cloudViewer::DistanceComputationTools Class Reference

#include <DistanceComputationTools.h>

Inheritance diagram for cloudViewer::DistanceComputationTools:

Collaboration diagram for cloudViewer::DistanceComputationTools:

Classes
struct	Cloud2CloudDistancesComputationParams
	Cloud-to-cloud "Hausdorff" distance computation parameters. More...
struct	Cloud2MeshDistancesComputationParams
	Cloud-to-mes distances computation parameters. More...

Public Types
enum	ERROR_MEASURES {   RMS , MAX_DIST_68_PERCENT , MAX_DIST_95_PERCENT , MAX_DIST_99_PERCENT ,   MAX_DIST }
	Error estimators. More...
enum	DISTANCE_COMPUTATION_RESULTS {   CANCELED_BY_USER = -1000 , ERROR_NULL_COMPAREDCLOUD , ERROR_NULL_COMPAREDOCTREE , ERROR_OUT_OF_MEMORY ,   ERROR_ENABLE_SCALAR_FIELD_FAILURE , ERROR_EMPTY_COMPAREDCLOUD , ERROR_NULL_REFERENCECLOUD , ERROR_EMPTY_REFERENCECLOUD ,   ERROR_NULL_REFERENCEMESH , ERROR_EMPTY_REFERENCEMESH , ERROR_NULL_REFERENCEPOLYLINE , ERROR_TOOSMALL_REFERENCEPOLYLINE ,   NULL_PLANE_EQUATION , ERROR_NULL_OCTREE , ERROR_INVALID_OCTREE_AND_MESH_INTERSECTION , ERROR_OCTREE_AND_MESH_INTERSECTION_MISMATCH ,   ERROR_CANT_USE_MAX_SEARCH_DIST_AND_CLOSEST_POINT_SET , ERROR_EXECUTE_FUNCTION_FOR_ALL_CELLS_AT_LEVEL_FAILURE , ERROR_EXECUTE_GET_POINTS_IN_CELL_BY_INDEX_FAILURE , ERROR_EXECUTE_CLOUD_MESH_DIST_CELL_FUNC_MT_FAILURE ,   ERROR_GET_CELL_CODES_FAILURE , ERROR_GET_CELL_CODES_AND_INDEXES_FAILURE , ERROR_GET_CELL_INDEXES_FAILURE , ERROR_PROPAGATE_DISTANCE_FAILURE ,   ERROR_SEED_POINT_INDEX_GREATER_THAN_COMPAREDCLOUD_SIZE , ERROR_INIT_DISTANCE_TRANSFORM_GRID_FAILURE , ERROR_INIT_PER_CELL_TRIANGLE_LIST_FAILURE , ERROR_INTERSECT_MESH_WITH_OCTREE_FAILURE ,   ERROR_COMPUTE_CLOUD2_MESH_DISTANCE_WITH_OCTREE_FAILURE , ERROR_COMPUTE_CLOUD2_CLOUD_DISTANCE_FAILURE , ERROR_OCTREE_LEVEL_LT_ONE , ERROR_OCTREE_LEVEL_GT_MAX_OCTREE_LEVEL ,   ERROR_SYNCHRONIZE_OCTREES_FAILURE , ERROR_PLANE_NORMAL_LT_ZERO , ERROR_INVALID_PRIMITIVE_DIMENSIONS , ERROR_CONE_R1_LT_CONE_R2 ,   ERROR_CONELENGTH_ZERO , ERROR_COULDNOT_SYNCRONIZE_OCTREES , ERROR_BUILD_OCTREE_FAILURE , ERROR_BUILD_FAST_MARCHING_FAILURE ,   ERROR_UNKOWN_ERRORMEASURES_TYPE , ERROR_INTERNAL , INVALID_INPUT , SUCCESS = 1 }
enum	SOReturnCode { EMPTY_CLOUD , SYNCHRONIZED , DISJOINT , OUT_OF_MEMORY }
	Return codes for DistanceComputationTools::synchronizeOctrees. More...

Static Public Member Functions
static int	computeCloud2CloudDistances (GenericIndexedCloudPersist *comparedCloud, GenericIndexedCloudPersist *referenceCloud, Cloud2CloudDistancesComputationParams &params, GenericProgressCallback *progressCb=nullptr, DgmOctree *compOctree=nullptr, DgmOctree *refOctree=nullptr)
static int	computeCloud2MeshDistances (GenericIndexedCloudPersist *pointCloud, GenericIndexedMesh *mesh, Cloud2MeshDistancesComputationParams &params, GenericProgressCallback *progressCb=nullptr, DgmOctree *cloudOctree=nullptr)
	Computes the distance between a point cloud and a mesh. More...
static int	computeApproxCloud2CloudDistance (GenericIndexedCloudPersist *comparedCloud, GenericIndexedCloudPersist *referenceCloud, unsigned char octreeLevel, PointCoordinateType maxSearchDist=0, GenericProgressCallback *progressCb=nullptr, DgmOctree *compOctree=nullptr, DgmOctree *refOctree=nullptr)
	Computes approximate distances between two point clouds. More...
static ScalarType	computePoint2TriangleDistance (const CCVector3 *P, const GenericTriangle *theTriangle, bool signedDist, CCVector3 *nearestP=nullptr)
	Computes the distance between a point and a triangle. More...
static ScalarType	computePoint2PlaneDistance (const CCVector3 *P, const PointCoordinateType *planeEquation)
	Computes the (signed) distance between a point and a plane. More...
static ScalarType	computePoint2LineSegmentDistSquared (const CCVector3 *point, const CCVector3 *start, const CCVector3 *end)
	Computes the square of the distance between a point and a line segment. More...
static int	computeCloud2ConeEquation (GenericIndexedCloudPersist *cloud, const CCVector3 &coneP1, const CCVector3 &coneP2, const PointCoordinateType coneR1, const PointCoordinateType coneR2, bool signedDistances=true, bool solutionType=false, double *rms=nullptr)
	Computes the distance between each point in a cloud and a cone. More...
static int	computeCloud2CylinderEquation (GenericIndexedCloudPersist *cloud, const CCVector3 &cylinderP1, const CCVector3 &cylinderP2, const PointCoordinateType cylinderRadius, bool signedDistances=true, bool solutionType=false, double *rms=nullptr)
	Computes the distance between each point in a cloud and a cylinder. More...
static int	computeCloud2SphereEquation (GenericIndexedCloudPersist *cloud, const CCVector3 &sphereCenter, const PointCoordinateType sphereRadius, bool signedDistances=true, double *rms=nullptr)
	Computes the distance between each point in a cloud and a sphere. More...
static int	computeCloud2DiscEquation (GenericIndexedCloudPersist *cloud, const CCVector3 &discCenter, const PointCoordinateType discRadius, const SquareMatrix &rotationTransform, bool signedDistances=true, double *rms=nullptr)
	Computes the distance between each point in a cloud and a disc. More...
static int	computeCloud2PlaneEquation (GenericIndexedCloudPersist *cloud, const PointCoordinateType *planeEquation, bool signedDistances=true, double *rms=nullptr)
	Computes the distance between each point in a cloud and a plane. More...
static int	computeCloud2RectangleEquation (GenericIndexedCloudPersist *cloud, PointCoordinateType widthX, PointCoordinateType widthY, const SquareMatrix &rotationTransform, const CCVector3 &center, bool signedDist=true, double *rms=nullptr)
static int	computeCloud2BoxEquation (GenericIndexedCloudPersist *cloud, const CCVector3 &boxDimensions, const SquareMatrix &rotationTransform, const CCVector3 &boxCenter, bool signedDist=true, double *rms=nullptr)
static int	computeCloud2PolylineEquation (GenericIndexedCloudPersist *cloud, const Polyline *polyline, double *rms=nullptr)
	Computes the distance between each point in a cloud and a polyline. More...
static ScalarType	ComputeCloud2PlaneDistance (cloudViewer::GenericCloud *cloud, const PointCoordinateType *planeEquation, ERROR_MEASURES measureType)
static ScalarType	ComputeCloud2PlaneRobustMax (GenericCloud *cloud, const PointCoordinateType *planeEquation, float percent)
	Computes the maximum distance between a point cloud and a plane. More...
static ScalarType	ComputeCloud2PlaneMaxDistance (GenericCloud *cloud, const PointCoordinateType *planeEquation)
	Computes the maximum distance between a point cloud and a plane. More...
static ScalarType	computeCloud2PlaneDistanceRMS (GenericCloud *cloud, const PointCoordinateType *planeEquation)
	Computes the Root Mean Square (RMS) distance between a cloud and a plane. More...
static PointCoordinateType	ComputeSquareDistToSegment (const CCVector2 &P, const CCVector2 &A, const CCVector2 &B, bool onlyOrthogonal=false)
	Returns the (squared) distance from a point to a segment. More...
static bool	computeGeodesicDistances (GenericIndexedCloudPersist *cloud, unsigned seedPointIndex, unsigned char octreeLevel, GenericProgressCallback *progressCb=nullptr)
static int	diff (GenericIndexedCloudPersist *comparedCloud, GenericIndexedCloudPersist *referenceCloud, GenericProgressCallback *progressCb=nullptr)
static SOReturnCode	synchronizeOctrees (GenericIndexedCloudPersist *comparedCloud, GenericIndexedCloudPersist *referenceCloud, DgmOctree *&comparedOctree, DgmOctree *&referenceOctree, PointCoordinateType maxSearchDist=0, GenericProgressCallback *progressCb=nullptr)
	Synchronizes (and re-build if necessary) two octrees. More...
static bool	MultiThreadSupport ()

Static Protected Member Functions
static int	intersectMeshWithOctree (OctreeAndMeshIntersection *theIntersection, unsigned char octreeLevel, GenericProgressCallback *progressCb=nullptr)
	Intersects a mesh with a grid structure. More...
static int	computeCloud2MeshDistanceWithOctree (OctreeAndMeshIntersection *theIntersection, Cloud2MeshDistancesComputationParams &params, GenericProgressCallback *progressCb=nullptr)
static int	computeCloud2MeshDistancesWithOctree (const DgmOctree *octree, OctreeAndMeshIntersection *intersection, Cloud2MeshDistancesComputationParams &params, GenericProgressCallback *progressCb=nullptr)
static int	computePoint2MeshDistancesWithOctree (const CCVector3 &P, ScalarType &distance, OctreeAndMeshIntersection *intersection, Cloud2MeshDistancesComputationParams &params)
static bool	computeCellHausdorffDistance (const DgmOctree::octreeCell &cell, void **additionalParameters, NormalizedProgress *nProgress=nullptr)
static bool	computeCellHausdorffDistanceWithLocalModel (const DgmOctree::octreeCell &cell, void **additionalParameters, NormalizedProgress *nProgress=nullptr)

Detailed Description

Several entity-to-entity distances computation algorithms (cloud-cloud, cloud-mesh, point-triangle, etc.)

Definition at line 31 of file DistanceComputationTools.h.

Member Enumeration Documentation

DISTANCE_COMPUTATION_RESULTS

enum cloudViewer::DistanceComputationTools::DISTANCE_COMPUTATION_RESULTS

Enumerator
CANCELED_BY_USER
ERROR_NULL_COMPAREDCLOUD
ERROR_NULL_COMPAREDOCTREE
ERROR_OUT_OF_MEMORY
ERROR_ENABLE_SCALAR_FIELD_FAILURE
ERROR_EMPTY_COMPAREDCLOUD
ERROR_NULL_REFERENCECLOUD
ERROR_EMPTY_REFERENCECLOUD
ERROR_NULL_REFERENCEMESH
ERROR_EMPTY_REFERENCEMESH
ERROR_NULL_REFERENCEPOLYLINE
ERROR_TOOSMALL_REFERENCEPOLYLINE
NULL_PLANE_EQUATION
ERROR_NULL_OCTREE
ERROR_INVALID_OCTREE_AND_MESH_INTERSECTION
ERROR_OCTREE_AND_MESH_INTERSECTION_MISMATCH
ERROR_CANT_USE_MAX_SEARCH_DIST_AND_CLOSEST_POINT_SET
ERROR_EXECUTE_FUNCTION_FOR_ALL_CELLS_AT_LEVEL_FAILURE
ERROR_EXECUTE_GET_POINTS_IN_CELL_BY_INDEX_FAILURE
ERROR_EXECUTE_CLOUD_MESH_DIST_CELL_FUNC_MT_FAILURE
ERROR_GET_CELL_CODES_FAILURE
ERROR_GET_CELL_CODES_AND_INDEXES_FAILURE
ERROR_GET_CELL_INDEXES_FAILURE
ERROR_PROPAGATE_DISTANCE_FAILURE
ERROR_SEED_POINT_INDEX_GREATER_THAN_COMPAREDCLOUD_SIZE
ERROR_INIT_DISTANCE_TRANSFORM_GRID_FAILURE
ERROR_INIT_PER_CELL_TRIANGLE_LIST_FAILURE
ERROR_INTERSECT_MESH_WITH_OCTREE_FAILURE
ERROR_COMPUTE_CLOUD2_MESH_DISTANCE_WITH_OCTREE_FAILURE
ERROR_COMPUTE_CLOUD2_CLOUD_DISTANCE_FAILURE
ERROR_OCTREE_LEVEL_LT_ONE
ERROR_OCTREE_LEVEL_GT_MAX_OCTREE_LEVEL
ERROR_SYNCHRONIZE_OCTREES_FAILURE
ERROR_PLANE_NORMAL_LT_ZERO
ERROR_INVALID_PRIMITIVE_DIMENSIONS
ERROR_CONE_R1_LT_CONE_R2
ERROR_CONELENGTH_ZERO
ERROR_COULDNOT_SYNCRONIZE_OCTREES
ERROR_BUILD_OCTREE_FAILURE
ERROR_BUILD_FAST_MARCHING_FAILURE
ERROR_UNKOWN_ERRORMEASURES_TYPE
ERROR_INTERNAL
INVALID_INPUT
SUCCESS

Definition at line 418 of file DistanceComputationTools.h.

ERROR_MEASURES

enum cloudViewer::DistanceComputationTools::ERROR_MEASURES

Error estimators.

Enumerator
RMS	Root Mean Square error
MAX_DIST_68_PERCENT	Max distance @ 68% (1 sigma)
MAX_DIST_95_PERCENT	Max distance @ 98% (2 sigmas)
MAX_DIST_99_PERCENT	Max distance @ 99% (3 sigmas)
MAX_DIST	Max distance

Definition at line 410 of file DistanceComputationTools.h.

SOReturnCode

enum cloudViewer::DistanceComputationTools::SOReturnCode

Return codes for DistanceComputationTools::synchronizeOctrees.

Enumerator
EMPTY_CLOUD
SYNCHRONIZED
DISJOINT
OUT_OF_MEMORY

Definition at line 563 of file DistanceComputationTools.h.

Member Function Documentation

computeApproxCloud2CloudDistance()

int DistanceComputationTools::computeApproxCloud2CloudDistance ( GenericIndexedCloudPersist *  comparedCloud, GenericIndexedCloudPersist *  referenceCloud, unsigned char  octreeLevel, PointCoordinateType  maxSearchDist = 0, GenericProgressCallback *  progressCb = nullptr, DgmOctree *  compOctree = nullptr, DgmOctree *  refOctree = nullptr  )

static

Computes approximate distances between two point clouds.

This methods uses an exact Distance Transform to approximate the real distances. Therefore, the greater the octree level is (it is used to determine the grid step), the finer the result will be (but more memory and time will be needed).

Parameters

comparedCloud	the compared cloud
referenceCloud	the reference cloud
octreeLevel	the octree level at which to compute the Distance Transform
maxSearchDist	max search distance (or any negative value if no max distance is defined)
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
compOctree	the pre-computed octree of the compared cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)
refOctree	the pre-computed octree of the reference cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)

Returns

negative error code or a positive value in case of success

Definition at line 3754 of file DistanceComputationTools.cpp.

References cloudViewer::DgmOctree::associatedCloud(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::DgmOctree::getCellCode(), cloudViewer::DgmOctree::getCellCodes(), cloudViewer::DgmOctree::getCellIndexes(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::DgmOctree::getCellSize(), cloudViewer::DgmOctree::getMaxFillIndexes(), cloudViewer::DgmOctree::getMinFillIndexes(), cloudViewer::DgmOctree::getPointsInCellByCellIndex(), cloudViewer::Grid3D< Type >::getValue(), cloudViewer::SaitoSquaredDistanceTransform::initGrid(), max(), cloudViewer::DgmOctree::MAX_OCTREE_LEVEL, min(), octreeLevel, cloudViewer::SaitoSquaredDistanceTransform::propagateDistance(), result, cloudViewer::ReferenceCloud::setPointScalarValue(), cloudViewer::GenericCloud::setPointScalarValue(), cloudViewer::Grid3D< Type >::setValue(), cloudViewer::GenericCloud::size(), cloudViewer::ReferenceCloud::size(), SYNCHRONIZED, synchronizeOctrees(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccComparisonDlg::computeApproxDistances(), and ccRegistrationTools::ICP().

computeCellHausdorffDistance()

bool DistanceComputationTools::computeCellHausdorffDistance ( const DgmOctree::octreeCell &  cell, void **  additionalParameters, NormalizedProgress *  nProgress = nullptr  )

staticprotected

Computes the "nearest neighbour distance" without local modeling for all points of an octree cell This method has the generic syntax of a "cellular function" (see DgmOctree::localFunctionPtr). Specific parameters are transmitted via the "additionalParameters" structure. There are 3 additional parameters :

• (GenericCloud*) the compared cloud
• (GenericCloud*) the reference cloud
• (DgmOctree*) the octree corresponding to the compared cloud

  Parameters

  cell	structure describing the cell on which processing is applied
  additionalParameters	see method description
  nProgress	optional (normalized) progress notification (per-point)

Definition at line 370 of file DistanceComputationTools.cpp.

References cloudViewer::DgmOctree::NearestNeighboursSearchStruct::alreadyVisitedNeighbourhoodSize, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellCenter, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellPos, cloudViewer::DgmOctree::computeCellCenter(), dist(), cloudViewer::DgmOctree::findTheNearestNeighborStartingFromCell(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::ReferenceCloud::getPoint(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::level, cloudViewer::DgmOctree::octreeCell::level, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::maxSearchSquareDistd, NAN_VALUE, nProgress, cloudViewer::NormalizedProgress::oneStep(), params, POINT_VISIBLE, cloudViewer::DgmOctree::octreeCell::points, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::queryPoint, cloudViewer::ReferenceCloud::setPointScalarValue(), cloudViewer::ReferenceCloud::size(), cloudViewer::GenericCloud::testVisibility(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::theNearestPointIndex, cloudViewer::DgmOctree::octreeCell::truncatedCode, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by computeCloud2CloudDistances().

computeCellHausdorffDistanceWithLocalModel()

bool DistanceComputationTools::computeCellHausdorffDistanceWithLocalModel ( const DgmOctree::octreeCell &  cell, void **  additionalParameters, NormalizedProgress *  nProgress = nullptr  )

staticprotected

Computes the "nearest neighbour distance" with local modeling for all points of an octree cell This method has the generic syntax of a "cellular function" (see DgmOctree::localFunctionPtr). Specific parameters are transmitted via the "additionalParameters" structure. There are 4 additional parameters :

• (GenericCloud*) the compared cloud
• (GenericCloud*) the reference cloud
• (DgmOctree*) the octree corresponding to the compared cloud
• (CC_LOCAL_MODEL_TYPES*) type of local model to apply

  Parameters

  cell	structure describing the cell on which processing is applied
  additionalParameters	see method description
  nProgress	optional (normalized) progress notification (per-point)

Definition at line 466 of file DistanceComputationTools.cpp.

References cloudViewer::DgmOctree::NearestNeighboursSearchStruct::alreadyVisitedNeighbourhoodSize, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellCenter, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellPos, cloudViewer::DgmOctree::computeCellCenter(), cloudViewer::LocalModel::computeDistanceFromModelToPoint(), CV_LOCAL_MODEL_MIN_SIZE, cloudViewer::DgmOctree::findNearestNeighborsStartingFromCell(), cloudViewer::DgmOctree::findNeighborsInASphereStartingFromCell(), cloudViewer::DgmOctree::findTheNearestNeighborStartingFromCell(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::DgmOctree::getCellSize(), cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::ReferenceCloud::getPoint(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::DgmOctree::getTheCellPosWhichIncludesThePoint(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::level, cloudViewer::DgmOctree::octreeCell::level, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::maxSearchSquareDistd, min(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::minimalCellsSetToVisit, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::minNumberOfNeighbors, NAN_VALUE, cloudViewer::LocalModel::New(), NO_MODEL, nProgress, cloudViewer::NormalizedProgress::oneStep(), params, cloudViewer::DgmOctree::octreeCell::parentOctree, POINT_VISIBLE, cloudViewer::DgmOctree::octreeCell::points, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::pointsInNeighbourhood, cloudViewer::DgmOctree::NearestNeighboursSphericalSearchStruct::prepare(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::queryPoint, cloudViewer::ReferenceCloud::setPointScalarValue(), cloudViewer::ReferenceCloud::size(), cloudViewer::GenericCloud::testVisibility(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::theNearestPointIndex, cloudViewer::DgmOctree::octreeCell::truncatedCode, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by computeCloud2CloudDistances().

computeCloud2BoxEquation()

int DistanceComputationTools::computeCloud2BoxEquation ( GenericIndexedCloudPersist *  cloud, const CCVector3 &  boxDimensions, const SquareMatrix &  rotationTransform, const CCVector3 &  boxCenter, bool  signedDist = true, double *  rms = nullptr  )

static

Definition at line 3316 of file DistanceComputationTools.cpp.

References abs(), count, dist(), Vector3Tpl< Type >::dot(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::GenericCloud::setPointScalarValue(), cloudViewer::GenericCloud::size(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

computeCloud2CloudDistances()

int DistanceComputationTools::computeCloud2CloudDistances ( GenericIndexedCloudPersist *  comparedCloud, GenericIndexedCloudPersist *  referenceCloud, Cloud2CloudDistancesComputationParams &  params, GenericProgressCallback *  progressCb = nullptr, DgmOctree *  compOctree = nullptr, DgmOctree *  refOctree = nullptr  )

static

Computes the "nearest neighbour distance" between two point clouds (formerly named "Hausdorff distance") The main algorithm and its different versions (with or without local modeling) are described in Daniel Girardeau-Montaut's PhD manuscript (Chapter 2, section 2.3). It is the standard way to compare directly two dense (and globally close) point clouds.

Warning

The current scalar field of the compared cloud should be enabled. By default it will be reset to NAN_VALUE but one can avoid this by defining the Cloud2CloudDistancesComputationParams::resetFormerDistances parameters to false. But even in this case, only values above Cloud2CloudDistancesComputationParams::maxSearchDist will remain untouched.

Max search distance (Cloud2CloudDistancesComputationParams::maxSearchDist > 0) is not compatible with the determination of the Closest Point Set (Cloud2CloudDistancesComputationParams::CPSet)

Parameters

comparedCloud	the compared cloud (the distances will be computed on these points)
referenceCloud	the reference cloud (the distances will be computed relatively to these points)
params	distance computation parameters
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
compOctree	the pre-computed octree of the compared cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)
refOctree	the pre-computed octree of the reference cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)

Returns

0 if ok, a negative value otherwise

Definition at line 112 of file DistanceComputationTools.cpp.

References computeCellHausdorffDistance(), computeCellHausdorffDistanceWithLocalModel(), DISJOINT, cloudViewer::GenericCloud::enableScalarField(), cloudViewer::DgmOctree::executeFunctionForAllCellsAtLevel(), cloudViewer::DgmOctree::findBestLevelForComparisonWithOctree(), NAN_VALUE, NO_MODEL, params, result, cloudViewer::GenericCloud::setPointScalarValue(), cloudViewer::GenericCloud::size(), SYNCHRONIZED, and synchronizeOctrees().

Referenced by ccComparisonDlg::computeDistances(), diff(), KNNRegions(), CommandCPS::process(), and cloudViewer::ICPRegistrationTools::Register().

computeCloud2ConeEquation()

int DistanceComputationTools::computeCloud2ConeEquation ( GenericIndexedCloudPersist *  cloud, const CCVector3 &  coneP1, const CCVector3 &  coneP2, const PointCoordinateType  coneR1, const PointCoordinateType  coneR2, bool  signedDistances = true, bool  solutionType = false, double *  rms = nullptr  )

static

Computes the distance between each point in a cloud and a cone.

Parameters

	cloud	a 3D point cloud
	coneP1	center point associated with the larger radii
	coneP2	center point associated with the smaller radii
	coneR1	cone radius at coneP1 (larger)
	coneR2	cone radius at coneP2 (smaller)
	signedDist	whether to compute the signed or positive (absolute) distance (optional)
	solutionType	if true the scalar field will be set to which solution was selected 1-4 (optional)
[out]	rms	will be set with the Root Mean Square (RMS) distance between a cloud and a cylinder (optional)

Returns

negative error code or a positive value in case of success

Definition at line 2899 of file DistanceComputationTools.cpp.

References abs(), count, Vector3Tpl< Type >::dot(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericIndexedCloud::getPoint(), min(), Vector3Tpl< Type >::norm2d(), Vector3Tpl< Type >::normalize(), Vector3Tpl< Type >::normd(), cloudViewer::GenericCloud::setPointScalarValue(), and cloudViewer::GenericCloud::size().

computeCloud2CylinderEquation()

int DistanceComputationTools::computeCloud2CylinderEquation ( GenericIndexedCloudPersist *  cloud, const CCVector3 &  cylinderP1, const CCVector3 &  cylinderP2, const PointCoordinateType  cylinderRadius, bool  signedDistances = true, bool  solutionType = false, double *  rms = nullptr  )

static

Computes the distance between each point in a cloud and a cylinder.

Parameters

	cloud	a 3D point cloud
	cylinderP1	center bottom point
	cylinderP2	center top point
	cylinderRadius	cylinder radius
	signedDist	whether to compute the signed or positive (absolute) distance (optional)
	solutionType	if true the scalar field will be set to which solution was selected 1-4 (optional)
[out]	rms	will be set with the Root Mean Square (RMS) distance between a cloud and a cylinder (optional)

Returns

negative error code or a positive value in case of success

Definition at line 3061 of file DistanceComputationTools.cpp.

References abs(), count, Vector3Tpl< Type >::dot(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericIndexedCloud::getPoint(), min(), Vector3Tpl< Type >::norm2d(), Vector3Tpl< Type >::normalize(), Vector3Tpl< Type >::normd(), cloudViewer::GenericCloud::setPointScalarValue(), and cloudViewer::GenericCloud::size().

computeCloud2DiscEquation()

int DistanceComputationTools::computeCloud2DiscEquation ( GenericIndexedCloudPersist *  cloud, const CCVector3 &  discCenter, const PointCoordinateType  discRadius, const SquareMatrix &  rotationTransform, bool  signedDistances = true, double *  rms = nullptr  )

static

Computes the distance between each point in a cloud and a disc.

Parameters

	cloud	a 3D point cloud
	discCenter	disc 3d center point
	discRadius	disc radius
	rotationTransform	rotation transformation matrix
	signedDistances	whether to compute the signed or positive (absolute) distance (optional)
[out]	rms	will be set with the Root Mean Square (RMS) distance between a cloud and a disc (optional)

Returns

negative error code or a positive value in case of success

Definition at line 3413 of file DistanceComputationTools.cpp.

References abs(), count, dot(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericIndexedCloud::getPoint(), normal, cloudViewer::GenericCloud::setPointScalarValue(), and cloudViewer::GenericCloud::size().

computeCloud2MeshDistances()

int DistanceComputationTools::computeCloud2MeshDistances ( GenericIndexedCloudPersist *  pointCloud, GenericIndexedMesh *  mesh, Cloud2MeshDistancesComputationParams &  params, GenericProgressCallback *  progressCb = nullptr, DgmOctree *  cloudOctree = nullptr  )

static

Computes the distance between a point cloud and a mesh.

The algorithm, inspired from METRO by Cignoni et al., is described in Daniel Girardeau-Montaut's PhD manuscript (Chapter 2, section 2.2). It is the general way to compare a point cloud with a triangular mesh.

Parameters

pointCloud	the compared cloud (the distances will be computed on these points)
mesh	the reference mesh (the distances will be computed relatively to its triangles)
params	parameters
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
cloudOctree	the pre-computed octree of the compared cloud (warning: its bounding box should be equal to the union of both point cloud and mesh bbs and it should be cubical - it is automatically computed if 0)

Returns

0 if ok, a negative value otherwise

Definition at line 2498 of file DistanceComputationTools.cpp.

References applySqrtToPointDist(), cloudViewer::DgmOctree::build(), computeCloud2MeshDistanceWithOctree(), cloudViewer::OctreeAndMeshIntersection::distanceTransform, cloudViewer::GenericCloud::enableScalarField(), cloudViewer::utility::floor(), cloudViewer::GenericCloud::forEach(), cloudViewer::GenericCloud::getBoundingBox(), cloudViewer::GenericMesh::getBoundingBox(), cloudViewer::DgmOctree::getOctreeMaxs(), cloudViewer::DgmOctree::getOctreeMins(), cloudViewer::SaitoSquaredDistanceTransform::initGrid(), intersectMeshWithOctree(), cloudViewer::CCMiscTools::MakeMinAndMaxCubical(), max(), cloudViewer::OctreeAndMeshIntersection::maxFillIndexes, cloudViewer::OctreeAndMeshIntersection::mesh, min(), cloudViewer::OctreeAndMeshIntersection::minFillIndexes, cloudViewer::OctreeAndMeshIntersection::octree, octree, params, cloudViewer::OctreeAndMeshIntersection::perCellTriangleList, cloudViewer::SaitoSquaredDistanceTransform::propagateDistance(), result, cloudViewer::ScalarFieldTools::SetScalarValueToNaN(), cloudViewer::GenericCloud::size(), cloudViewer::GenericMesh::size(), Tuple3Tpl< Type >::u, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccComparisonDlg::computeApproxDistances(), ccComparisonDlg::computeDistances(), ccRegistrationTools::ICP(), and cloudViewer::ICPRegistrationTools::Register().

computeCloud2MeshDistancesWithOctree()

int DistanceComputationTools::computeCloud2MeshDistancesWithOctree ( const DgmOctree *  octree, OctreeAndMeshIntersection *  intersection, Cloud2MeshDistancesComputationParams &  params, GenericProgressCallback *  progressCb = nullptr  )

staticprotected

Computes the distances between a point cloud and a mesh projected into a grid structure This method is used by computeCloud2MeshDistances, after intersectMeshWithOctree has been called.

Parameters

octree	the cloud octree
intersection	a specific structure corresponding the intersection of the mesh with the grid
params	parameters
progressCb	the client method can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns

negative error code or a positive value in case of success

Definition at line 2252 of file DistanceComputationTools.cpp.

References cloudViewer::DgmOctree::associatedCloud(), ComputeMaxNeighborhoodLength(), ComputeNeighborhood2MeshDistancesWithOctree(), count, cloudViewer::OctreeAndMeshIntersection::distanceTransform, cloudViewer::DgmOctree::getCellCodesAndIndexes(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::DgmOctree::getCellSize(), cloudViewer::DgmOctree::getPointsInCellByCellIndex(), cloudViewer::Grid3D< Type >::getValue(), cloudViewer::OctreeAndMeshIntersection::mesh, cloudViewer::OctreeAndMeshIntersection::minFillIndexes, nProgress, octree, cloudViewer::NormalizedProgress::oneStep(), params, cloudViewer::OctreeAndMeshIntersection::perCellTriangleList, result, cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::ReferenceCloud::setPointScalarValue(), cloudViewer::GenericCloud::size(), cloudViewer::ReferenceCloud::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::textCanBeEdited(), and cloudViewer::GenericProgressCallback::update().

computeCloud2MeshDistanceWithOctree()

int DistanceComputationTools::computeCloud2MeshDistanceWithOctree ( OctreeAndMeshIntersection *  theIntersection, Cloud2MeshDistancesComputationParams &  params, GenericProgressCallback *  progressCb = nullptr  )

staticprotected

Computes the distances between a point cloud and a mesh projected into a grid structure This method is used by computeCloud2MeshDistances, after intersectMeshWithOctree has been called.

Parameters

theIntersection	a specific structure corresponding the intersection of the mesh with the grid
params	parameters
progressCb	the client method can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns

-1 if an error occurred (e.g. not enough memory) and 0 otherwise

Definition at line 1429 of file DistanceComputationTools.cpp.

References abs(), cloudViewer::DgmOctree::associatedCloud(), ComparePointsAndTriangles(), cloudViewer::DgmOctree::computeCellCenter(), ComputeMaxNeighborhoodLength(), cloudViewer::DgmOctree::ComputeMinDistanceToCellBorder(), count, dist(), cloudViewer::OctreeAndMeshIntersection::distanceTransform, cloudViewer::DgmOctree::getCellCodesAndIndexes(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::DgmOctree::getCellSize(), cloudViewer::ReferenceCloud::getPointPersistentPtr(), cloudViewer::DgmOctree::getPointsInCellByCellIndex(), cloudViewer::Grid3D< Type >::getValue(), cloudViewer::TriangleList::indexes, max(), cloudViewer::OctreeAndMeshIntersection::maxFillIndexes, cloudViewer::OctreeAndMeshIntersection::mesh, min(), cloudViewer::OctreeAndMeshIntersection::minFillIndexes, nProgress, cloudViewer::OctreeAndMeshIntersection::octree, octree, cloudViewer::NormalizedProgress::oneStep(), params, cloudViewer::OctreeAndMeshIntersection::perCellTriangleList, cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::ReferenceCloud::setPointScalarValue(), cloudViewer::GenericCloud::size(), cloudViewer::GenericMesh::size(), cloudViewer::ReferenceCloud::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::textCanBeEdited(), Tuple3Tpl< Type >::u, cloudViewer::GenericProgressCallback::update(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by computeCloud2MeshDistances().

ComputeCloud2PlaneDistance()

ScalarType DistanceComputationTools::ComputeCloud2PlaneDistance ( cloudViewer::GenericCloud *  cloud, const PointCoordinateType *  planeEquation, ERROR_MEASURES  measureType  )

static

Computes the "distance" (see ERROR_MEASURES) between a point cloud and a plane

Parameters

cloud	a point cloud
planeEquation	plane equation: [a,b,c,d] as 'ax+by+cz=d'
measureType	measure type

Definition at line 3651 of file DistanceComputationTools.cpp.

References computeCloud2PlaneDistanceRMS(), ComputeCloud2PlaneMaxDistance(), ComputeCloud2PlaneRobustMax(), MAX_DIST, MAX_DIST_68_PERCENT, MAX_DIST_95_PERCENT, MAX_DIST_99_PERCENT, NAN_VALUE, and RMS.

Referenced by ComputeCellStats(), FastMarchingForFacetExtraction::computeTCoefApprox(), ccKdTreeForFacetExtraction::FuseCells(), and cloudViewer::TrueKdTree::split().

computeCloud2PlaneDistanceRMS()

ScalarType DistanceComputationTools::computeCloud2PlaneDistanceRMS ( GenericCloud *  cloud, const PointCoordinateType *  planeEquation  )

static

Computes the Root Mean Square (RMS) distance between a cloud and a plane.

Sums the squared distances between each point of the cloud and the plane, then computes the mean value. WARNING: this method uses the cloud global iterator

Parameters

cloud	a point cloud
planeEquation	plane equation: [a,b,c,d] as 'ax+by+cz=d'

Returns

the RMS of distances (or NaN if an error occurred)

Definition at line 3534 of file DistanceComputationTools.cpp.

References abs(), count, cloudViewer::GenericCloud::getNextPoint(), cloudViewer::LessThanEpsilon(), NAN_VALUE, PC_ONE, cloudViewer::GenericCloud::placeIteratorAtBeginning(), cloudViewer::GenericCloud::size(), Tuple3Tpl< Type >::u, Vector3Tpl< PointCoordinateType >::vdot(), and Vector3Tpl< PointCoordinateType >::vnorm2().

Referenced by ComputeCloud2PlaneDistance().

computeCloud2PlaneEquation()

int DistanceComputationTools::computeCloud2PlaneEquation ( GenericIndexedCloudPersist *  cloud, const PointCoordinateType *  planeEquation, bool  signedDistances = true, double *  rms = nullptr  )

static

Computes the distance between each point in a cloud and a plane.

Parameters

	cloud	a 3D point cloud
	planeEquation	plane equation: [a,b,c,d] as 'ax+by+cz=d' with norm(a,bc)==1
	signedDist	whether to compute the signed or positive (absolute) distance (optional)
[out]	rms	will be set with the Root Mean Square (RMS) distance between a cloud and a plane (optional)

Returns

negative error code or a positive value in case of success

Definition at line 3187 of file DistanceComputationTools.cpp.

References abs(), count, cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::LessThanEpsilon(), PC_ONE, cloudViewer::GenericCloud::setPointScalarValue(), cloudViewer::GenericCloud::size(), Tuple3Tpl< Type >::u, Vector3Tpl< PointCoordinateType >::vdotd(), and Vector3Tpl< PointCoordinateType >::vnorm2().

ComputeCloud2PlaneMaxDistance()

ScalarType DistanceComputationTools::ComputeCloud2PlaneMaxDistance ( GenericCloud *  cloud, const PointCoordinateType *  planeEquation  )

static

Computes the maximum distance between a point cloud and a plane.

WARNING: this method uses the cloud global iterator

Parameters

cloud	a point cloud
planeEquation	plane equation: [a,b,c,d] as 'ax+by+cz=d'

Returns

the max distance between the point and the plane

Definition at line 3620 of file DistanceComputationTools.cpp.

References abs(), count, cloudViewer::GenericCloud::getNextPoint(), cloudViewer::LessThanEpsilon(), max(), NAN_VALUE, PC_ONE, cloudViewer::GenericCloud::placeIteratorAtBeginning(), cloudViewer::GenericCloud::size(), Tuple3Tpl< Type >::u, Vector3Tpl< PointCoordinateType >::vdot(), and Vector3Tpl< PointCoordinateType >::vnorm2().

Referenced by ComputeCloud2PlaneDistance().

ComputeCloud2PlaneRobustMax()

ScalarType DistanceComputationTools::ComputeCloud2PlaneRobustMax ( GenericCloud *  cloud, const PointCoordinateType *  planeEquation, float  percent  )

static

Computes the maximum distance between a point cloud and a plane.

WARNING: this method uses the cloud global iterator

Parameters

cloud	a point cloud
planeEquation	plane equation: [a,b,c,d] as 'ax+by+cz=d'
percent	percentage of lowest values ignored

Returns

the max distance @ 'percent' % between the point and the plane

Definition at line 3566 of file DistanceComputationTools.cpp.

References abs(), cloudViewer::utility::ceil(), count, cloudViewer::GenericCloud::getNextPoint(), cloudViewer::LessThanEpsilon(), NAN_VALUE, PC_ONE, cloudViewer::GenericCloud::placeIteratorAtBeginning(), cloudViewer::GenericCloud::size(), std::swap(), Tuple3Tpl< Type >::u, Vector3Tpl< PointCoordinateType >::vdot(), and Vector3Tpl< PointCoordinateType >::vnorm2().

Referenced by ComputeCloud2PlaneDistance().

computeCloud2PolylineEquation()

int DistanceComputationTools::computeCloud2PolylineEquation ( GenericIndexedCloudPersist *  cloud, const Polyline *  polyline, double *  rms = nullptr  )

static

Computes the distance between each point in a cloud and a polyline.

Parameters

	cloud	a 3D point cloud
	polyline	the polyline to measure to
[out]	rms	will be set with the Root Mean Square (RMS) distance between a cloud and a plane (optional)

Returns

negative error code or a positive value in case of success

Definition at line 3471 of file DistanceComputationTools.cpp.

References computePoint2LineSegmentDistSquared(), count, cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::ReferenceCloud::getPoint(), cloudViewer::GreaterThanEpsilon(), min(), NAN_VALUE, cloudViewer::GenericCloud::setPointScalarValue(), cloudViewer::GenericCloud::size(), cloudViewer::ReferenceCloud::size(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

computeCloud2RectangleEquation()

int DistanceComputationTools::computeCloud2RectangleEquation ( GenericIndexedCloudPersist *  cloud, PointCoordinateType  widthX, PointCoordinateType  widthY, const SquareMatrix &  rotationTransform, const CCVector3 &  center, bool  signedDist = true, double *  rms = nullptr  )

static

Definition at line 3235 of file DistanceComputationTools.cpp.

References count, dist(), Vector3Tpl< Type >::dot(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericIndexedCloud::getPoint(), Vector3Tpl< Type >::norm2(), cloudViewer::GenericCloud::setPointScalarValue(), and cloudViewer::GenericCloud::size().

computeCloud2SphereEquation()

int DistanceComputationTools::computeCloud2SphereEquation ( GenericIndexedCloudPersist *  cloud, const CCVector3 &  sphereCenter, const PointCoordinateType  sphereRadius, bool  signedDistances = true, double *  rms = nullptr  )

static

Computes the distance between each point in a cloud and a sphere.

Parameters

	cloud	a 3D point cloud
	sphereCenter	sphere 3d center point
	sphereRadius	sphere radius
	signedDist	whether to compute the signed or positive (absolute) distance (optional)
[out]	rms	will be set with the Root Mean Square (RMS) distance between a cloud and a sphere (optional)

Returns

negative error code or a positive value in case of success

Definition at line 3153 of file DistanceComputationTools.cpp.

References abs(), count, cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::GenericCloud::setPointScalarValue(), and cloudViewer::GenericCloud::size().

computeGeodesicDistances()

bool DistanceComputationTools::computeGeodesicDistances ( GenericIndexedCloudPersist *  cloud, unsigned  seedPointIndex, unsigned char  octreeLevel, GenericProgressCallback *  progressCb = nullptr  )

static

Computes geodesic distances over a point cloud "surface" (starting from a seed point) This method uses the FastMarching algorithm. Thereofre it needs an octree level as input parameter in order to create the corresponding 3D grid. The greater this level is, the finer the result will be, but more memory will be required as well. Moreover to get an interesting result the cells size should not be too small (the propagation will be stoped more easily on any encountered 'hole').

Parameters

cloud	the point cloud
seedPointIndex	the index of the point from where to start the propagation
octreeLevel	the octree at which to perform the Fast Marching propagation
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns

true if the method succeeds

Definition at line 3680 of file DistanceComputationTools.cpp.

References cloudViewer::DgmOctree::build(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::GenericCloud::forEach(), cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::DgmOctree::getTheCellPosWhichIncludesThePoint(), cloudViewer::FastMarchingForPropagation::init(), octree, octreeLevel, cloudViewer::FastMarchingForPropagation::propagate(), result, cloudViewer::FastMarchingForPropagation::setPropagationTimingsAsDistances(), cloudViewer::ScalarFieldTools::SetScalarValueToNaN(), cloudViewer::FastMarching::setSeedCell(), and cloudViewer::GenericCloud::size().

computePoint2LineSegmentDistSquared()

ScalarType DistanceComputationTools::computePoint2LineSegmentDistSquared ( const CCVector3 *  point, const CCVector3 *  start, const CCVector3 *  end  )

static

Computes the square of the distance between a point and a line segment.

Parameters

point	a 3D point
start	the start of line segment
end	the end of line segment

Returns

the distance squared between the point and the line segment

Definition at line 2870 of file DistanceComputationTools.cpp.

References Vector3Tpl< Type >::dot(), and Vector3Tpl< Type >::norm2().

Referenced by computeCloud2PolylineEquation().

computePoint2MeshDistancesWithOctree()

int DistanceComputationTools::computePoint2MeshDistancesWithOctree ( const CCVector3 &  P, ScalarType &  distance, OctreeAndMeshIntersection *  intersection, Cloud2MeshDistancesComputationParams &  params  )

staticprotected

Computes the distances between a point and a mesh projected into a grid structure

Warning

Distance Transform acceleration is not supported.

No multi-thread support.

No Closest Point Set support.

Parameters

P	the point
distance	the output distance
intersection	a specific structure corresponding the intersection of the mesh with the grid
params	parameters

Returns

negative error code or a positive value in case of success

Definition at line 2170 of file DistanceComputationTools.cpp.

References cloudViewer::PointCloudTpl< T >::addPoint(), cloudViewer::ReferenceCloud::addPointIndex(), ComputeMaxNeighborhoodLength(), ComputeNeighborhood2MeshDistancesWithOctree(), cloudViewer::OctreeAndMeshIntersection::distanceTransform, cloudViewer::PointCloudTpl< T >::enableScalarField(), cloudViewer::DgmOctree::getCellSize(), cloudViewer::PointCloudTpl< T >::getPointScalarValue(), cloudViewer::DgmOctree::getTheCellPosWhichIncludesThePoint(), cloudViewer::OctreeAndMeshIntersection::mesh, NAN_VALUE, cloudViewer::OctreeAndMeshIntersection::octree, octree, params, cloudViewer::ReferenceCloud::reserve(), cloudViewer::PointCloudTpl< T >::reserve(), result, and cloudViewer::PointCloudTpl< T >::setPointScalarValue().

computePoint2PlaneDistance()

ScalarType DistanceComputationTools::computePoint2PlaneDistance ( const CCVector3 *  P, const PointCoordinateType *  planeEquation  )

static

Computes the (signed) distance between a point and a plane.

Parameters

P	a 3D point
planeEquation	plane equation: [a,b,c,d] as 'ax+by+cz=d' with norm(a,bc)==1

Returns

the signed distance between the point and the plane

Definition at line 2858 of file DistanceComputationTools.cpp.

References abs(), PC_ONE, Tuple3Tpl< Type >::u, Vector3Tpl< PointCoordinateType >::vdot(), and Vector3Tpl< PointCoordinateType >::vnorm().

Referenced by cloudViewer::CloudSamplingTools::applyNoiseFilterAtLevel(), LSLocalModel::computeDistanceFromModelToPoint(), cloudViewer::Neighbourhood::computeRoughness(), ccCompass::estimateStructureNormals(), qM3C2Tools::GuessBestParams(), and ccMeasurementDevice::measurePointToPlaneDistance().

computePoint2TriangleDistance()

ScalarType DistanceComputationTools::computePoint2TriangleDistance ( const CCVector3 *  P, const GenericTriangle *  theTriangle, bool  signedDist, CCVector3 *  nearestP = nullptr  )

static

Computes the distance between a point and a triangle.

WARNING: if not signed, the returned distance is SQUARED!

Parameters

P	a 3D point
theTriangle	a 3D triangle
signedDist	whether to compute the signed or positive (SQUARED) distance
nearestP	optional: returns the nearest point on the triangle

Returns

the distance between the point and the triangle

Definition at line 2668 of file DistanceComputationTools.cpp.

References cloudViewer::GenericTriangle::_getA(), cloudViewer::GenericTriangle::_getB(), cloudViewer::GenericTriangle::_getC(), a00, a01, a11, Vector3Tpl< Type >::cross(), Vector3Tpl< Type >::dot(), Vector3Tpl< PointCoordinateType >::fromArray(), Tuple3Tpl< Type >::u, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ComparePointsAndTriangles(), and DelaunayLocalModel::computeDistanceFromModelToPoint().

ComputeSquareDistToSegment()

PointCoordinateType DistanceComputationTools::ComputeSquareDistToSegment ( const CCVector2 &  P, const CCVector2 &  A, const CCVector2 &  B, bool  onlyOrthogonal = false  )

static

Returns the (squared) distance from a point to a segment.

Parameters

P	3D point
A	first point of the segment
B	first point of the segment
onlyOrthogonal	computes distance only if P lies 'in front' of AB (returns -1.0 otherwise)

Returns

squared distance (or potentially -1.0 if onlyOrthogonal is true)

Definition at line 3897 of file DistanceComputationTools.cpp.

References Vector2Tpl< Type >::dot(), dot(), Vector2Tpl< Type >::norm2(), and PC_ONE.

diff()

int DistanceComputationTools::diff ( GenericIndexedCloudPersist *  comparedCloud, GenericIndexedCloudPersist *  referenceCloud, GenericProgressCallback *  progressCb = nullptr  )

static

Computes the differences between two scalar fields associated to equivalent point clouds The compared cloud should be smaller or equal to the reference cloud. Its points should be at the same position in space as points in the other cloud. The algorithm simply computes the difference between the scalar values associated to each couple of equivalent points.

Warning

The result is stored in the active scalar field (input) of the comparedCloud.

Moreover, the output scalar field should be different than the input scalar field!

Be sure to activate an OUTPUT scalar field on both clouds

Parameters

comparedCloud	the compared cloud
referenceCloud	the reference cloud
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Definition at line 3720 of file DistanceComputationTools.cpp.

References computeCloud2CloudDistances(), cloudViewer::GenericCloud::getPointScalarValue(), cloudViewer::ReferenceCloud::getPointScalarValue(), cloudViewer::DgmOctree::MAX_OCTREE_LEVEL, NAN_VALUE, params, result, cloudViewer::GenericCloud::setPointScalarValue(), cloudViewer::GenericCloud::size(), and cloudViewer::ScalarField::ValidValue().

intersectMeshWithOctree()

int DistanceComputationTools::intersectMeshWithOctree ( OctreeAndMeshIntersection *  theIntersection, unsigned char  octreeLevel, GenericProgressCallback *  progressCb = nullptr  )

staticprotected

Intersects a mesh with a grid structure.

This method is used by computeCloud2MeshDistances.

Parameters

theIntersection	a specific structure to store the result of the intersection
octreeLevel	the octree subdivision level corresponding to the grid
progressCb	the client method can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Definition at line 741 of file DistanceComputationTools.cpp.

References cloudViewer::GenericTriangle::_getA(), cloudViewer::GenericTriangle::_getB(), cloudViewer::GenericTriangle::_getC(), cloudViewer::GenericMesh::_getNextTriangle(), cloudViewer::utility::ceil(), CellToTest::cellSize, cloudViewer::DgmOctree::computeCellCenter(), Vector3Tpl< Type >::cross(), cloudViewer::OctreeAndMeshIntersection::distanceTransform, Vector3Tpl< Type >::dot(), cloudViewer::DgmOctree::getCellSize(), cloudViewer::DgmOctree::getOctreeMins(), cloudViewer::DgmOctree::getTheCellPosWhichIncludesThePoint(), cloudViewer::GreaterThanEpsilon(), CellToTest::level, max(), cloudViewer::OctreeAndMeshIntersection::maxFillIndexes, cloudViewer::OctreeAndMeshIntersection::mesh, min(), cloudViewer::OctreeAndMeshIntersection::minFillIndexes, Vector3Tpl< Type >::norm2(), nProgress, cloudViewer::OctreeAndMeshIntersection::octree, octree, octreeLevel, cloudViewer::OctreeAndMeshIntersection::perCellTriangleList, cloudViewer::GenericMesh::placeIteratorAtBeginning(), CellToTest::pos, cloudViewer::TriangleList::push(), result, cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::Grid3D< Type >::setValue(), cloudViewer::GenericMesh::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::textCanBeEdited(), cloudViewer::CCMiscTools::TriBoxOverlap(), Tuple3Tpl< Type >::u, cloudViewer::GenericProgressCallback::update(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by computeCloud2MeshDistances().

MultiThreadSupport()

bool DistanceComputationTools::MultiThreadSupport ( )

static

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

Definition at line 104 of file DistanceComputationTools.cpp.

synchronizeOctrees()

DistanceComputationTools::SOReturnCode DistanceComputationTools::synchronizeOctrees ( GenericIndexedCloudPersist *  comparedCloud, GenericIndexedCloudPersist *  referenceCloud, DgmOctree *&  comparedOctree, DgmOctree *&  referenceOctree, PointCoordinateType  maxSearchDist = 0, GenericProgressCallback *  progressCb = nullptr  )

static

Synchronizes (and re-build if necessary) two octrees.

Initializes the octrees before computing the distance between two clouds. Check if both octree have the same sizes and limits (in 3D) and rebuild them if necessary.

Parameters

comparedCloud	the cloud corresponding to the first octree
referenceCloud	the cloud corresponding to the second octree
comparedOctree	the first octree
referenceOctree	the second octree
maxSearchDist	max search distance (or any negative value if no max distance is defined)
progressCb	the client method can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns

return code

Definition at line 242 of file DistanceComputationTools.cpp.

References cloudViewer::DgmOctree::build(), cloudViewer::DgmOctree::clear(), DISJOINT, EMPTY_CLOUD, cloudViewer::GenericCloud::getBoundingBox(), cloudViewer::DgmOctree::getNumberOfProjectedPoints(), cloudViewer::DgmOctree::getOctreeMaxs(), cloudViewer::DgmOctree::getOctreeMins(), cloudViewer::CCMiscTools::MakeMinAndMaxCubical(), max(), min(), OUT_OF_MEMORY, cloudViewer::GenericCloud::size(), SYNCHRONIZED, and Tuple3Tpl< Type >::u.

Referenced by computeApproxCloud2CloudDistance(), and computeCloud2CloudDistances().

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

• /root/ACloudViewer/core/include/DistanceComputationTools.h
• /root/ACloudViewer/core/src/DistanceComputationTools.cpp