ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
Classes | Macros | Functions | Variables
ecvPointCloud.cpp File Reference
#include "ecvPointCloud.h"
#include <GeometricalAnalysisTools.h>
#include <Helper.h>
#include <Logging.h>
#include <ManualSegmentationTools.h>
#include <ReferenceCloud.h>
#include <Eigen/Dense>
#include "ecv2DLabel.h"
#include "ecvChunk.h"
#include "ecvColorScalesManager.h"
#include "ecvDisplayTools.h"
#include "ecvFastMarchingForNormsDirection.h"
#include "ecvFrustum.h"
#include "ecvGBLSensor.h"
#include "ecvGenericMesh.h"
#include "ecvHObjectCaster.h"
#include "ecvImage.h"
#include "ecvKdTree.h"
#include "ecvMaterial.h"
#include "ecvMesh.h"
#include "ecvMinimumSpanningTreeForNormsDirection.h"
#include "ecvNormalVectors.h"
#include "ecvOctree.h"
#include "ecvPointCloudLOD.h"
#include "ecvPolyline.h"
#include "ecvProgressDialog.h"
#include "ecvScalarField.h"
#include "ecvSensor.h"
#include <QCoreApplication>
#include <QElapsedTimer>
#include <QSharedPointer>
#include <cassert>
#include <limits>
#include <queue>
#include <unordered_map>
Include dependency graph for ecvPointCloud.cpp:

Go to the source code of this file.

Classes

struct  DisplayDesc
 

Macros

#define DONT_LOAD_NORMALS_IN_VBOS
 

Functions

void UpdateGridIndexes (const std::vector< int > &newIndexMap, std::vector< ccPointCloud::Grid::Shared > &grids)
 
static bool ComputeCellGaussianFilter (const cloudViewer::DgmOctree::octreeCell &cell, void **additionalParameters, cloudViewer::NormalizedProgress *nProgress=nullptr)
 
float GetNormalizedValue (const ScalarType &sfVal, const ccScalarField::Range &displayRange)
 
float GetSymmetricalNormalizedValue (const ScalarType &sfVal, const ccScalarField::Range &saturationRange)
 
static void ProjectOnCylinder (const CCVector3 &AP, const Tuple3ub &dim, PointCoordinateType radius, PointCoordinateType &delta, PointCoordinateType &phi_rad)
 
static void ProjectOnCone (const CCVector3 &AP, PointCoordinateType alpha_rad, const Tuple3ub &dim, PointCoordinateType &s, PointCoordinateType &delta, PointCoordinateType &phi_rad)
 
static bool CatchGLErrors (GLenum err, const char *context)
 

Variables

static const char s_deviationSFName [] = "Deviation"
 
static const unsigned MAX_POINT_COUNT_PER_LOD_RENDER_PASS = (1 << 19)
 Maximum number of points (per cloud) displayed in a single LOD iteration. More...
 

Macro Definition Documentation

◆ DONT_LOAD_NORMALS_IN_VBOS

#define DONT_LOAD_NORMALS_IN_VBOS

Definition at line 5071 of file ecvPointCloud.cpp.

Function Documentation

◆ CatchGLErrors()

static bool CatchGLErrors ( GLenum  err,
const char *  context 
)
static

Definition at line 5032 of file ecvPointCloud.cpp.

References context, and CVLog::Warning().

◆ ComputeCellGaussianFilter()

static bool ComputeCellGaussianFilter ( const cloudViewer::DgmOctree::octreeCell &  cell,
void **  additionalParameters,
cloudViewer::NormalizedProgress *  nProgress = nullptr 
)
static

"Cellular" function to apply a gaussian filter on the RGB values of points inside an octree cell This function is meant to be applied to all cells of the octree The method also permits to use a bilateral behaviour for the filter. This is automatically switched on if its sigmaSF parameter in additionalParameters is positive. 

See ccPointCloud::applyFilterToRGB.
Method parameters (defined in "additionalParameters") are :
- (PointCoordinateType*) sigma
- (PointCoordinateType*) sigmaSF
- (ccPointCloud::RgbFilterOptions*) filterParams

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

Definition at line 2125 of file ecvPointCloud.cpp.

References cloudViewer::DgmOctree::NearestNeighboursSearchStruct::alreadyVisitedNeighbourhoodSize, ccPointCloud::RgbFilterOptions::applyToSFduringRGB, ecvColor::RgbTpl< Type >::b, ccPointCloud::RgbFilterOptions::blendGrayscale, ccPointCloud::RgbFilterOptions::blendGrayscalePercent, ccPointCloud::RgbFilterOptions::blendGrayscaleThreshold, ccPointCloud::RgbFilterOptions::burntOutColorThreshold, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellCenter, cloudViewer::DgmOctree::NearestNeighboursSearchStruct::cellPos, cloudViewer::DgmOctree::computeCellCenter(), ccPointCloud::RgbFilterOptions::filterType, cloudViewer::DgmOctree::findNeighborsInASphereStartingFromCell(), ecvColor::RgbTpl< Type >::g, cloudViewer::ReferenceCloud::getAssociatedCloud(), cloudViewer::DgmOctree::getCellPos(), cloudViewer::ReferenceCloud::getPoint(), ccPointCloud::getPointColor(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::ReferenceCloud::getPointPersistentPtr(), cloudViewer::PointCloudTpl< T >::getPointScalarValue(), 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::NearestNeighboursSearchStruct::queryPoint, ecvColor::RgbTpl< Type >::r, ccPointCloud::setPointColor(), cloudViewer::PointCloudTpl< T >::setPointScalarValue(), cloudViewer::ReferenceCloud::size(), cloudViewer::DgmOctree::octreeCell::truncatedCode, and cloudViewer::ScalarField::ValidValue().

Referenced by ccPointCloud::applyFilterToRGB().

◆ GetNormalizedValue()

float GetNormalizedValue ( const ScalarType &  sfVal,
const ccScalarField::Range &  displayRange 
)
inline

Definition at line 2816 of file ecvPointCloud.cpp.

References ccScalarField::Range::range(), and ccScalarField::Range::start().

◆ GetSymmetricalNormalizedValue()

float GetSymmetricalNormalizedValue ( const ScalarType &  sfVal,
const ccScalarField::Range &  saturationRange 
)
inline

Definition at line 2822 of file ecvPointCloud.cpp.

References ccScalarField::Range::max(), and ccScalarField::Range::start().

◆ ProjectOnCone()

static void ProjectOnCone ( const CCVector3 &  AP,
PointCoordinateType  alpha_rad,
const Tuple3ub &  dim,
PointCoordinateType &  s,
PointCoordinateType &  delta,
PointCoordinateType &  phi_rad 
)
static

Definition at line 3664 of file ecvPointCloud.cpp.

References Vector3Tpl< Type >::norm(), Tuple3Tpl< Type >::u, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccPointCloud::unroll().

◆ ProjectOnCylinder()

static void ProjectOnCylinder ( const CCVector3 &  AP,
const Tuple3ub &  dim,
PointCoordinateType  radius,
PointCoordinateType &  delta,
PointCoordinateType &  phi_rad 
)
static

Definition at line 3650 of file ecvPointCloud.cpp.

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

Referenced by ccPointCloud::unroll().

◆ UpdateGridIndexes()

void UpdateGridIndexes ( const std::vector< int > &  newIndexMap,
std::vector< ccPointCloud::Grid::Shared > &  grids 
)

Definition at line 259 of file ecvPointCloud.cpp.

Referenced by ccPointCloud::partialClone(), ccPointCloud::removeVisiblePoints(), and ccPointCloud::SelectByIndex().

Variable Documentation

◆ MAX_POINT_COUNT_PER_LOD_RENDER_PASS

const unsigned MAX_POINT_COUNT_PER_LOD_RENDER_PASS = (1 << 19)
static

Maximum number of points (per cloud) displayed in a single LOD iteration.

Definition at line 2844 of file ecvPointCloud.cpp.

◆ s_deviationSFName

const char s_deviationSFName[] = "Deviation"
static

Definition at line 53 of file ecvPointCloud.cpp.

Referenced by ccPointCloud::unroll().