ()

Static Protected Member Functions
static bool	DrawCellAsABox (const cloudViewer::DgmOctree::octreeCell &cell, void *additionalParameters, cloudViewer::NormalizedProgress nProgress=0)

static bool	DrawCellAsAPoint (const cloudViewer::DgmOctree::octreeCell &cell, void *additionalParameters, cloudViewer::NormalizedProgress nProgress=0)

static bool	DrawCellAsAPrimitive (const cloudViewer::DgmOctree::octreeCell &cell, void *additionalParameters, cloudViewer::NormalizedProgress nProgress=0)

Protected Attributes
ccGenericPointCloud *	m_theAssociatedCloudAsGPC
	Associated cloud (as a ccGenericPointCloud) More...

int	m_displayedLevel
	Displayed level. More...

DisplayMode	m_displayMode
	Display mode. More...

ccOctreeFrustumIntersector *	m_frustumIntersector
	For frustum intersection. More...

bool	m_visible
	For Octree Display. More...

Protected Attributes inherited from cloudViewer::DgmOctree
cellsContainer	m_thePointsAndTheirCellCodes
	The coded octree structure. More...

GenericIndexedCloudPersist *	m_theAssociatedCloud
	Associated cloud. More...

unsigned	m_numberOfProjectedPoints
	Number of points projected in the octree. More...

unsigned	m_nearestPow2

CCVector3	m_dimMin
	Min coordinates of the octree bounding-box. More...

CCVector3	m_dimMax
	Max coordinates of the octree bounding-box. More...

CCVector3	m_pointsMin

CCVector3	m_pointsMax

PointCoordinateType	m_cellSize [MAX_OCTREE_LEVEL+2]
	Cell dimensions for all subdivision levels. More...

int	m_fillIndexes [(MAX_OCTREE_LEVEL+1) *6]

unsigned	m_cellCount [MAX_OCTREE_LEVEL+1]
	Number of cells per level of subdivision. More...

unsigned	m_maxCellPopulation [MAX_OCTREE_LEVEL+1]
	Max cell population per level of subdivision. More...

double	m_averageCellPopulation [MAX_OCTREE_LEVEL+1]
	Average cell population per level of subdivision. More...

double	m_stdDevCellPopulation [MAX_OCTREE_LEVEL+1]
	Std. dev. of cell population per level of subdivision. More...

Additional Inherited Members
Static Public Attributes inherited from cloudViewer::DgmOctree
static const int	MAX_OCTREE_LEVEL = 10
	Max octree subdivision level. More...

static const int	MAX_OCTREE_LENGTH = (1 << MAX_OCTREE_LEVEL)
	Max octree length at last level of subdivision (number of cells) More...

static const CellCode	INVALID_CELL_CODE = (~static_cast<CellCode>(0))
	Invalid cell code. More...

Protected Member Functions inherited from cloudViewer::DgmOctree
int	genericBuild (GenericProgressCallback *progressCb=nullptr)
	Generic method to build the octree structure. More...

void	updateMinAndMaxTables ()
	Updates the tables containing octree limits and boundaries. More...

void	updateCellSizeTable ()

void	updateCellCountTable ()

void	computeCellsStatistics (unsigned char level)
	Computes statistics about cells for a given level of subdivision. More...

void	getNeighborCellsAround (const Tuple3i &cellPos, cellIndexesContainer &neighborCellsIndexes, int neighbourhoodLength, unsigned char level) const

void	getPointsInNeighbourCellsAround (NearestNeighboursSearchStruct &nNSS, int neighbourhoodLength, bool getOnlyPointsWithValidScalar=false) const
	Gets point in the neighbourhing cells of a specific cell. More...

unsigned	getCellIndex (CellCode truncatedCellCode, unsigned char bitDec) const
	Returns the index of a given cell represented by its code. More...

unsigned	getCellIndex (CellCode truncatedCellCode, unsigned char bitDec, unsigned begin, unsigned end) const
	Returns the index of a given cell represented by its code. More...

Detailed Description

Octree structure.

Extends the cloudViewer::DgmOctree class.

Definition at line 27 of file ecvOctree.h.

Member Typedef Documentation

◆ Shared

typedef QSharedPointer<ccOctree> ccOctree::Shared

Shared pointer.

Definition at line 32 of file ecvOctree.h.

Member Enumeration Documentation

◆ DisplayMode

enum ccOctree::DisplayMode

Octree displaying methods.

Enumerator
WIRE	The octree is displayed as wired boxes (one box per cell)
MEAN_POINTS	The octree is displayed as points (one point per cell = the center of gravity of the points lying in it)
MEAN_CUBES	The octree is displayed as plain 3D cubes (one cube per cell)

Definition at line 77 of file ecvOctree.h.

Constructor & Destructor Documentation

◆ ccOctree()

ccOctree::ccOctree ( ccGenericPointCloud * cloud )

explicit

Default constructor.

Parameters

cloud a point cloud

◆ ~ccOctree()

virtual ccOctree::~ccOctree ( )

virtual

Destructor.

Member Function Documentation

◆ clear()

virtual void ccOctree::clear ( )

overridevirtual

Clears the octree.

Reimplemented from cloudViewer::DgmOctree.

◆ ComputeAverageColor()

static void ccOctree::ComputeAverageColor	(	cloudViewer::ReferenceCloud *	subset,
		ccGenericPointCloud *	sourceCloud,
		ColorCompType	meanCol[]
	)

static

Computes the average color of a set of points.

◆ ComputeAverageNorm()

static CCVector3 ccOctree::ComputeAverageNorm	(	cloudViewer::ReferenceCloud *	subset,
		ccGenericPointCloud *	sourceCloud
	)

static

Computes the average normal of a set of points.

Referenced by qFacets::createFacets().

◆ draw()

void ccOctree::draw ( CC_DRAW_CONTEXT & context )

Draws the octree.

◆ DrawCellAsABox()

static bool ccOctree::DrawCellAsABox	(	const cloudViewer::DgmOctree::octreeCell &	cell,
		void **	additionalParameters,
		cloudViewer::NormalizedProgress *	nProgress = `0`
	)

staticprotected

◆ DrawCellAsAPoint()

static bool ccOctree::DrawCellAsAPoint	(	const cloudViewer::DgmOctree::octreeCell &	cell,
		void **	additionalParameters,
		cloudViewer::NormalizedProgress *	nProgress = `0`
	)

staticprotected

◆ DrawCellAsAPrimitive()

static bool ccOctree::DrawCellAsAPrimitive	(	const cloudViewer::DgmOctree::octreeCell &	cell,
		void **	additionalParameters,
		cloudViewer::NormalizedProgress *	nProgress = `0`
	)

staticprotected

◆ getDisplayedLevel()

int ccOctree::getDisplayedLevel ( ) const

inline

Returns the currently displayed octree level.

Definition at line 67 of file ecvOctree.h.

Referenced by ccPropertiesTreeDelegate::fillWithPointOctree().

◆ getDisplayMode()

DisplayMode ccOctree::getDisplayMode ( ) const

inline

Returns the currently display mode.

Definition at line 87 of file ecvOctree.h.

◆ getPointsBB()

ccBBox ccOctree::getPointsBB ( ) const

Returns the points bounding-box.

◆ getSquareBB()

ccBBox ccOctree::getSquareBB ( ) const

Returns the octree (square) bounding-box.

◆ GuessBestRadius()

static PointCoordinateType ccOctree::GuessBestRadius	(	ccGenericPointCloud *	cloud,
		const BestRadiusParams &	params,
		cloudViewer::DgmOctree *	cloudOctree = `nullptr`,
		cloudViewer::GenericProgressCallback *	progressCb = `nullptr`
	)

static

Tries to guess the best 'local radius' for octree-based computation.

The ideal radius is determined by randomly sampling up to 200 points and looking at their neighborhood.

Parameters

cloud	point cloud on which to process the normals.
params	parameters
cloudOctree	input cloud octree (optional)
progressCb	progress notification (optional)

Returns: the best radius (strictly positive value) or 0 if an error occurred

◆ GuessBestRadiusAutoComputeOctree()

static PointCoordinateType ccOctree::GuessBestRadiusAutoComputeOctree	(	ccGenericPointCloud *	cloud,
		const BestRadiusParams &	params,
		QWidget *	parentWidget = `nullptr`
	)

static

Tries to guess the best 'local radius' for octree-based computation (auto-computes the octree if necessary) The ideal radius is determined by randomly sampling up to 200 points and looking at their neighborhood.

Parameters

cloud	point cloud on which to process the normals.
params	parameters
parentWidget	parent widget (for the progress dialog, if any has to be shown)

Returns: the best radius (strictly positive value) or 0 if an error occurred

Referenced by FastGlobalRegistrationDialog::autoEstimateRadius().

◆ GuessNaiveRadius()

static PointCoordinateType ccOctree::GuessNaiveRadius ( ccGenericPointCloud * cloud )

static

Tries to guess a very naive 'local radius' for octree-based computation.

Parameters

cloud point cloud on which to process the normals.

Returns: naive radius (one percent of the cloud largest dimension by default, unless the cloud have very few points)

Referenced by FastGlobalRegistrationDialog::FastGlobalRegistrationDialog().

◆ intersectWithFrustum()

bool ccOctree::intersectWithFrustum	(	ccCameraSensor *	sensor,
		std::vector< unsigned > &	inCameraFrustum
	)

Intersects octree with a camera sensor.

◆ isVisible()

bool ccOctree::isVisible ( ) const

inline

Returns whether octree is visible or not.

Definition at line 72 of file ecvOctree.h.

◆ multiplyBoundingBox()

void ccOctree::multiplyBoundingBox ( const PointCoordinateType multFactor )

Multiplies the bounding-box of the octree.

If the cloud coordinates are simply multiplied by the same factor, there is no use in recomputing the octree structure. It's sufficient to update its bounding-box.

Parameters

multFactor multiplication factor

◆ pointPicking()

bool ccOctree::pointPicking	(	const CCVector2d &	clickPos,
		const ccGLCameraParameters &	camera,
		PointDescriptor &	output,
		double	pickWidth_pix = `3.0`
	)		const

Octree-driven point picking algorithm.

◆ setDisplayedLevel()

void ccOctree::setDisplayedLevel ( int level )

Sets the currently displayed octree level.

◆ setDisplayMode()

void ccOctree::setDisplayMode ( DisplayMode mode )

Sets the currently display mode.

◆ setVisible()

void ccOctree::setVisible ( bool state )

inline

Sets octree visibility.

Definition at line 74 of file ecvOctree.h.

◆ translateBoundingBox()

void ccOctree::translateBoundingBox ( const CCVector3 & T )

Translates the bounding-box of the octree.

If the cloud has been simply translated, there is no use to recompute the octree structure. It's sufficient to update its bounding-box.

Parameters

T	translation vector

◆ updated

void ccOctree::updated ( )

signal

Signal sent when the octree organization is modified (cleared, etc.)

Member Data Documentation

◆ m_displayedLevel

int ccOctree::m_displayedLevel

protected

Displayed level.

Definition at line 183 of file ecvOctree.h.

◆ m_displayMode

DisplayMode ccOctree::m_displayMode

protected

Display mode.

Definition at line 186 of file ecvOctree.h.

◆ m_frustumIntersector

ccOctreeFrustumIntersector* ccOctree::m_frustumIntersector

protected

For frustum intersection.

Definition at line 189 of file ecvOctree.h.

◆ m_theAssociatedCloudAsGPC

ccGenericPointCloud* ccOctree::m_theAssociatedCloudAsGPC

protected

Associated cloud (as a ccGenericPointCloud)

Definition at line 180 of file ecvOctree.h.

◆ m_visible

bool ccOctree::m_visible

protected

For Octree Display.

Definition at line 192 of file ecvOctree.h.

The documentation for this class was generated from the following file:

/root/ACloudViewer/libs/CV_db/include/ecvOctree.h

Classes

Public Types

Signals

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Shared

Member Enumeration Documentation

◆ DisplayMode

Constructor & Destructor Documentation

◆ ccOctree()

◆ ~ccOctree()

Member Function Documentation

◆ clear()

◆ ComputeAverageColor()

◆ ComputeAverageNorm()

◆ draw()

◆ DrawCellAsABox()

◆ DrawCellAsAPoint()

◆ DrawCellAsAPrimitive()

◆ getDisplayedLevel()

◆ getDisplayMode()

◆ getPointsBB()

◆ getSquareBB()

◆ GuessBestRadius()

◆ GuessBestRadiusAutoComputeOctree()

◆ GuessNaiveRadius()

◆ intersectWithFrustum()

◆ isVisible()

◆ multiplyBoundingBox()

◆ pointPicking()

◆ setDisplayedLevel()

◆ setDisplayMode()

◆ setVisible()

◆ translateBoundingBox()

◆ updated

Member Data Documentation

◆ m_displayedLevel

◆ m_displayMode

◆ m_frustumIntersector

◆ m_theAssociatedCloudAsGPC

◆ m_visible