The octree structure used throughout the library. More...

#include <DgmOctree.h>

Inheritance diagram for cloudViewer::DgmOctree:

Collaboration diagram for cloudViewer::DgmOctree:

[legend]

Classes
struct	BoxNeighbourhood
	Input/output parameters structure for getPointsInBoxNeighbourhood. More...

struct	CellDescriptor
	Structure used during nearest neighbour search. More...

struct	CylindricalNeighbourhood

struct	IndexAndCode
	Association between an index and the code of an octree cell. More...

struct	NearestNeighboursSearchStruct
	Container of in/out parameters for nearest neighbour(s) search. More...

struct	NearestNeighboursSphericalSearchStruct

struct	octreeCell
	Octree cell descriptor. More...

struct	octreeTopDownScanStruct
	Internal structure used to perform a top-down scan of the octree. More...

struct	PointDescriptor
	Structure used during nearest neighbour search. More...

struct	ProgressiveCylindricalNeighbourhood

Public Types
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 )

Public Member Functions
	DgmOctree (GenericIndexedCloudPersist *cloud)
	DgmOctree constructor. More...

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

virtual void	clear ()
	Clears the octree. 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 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 Public Attributes
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
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...

Protected Attributes
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...

Detailed Description

The octree structure used throughout the library.

Implements the GenericOctree interface. Corresponds to the octree structure developed during Daniel Girardeau-Montaut's PhD (see PhD manuscript, Chapter 4).

Definition at line 39 of file DgmOctree.h.

Member Typedef Documentation

◆ CellCode

using cloudViewer::DgmOctree::CellCode = unsigned

Type of the code of an octree cell.

Warning: 3 bits per level are required.; Never pass a 'constant initializer' by reference

Definition at line 78 of file DgmOctree.h.

◆ cellCodesContainer

using cloudViewer::DgmOctree::cellCodesContainer = std::vector<CellCode>

Octree cell codes container.

Definition at line 92 of file DgmOctree.h.

◆ cellIndexesContainer

using cloudViewer::DgmOctree::cellIndexesContainer = std::vector<unsigned int>

Octree cell indexes container.

Definition at line 95 of file DgmOctree.h.

◆ cellsContainer

using cloudViewer::DgmOctree::cellsContainer = std::vector<IndexAndCode>

Container of 'IndexAndCode' structures.

Definition at line 351 of file DgmOctree.h.

◆ NeighbourCellsSet

using cloudViewer::DgmOctree::NeighbourCellsSet = std::vector<CellDescriptor>

A set of neighbour cells descriptors.

Definition at line 150 of file DgmOctree.h.

◆ NeighboursSet

using cloudViewer::DgmOctree::NeighboursSet = std::vector<PointDescriptor>

A set of neighbours.

Definition at line 133 of file DgmOctree.h.

◆ octreeCellFunc

using cloudViewer::DgmOctree::octreeCellFunc = bool (*)(const octreeCell&, void**, NormalizedProgress*)

Generic form of a function that can be applied automatically to all cells of the octree See DgmOctree::executeFunctionForAllCellsAtLevel and DgmOctree::executeFunctionForAllCellsStartingAtLevel. The parameters of such a function are:

(octreeCell) cell descriptor
(void**) table of user parameters for the function (maybe void)
(NormalizedProgress*) optional (normalized) progress callback
return success

Definition at line 393 of file DgmOctree.h.

Member Enumeration Documentation

◆ RayCastProcess

enum cloudViewer::DgmOctree::RayCastProcess

Ray casting processes.

Enumerator
RC_NEAREST_POINT
RC_CLOSE_POINTS

Definition at line 1179 of file DgmOctree.h.

Constructor & Destructor Documentation

◆ DgmOctree()

DgmOctree::DgmOctree ( GenericIndexedCloudPersist * cloud )

explicit

DgmOctree constructor.

METHODS

Parameters

cloud the cloud to construct the octree on

Definition at line 174 of file DgmOctree.cpp.

References clear(), and m_theAssociatedCloud.

◆ ~DgmOctree()

cloudViewer::DgmOctree::~DgmOctree ( )

overridedefault

DgmOctree destructor.

Member Function Documentation

◆ associatedCloud()

GenericIndexedCloudPersist* cloudViewer::DgmOctree::associatedCloud ( ) const

inline

Returns the associated cloud.

Definition at line 1191 of file DgmOctree.h.

Referenced by FastMarchingForFacetExtraction::addCellToCurrentFacet(), cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistancesWithOctree(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistanceWithOctree(), FastMarchingForFacetExtraction::computeTCoefApprox(), FastMarchingForFacetExtraction::init(), cloudViewer::FastMarchingForPropagation::init(), cloudViewer::CloudSamplingTools::resampleCloudSpatially(), cloudViewer::FastMarchingForPropagation::setPropagationTimingsAsDistances(), FastMarchingForFacetExtraction::setSeedCell(), and FastMarchingForFacetExtraction::updateFlagsTable().

◆ build() [1/2]

int DgmOctree::build	(	const CCVector3 &	octreeMin,
		const CCVector3 &	octreeMax,
		const CCVector3 *	pointsMinFilter = `nullptr`,
		const CCVector3 *	pointsMaxFilter = `nullptr`,
		GenericProgressCallback *	progressCb = `nullptr`
	)

Builds the structure with constraints.

Octree spatial limits must be specified. Also, if specified, points falling outside the "pointsFilter" limits won't be projected into the octree structure. Otherwise, all points will be taken into account. Octree 3D limits in space should be cubical.

Parameters

octreeMin	the lower limits for the octree cells along X, Y and Z
octreeMax	the upper limits for the octree cells along X, Y and Z
pointsMinFilter	the lower limits for the projected points along X, Y and Z (is specified)
pointsMaxFilter	the upper limits for the projected points along X, Y and Z (is specified)
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns: the number of points projected in the octree

Definition at line 204 of file DgmOctree.cpp.

References clear(), genericBuild(), m_dimMax, m_dimMin, m_pointsMax, m_pointsMin, and m_thePointsAndTheirCellCodes.

◆ build() [2/2]

int DgmOctree::build ( GenericProgressCallback * progressCb = nullptr )

Builds the structure.

Octree 3D limits are determined automatically.

Parameters

progressCb the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns: the number of points projected in the octree

Definition at line 196 of file DgmOctree.cpp.

References clear(), genericBuild(), m_thePointsAndTheirCellCodes, and updateMinAndMaxTables().

Referenced by cloudViewer::ScalarFieldTools::applyScalarFieldGaussianFilter(), qCanupoProcess::Classify(), cloudViewer::GeometricalAnalysisTools::ComputeCharactersitic(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistances(), qCanupoTools::ComputeCorePointsDescriptors(), qM3C2Normals::ComputeCorePointsNormals(), cloudViewer::DistanceComputationTools::computeGeodesicDistances(), cloudViewer::GeometricalAnalysisTools::ComputeLocalDensityApprox(), ccEntityAction::computeOctree(), cloudViewer::ScalarFieldTools::computeScalarFieldGradient(), FastMarchingForFacetExtraction::ExtractPlanarFacets(), cloudViewer::GeometricalAnalysisTools::FlagDuplicatePoints(), cloudViewer::AutoSegmentationTools::frontPropagationBasedSegmentation(), cloudViewer::AutoSegmentationTools::labelConnectedComponents(), cloudViewer::CloudSamplingTools::noiseFilter(), cloudViewer::ICPRegistrationTools::Register(), cloudViewer::CloudSamplingTools::resampleCloudSpatially(), cloudViewer::CloudSamplingTools::resampleCloudWithOctree(), cloudViewer::CloudSamplingTools::resampleCloudWithOctreeAtLevel(), cloudViewer::CloudSamplingTools::sorFilter(), cloudViewer::CloudSamplingTools::subsampleCloudWithOctree(), cloudViewer::CloudSamplingTools::subsampleCloudWithOctreeAtLevel(), cloudViewer::DistanceComputationTools::synchronizeOctrees(), and cloudViewer::StatisticalTestingTools::testCloudWithStatisticalModel().

◆ clear()

void DgmOctree::clear ( )

virtual

Clears the octree.

Reimplemented in ccOctree.

Definition at line 183 of file DgmOctree.cpp.

References m_cellSize, m_dimMax, m_dimMin, m_fillIndexes, m_nearestPow2, m_numberOfProjectedPoints, m_pointsMax, m_pointsMin, m_thePointsAndTheirCellCodes, MAX_OCTREE_LEVEL, and updateCellCountTable().

Referenced by build(), ccEntityAction::computeOctree(), DgmOctree(), and cloudViewer::DistanceComputationTools::synchronizeOctrees().

◆ computeCellCenter() [1/3]

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

inline

Returns the cell center for a given level of subdivision of a cell designated by its code

Parameters

code	the cell code
level	the level of subdivision
center	the computed center
isCodeTruncated	indicates if the given code is truncated or not

Definition at line 862 of file DgmOctree.h.

Referenced by cloudViewer::CloudSamplingTools::applyNoiseFilterAtLevel(), cloudViewer::CloudSamplingTools::applySORFilterAtLevel(), cloudViewer::GeometricalAnalysisTools::ComputeApproxPointsDensityInACellAtLevel(), cloudViewer::ScalarFieldTools::computeCellGaussianFilter(), cloudViewer::DistanceComputationTools::computeCellHausdorffDistance(), cloudViewer::DistanceComputationTools::computeCellHausdorffDistanceWithLocalModel(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistanceWithOctree(), cloudViewer::GeometricalAnalysisTools::ComputeGeomCharacteristicAtLevel(), cloudViewer::StatisticalTestingTools::computeLocalChi2DistAtLevel(), cloudViewer::ScalarFieldTools::computeMeanGradientOnPatch(), ComputeNeighborhood2MeshDistancesWithOctree(), findPointNeighbourhood(), cloudViewer::GeometricalAnalysisTools::FlagDuplicatePointsInACellAtLevel(), cloudViewer::DistanceComputationTools::intersectMeshWithOctree(), masc::Tools::PrepareFeatures(), cloudViewer::CloudSamplingTools::resampleCellAtLevel(), and cloudViewer::CloudSamplingTools::subsampleCellAtLevel().

◆ computeCellCenter() [2/3]

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

inline

Returns the cell center for a given level of subdivision of a cell designated by its position

Parameters

cellPos	the cell position
level	the level of subdivision
center	the computed center

Definition at line 878 of file DgmOctree.h.

References Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ computeCellCenter() [3/3]

void cloudViewer::DgmOctree::computeCellCenter	(	const Tuple3s &	cellPos,
		unsigned char	level,
		CCVector3 &	center
	)		const

inline

Short version of computeCellCenter.

Definition at line 895 of file DgmOctree.h.

References Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ computeCellLimits()

void DgmOctree::computeCellLimits	(	CellCode	code,
		unsigned char	level,
		CCVector3 &	cellMin,
		CCVector3 &	cellMax,
		bool	isCodeTruncated = `false`
	)		const

Returns the spatial limits of a given cell.

Parameters

code	the cell code
level	the level of subdivision
cellMin	the minimum coordinates along each dimension
cellMax	the maximum coordinates along each dimension
isCodeTruncated	indicates if the given code is truncated or not

Definition at line 520 of file DgmOctree.cpp.

References getCellPos(), getCellSize(), m_dimMin, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ computeCellsStatistics()

void DgmOctree::computeCellsStatistics ( unsigned char level )

protected

Computes statistics about cells for a given level of subdivision.

This method requires some computation, therefore it shouldn't be called too often.

Parameters

level the level of subdivision

Definition at line 423 of file DgmOctree.cpp.

References GET_BIT_SHIFT(), m_averageCellPopulation, m_cellCount, m_maxCellPopulation, m_stdDevCellPopulation, m_thePointsAndTheirCellCodes, and MAX_OCTREE_LEVEL.

Referenced by updateCellCountTable().

◆ computeMeanOctreeDensity()

double DgmOctree::computeMeanOctreeDensity ( unsigned char level ) const

Computes mean octree density (point/cell) at a given level of subdivision

Parameters

level the level of subdivision

Returns: mean density (point/cell)

Definition at line 2789 of file DgmOctree.cpp.

References getCellNumber(), and m_numberOfProjectedPoints.

◆ ComputeMinDistanceToCellBorder()

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

inlinestatic

Computes the minimal distance between a point and the borders (faces) of the cell (cube) in which it is included

Parameters

queryPoint	the point
cs	the cell size (as cells are cubical, it's the same along every dimension)
cellCenter	the cell center

Returns: the minimal distance

Definition at line 1057 of file DgmOctree.h.

References abs(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by cloudViewer::DistanceComputationTools::computeCloud2MeshDistanceWithOctree(), ComputeNeighborhood2MeshDistancesWithOctree(), findNearestNeighborsStartingFromCell(), findNeighborsInASphereStartingFromCell(), and findTheNearestNeighborStartingFromCell().

◆ diff() [1/2]

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

Returns the cells that differ between two octrees (for a same implicit level of subdivision) Warning: the two octrees should have been computed with the same bounding-box.

Parameters

codesA	the cell codes of the first octree for the implicit level
codesB	the cell codes of the second octree for the implicit level
diffA	the cells of the first octree that are not in the second octree
diffB	the cells of the second octree that are not in the first octree

Definition at line 2955 of file DgmOctree.cpp.

Referenced by findBestLevelForComparisonWithOctree().

◆ diff() [2/2]

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

Returns the differences (in terms of number of cells) between two octrees for a given level of subdivision Warning: the two octrees should have been computed with the same bounding-box.

Parameters

octreeLevel	the octree level
codesA	the cell codes (and point index) of the first octree
codesB	the cell codes (and point index) of the second octree
diffA	the number of cells of the first octree that are not in the second octree
diffB	the number of cells of the second octree that are not in the first octree
cellsA	the number of cells of the first octree for the given number of subdivision
cellsB	the number of cells of the second octree for the given number of subdivision

Returns: false if it could not calculate the differences

Definition at line 2980 of file DgmOctree.cpp.

References GET_BIT_SHIFT(), and octreeLevel.

◆ executeFunctionForAllCellsAtLevel()

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

Method to apply automatically a specific function to each cell of the octree The function to apply should be of the form DgmOctree::octreeCellFunc. In this case the octree cells are scanned one by one at the same level of subdivision.

    Parallel processing is based on QtConcurrent::map system.

    \param level the level of subdivision
    \param func the function to apply
    \param additionalParameters the function parameters
    \param multiThread whether to use parallel processing or not
    \param progressCb the client application can get some notification

of the process progress through this callback mechanism (see GenericProgressCallback)

Parameters

functionTitle	function title
maxThreadCount	the maximum number of threads to use (0 = all). Ignored if 'multiThread' is false.

Returns: the number of processed cells (or 0 is something went wrong)

Definition at line 3573 of file DgmOctree.cpp.

References cloudViewer::ReferenceCloud::addPointIndex(), GET_BIT_SHIFT(), getCellNumber(), cloudViewer::DgmOctree::octreeCell::index, cloudViewer::DgmOctree::octreeCell::level, m_averageCellPopulation, m_maxCellPopulation, m_stdDevCellPopulation, m_theAssociatedCloud, m_thePointsAndTheirCellCodes, max(), cloudViewer::DgmOctree::octreeCell::points, cloudViewer::ReferenceCloud::reserve(), result, cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::GenericCloud::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::stop(), cloudViewer::GenericProgressCallback::textCanBeEdited(), cloudViewer::DgmOctree::octreeCell::truncatedCode, and cloudViewer::GenericProgressCallback::update().

Referenced by cloudViewer::ScalarFieldTools::applyScalarFieldGaussianFilter(), cloudViewer::GeometricalAnalysisTools::ComputeCharactersitic(), cloudViewer::DistanceComputationTools::computeCloud2CloudDistances(), cloudViewer::GeometricalAnalysisTools::ComputeLocalDensityApprox(), cloudViewer::ScalarFieldTools::computeScalarFieldGradient(), cloudViewer::GeometricalAnalysisTools::FlagDuplicatePoints(), cloudViewer::CloudSamplingTools::noiseFilter(), cloudViewer::CloudSamplingTools::resampleCloudWithOctreeAtLevel(), cloudViewer::CloudSamplingTools::sorFilter(), and cloudViewer::CloudSamplingTools::subsampleCloudWithOctreeAtLevel().

◆ executeFunctionForAllCellsStartingAtLevel()

unsigned DgmOctree::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`
	)

Method to apply automatically a specific function to each cell of the octree The function to apply should be of the form DgmOctree::octreeCellFunc. In this case the octree cells are scanned one by one at the same level of subdivision, but the scan can also be sometimes done (inside the cell) at deeper levels, in order to limit the number of points in a cell. Thanks to this, the function is applied on a limited number of points, avoiding great loss of performances. The only limitation is when the level of subdivision is deepest level. In this case no more splitting is possible.

    Parallel processing is based on QtConcurrent::map system.

    \param startingLevel the initial level of subdivision
    \param func the function to apply
    \param additionalParameters the function parameters
    \param minNumberOfPointsPerCell minimal number of points inside

a cell (indicative)

Parameters

maxNumberOfPointsPerCell	maximum number of points inside a cell (indicative)
multiThread	whether to use parallel processing or not
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
functionTitle	function title
maxThreadCount	the maximum number of threads to use (0 = all). Ignored if 'multiThread' is false.

Returns: the number of processed cells (or 0 is something went wrong)

Definition at line 3820 of file DgmOctree.cpp.

Referenced by cloudViewer::StatisticalTestingTools::testCloudWithStatisticalModel().

◆ extractCCs() [1/2]

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

Computes the connected components (considering the octree cells only) for a given level of subdivision (partial) The octree is seen as a regular 3D grid, and each cell of this grid is either set to 0 (if no points lies in it) or to 1 (if some points lie in it, e.g. if it is indeed a cell of this octree). This version of the algorithm can be applied by considering only a specified list of octree cells (ignoring the others).

Parameters

cellCodes	the cell codes to consider for the CC computation
level	the level of subdivision at which to perform the algorithm
sixConnexity	indicates if the CC's 3D connexity should be 6 (26 otherwise)
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns

error code:

'>= 0' = number of components
'-1' = no cells (input)
'-2' = not enough memory
'-3' = no CC found

Definition at line 3093 of file DgmOctree.cpp.

References cloudViewer::ReferenceCloud::forwardIterator(), GET_BIT_SHIFT(), getCellPos(), getPointsInCell(), IndexAndCodeExt::indexComp(), m_theAssociatedCloud, cloudViewer::NormalizedProgress::oneStep(), ParallelSort, cloudViewer::ReferenceCloud::placeIteratorAtBeginning(), cloudViewer::ReferenceCloud::setCurrentPointScalarValue(), cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::ReferenceCloud::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::stop(), std::swap(), cloudViewer::GenericProgressCallback::textCanBeEdited(), Tuple3Tpl< Type >::u, cloudViewer::GenericProgressCallback::update(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by extractCCs(), and cloudViewer::AutoSegmentationTools::labelConnectedComponents().

◆ extractCCs() [2/2]

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

Computes the connected components (considering the octree cells only) for a given level of subdivision (complete) The octree is seen as a regular 3D grid, and each cell of this grid is either set to 0 (if no points lies in it) or to 1 (if some points lie in it, e.g. if it is indeed a cell of this octree). This version of the algorithm is directly applied on the whole octree.

Parameters

level	the level of subdivision at which to perform the algorithm
sixConnexity	indicates if the CC's 3D connexity should be 6 (26 otherwise)
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns

error code:

'>= 0' = number of components
'-1' = no cells (input)
'-2' = not enough memory
'-3' = no CC found

Definition at line 3058 of file DgmOctree.cpp.

References extractCCs(), and getCellCodes().

◆ findBestLevelForAGivenCellNumber()

unsigned char DgmOctree::findBestLevelForAGivenCellNumber ( unsigned indicativeNumberOfCells ) const

Determines the best subdivision level of the octree to match a given number of cells

Parameters

indicativeNumberOfCells 'desired' number of cells

Returns: the 'best' level

Definition at line 2766 of file DgmOctree.cpp.

References abs(), getCellNumber(), and MAX_OCTREE_LEVEL.

Referenced by cloudViewer::CloudSamplingTools::resampleCloudWithOctree(), and cloudViewer::CloudSamplingTools::subsampleCloudWithOctree().

◆ findBestLevelForAGivenNeighbourhoodSizeExtraction()

unsigned char DgmOctree::findBestLevelForAGivenNeighbourhoodSizeExtraction ( PointCoordinateType radius ) const

Determines the best level of subdivision of the octree at which to apply the nearest neighbours search algorithm (inside a sphere) depending on the sphere radius

Parameters

radius the sphere radius

Returns: the 'best' level

Definition at line 2664 of file DgmOctree.cpp.

References getCellSize(), m_averageCellPopulation, and MAX_OCTREE_LEVEL.

Referenced by cloudViewer::ScalarFieldTools::applyScalarFieldGaussianFilter(), qCanupoProcess::Classify(), cloudViewer::GeometricalAnalysisTools::ComputeCharactersitic(), qCanupoTools::ComputeCorePointsDescriptors(), qM3C2Normals::ComputeCorePointsNormals(), cloudViewer::ScalarFieldTools::computeScalarFieldGradient(), cloudViewer::GeometricalAnalysisTools::FlagDuplicatePoints(), cloudViewer::CloudSamplingTools::noiseFilter(), masc::Tools::PrepareFeatures(), cloudViewer::CloudSamplingTools::resampleCloudSpatially(), and qCanupoTools::TrainClassifier().

◆ findBestLevelForAGivenPopulationPerCell()

unsigned char DgmOctree::findBestLevelForAGivenPopulationPerCell ( unsigned indicativeNumberOfPointsPerCell ) const

Determines the best subdivision level of the octree that gives the average population per cell closest to the input value

Parameters

indicativeNumberOfPointsPerCell 'desired' average number of points per cell

Returns: the 'best' level

Definition at line 2737 of file DgmOctree.cpp.

References m_averageCellPopulation, and MAX_OCTREE_LEVEL.

Referenced by cloudViewer::GeometricalAnalysisTools::ComputeLocalDensityApprox(), ComputeMathOpWithNearestNeighbor(), cloudViewer::ScalarFieldTools::computeScalarFieldGradient(), cloudViewer::CloudSamplingTools::noiseFilter(), rayCast(), cloudViewer::CloudSamplingTools::sorFilter(), and cloudViewer::StatisticalTestingTools::testCloudWithStatisticalModel().

◆ findBestLevelForComparisonWithOctree()

unsigned char DgmOctree::findBestLevelForComparisonWithOctree ( const DgmOctree * theOtherOctree ) const

Determines the best level of subdivision of the octree at which to apply a cloud-2-cloud distance computation algorithm The octree instance on which is "applied" this method should be the compared cloud's one. "theOtherOctree" should be the reference cloud's octree.

Parameters

theOtherOctree the octree of the other cloud

Returns: the 'best' level

Definition at line 2691 of file DgmOctree.cpp.

References diff(), getNumberOfProjectedPoints(), m_thePointsAndTheirCellCodes, max(), MAX_OCTREE_LEVEL, and min().

Referenced by cloudViewer::DistanceComputationTools::computeCloud2CloudDistances(), and cloudViewer::ICPRegistrationTools::Register().

◆ findNearestNeighborsStartingFromCell()

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

Advanced form of the nearest neighbours search algorithm (multiple neighbours) This version is optimized for a multiple nearest neighbours search that is applied around several query points included in the same octree cell. See DgmOctree::NearestNeighboursSearchStruct for more details.

Parameters

nNSS	NN search parameters
getOnlyPointsWithValidScalar	whether to ignore points having an invalid associated scalar value

Returns: the number of neighbours found

Definition at line 1655 of file DgmOctree.cpp.

Referenced by cloudViewer::CloudSamplingTools::applyNoiseFilterAtLevel(), cloudViewer::CloudSamplingTools::applySORFilterAtLevel(), cloudViewer::GeometricalAnalysisTools::ComputeApproxPointsDensityInACellAtLevel(), cloudViewer::DistanceComputationTools::computeCellHausdorffDistanceWithLocalModel(), cloudViewer::StatisticalTestingTools::computeLocalChi2DistAtLevel(), and findPointNeighbourhood().

◆ findNeighborsInASphereStartingFromCell()

int DgmOctree::findNeighborsInASphereStartingFromCell	(	NearestNeighboursSearchStruct &	nNSS,
		double	radius,
		bool	sortValues = `true`
	)		const

Advanced form of the nearest neighbours search algorithm (in a sphere)

This version is optimized for a spatially bounded search instead of a search bounded by a number of neighbours.

Warning: the number of points in the output buffer (nNSS.pointsInNeighbourhood) may be greater than the actual count of closest points inside the sphere! (which is returned by the method). Only the 'k' first points are actually inside the sphere (the others are not removed for the sake of performance).

Parameters

nNSS	a pack of parameters
radius	the sphere radius
sortValues	specifies if the neighbours needs to be sorted by their distance to the query point or not

Returns: the number of neighbours found

TEST_CELLS_FOR_SPHERICAL_NN

Definition at line 2479 of file DgmOctree.cpp.

Referenced by cloudViewer::CloudSamplingTools::applyNoiseFilterAtLevel(), cloudViewer::ScalarFieldTools::computeCellGaussianFilter(), cloudViewer::DistanceComputationTools::computeCellHausdorffDistanceWithLocalModel(), cloudViewer::GeometricalAnalysisTools::ComputeGeomCharacteristicAtLevel(), cloudViewer::ScalarFieldTools::computeMeanGradientOnPatch(), cloudViewer::GeometricalAnalysisTools::FlagDuplicatePointsInACellAtLevel(), and masc::Tools::PrepareFeatures().

◆ findPointNeighbourhood()

unsigned DgmOctree::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.

This is the simplest form of the nearest neighbour search algorithm. It should only be used for unique/few requests as it is not optimized for repetitive search around points lying in the same octree cell (see DgmOctree::findNearestNeighborsStartingFromCell for example). Moreover, distances between each neighbour and the query aren't stored in this version of the algorithm.

Parameters

	_queryPoint	the query point
	Yk	the nearest neighbours
	maxNumberOfNeighbors	the maximal number of points to find
	level	the subdivision level of the octree at which to perform the search
	maxSquareDist	the square distance between the farthest "nearest neighbour" and the query point
	maxSearchDist	the maximum search distance (ignored if <= 0)
[out]	the	final neighborhood (half)size (optional)

Returns: the number of neighbours found

Definition at line 721 of file DgmOctree.cpp.

Referenced by qCanupoProcess::Classify(), ComputeMathOpWithNearestNeighbor(), and RefinePointClassif().

◆ findTheNearestNeighborStartingFromCell()

double DgmOctree::findTheNearestNeighborStartingFromCell ( NearestNeighboursSearchStruct & nNSS ) const

Advanced form of the nearest neighbour search algorithm (unique neighbour) This version is optimized for a unique nearest-neighbour search. See DgmOctree::NearestNeighboursSearchStruct for more details.

Parameters

nNSS	NN search parameters

Returns: the square distance between the query point and its nearest neighbour (or -1 if none was found - i.e. maxSearchDist was reached)

Definition at line 1468 of file DgmOctree.cpp.

Referenced by cloudViewer::DistanceComputationTools::computeCellHausdorffDistance(), cloudViewer::DistanceComputationTools::computeCellHausdorffDistanceWithLocalModel(), and findPointNeighbourhood().

◆ GenerateTruncatedCellCode() [1/2]

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

static

Generates the truncated cell code of a cell given its position at a given level of subdivision For a given level of subdivision (lets call it N), the cell position can be expressed as 3 integer coordinates between 0 and 2^N-1 (the number of cells along each dimension). This method computes the corresponding cell code, truncated at the level N (meaning that it is only valid for the Nth level, not for other levels).

Parameters

cellPos	the cell position
level	the level of subdivision

Returns: the truncated cell code

Definition at line 120 of file DgmOctree.cpp.

References GET_BIT_SHIFT(), MAX_OCTREE_LEVEL, PRE_COMPUTED_POS_CODES, MonoDimensionalCellCodes::VALUE_COUNT, MonoDimensionalCellCodes::values, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by findNearestNeighborsStartingFromCell(), findTheNearestNeighborStartingFromCell(), genericBuild(), getPointsInBoxNeighbourhood(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), and getPointsInSphericalNeighbourhood().

◆ GenerateTruncatedCellCode() [2/2]

DgmOctree::CellCode DgmOctree::GenerateTruncatedCellCode	(	const Tuple3s &	pos,
		unsigned char	level
	)

static

Short version of GenerateTruncatedCellCode.

Definition at line 139 of file DgmOctree.cpp.

References GET_BIT_SHIFT(), MAX_OCTREE_LEVEL, PRE_COMPUTED_POS_CODES, MonoDimensionalCellCodes::VALUE_COUNT, MonoDimensionalCellCodes::values, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ genericBuild()

int DgmOctree::genericBuild ( GenericProgressCallback * progressCb = nullptr )

protected

Generic method to build the octree structure.

METHODS

Parameters

progressCb the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns: the number of points projected in the octree

Definition at line 221 of file DgmOctree.cpp.

Referenced by build().

◆ GET_BIT_SHIFT()

unsigned char DgmOctree::GET_BIT_SHIFT ( unsigned char level )

static

Returns the binary shift for a given level of subdivision.

This binary shift is used to truncate a full cell code in order to deduce the cell code for a given level of subdivision.

Parameters

level the level of subdivision

Returns: the binary shift

Definition at line 113 of file DgmOctree.cpp.

References PRE_COMPUTED_BIT_SHIFT_VALUES, and BitShiftValues::values.

Referenced by computeCellsStatistics(), ccComparisonDlg::determineBestOctreeLevel(), diff(), executeFunctionForAllCellsAtLevel(), executeFunctionForAllCellsStartingAtLevel(), extractCCs(), findNearestNeighborsStartingFromCell(), findTheNearestNeighborStartingFromCell(), GenerateTruncatedCellCode(), getCellCodes(), getCellCodesAndIndexes(), getCellIndexes(), getCellPos(), getNeighborCellsAround(), getPointsInBoxNeighbourhood(), getPointsInCell(), getPointsInCellByCellIndex(), getPointsInCellsWithSortedCellCodes(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), getPointsInNeighbourCellsAround(), getPointsInSphericalNeighbourhood(), and rayCast().

◆ getBoundingBox()

void DgmOctree::getBoundingBox	(	CCVector3 &	bbMin,
		CCVector3 &	bbMax
	)		const

Returns the octree bounding box.

Method to request the octree bounding box limits

Parameters

bbMin	lower bounding-box limits (Xmin,Ymin,Zmin)
bbMax	higher bounding-box limits (Xmax,Ymax,Zmax)

Definition at line 493 of file DgmOctree.cpp.

References m_dimMax, and m_dimMin.

◆ getCellCode()

const CellCode& cloudViewer::DgmOctree::getCellCode ( unsigned index ) const

inline

Returns the ith cell code.

Definition at line 963 of file DgmOctree.h.

Referenced by cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance().

◆ getCellCodes()

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

Returns the list of codes corresponding to the octree cells for a given level of subdivision Only the non empty cells are represented in the octree structure.

Parameters

level	the level of subdivision
vec	the list of codes
truncatedCodes	indicates if the resulting codes should be truncated or not

Returns: false if an error occurred (e.g. not enough memory)

Definition at line 2822 of file DgmOctree.cpp.

References GET_BIT_SHIFT(), m_numberOfProjectedPoints, and m_thePointsAndTheirCellCodes.

Referenced by cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance(), extractCCs(), FastMarchingForFacetExtraction::init(), and cloudViewer::FastMarchingForPropagation::init().

◆ getCellCodesAndIndexes()

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

Returns the list of indexes and codes corresponding to the octree cells for a given level of subdivision Only the non empty cells are represented in the octree structure. Cell indexes are expressed relatively to the DgmOctree structure. They correspond to the indexes of the first points of each cell.

Parameters

level	the level of subdivision
vec	the list of codes & indexes
truncatedCodes	indicates if the resulting codes should be truncated or not

Returns: false if an error occurred (e.g. not enough memory)

Definition at line 2794 of file DgmOctree.cpp.

References GET_BIT_SHIFT(), m_numberOfProjectedPoints, and m_thePointsAndTheirCellCodes.

Referenced by cloudViewer::DistanceComputationTools::computeCloud2MeshDistancesWithOctree(), and cloudViewer::DistanceComputationTools::computeCloud2MeshDistanceWithOctree().

◆ getCellDistanceFromBorders() [1/2]

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

Returns distance form a cell to the filled octree borders in all directions. WARNING: distance values may be negative! (if cell is outside

Parameters

cellPos	cell position
level	level at which octree grid is considered
cellDists	output

Definition at line 781 of file DgmOctree.cpp.

References m_fillIndexes, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by getNeighborCellsAround(), and getPointsInNeighbourCellsAround().

◆ getCellDistanceFromBorders() [2/2]

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

Returns distance from cell center to cell neighbourhood INSIDE filled octree WARNING: if cell neighbourhood is totally outside filled octree, the method returns false and cellDists is invalid.

Parameters

cellPos	center cell position
level	level at which octree grid is considered
neighbourhoodLength	cell neighbourhood "radius"
cellDists	output

Definition at line 795 of file DgmOctree.cpp.

References m_fillIndexes, and Tuple3Tpl< Type >::u.

◆ getCellIndex() [1/2]

unsigned DgmOctree::getCellIndex	(	CellCode	truncatedCellCode,
		unsigned char	bitDec
	)		const

protected

Returns the index of a given cell represented by its code.

The index is found thanks to a binary search. The index of an existing cell is between 0 and the number of points projected in the octree minus 1. If the cell code cannot be found in the octree structure, then the method returns an index equal to the number of projected points (m_numberOfProjectedPoints).

Parameters

truncatedCellCode	truncated cell code (i.e. original cell code shifted of 'bitDec' bits)
bitDec	binary shift corresponding to the level of subdivision (see GET_BIT_SHIFT)

Returns: the index of the cell (or 'm_numberOfProjectedPoints' if none found)

Definition at line 559 of file DgmOctree.cpp.

References m_nearestPow2, m_numberOfProjectedPoints, and m_thePointsAndTheirCellCodes.

Referenced by findNearestNeighborsStartingFromCell(), findTheNearestNeighborStartingFromCell(), getNeighborCellsAround(), getPointsInBoxNeighbourhood(), getPointsInCell(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), getPointsInNeighbourCellsAround(), and getPointsInSphericalNeighbourhood().

◆ getCellIndex() [2/2]

unsigned DgmOctree::getCellIndex	(	CellCode	truncatedCellCode,
		unsigned char	bitDec,
		unsigned	begin,
		unsigned	end
	)		const

protected

Returns the index of a given cell represented by its code.

Same algorithm as the other "getCellIndex" method, but in an optimized form. The binary search can be performed on a sub-part of the DgmOctree structure.

Parameters

truncatedCellCode	truncated cell code (i.e. original cell code shifted of 'bitDec' bits)
bitDec	binary shift corresponding to the level of subdivision (see GET_BIT_SHIFT)
begin	first index of the sub-list in which to perform the binary search
end	last index of the sub-list in which to perform the binary search

Returns: the index of the cell (or 'm_numberOfProjectedPoints' if none found)

Definition at line 669 of file DgmOctree.cpp.

References count, INVALID_CELL_CODE, LOG_NAT_2, m_numberOfProjectedPoints, and m_thePointsAndTheirCellCodes.

◆ getCellIndexes()

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

Returns the list of indexes corresponding to the octree cells for a given level of subdivision Only the non empty cells are represented in the octree structure. Cell indexes are expressed relatively to the DgmOctree structure. They correspond to the indexes of the first points of each cell.

Parameters

level	the level of subdivision
vec	the list of indexes

Returns: false if an error occurred (e.g. not enough memory)

Definition at line 2850 of file DgmOctree.cpp.

References GET_BIT_SHIFT(), m_cellCount, m_numberOfProjectedPoints, and m_thePointsAndTheirCellCodes.

Referenced by cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance().

◆ getCellNumber()

const unsigned& cloudViewer::DgmOctree::getCellNumber ( unsigned char level ) const

inline

Returns the number of cells for a given level of subdivision.

Definition at line 1038 of file DgmOctree.h.

Referenced by computeMeanOctreeDensity(), executeFunctionForAllCellsAtLevel(), executeFunctionForAllCellsStartingAtLevel(), ccPropertiesTreeDelegate::fillWithPointOctree(), findBestLevelForAGivenCellNumber(), cloudViewer::CloudSamplingTools::resampleCloudWithOctreeAtLevel(), and cloudViewer::CloudSamplingTools::subsampleCloudWithOctreeAtLevel().

◆ getCellPos()

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

Returns the cell position for a given level of subdivision of a cell designated by its code

Parameters

code	the cell code
level	the level of subdivision
cellPos	the computed position
isCodeTruncated	indicates if the given code is truncated or not

Definition at line 498 of file DgmOctree.cpp.

References GET_BIT_SHIFT(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by cloudViewer::CloudSamplingTools::applyNoiseFilterAtLevel(), cloudViewer::CloudSamplingTools::applySORFilterAtLevel(), cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance(), cloudViewer::GeometricalAnalysisTools::ComputeApproxPointsDensityInACellAtLevel(), cloudViewer::ScalarFieldTools::computeCellGaussianFilter(), cloudViewer::DistanceComputationTools::computeCellHausdorffDistance(), cloudViewer::DistanceComputationTools::computeCellHausdorffDistanceWithLocalModel(), computeCellLimits(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistancesWithOctree(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistanceWithOctree(), cloudViewer::GeometricalAnalysisTools::ComputeGeomCharacteristicAtLevel(), cloudViewer::StatisticalTestingTools::computeLocalChi2DistAtLevel(), cloudViewer::ScalarFieldTools::computeMeanGradientOnPatch(), extractCCs(), cloudViewer::GeometricalAnalysisTools::FlagDuplicatePointsInACellAtLevel(), FastMarchingForFacetExtraction::init(), cloudViewer::FastMarchingForPropagation::init(), and rayCast().

◆ getCellSize()

const PointCoordinateType& cloudViewer::DgmOctree::getCellSize ( unsigned char level ) const

inline

Returns the octree cells length for a given level of subdivision.

As the octree is cubical, cells are cubical.

Parameters

level the level of subdivision (up to MAX_OCTREE_LEVEL+1 for convenience)

Returns: the cell size

Definition at line 494 of file DgmOctree.h.

Referenced by cloudViewer::CloudSamplingTools::applyNoiseFilterAtLevel(), cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance(), cloudViewer::DistanceComputationTools::computeCellHausdorffDistanceWithLocalModel(), computeCellLimits(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistancesWithOctree(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistanceWithOctree(), cloudViewer::GeometricalAnalysisTools::ComputeGeomCharacteristicAtLevel(), cloudViewer::ScalarFieldTools::computeMeanGradientOnPatch(), ComputeNeighborhood2MeshDistancesWithOctree(), cloudViewer::DistanceComputationTools::computePoint2MeshDistancesWithOctree(), cloudViewer::ScalarFieldTools::computeScalarFieldGradient(), ccPropertiesTreeDelegate::fillWithPointOctree(), findBestLevelForAGivenNeighbourhoodSizeExtraction(), findNearestNeighborsStartingFromCell(), findNeighborsInASphereStartingFromCell(), findTheNearestNeighborStartingFromCell(), cloudViewer::GeometricalAnalysisTools::FlagDuplicatePointsInACellAtLevel(), getPointsInBoxNeighbourhood(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), getPointsInSphericalNeighbourhood(), cloudViewer::FastMarching::initGridWithOctree(), cloudViewer::DistanceComputationTools::intersectMeshWithOctree(), and rayCast().

◆ getMaxFillIndexes()

const int* cloudViewer::DgmOctree::getMaxFillIndexes ( unsigned char level ) const

inline

Returns the highest cell positions in the octree along all dimensions and for a given level of subdivision For example, at a level n, the octree length is 2^n cells along each dimension. The highest cell position along each dimension will be expressed between 0 and 2^n-1.

Parameters

level the level of subdivision

Returns: the highest cell position along X,Y and Z for a given level of subdivision

Definition at line 485 of file DgmOctree.h.

Referenced by cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance(), getPointsInBoxNeighbourhood(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), and cloudViewer::FastMarching::initGridWithOctree().

◆ getMinFillIndexes()

const int* cloudViewer::DgmOctree::getMinFillIndexes ( unsigned char level ) const

inline

Returns the lowest cell positions in the octree along all dimensions and for a given level of subdivision For example, at a level n, the octree length is 2^n cells along each dimension. The lowest cell position along each dimension will be expressed between 0 and 2^n-1.

Parameters

level the level of subdivision

Returns: the lowest cell position along X,Y and Z for a given level of subdivision

Definition at line 474 of file DgmOctree.h.

Referenced by cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance(), getPointsInBoxNeighbourhood(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), and cloudViewer::FastMarching::initGridWithOctree().

◆ getNeighborCellsAround()

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

protected

Returns the indexes of the neighbourhing (existing) cells of a given cell This function is used by the nearest neighbours search algorithms.

Parameters

cellPos	the query cell
neighborCellsIndexes	the found neighbourhing cells
neighbourhoodLength	the distance (in terms of cells) at which to look for neighbour cells
level	the level of subdivision

Definition at line 825 of file DgmOctree.cpp.

References abs(), GenerateCellCodeForDim(), GET_BIT_SHIFT(), getCellDistanceFromBorders(), getCellIndex(), m_numberOfProjectedPoints, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by findTheNearestNeighborStartingFromCell().

◆ getNumberOfProjectedPoints()

unsigned cloudViewer::DgmOctree::getNumberOfProjectedPoints ( ) const

inline

Returns the number of points projected into the octree.

Returns: the number of projected points

Definition at line 446 of file DgmOctree.h.

Referenced by findBestLevelForComparisonWithOctree(), and cloudViewer::DistanceComputationTools::synchronizeOctrees().

◆ getOctreeMaxs()

const CCVector3& cloudViewer::DgmOctree::getOctreeMaxs ( ) const

inline

Returns the higher boundaries of the octree.

Returns: the higher coordinates along X,Y and Z

Definition at line 458 of file DgmOctree.h.

Referenced by cloudViewer::DistanceComputationTools::computeCloud2MeshDistances(), and cloudViewer::DistanceComputationTools::synchronizeOctrees().

◆ getOctreeMins()

const CCVector3& cloudViewer::DgmOctree::getOctreeMins ( ) const

inline

Returns the lower boundaries of the octree.

Returns: the lower coordinates along X,Y and Z

Definition at line 453 of file DgmOctree.h.

Referenced by cloudViewer::DistanceComputationTools::computeCloud2MeshDistances(), cloudViewer::DistanceComputationTools::intersectMeshWithOctree(), and cloudViewer::DistanceComputationTools::synchronizeOctrees().

◆ getPointsInBoxNeighbourhood()

std::size_t DgmOctree::getPointsInBoxNeighbourhood ( BoxNeighbourhood & params ) const

Returns the points falling inside a box.

Warning: the 'squareDistd' field of each neighbour in the NeighboursSet structure is not used/set

Returns: the number of extracted points

Definition at line 1951 of file DgmOctree.cpp.

References abs(), GenerateTruncatedCellCode(), GET_BIT_SHIFT(), getCellIndex(), getCellSize(), getMaxFillIndexes(), getMinFillIndexes(), cloudViewer::GenericIndexedCloud::getPoint(), getTheCellPosWhichIncludesThePoint(), m_dimMin, m_numberOfProjectedPoints, m_theAssociatedCloud, m_thePointsAndTheirCellCodes, params, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getPointsInCell()

bool DgmOctree::getPointsInCell	(	CellCode	cellCode,
		unsigned char	level,
		ReferenceCloud *	subset,
		bool	isCodeTruncated = `false`,
		bool	clearOutputCloud = `true`
	)		const

Returns the points lying in a specific cell.

Parameters

	cellCode	the unique cell code
	level	the level of subdivision
[out]	subset	set of points lying in the cell (references, no duplication)
	isCodeTruncated	specifies if the code is given in a truncated form or not
	clearOutputCloud	whether to clear or not the output cloud (subest) if no points lie in the specified cell

Returns: success

Definition at line 537 of file DgmOctree.cpp.

References cloudViewer::ReferenceCloud::clear(), GET_BIT_SHIFT(), getCellIndex(), getPointsInCellByCellIndex(), and m_numberOfProjectedPoints.

Referenced by FastMarchingForFacetExtraction::addCellToCurrentFacet(), FastMarchingForFacetExtraction::computeTCoefApprox(), extractCCs(), cloudViewer::FastMarchingForPropagation::extractPropagatedPoints(), FastMarchingForFacetExtraction::init(), cloudViewer::FastMarchingForPropagation::init(), cloudViewer::FastMarchingForPropagation::setPropagationTimingsAsDistances(), and FastMarchingForFacetExtraction::updateFlagsTable().

◆ getPointsInCellByCellIndex()

bool DgmOctree::getPointsInCellByCellIndex	(	ReferenceCloud *	cloud,
		unsigned	cellIndex,
		unsigned char	level,
		bool	clearOutputCloud = `true`
	)		const

Returns the points lying in a specific cell.

Each cell at a given level of subdivision can be recognized by the index in the DgmOctree structure of the first point that lies inside it. By construction, we are assured that every point lying in the same cell for a given level of subdivision are next to each others in the octree structure (which is the vector "m_thePointsAndTheirCellCodes" in practical). This is the quickest way to access the points inside a given cell (but its kind of hard to know directly what is the index of a given cell ;)

Parameters

cloud	ReferenceCloud to store the points lying inside the cell
cellIndex	the cell index
level	the level of subdivision
clearOutputCloud	whether to clear the input cloud prior to inserting the points or not

Returns: success

Definition at line 2879 of file DgmOctree.cpp.

References cloudViewer::ReferenceCloud::addPointIndex(), cloudViewer::ReferenceCloud::clear(), GET_BIT_SHIFT(), cloudViewer::ReferenceCloud::getAssociatedCloud(), m_theAssociatedCloud, and m_thePointsAndTheirCellCodes.

Referenced by cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistancesWithOctree(), cloudViewer::DistanceComputationTools::computeCloud2MeshDistanceWithOctree(), and getPointsInCell().

◆ getPointsInCellsWithSortedCellCodes()

ReferenceCloud * DgmOctree::getPointsInCellsWithSortedCellCodes	(	cellCodesContainer &	cellCodes,
		unsigned char	level,
		ReferenceCloud *	subset,
		bool	areCodesTruncated = `false`
	)		const

Returns the points lying in multiple cells.

Cells are recognized here by their unique "code". They should be sorted along by codes, with an ascendant order. See DgmOctree::getPointsInCellByCellIndex for more information.

Parameters

	cellCodes	the cells codes
	level	the level of subdivision
[out]	subset	set of points lying in the cell (references, no duplication)
	areCodesTruncated	specifies if the codes are given in a truncated form or not

Returns: the set of points lying in the cell (references, no duplication)

Definition at line 2909 of file DgmOctree.cpp.

References cloudViewer::ReferenceCloud::addPointIndex(), cloudViewer::ReferenceCloud::clear(), GET_BIT_SHIFT(), m_numberOfProjectedPoints, and m_thePointsAndTheirCellCodes.

◆ getPointsInCylindricalNeighbourhood()

std::size_t DgmOctree::getPointsInCylindricalNeighbourhood ( CylindricalNeighbourhood & params ) const

Returns the points falling inside a cylinder.

Use findBestLevelForAGivenNeighbourhoodSizeExtraction to get the right value for 'level' (only once as it only depends on the radius value ;).

Warning: the 'squareDistd' field of each neighbour in the NeighboursSet structure is in fact the signed distance (not squared) of the point relatively to the cylinder's center and projected along its axis.

Parameters

params input/output parameters structure

Returns: the number of extracted points

Definition at line 2111 of file DgmOctree.cpp.

References Vector3Tpl< Type >::dot(), dot(), GenerateTruncatedCellCode(), GET_BIT_SHIFT(), getCellIndex(), getCellSize(), getMaxFillIndexes(), getMinFillIndexes(), cloudViewer::GenericIndexedCloud::getPoint(), getTheCellPosWhichIncludesThePoint(), m_dimMin, m_numberOfProjectedPoints, m_theAssociatedCloud, m_thePointsAndTheirCellCodes, max(), min(), params, SQRT_3, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getPointsInCylindricalNeighbourhoodProgressive()

std::size_t DgmOctree::getPointsInCylindricalNeighbourhoodProgressive ( ProgressiveCylindricalNeighbourhood & params ) const

Same as getPointsInCylindricalNeighbourhood with progressive approach.

Can be called multiple times (the 'currentHalfLength' parameter will increase each time until 'maxHalfLength' is reached).

Definition at line 2264 of file DgmOctree.cpp.

References Vector3Tpl< Type >::dot(), dot(), GenerateTruncatedCellCode(), GET_BIT_SHIFT(), getCellIndex(), getCellSize(), getMaxFillIndexes(), getMinFillIndexes(), cloudViewer::GenericIndexedCloud::getPoint(), getTheCellPosWhichIncludesThePoint(), m_dimMin, m_numberOfProjectedPoints, m_theAssociatedCloud, m_thePointsAndTheirCellCodes, max(), min(), params, SQRT_3, std::swap(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getPointsInNeighbourCellsAround()

void DgmOctree::getPointsInNeighbourCellsAround	(	NearestNeighboursSearchStruct &	nNSS,
		int	neighbourhoodLength,
		bool	getOnlyPointsWithValidScalar = `false`
	)		const

protected

Gets point in the neighbourhing cells of a specific cell.

Parameters

nNSS	NN search parameters (from which are used: cellPos, pointsInNeighbourCells and level)
neighbourhoodLength	the new distance (in terms of cells) at which to look for neighbour cells
getOnlyPointsWithValidScalar	whether to ignore points having an invalid associated scalar value

Definition at line 906 of file DgmOctree.cpp.

References abs(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::alreadyVisitedNeighbourhoodSize, cloudViewer::utility::ceil(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellPos, GenerateCellCodeForDim(), GET_BIT_SHIFT(), getCellDistanceFromBorders(), getCellIndex(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::level, m_averageCellPopulation, m_numberOfProjectedPoints, m_theAssociatedCloud, m_thePointsAndTheirCellCodes, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::pointsInNeighbourhood, cloudViewer::ScalarField::ValidValue(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by findNearestNeighborsStartingFromCell(), and findNeighborsInASphereStartingFromCell().

◆ getPointsInSphericalNeighbourhood()

int DgmOctree::getPointsInSphericalNeighbourhood	(	const CCVector3 &	sphereCenter,
		PointCoordinateType	radius,
		NeighboursSet &	neighbours,
		unsigned char	level
	)		const

Returns the points falling inside a sphere.

Use findBestLevelForAGivenNeighbourhoodSizeExtraction to get the right value for 'level' (only once as it only depends on the radius value ;).

Parameters

	sphereCenter	center
	radius	radius
[out]	neighbours	points falling inside the sphere
	level	subdivision level at which to apply the extraction process

Returns: the number of extracted points

Definition at line 1846 of file DgmOctree.cpp.

References GenerateTruncatedCellCode(), GET_BIT_SHIFT(), getCellIndex(), getCellSize(), cloudViewer::GenericIndexedCloud::getPoint(), getTheCellPosWhichIncludesThePoint(), m_dimMin, m_numberOfProjectedPoints, m_theAssociatedCloud, m_thePointsAndTheirCellCodes, OCTREE_LENGTH(), SQRT_3, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by RefinePointClassif(), cloudViewer::CloudSamplingTools::resampleCloudSpatially(), and qCanupoTools::TrainClassifier().

◆ getTheCellPosWhichIncludesThePoint() [1/3]

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

inline

Returns the position FOR THE DEEPEST LEVEL OF SUBDIVISION of the cell that includes a given point The cell coordinates can be negative or greater than 2^MAX_OCTREE_LEVEL-1 as the point can lie outside the octree bounding-box.

Parameters

thePoint	the query point
cellPos	the computed position

Definition at line 779 of file DgmOctree.h.

References Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by cloudViewer::DistanceComputationTools::computeCellHausdorffDistanceWithLocalModel(), cloudViewer::DistanceComputationTools::computeGeodesicDistances(), cloudViewer::DistanceComputationTools::computePoint2MeshDistancesWithOctree(), FastMarchingForFacetExtraction::ExtractPlanarFacets(), findPointNeighbourhood(), cloudViewer::AutoSegmentationTools::frontPropagationBasedSegmentation(), genericBuild(), getPointsInBoxNeighbourhood(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), getPointsInSphericalNeighbourhood(), cloudViewer::DistanceComputationTools::intersectMeshWithOctree(), and masc::Tools::PrepareFeatures().

◆ getTheCellPosWhichIncludesThePoint() [2/3]

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

inline

Returns the position for a given level of subdivision of the cell that includes a given point The cell coordinates can be negative or greater than 2^N-1 (where N is the level of subdivision) as the point can lie outside the octree bounding-box.

Parameters

thePoint	the query point
cellPos	the computed position
level	the level of subdivision

Definition at line 798 of file DgmOctree.h.

References Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getTheCellPosWhichIncludesThePoint() [3/3]

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

inline

Returns the position for a given level of subdivision of the cell that includes a given point The cell coordinates can be negative or greater than 2^N-1 (where N is the level of subdivision) as the point can lie outside the octree bounding-box. In this version, method indicates if the query point is inside ("inbounds") or outside the octree bounding-box.

Parameters

thePoint	the query point
cellPos	the computed position
level	the level of subdivision
inBounds	indicates if the query point is inside or outside the octree bounding-box

Definition at line 823 of file DgmOctree.h.

References Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ MultiThreadSupport()

bool DgmOctree::MultiThreadSupport ( )

static

Returns whether multi-threading (parallel) computation is supported or not

Definition at line 162 of file DgmOctree.cpp.

◆ OCTREE_LENGTH()

int DgmOctree::OCTREE_LENGTH ( int level )

static

Returns the octree length (in term of cells) for a given level of subdivision

Parameters

level the level of subdivision

Returns: 2^level

Definition at line 118 of file DgmOctree.cpp.

Referenced by cloudViewer::AutoSegmentationTools::frontPropagationBasedSegmentation(), and getPointsInSphericalNeighbourhood().

◆ pointsAndTheirCellCodes()

const cellsContainer& cloudViewer::DgmOctree::pointsAndTheirCellCodes ( ) const

inline

Returns the octree 'structure'.

Definition at line 1196 of file DgmOctree.h.

◆ rayCast()

bool DgmOctree::rayCast	(	const CCVector3 &	rayAxis,
		const CCVector3 &	rayOrigin,
		double	maxRadiusOrFov,
		bool	isFOV,
		RayCastProcess	process,
		std::vector< PointDescriptor > &	output
	)		const

◆ updateCellCountTable()

void DgmOctree::updateCellCountTable ( )

protected

Updates the tables containing the number of octree cells for each level of subdivision

Definition at line 416 of file DgmOctree.cpp.

References computeCellsStatistics(), and MAX_OCTREE_LEVEL.

Referenced by clear(), and genericBuild().

◆ updateCellSizeTable()

void DgmOctree::updateCellSizeTable ( )

protected

Updates the tables containing the octree cells length for each level of subdivision

Definition at line 405 of file DgmOctree.cpp.

References m_cellSize, m_dimMax, m_dimMin, MAX_OCTREE_LEVEL, and Tuple3Tpl< Type >::x.

Referenced by genericBuild().

◆ updateMinAndMaxTables()

void DgmOctree::updateMinAndMaxTables ( )

protected

Updates the tables containing octree limits and boundaries.

Definition at line 395 of file DgmOctree.cpp.

References cloudViewer::GenericCloud::getBoundingBox(), m_dimMax, m_dimMin, m_pointsMax, m_pointsMin, m_theAssociatedCloud, and cloudViewer::CCMiscTools::MakeMinAndMaxCubical().

Referenced by build().

Member Data Documentation

◆ INVALID_CELL_CODE

const CellCode cloudViewer::DgmOctree::INVALID_CELL_CODE = (~static_cast<CellCode>(0))

static

Invalid cell code.

Warning: Never pass a 'constant initializer' by reference

Definition at line 89 of file DgmOctree.h.

Referenced by findNearestNeighborsStartingFromCell(), findTheNearestNeighborStartingFromCell(), getCellIndex(), and rayCast().

◆ m_averageCellPopulation

double cloudViewer::DgmOctree::m_averageCellPopulation[MAX_OCTREE_LEVEL+1]

protected

Average cell population per level of subdivision.

Definition at line 1264 of file DgmOctree.h.

Referenced by computeCellsStatistics(), executeFunctionForAllCellsAtLevel(), executeFunctionForAllCellsStartingAtLevel(), findBestLevelForAGivenNeighbourhoodSizeExtraction(), findBestLevelForAGivenPopulationPerCell(), and getPointsInNeighbourCellsAround().

◆ m_cellCount

unsigned cloudViewer::DgmOctree::m_cellCount[MAX_OCTREE_LEVEL+1]

protected

Number of cells per level of subdivision.

Definition at line 1260 of file DgmOctree.h.

Referenced by computeCellsStatistics(), and getCellIndexes().

◆ m_cellSize

PointCoordinateType cloudViewer::DgmOctree::m_cellSize[MAX_OCTREE_LEVEL+2]

protected

Cell dimensions for all subdivision levels.

Definition at line 1255 of file DgmOctree.h.

Referenced by clear(), and updateCellSizeTable().

◆ m_dimMax

CCVector3 cloudViewer::DgmOctree::m_dimMax

protected

Max coordinates of the octree bounding-box.

Definition at line 1245 of file DgmOctree.h.

Referenced by build(), clear(), getBoundingBox(), rayCast(), updateCellSizeTable(), and updateMinAndMaxTables().

◆ m_dimMin

CCVector3 cloudViewer::DgmOctree::m_dimMin

protected

Min coordinates of the octree bounding-box.

Definition at line 1243 of file DgmOctree.h.

Referenced by build(), clear(), computeCellLimits(), getBoundingBox(), getPointsInBoxNeighbourhood(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), getPointsInSphericalNeighbourhood(), rayCast(), updateCellSizeTable(), and updateMinAndMaxTables().

◆ m_fillIndexes

int cloudViewer::DgmOctree::m_fillIndexes[(MAX_OCTREE_LEVEL+1) *6]

protected

Min and max occupied cells indexes, for all dimensions and every subdivision level

Definition at line 1258 of file DgmOctree.h.

Referenced by clear(), findNearestNeighborsStartingFromCell(), findTheNearestNeighborStartingFromCell(), genericBuild(), and getCellDistanceFromBorders().

◆ m_maxCellPopulation

unsigned cloudViewer::DgmOctree::m_maxCellPopulation[MAX_OCTREE_LEVEL+1]

protected

Max cell population per level of subdivision.

Definition at line 1262 of file DgmOctree.h.

Referenced by computeCellsStatistics(), executeFunctionForAllCellsAtLevel(), and executeFunctionForAllCellsStartingAtLevel().

◆ m_nearestPow2

unsigned cloudViewer::DgmOctree::m_nearestPow2

protected

Nearest power of 2 less than the number of points (used for binary search)

Definition at line 1240 of file DgmOctree.h.

Referenced by clear(), genericBuild(), and getCellIndex().

◆ m_numberOfProjectedPoints

unsigned cloudViewer::DgmOctree::m_numberOfProjectedPoints

protected

◆ m_pointsMax

CCVector3 cloudViewer::DgmOctree::m_pointsMax

protected

Max coordinates of the bounding-box of the set of points projected in the octree

Definition at line 1252 of file DgmOctree.h.

Referenced by build(), clear(), genericBuild(), and updateMinAndMaxTables().

◆ m_pointsMin

CCVector3 cloudViewer::DgmOctree::m_pointsMin

protected

Min coordinates of the bounding-box of the set of points projected in the octree

Definition at line 1249 of file DgmOctree.h.

Referenced by build(), clear(), genericBuild(), and updateMinAndMaxTables().

◆ m_stdDevCellPopulation

double cloudViewer::DgmOctree::m_stdDevCellPopulation[MAX_OCTREE_LEVEL+1]

protected

Std. dev. of cell population per level of subdivision.

Definition at line 1266 of file DgmOctree.h.

Referenced by computeCellsStatistics(), executeFunctionForAllCellsAtLevel(), and executeFunctionForAllCellsStartingAtLevel().

◆ m_theAssociatedCloud

GenericIndexedCloudPersist* cloudViewer::DgmOctree::m_theAssociatedCloud

protected

Associated cloud.

Definition at line 1233 of file DgmOctree.h.

Referenced by DgmOctree(), executeFunctionForAllCellsAtLevel(), executeFunctionForAllCellsStartingAtLevel(), extractCCs(), findNearestNeighborsStartingFromCell(), findTheNearestNeighborStartingFromCell(), genericBuild(), getPointsInBoxNeighbourhood(), getPointsInCellByCellIndex(), getPointsInCylindricalNeighbourhood(), getPointsInCylindricalNeighbourhoodProgressive(), getPointsInNeighbourCellsAround(), getPointsInSphericalNeighbourhood(), cloudViewer::DgmOctree::octreeCell::octreeCell(), rayCast(), and updateMinAndMaxTables().

◆ m_thePointsAndTheirCellCodes

cellsContainer cloudViewer::DgmOctree::m_thePointsAndTheirCellCodes

protected

◆ MAX_OCTREE_LENGTH

const int cloudViewer::DgmOctree::MAX_OCTREE_LENGTH = (1 << MAX_OCTREE_LEVEL)

static

Max octree length at last level of subdivision (number of cells)

Warning: Never pass a 'constant initializer' by reference

Definition at line 84 of file DgmOctree.h.

Referenced by genericBuild().

◆ MAX_OCTREE_LEVEL

const int cloudViewer::DgmOctree::MAX_OCTREE_LEVEL = 10

static

Max octree subdivision level.

STRUCTURES
Number of bits used to code the cells position: 3*MAX_OCTREE_LEVEL

Warning: Never pass a 'constant initializer' by reference

Definition at line 67 of file DgmOctree.h.

Referenced by FastMarchingForFacetExtraction::addCellToCurrentFacet(), BitShiftValues::BitShiftValues(), ccComparisonDlg::ccComparisonDlg(), ccComputeOctreeDlg::ccComputeOctreeDlg(), ccLabelingDlg::ccLabelingDlg(), ccAlignDlg::changeSamplingMethod(), ccSubsamplingDlg::changeSamplingMethod(), clear(), cloudViewer::DistanceComputationTools::computeApproxCloud2CloudDistance(), computeCellsStatistics(), ccComparisonDlg::computeDistances(), ComputeMathOpWithNearestNeighbor(), ccEntityAction::computeOctree(), ccPropertiesTreeDelegate::createEditor(), ccComparisonDlg::determineBestOctreeLevel(), cloudViewer::DistanceComputationTools::diff(), executeFunctionForAllCellsStartingAtLevel(), cloudViewer::FastMarchingForPropagation::extractPropagatedPoints(), ccPropertiesTreeDelegate::fillWithPointOctree(), findBestLevelForAGivenCellNumber(), findBestLevelForAGivenNeighbourhoodSizeExtraction(), findBestLevelForAGivenPopulationPerCell(), findBestLevelForComparisonWithOctree(), GenerateTruncatedCellCode(), genericBuild(), qM3C2Tools::GuessBestParams(), cloudViewer::FastMarching::initGridWithOctree(), MonoDimensionalCellCodes::MonoDimensionalCellCodes(), ccEntityAction::orientNormalsFM(), masc::ContextBasedFeature::prepare(), CommandSubsample::process(), CommandExtractCCs::process(), cloudViewer::FastMarchingForPropagation::setPropagationTimingsAsDistances(), updateCellCountTable(), and updateCellSizeTable().

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

/root/ACloudViewer/core/include/DgmOctree.h
/root/ACloudViewer/core/src/DgmOctree.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CellCode

◆ cellCodesContainer

◆ cellIndexesContainer

◆ cellsContainer

◆ NeighbourCellsSet

◆ NeighboursSet

◆ octreeCellFunc

Member Enumeration Documentation

◆ RayCastProcess

Constructor & Destructor Documentation

◆ DgmOctree()

◆ ~DgmOctree()

Member Function Documentation

◆ associatedCloud()

◆ build() [1/2]

◆ build() [2/2]

◆ clear()

◆ computeCellCenter() [1/3]

◆ computeCellCenter() [2/3]

◆ computeCellCenter() [3/3]

◆ computeCellLimits()

◆ computeCellsStatistics()

◆ computeMeanOctreeDensity()

◆ ComputeMinDistanceToCellBorder()

◆ diff() [1/2]

◆ diff() [2/2]

◆ executeFunctionForAllCellsAtLevel()

◆ executeFunctionForAllCellsStartingAtLevel()

◆ extractCCs() [1/2]

◆ extractCCs() [2/2]

◆ findBestLevelForAGivenCellNumber()

◆ findBestLevelForAGivenNeighbourhoodSizeExtraction()

◆ findBestLevelForAGivenPopulationPerCell()

◆ findBestLevelForComparisonWithOctree()

◆ findNearestNeighborsStartingFromCell()

◆ findNeighborsInASphereStartingFromCell()

◆ findPointNeighbourhood()

◆ findTheNearestNeighborStartingFromCell()

◆ GenerateTruncatedCellCode() [1/2]

◆ GenerateTruncatedCellCode() [2/2]

◆ genericBuild()

◆ GET_BIT_SHIFT()

◆ getBoundingBox()

◆ getCellCode()

◆ getCellCodes()

◆ getCellCodesAndIndexes()

◆ getCellDistanceFromBorders() [1/2]

◆ getCellDistanceFromBorders() [2/2]

◆ getCellIndex() [1/2]

◆ getCellIndex() [2/2]

◆ getCellIndexes()

◆ getCellNumber()

◆ getCellPos()

◆ getCellSize()

◆ getMaxFillIndexes()

◆ getMinFillIndexes()

◆ getNeighborCellsAround()

◆ getNumberOfProjectedPoints()

◆ getOctreeMaxs()

◆ getOctreeMins()

◆ getPointsInBoxNeighbourhood()

◆ getPointsInCell()

◆ getPointsInCellByCellIndex()

◆ getPointsInCellsWithSortedCellCodes()

◆ getPointsInCylindricalNeighbourhood()

◆ getPointsInCylindricalNeighbourhoodProgressive()

◆ getPointsInNeighbourCellsAround()

◆ getPointsInSphericalNeighbourhood()

◆ getTheCellPosWhichIncludesThePoint() [1/3]

◆ getTheCellPosWhichIncludesThePoint() [2/3]

◆ getTheCellPosWhichIncludesThePoint() [3/3]