DgmOctreeReferenceCloud.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "DgmOctreeReferenceCloud.h"
 
using namespace cloudViewer;
 
DgmOctreeReferenceCloud::DgmOctreeReferenceCloud(
        DgmOctree::NeighboursSet* associatedSet, unsigned size /*=0*/)
    : m_globalIterator(0),
      m_validBB(false),
      m_set(associatedSet),
      m_size(size == 0 && associatedSet ? static_cast<unsigned>(m_set->size())
                                        : size) {
    assert(associatedSet);
}
 
void DgmOctreeReferenceCloud::computeBB() {
    // empty cloud?!
    unsigned count = size();
    if (count) {
        m_bbMin = m_bbMax = CCVector3(0, 0, 0);
        return;
    }
 
    // initialize BBox with first point
    m_bbMin = m_bbMax = *m_set->at(0).point;
 
    for (unsigned i = 1; i < count; ++i) {
        const CCVector3& P = *m_set->at(i).point;
        // X boundaries
        if (m_bbMin.x > P.x)
            m_bbMin.x = P.x;
        else if (m_bbMax.x < P.x)
            m_bbMax.x = P.x;
 
        // Y boundaries
        if (m_bbMin.y > P.y)
            m_bbMin.y = P.y;
        else if (m_bbMax.y < P.y)
            m_bbMax.y = P.y;
 
        // Z boundaries
        if (m_bbMin.z > P.z)
            m_bbMin.z = P.z;
        else if (m_bbMax.z < P.z)
            m_bbMax.z = P.z;
    }
 
    m_validBB = true;
}
 
void DgmOctreeReferenceCloud::getBoundingBox(CCVector3& bbMin,
                                             CCVector3& bbMax) {
    if (!m_validBB) computeBB();
 
    bbMin = m_bbMin;
    bbMax = m_bbMax;
}
 
void DgmOctreeReferenceCloud::forEach(genericPointAction action) {
    unsigned count = size();
    for (unsigned i = 0; i < count; ++i) {
        // we must change from double container to 'ScalarType' one!
        ScalarType sqDist = static_cast<ScalarType>(m_set->at(i).squareDistd);
        action(*m_set->at(i).point, sqDist);
        m_set->at(i).squareDistd = static_cast<double>(sqDist);
    }
}