cloudViewer::GeometricalAnalysisTools Class Reference

#include <GeometricalAnalysisTools.h>

Inheritance diagram for cloudViewer::GeometricalAnalysisTools:

Collaboration diagram for cloudViewer::GeometricalAnalysisTools:

Public Types
enum	GeomCharacteristic {   Feature , Curvature , LocalDensity , ApproxLocalDensity ,   Roughness , MomentOrder1 }
enum	Density { DENSITY_KNN , DENSITY_2D , DENSITY_3D }
	Density measurement. More...
enum	ErrorCode {   NoError = 0 , InvalidInput = -1 , NotEnoughPoints = -2 , OctreeComputationFailed = -3 ,   ProcessFailed = -4 , UnhandledCharacteristic = -5 , NotEnoughMemory = -6 , ProcessCancelledByUser = -7 }

Static Public Member Functions
static ErrorCode	ComputeCharactersitic (GeomCharacteristic c, int subOption, GenericIndexedCloudPersist *cloud, PointCoordinateType kernelRadius, const CCVector3 *roughnessUpDir=nullptr, GenericProgressCallback *progressCb=nullptr, DgmOctree *inputOctree=nullptr)
	Unified way to compute a geometric characteristic. More...
static ErrorCode	ComputeLocalDensityApprox (GenericIndexedCloudPersist *cloud, Density densityType, GenericProgressCallback *progressCb=nullptr, DgmOctree *inputOctree=nullptr)
	Computes the local density (approximate) More...
static CCVector3	ComputeGravityCenter (const GenericCloud *theCloud)
	Computes the gravity center of a point cloud. More...
static CCVector3	ComputeWeightedGravityCenter (GenericCloud *theCloud, ScalarField *weights)
	Computes the weighted gravity center of a point cloud. More...
static SquareMatrixd	ComputeCrossCovarianceMatrix (GenericCloud *P, GenericCloud *Q, const CCVector3 &pGravityCenter, const CCVector3 &qGravityCenter)
	Computes the cross covariance matrix between two clouds (same size) More...
static SquareMatrixd	ComputeWeightedCrossCovarianceMatrix (GenericCloud *P, GenericCloud *Q, const CCVector3 &pGravityCenter, const CCVector3 &qGravityCenter, ScalarField *coupleWeights=nullptr)
static cloudViewer::SquareMatrixd	ComputeCovarianceMatrix (const GenericCloud *theCloud, const PointCoordinateType *_gravityCenter=nullptr)
	Computes the covariance matrix of a clouds. More...
static ErrorCode	FlagDuplicatePoints (GenericIndexedCloudPersist *theCloud, double minDistanceBetweenPoints=std::numeric_limits< double >::epsilon(), GenericProgressCallback *progressCb=nullptr, DgmOctree *inputOctree=nullptr)
	Flag duplicate points. More...
static ErrorCode	DetectSphereRobust (GenericIndexedCloudPersist *cloud, double outliersRatio, CCVector3 &center, PointCoordinateType &radius, double &rms, GenericProgressCallback *progressCb=nullptr, double confidence=0.99, unsigned seed=0)
	Tries to detect a sphere in a point cloud. More...
static ErrorCode	ComputeSphereFrom4 (const CCVector3 &A, const CCVector3 &B, const CCVector3 &C, const CCVector3 &D, CCVector3 &center, PointCoordinateType &radius)
	Computes the center and radius of a sphere passing through 4 points. More...
static ErrorCode	DetectCircle (GenericIndexedCloudPersist *cloud, CCVector3 &center, CCVector3 &normal, PointCoordinateType &radius, double &rms, GenericProgressCallback *progressCb=nullptr)
	Detects a circle from a point cloud. More...

Static Protected Member Functions
static bool	ComputeGeomCharacteristicAtLevel (const DgmOctree::octreeCell &cell, void **additionalParameters, NormalizedProgress *nProgress=nullptr)
	Computes geom characteristic inside a cell. More...
static bool	ComputeApproxPointsDensityInACellAtLevel (const DgmOctree::octreeCell &cell, void **additionalParameters, NormalizedProgress *nProgress=nullptr)
	Computes approximate point density inside a cell. More...
static bool	FlagDuplicatePointsInACellAtLevel (const DgmOctree::octreeCell &cell, void **additionalParameters, NormalizedProgress *nProgress=nullptr)
	Flags duplicate points inside a cell. More...
static bool	RefineSphereLS (GenericIndexedCloudPersist *cloud, CCVector3 &center, PointCoordinateType &radius, double minReltaiveCenterShift=1.0e-3)
	Refines the estimation of a sphere by (iterative) least-squares. More...

Detailed Description

Several algorithms to compute point-clouds geometric characteristics (curvature, density, etc.)

Definition at line 22 of file GeometricalAnalysisTools.h.

Member Enumeration Documentation

Density

enum cloudViewer::GeometricalAnalysisTools::Density

Density measurement.

Enumerator
DENSITY_KNN	The number of points inside the neighborhing sphere
DENSITY_2D	The number of points divided by the area of the circle that has the same radius as the neighborhing sphere (2D approximation)
DENSITY_3D	The number of points divided by the neighborhing sphere volume (3D)

Definition at line 36 of file GeometricalAnalysisTools.h.

ErrorCode

enum cloudViewer::GeometricalAnalysisTools::ErrorCode

Enumerator
NoError
InvalidInput
NotEnoughPoints
OctreeComputationFailed
ProcessFailed
UnhandledCharacteristic
NotEnoughMemory
ProcessCancelledByUser

Definition at line 46 of file GeometricalAnalysisTools.h.

GeomCharacteristic

enum cloudViewer::GeometricalAnalysisTools::GeomCharacteristic

Enumerator
Feature	See Neighbourhood::GeomFeature
Curvature	See Neighbourhood::CurvatureType
LocalDensity	Accurate local density (see GeometricalAnalysisTools::Density)
ApproxLocalDensity	Approximate local density (see GeometricalAnalysisTools::Density)
Roughness	Roughness
MomentOrder1	1st order moment

Definition at line 24 of file GeometricalAnalysisTools.h.

Member Function Documentation

ComputeApproxPointsDensityInACellAtLevel()

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

staticprotected

Computes approximate point density inside a cell.

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 456 of file GeometricalAnalysisTools.cpp.

References cloudViewer::DgmOctree::NearestNeighboursSearchStruct::alreadyVisitedNeighbourhoodSize, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellCenter, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellPos, cloudViewer::DgmOctree::computeCellCenter(), DENSITY_2D, DENSITY_3D, DENSITY_KNN, cloudViewer::DgmOctree::findNearestNeighborsStartingFromCell(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::ReferenceCloud::getPoint(), cloudViewer::GreaterThanEpsilon(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::level, cloudViewer::DgmOctree::octreeCell::level, M_PI, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::minNumberOfNeighbors, NAN_VALUE, nProgress, cloudViewer::NormalizedProgress::oneStep(), cloudViewer::DgmOctree::octreeCell::parentOctree, cloudViewer::DgmOctree::octreeCell::points, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::pointsInNeighbourhood, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::queryPoint, s_UnitSphereVolume, cloudViewer::ReferenceCloud::setPointScalarValue(), cloudViewer::ReferenceCloud::size(), and cloudViewer::DgmOctree::octreeCell::truncatedCode.

Referenced by ComputeLocalDensityApprox().

ComputeCharactersitic()

GeometricalAnalysisTools::ErrorCode GeometricalAnalysisTools::ComputeCharactersitic ( GeomCharacteristic  c, int  subOption, GenericIndexedCloudPersist *  cloud, PointCoordinateType  kernelRadius, const CCVector3 *  roughnessUpDir = nullptr, GenericProgressCallback *  progressCb = nullptr, DgmOctree *  inputOctree = nullptr  )

static

Unified way to compute a geometric characteristic.

Once the main geometric characterstic is chosen, the subOption parameter is used to specify the actual feature / curvature type / local density computation algorithm if necessary.

Parameters

c	geometric characterstic
subOption	feature / curvature type / local density computation algorithm or nothing (0)
cloud	cloud to compute the characteristic on
kernelRadius	neighbouring sphere radius
roughnessUpDir	up direction to compute signed roughness values (optional)
progressCb	client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
inputOctree	if not set as input, octree will be automatically computed.

Returns

succes

Definition at line 29 of file GeometricalAnalysisTools.cpp.

References ApproxLocalDensity, cloudViewer::DgmOctree::build(), ComputeGeomCharacteristicAtLevel(), ComputeLocalDensityApprox(), Curvature, DENSITY_2D, DENSITY_3D, DENSITY_KNN, cloudViewer::GenericCloud::enableScalarField(), cloudViewer::DgmOctree::executeFunctionForAllCellsAtLevel(), Feature, cloudViewer::DgmOctree::findBestLevelForAGivenNeighbourhoodSizeExtraction(), cloudViewer::GenericCloud::getPointScalarValue(), InvalidInput, LocalDensity, M_PI, MomentOrder1, NoError, NotEnoughPoints, octree, OctreeComputationFailed, ProcessFailed, result, Roughness, s_UnitSphereVolume, cloudViewer::GenericCloud::setPointScalarValue(), cloudViewer::GenericCloud::size(), and UnhandledCharacteristic.

Referenced by ccTrace::buildCurvatureCost(), and ccLibAlgorithms::ComputeGeomCharacteristic().

ComputeCovarianceMatrix()

cloudViewer::SquareMatrixd GeometricalAnalysisTools::ComputeCovarianceMatrix ( const GenericCloud *  theCloud, const PointCoordinateType *  _gravityCenter = nullptr  )

static

Computes the covariance matrix of a clouds.

Warning

this method uses the cloud global iterator

Parameters

theCloud	point cloud
_gravityCenter	if available, its gravity center

Returns

covariance matrix

Definition at line 562 of file GeometricalAnalysisTools.cpp.

References cloudViewer::SquareMatrixTpl< Scalar >::clear(), ComputeGravityCenter(), cloudViewer::SquareMatrixTpl< Scalar >::m_values, points, cloudViewer::GenericCloud::size(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

ComputeCrossCovarianceMatrix()

cloudViewer::SquareMatrixd GeometricalAnalysisTools::ComputeCrossCovarianceMatrix ( GenericCloud *  P, GenericCloud *  Q, const CCVector3 &  pGravityCenter, const CCVector3 &  qGravityCenter  )

static

Computes the cross covariance matrix between two clouds (same size)

Used in the ICP algorithm between the cloud to register and the "Closest Points Set" determined from the reference cloud.

Warning

this method uses the clouds global iterators

Parameters

P	the cloud to register
Q	the "Closest Point Set"
pGravityCenter	the gravity center of P
qGravityCenter	the gravity center of Q

Returns

cross covariance matrix

Definition at line 611 of file GeometricalAnalysisTools.cpp.

References count, cloudViewer::GenericCloud::getNextPoint(), cloudViewer::GenericCloud::placeIteratorAtBeginning(), cloudViewer::SquareMatrixTpl< Scalar >::row(), cloudViewer::SquareMatrixTpl< Scalar >::scale(), cloudViewer::GenericCloud::size(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by cloudViewer::RegistrationTools::RegistrationProcedure().

ComputeGeomCharacteristicAtLevel()

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

staticprotected

Computes geom characteristic inside a cell.

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 154 of file GeometricalAnalysisTools.cpp.

References cloudViewer::DgmOctree::NearestNeighboursSearchStruct::alreadyVisitedNeighbourhoodSize, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellCenter, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellPos, cloudViewer::DgmOctree::computeCellCenter(), cloudViewer::Neighbourhood::computeCurvature(), cloudViewer::Neighbourhood::computeFeature(), cloudViewer::Neighbourhood::computeMomentOrder1(), cloudViewer::Neighbourhood::computeRoughness(), Curvature, Feature, cloudViewer::DgmOctree::findNeighborsInASphereStartingFromCell(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::DgmOctree::getCellSize(), cloudViewer::ReferenceCloud::getPoint(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::ReferenceCloud::getPointPersistentPtr(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::level, cloudViewer::DgmOctree::octreeCell::level, LocalDensity, MomentOrder1, NAN_VALUE, nProgress, cloudViewer::NormalizedProgress::oneStep(), cloudViewer::DgmOctree::octreeCell::parentOctree, cloudViewer::DgmOctree::octreeCell::points, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::pointsInNeighbourhood, cloudViewer::DgmOctree::NearestNeighboursSphericalSearchStruct::prepare(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::queryPoint, Roughness, cloudViewer::ReferenceCloud::setPointScalarValue(), cloudViewer::ReferenceCloud::size(), std::swap(), and cloudViewer::DgmOctree::octreeCell::truncatedCode.

Referenced by ComputeCharactersitic().

ComputeGravityCenter()

CCVector3 GeometricalAnalysisTools::ComputeGravityCenter ( const GenericCloud *  theCloud )

static

Computes the gravity center of a point cloud.

Warning

this method uses the cloud global iterator

Parameters

theCloud

cloud

Returns

gravity center

Definition at line 517 of file GeometricalAnalysisTools.cpp.

References count, and cloudViewer::GenericCloud::size().

Referenced by ComputeCovarianceMatrix(), and cloudViewer::RegistrationTools::RegistrationProcedure().

ComputeLocalDensityApprox()

GeometricalAnalysisTools::ErrorCode GeometricalAnalysisTools::ComputeLocalDensityApprox ( GenericIndexedCloudPersist *  cloud, Density  densityType, GenericProgressCallback *  progressCb = nullptr, DgmOctree *  inputOctree = nullptr  )

static

Computes the local density (approximate)

Old method (based only on the distance to the nearest neighbor).

Warning

As only one neighbor is extracted, the DENSITY_KNN type corresponds in fact to the (inverse) distance to the nearest neighbor.

This method assumes the input scalar field is different from the output one.

Parameters

cloud	processed cloud
densityType	the 'type' of density to compute
progressCb	client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
inputOctree	if not set as input, octree will be automatically computed.

Returns

success (0) or error code (<0)

Definition at line 409 of file GeometricalAnalysisTools.cpp.

References cloudViewer::DgmOctree::build(), ComputeApproxPointsDensityInACellAtLevel(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::DgmOctree::executeFunctionForAllCellsAtLevel(), cloudViewer::DgmOctree::findBestLevelForAGivenPopulationPerCell(), InvalidInput, NoError, NotEnoughPoints, OctreeComputationFailed, ProcessFailed, result, and cloudViewer::GenericCloud::size().

Referenced by ComputeCharactersitic(), and ccAlignDlg::estimateDelta().

ComputeSphereFrom4()

GeometricalAnalysisTools::ErrorCode GeometricalAnalysisTools::ComputeSphereFrom4 ( const CCVector3 &  A, const CCVector3 &  B, const CCVector3 &  C, const CCVector3 &  D, CCVector3 &  center, PointCoordinateType &  radius  )

static

Computes the center and radius of a sphere passing through 4 points.

Parameters

[in]	A	first point
[in]	B	second point
[in]	C	third point
[in]	D	fourth point
[out]	center	center of the sphere
[out]	radius	radius of the sphere

Returns

success

Definition at line 1228 of file GeometricalAnalysisTools.cpp.

References dmat_solve(), NoError, Vector3Tpl< Type >::norm(), Vector3Tpl< Type >::norm2d(), ProcessFailed, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by DetectSphereRobust().

ComputeWeightedCrossCovarianceMatrix()

cloudViewer::SquareMatrixd GeometricalAnalysisTools::ComputeWeightedCrossCovarianceMatrix ( GenericCloud *  P, GenericCloud *  Q, const CCVector3 &  pGravityCenter, const CCVector3 &  qGravityCenter, ScalarField *  coupleWeights = nullptr  )

static

Computes the cross covariance matrix between two clouds (same size) - weighted version Used in the ICP algorithm between the cloud to register and the "Closest Points Set" determined from the reference cloud.

Warning

this method uses the clouds global iterators

Parameters

P	the cloud to register
Q	the "Closest Point Set"
pGravityCenter	the gravity center of P
qGravityCenter	the gravity center of Q
coupleWeights	weights for each (Pi,Qi) couple (optional)

Returns

weighted cross covariance matrix

Definition at line 650 of file GeometricalAnalysisTools.cpp.

References abs(), count, cloudViewer::ScalarField::currentSize(), Vector3Tpl< double >::fromArray(), cloudViewer::GenericCloud::getNextPoint(), cloudViewer::ScalarField::getValue(), cloudViewer::GenericCloud::placeIteratorAtBeginning(), cloudViewer::SquareMatrixTpl< Scalar >::row(), cloudViewer::SquareMatrixTpl< Scalar >::scale(), cloudViewer::GenericCloud::size(), cloudViewer::ScalarField::ValidValue(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by cloudViewer::RegistrationTools::RegistrationProcedure().

ComputeWeightedGravityCenter()

CCVector3 GeometricalAnalysisTools::ComputeWeightedGravityCenter ( GenericCloud *  theCloud, ScalarField *  weights  )

static

Computes the weighted gravity center of a point cloud.

Warning

this method uses the cloud global iterator

Parameters

theCloud	cloud
weights	per point weights (only absolute values are considered)

Returns

gravity center

Definition at line 537 of file GeometricalAnalysisTools.cpp.

References count, cloudViewer::ScalarField::currentSize(), and cloudViewer::GenericCloud::size().

Referenced by cloudViewer::RegistrationTools::RegistrationProcedure().

DetectCircle()

GeometricalAnalysisTools::ErrorCode GeometricalAnalysisTools::DetectCircle ( GenericIndexedCloudPersist *  cloud, CCVector3 &  center, CCVector3 &  normal, PointCoordinateType &  radius, double &  rms, GenericProgressCallback *  progressCb = nullptr  )

static

Detects a circle from a point cloud.

Based on "A Simple approach for the Estimation of Circular Arc Center and Its radius" by S. Thomas and Y. Chan

Parameters

[in]	cloud	point cloud
[out]	center	circle center
[out]	normal	normal to the plane to which the circle belongs
[out]	radius	circle radius
[out]	rms	fitting RMS
[in]	progressCb	for progress notification (optional)

Returns

success

Definition at line 975 of file GeometricalAnalysisTools.cpp.

References Vector3Tpl< Type >::cross(), Vector3Tpl< Type >::dot(), error(), Vector3Tpl< PointCoordinateType >::fromArray(), cloudViewer::Neighbourhood::getGravityCenter(), cloudViewer::Neighbourhood::getLSPlane(), cloudViewer::Neighbourhood::getLSPlaneNormal(), cloudViewer::Neighbourhood::getLSPlaneX(), cloudViewer::GenericIndexedCloud::getPoint(), InvalidInput, Landau_Smith(), NoError, normal, NotEnoughMemory, NotEnoughPoints, nProgress, cloudViewer::NormalizedProgress::oneStep(), Vector3Tpl< Type >::orthogonal(), PC_ONE, ProcessCancelledByUser, ProcessFailed, cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::GenericCloud::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::textCanBeEdited(), Tuple3Tpl< Type >::u, cloudViewer::GenericProgressCallback::update(), Vector2Tpl< Type >::x, Tuple3Tpl< Type >::x, Vector2Tpl< Type >::y, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

DetectSphereRobust()

GeometricalAnalysisTools::ErrorCode GeometricalAnalysisTools::DetectSphereRobust ( GenericIndexedCloudPersist *  cloud, double  outliersRatio, CCVector3 &  center, PointCoordinateType &  radius, double &  rms, GenericProgressCallback *  progressCb = nullptr, double  confidence = 0.99, unsigned  seed = 0  )

static

Tries to detect a sphere in a point cloud.

Inspired from "Parameter Estimation Techniques: A Tutorial with Application to Conic Fitting" by Zhengyou Zhang (Inria Technical Report 2676). More specifically the section 9.5 about Least Median of Squares.

Parameters

[in]	cloud	input cloud
[in]	outliersRatio	proportion of outliers (between 0 and 1)
[out]	center	center of the detected sphere
[out]	radius	radius of the detected sphere
[out]	rms	residuals RMS for the detected sphere
[in]	progressCb	for progress notification (optional)
[in]	confidence	probability that the detected sphere is the right one (strictly below 1)
[in]	seed	if different than 0, this seed will be used for random numbers generation (instead of a random one)

Returns

success

Definition at line 769 of file GeometricalAnalysisTools.cpp.

References cloudViewer::ReferenceCloud::addPointIndex(), ComputeSphereFrom4(), dist(), error(), cloudViewer::GenericIndexedCloud::getPoint(), InvalidInput, min(), NoError, NotEnoughMemory, NotEnoughPoints, nProgress, cloudViewer::NormalizedProgress::oneStep(), ProcessCancelledByUser, ProcessFailed, RefineSphereLS(), cloudViewer::ReferenceCloud::reserve(), cloudViewer::ReferenceCloud::resize(), cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::GenericCloud::size(), cloudViewer::ReferenceCloud::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::textCanBeEdited(), and cloudViewer::GenericProgressCallback::update().

Referenced by ccPointPairRegistrationDlg::convertToSphereCenter().

FlagDuplicatePoints()

GeometricalAnalysisTools::ErrorCode GeometricalAnalysisTools::FlagDuplicatePoints ( GenericIndexedCloudPersist *  theCloud, double  minDistanceBetweenPoints = std::numeric_limits<double>::epsilon(), GenericProgressCallback *  progressCb = nullptr, DgmOctree *  inputOctree = nullptr  )

static

Flag duplicate points.

This method only requires an output scalar field. Duplicate points will be associated to scalar value 1 (and 0 for the others).

Parameters

theCloud	processed cloud
minDistanceBetweenPoints	min distance between (output) points
progressCb	client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
inputOctree	if not set as input, octree will be automatically computed.

Returns

success (0) or error code (<0)

Definition at line 300 of file GeometricalAnalysisTools.cpp.

References cloudViewer::DgmOctree::build(), cloudViewer::GenericCloud::enableScalarField(), cloudViewer::DgmOctree::executeFunctionForAllCellsAtLevel(), cloudViewer::DgmOctree::findBestLevelForAGivenNeighbourhoodSizeExtraction(), FlagDuplicatePointsInACellAtLevel(), cloudViewer::GenericCloud::forEach(), InvalidInput, NoError, NotEnoughPoints, OctreeComputationFailed, ProcessFailed, result, cloudViewer::ScalarFieldTools::SetScalarValueToZero(), and cloudViewer::GenericCloud::size().

FlagDuplicatePointsInACellAtLevel()

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

staticprotected

Flags duplicate points inside a cell.

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 353 of file GeometricalAnalysisTools.cpp.

References cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellCenter, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellPos, cloudViewer::DgmOctree::computeCellCenter(), cloudViewer::DgmOctree::findNeighborsInASphereStartingFromCell(), cloudViewer::ReferenceCloud::getAssociatedCloud(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::DgmOctree::getCellSize(), cloudViewer::ReferenceCloud::getPoint(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::ReferenceCloud::getPointScalarValue(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::level, cloudViewer::DgmOctree::octreeCell::level, nProgress, cloudViewer::NormalizedProgress::oneStep(), cloudViewer::DgmOctree::octreeCell::parentOctree, cloudViewer::DgmOctree::octreeCell::points, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::pointsInNeighbourhood, cloudViewer::DgmOctree::NearestNeighboursSphericalSearchStruct::prepare(), cloudViewer::DgmOctree::NearestNeighboursSearchStruct::queryPoint, cloudViewer::GenericCloud::setPointScalarValue(), cloudViewer::ReferenceCloud::size(), and cloudViewer::DgmOctree::octreeCell::truncatedCode.

Referenced by FlagDuplicatePoints().

RefineSphereLS()

bool GeometricalAnalysisTools::RefineSphereLS ( GenericIndexedCloudPersist *  cloud, CCVector3 &  center, PointCoordinateType &  radius, double  minReltaiveCenterShift = 1.0e-3  )

staticprotected

Refines the estimation of a sphere by (iterative) least-squares.

Definition at line 710 of file GeometricalAnalysisTools.cpp.

References count, Vector3Tpl< double >::fromArray(), cloudViewer::GenericIndexedCloud::getPoint(), Vector3Tpl< Type >::norm(), cloudViewer::GenericCloud::size(), Tuple3Tpl< Type >::u, and ZERO_TOLERANCE_D.

Referenced by DetectSphereRobust().

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

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