#include <PointProjectionTools.h>

Inheritance diagram for cloudViewer::PointProjectionTools:

Collaboration diagram for cloudViewer::PointProjectionTools:

Classes
class	IndexedCCVector2
	Indexed 2D vector. More...

struct	Transformation
	A scaled geometrical transformation (scale + rotation + translation) More...

Static Public Member Functions
static PointCloud *	developCloudOnCylinder (GenericCloud cloud, PointCoordinateType radius, unsigned char dim=2, CCVector3 center=nullptr, GenericProgressCallback *progressCb=nullptr)
	Develops a cylinder-shaped point cloud around its main axis. More...

static PointCloud *	developCloudOnCone (GenericCloud cloud, unsigned char dim, PointCoordinateType baseRadius, float alpha, const CCVector3 &center, GenericProgressCallback progressCb=nullptr)
	Develops a cone-shaped point cloud around its main axis. More...

static PointCloud *	applyTransformation (GenericCloud cloud, Transformation &trans, GenericProgressCallback progressCb=nullptr)
	Applys a geometrical transformation to a point cloud. More...

static PointCloud *	applyTransformation (GenericIndexedCloud cloud, Transformation &trans, GenericProgressCallback progressCb=nullptr)
	Applies a geometrical transformation to an indexed point cloud. More...

static GenericIndexedMesh *	computeTriangulation (GenericIndexedCloudPersist *cloud, TRIANGULATION_TYPES type, PointCoordinateType maxEdgeLength, unsigned char dim, std::string &outputErrorStr)
	Applys a geometrical transformation to a single point. More...

static bool	extractConvexHull2D (std::vector< IndexedCCVector2 > &points, std::list< IndexedCCVector2 * > &hullPoints)
	Determines the convex hull of a set of points. More...

static bool	extractConcaveHull2D (std::vector< IndexedCCVector2 > &points, std::list< IndexedCCVector2 * > &hullPoints, PointCoordinateType maxSquareLength=0)
	Determines the 'concave' hull of a set of points. More...

static bool	segmentIntersect (const CCVector2 &A, const CCVector2 &B, const CCVector2 &C, const CCVector2 &D)
	Returns true if the AB and CD segments intersect each other. More...

Static Public Attributes
static constexpr int	IGNORE_MAX_EDGE_LENGTH = 0

Detailed Description

Several point cloud re-projection algorithms ("developpee", translation, rotation, etc.)

Definition at line 34 of file PointProjectionTools.h.

Member Function Documentation

◆ applyTransformation() [1/2]

PointCloud * PointProjectionTools::applyTransformation	(	GenericCloud *	cloud,
		Transformation &	trans,
		GenericProgressCallback *	progressCb = `nullptr`
	)

static

Applys a geometrical transformation to a point cloud.

Parameters

cloud	the point cloud to be "transformed"
trans	the geometrical transformation
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns: the "transformed" cloud

Definition at line 165 of file PointProjectionTools.cpp.

References cloudViewer::PointCloudTpl< T >::addPoint(), cloudViewer::PointProjectionTools::Transformation::apply(), count, cloudViewer::GenericCloud::getNextPoint(), cloudViewer::NormalizedProgress::oneStep(), cloudViewer::GenericCloud::placeIteratorAtBeginning(), cloudViewer::PointCloudTpl< T >::reserve(), cloudViewer::GenericProgressCallback::setInfo(), cloudViewer::GenericProgressCallback::setMethodTitle(), cloudViewer::GenericCloud::size(), cloudViewer::GenericProgressCallback::start(), cloudViewer::GenericProgressCallback::stop(), cloudViewer::GenericProgressCallback::textCanBeEdited(), and cloudViewer::GenericProgressCallback::update().

Referenced by cloudViewer::FPCSRegistrationTools::FilterCandidates(), and cloudViewer::ICPRegistrationTools::Register().

◆ applyTransformation() [2/2]

PointCloud * PointProjectionTools::applyTransformation	(	GenericIndexedCloud *	cloud,
		Transformation &	trans,
		GenericProgressCallback *	progressCb = `nullptr`
	)

static

Applies a geometrical transformation to an indexed point cloud.

Parameters

cloud	the point cloud to be "transformed"
trans	the geometrical transformation
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns: the "transformed" cloud

Definition at line 210 of file PointProjectionTools.cpp.

◆ computeTriangulation()

GenericIndexedMesh * PointProjectionTools::computeTriangulation	(	GenericIndexedCloudPersist *	cloud,
		TRIANGULATION_TYPES	type,
		PointCoordinateType	maxEdgeLength,
		unsigned char	dim,
		std::string &	outputErrorStr
	)

static

Applys a geometrical transformation to a single point.

Parameters

P	the point
trans	the geometrical transformation

Returns: the "transformed" point Computes a 2.5D Delaunay triangulation The triangulation can be either computed on the points projected in the XY plane (by default), or projected on the best least-square fitting plane. The triangulation is in 2D (in the plane) but the 3D points are connected, so it's a kind of 2.5D triangulation (that may present however several topological aberrations ;).

Parameters

cloud	a point cloud
type	the triangulation strategy
maxEdgeLength	max edge length for output triangles (0 = ignored)
dim	projection dimension (for axis-aligned meshes)
errorStr	error (if any) [optional]

Returns: a mesh

Definition at line 275 of file PointProjectionTools.cpp.

References cloudViewer::Delaunay2dMesh::buildMesh(), count, cloudViewer::DELAUNAY_2D_AXIS_ALIGNED, cloudViewer::DELAUNAY_2D_BEST_LS_PLANE, cloudViewer::Neighbourhood::DO_NOT_DUPLICATE_VERTICES, cloudViewer::GenericIndexedCloud::getPoint(), cloudViewer::Delaunay2dMesh::linkMeshWith(), cloudViewer::GenericCloud::placeIteratorAtBeginning(), cloudViewer::Delaunay2dMesh::removeTrianglesWithEdgesLongerThan(), cloudViewer::GenericCloud::size(), cloudViewer::Delaunay2dMesh::size(), cloudViewer::Neighbourhood::triangulateOnPlane(), type, Tuple3Tpl< Type >::u, cloudViewer::Delaunay2dMesh::USE_ALL_POINTS, Tuple3Tpl< Type >::x, and X.

Referenced by ccRasterizeTool::generateMesh(), CommandRasterize::process(), and CommandVolume25D::process().

◆ developCloudOnCone()

PointCloud * PointProjectionTools::developCloudOnCone	(	GenericCloud *	cloud,
		unsigned char	dim,
		PointCoordinateType	baseRadius,
		float	alpha,
		const CCVector3 &	center,
		GenericProgressCallback *	progressCb = `nullptr`
	)

static

Develops a cone-shaped point cloud around its main axis.

Generates a "developpee" of a cone-shaped point cloud. WARNING: this method uses the cloud global iterator

Parameters

cloud	the point cloud to be developed
dim	the dimension along which the cone axis is aligned (X=0, Y=1, Z=2)
baseRadius	the radius of the base of the cone
alpha	the angle of the cone "opening"
center	the 3D point corresponding to the intersection between the cone axis and its base
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns: the "developed" cloud

Definition at line 87 of file PointProjectionTools.cpp.

◆ developCloudOnCylinder()

PointCloud * PointProjectionTools::developCloudOnCylinder	(	GenericCloud *	cloud,
		PointCoordinateType	radius,
		unsigned char	dim = `2`,
		CCVector3 *	center = `nullptr`,
		GenericProgressCallback *	progressCb = `nullptr`
	)

static

Develops a cylinder-shaped point cloud around its main axis.

Generates a "developpee" of a cylinder-shaped point cloud. WARNING: this method uses the cloud global iterator

Parameters

cloud	the point cloud to be developed
radius	the cylinder radius
dim	the dimension along which the cylinder axis is aligned (X=0, Y=1, Z=2)
center	a 3D point (as a 3 values array) belonging to the cylinder axis
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns: the "developed" cloud

Definition at line 25 of file PointProjectionTools.cpp.

◆ extractConcaveHull2D()

bool PointProjectionTools::extractConcaveHull2D	(	std::vector< IndexedCCVector2 > &	points,
		std::list< IndexedCCVector2 * > &	hullPoints,
		PointCoordinateType	maxSquareLength = `0`
	)

static

Determines the 'concave' hull of a set of points.

Inspired from JIN-SEO PARK AND SE-JONG OH, "A New Concave Hull Algorithm and Concaveness Measure for n-dimensional Datasets", 2012 Calls extractConvexHull2D (see associated warnings).

Parameters

points	input set of points
hullPoints	output points (on the convex hull)
maxSquareLength	maximum square length (ignored if <= 0, in which case the method simply returns the convex hull!)

Returns: success

at least one of the new segments must be smaller than the initial one!

Definition at line 564 of file PointProjectionTools.cpp.

References extractConvexHull2D(), FindNearestCandidate(), cloudViewer::PointProjectionTools::IndexedCCVector2::index, Edge::itA, max(), min(), Edge::nearestPointIndex, POINT_FROZEN, POINT_NOT_USED, POINT_USED, points, segmentIntersect(), Vector2Tpl< Type >::x, and Vector2Tpl< Type >::y.

Referenced by contourPoly(), and contourPoly2().

◆ extractConvexHull2D()

bool PointProjectionTools::extractConvexHull2D	(	std::vector< IndexedCCVector2 > &	points,
		std::list< IndexedCCVector2 * > &	hullPoints
	)

static

Determines the convex hull of a set of points.

Returns a list of points on the convex hull in counter-clockwise order. Implementation of Andrew's monotone chain 2D convex hull algorithm. Asymptotic complexity: O(n log n). (retrieved from http://en.wikibooks.org/wiki/Algorithm_Implementation/Geometry/Convex_hull/Monotone_chain) WARNING: the input 'points' set will be sorted!

Parameters

points	input set of points
hullPoints	output points (on the convex hull)

Returns: success

Definition at line 355 of file PointProjectionTools.cpp.

References cross(), LexicographicSort(), ParallelSort, and points.

Referenced by ccContourExtractor::ExtractConcaveHull2D(), and extractConcaveHull2D().

◆ segmentIntersect()

bool PointProjectionTools::segmentIntersect	(	const CCVector2 &	A,
		const CCVector2 &	B,
		const CCVector2 &	C,
		const CCVector2 &	D
	)

static

Returns true if the AB and CD segments intersect each other.

Definition at line 422 of file PointProjectionTools.cpp.

References abs(), Vector2Tpl< Type >::cross(), Vector2Tpl< Type >::dot(), and Vector2Tpl< Type >::norm().

Referenced by extractConcaveHull2D().

Member Data Documentation

◆ IGNORE_MAX_EDGE_LENGTH

constexpr int cloudViewer::PointProjectionTools::IGNORE_MAX_EDGE_LENGTH = 0

staticconstexpr

Definition at line 36 of file PointProjectionTools.h.

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

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

Classes

Static Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation

◆ applyTransformation() [1/2]

◆ applyTransformation() [2/2]

◆ computeTriangulation()

◆ developCloudOnCone()

◆ developCloudOnCylinder()

◆ extractConcaveHull2D()

◆ extractConvexHull2D()

◆ segmentIntersect()

Member Data Documentation

◆ IGNORE_MAX_EDGE_LENGTH