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p-leroyp-leroy
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New method: computeCloud2DiscEquation
+ syntax cleanup
1 parent 940b2ff commit 52dc573

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Lines changed: 178 additions & 81 deletions

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‎include/DistanceComputationTools.h‎

Lines changed: 65 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -311,14 +311,27 @@ namespace CCCoreLib
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static ScalarType computePoint2LineSegmentDistSquared(const CCVector3* point, const CCVector3* start, const CCVector3* end);
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//! Computes the distance between each point in a cloud and a cone
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/** \param[in] cloud a 3D point cloud
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\param[in] coneP1 center point associated with the larger radii
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\param[in] coneP2 center point associated with the smaller radii
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\param[in] coneR1 cone radius at coneP1 (larger)
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\param[in] coneR2 cone radius at coneP2 (smaller)
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\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
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\param[in] solutionType if true the scalar field will be set to which solution was selected 1-4 (optional)
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a cylinder (optional)
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/** This algorithm is a modification of the distance computation between a point and a cylinder from
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Barbier & Galin's Fast Distance Computation Between a Point and Cylinders, Cones, Line Swept Spheres and Cone-Spheres.
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The modifications from the paper are to compute the closest distance when the point is interior to the capped cylinder.
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http://liris.cnrs.fr/Documents/Liris-1297.pdf
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If outputSolutionType is true (mostly for debug purpose), the possible values of the scalar field will be:
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- 1 = below the bottom point within larger disk radius
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- 2 = below the bottom point not within larger disk radius
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- 3 = above the bottom point, within smaller disk radius, outside cone
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- 4 = above the bottom point, within smaller disk radius, inside cone
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- 7 = above the bottom point, outside smaller disk radius, point projects onto the large cap
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- 8 = above the bottom point, outside smaller disk radius, point projects onto the small cap
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- 9 = above the bottom point, outside smaller disk radius, onto the side of the cone (dist > 0) or inside (dist < 0)
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\param[in] cloud a 3D point cloud
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\param[in] coneP1 center point associated with the larger radii
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\param[in] coneP2 center point associated with the smaller radii
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\param[in] coneR1 cone radius at coneP1 (larger)
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\param[in] coneR2 cone radius at coneP2 (smaller)
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\param[in] signedDistances whether to compute signed or positive distances
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\param[in] outputSolutionType if true the scalar field will be set to which solution was selected (from 1 to 4 or from 7 to 9 - see above)
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a cone (optional)
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\return negative error code or a positive value in case of success
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**/
@@ -328,17 +341,28 @@ namespace CCCoreLib
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const PointCoordinateType coneR1,
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const PointCoordinateType coneR2,
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bool signedDistances = true,
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bool solutionType = false,
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bool outputSolutionType = false,
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double* rms = nullptr);
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//! Computes the distance between each point in a cloud and a cylinder
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/** \param[in] cloud a 3D point cloud
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\param[in] cylinderP1 center bottom point
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\param[in] cylinderP2 center top point
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\param[in] cylinderRadius cylinder radius
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\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
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\param[in] solutionType if true the scalar field will be set to which solution was selected 1-4 (optional)
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a cylinder (optional)
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/** This algorithm is a modification of the distance computation between a point and a cone from
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Barbier & Galin's Fast Distance Computation Between a Point and Cylinders, Cones, Line Swept Spheres and Cone-Spheres.
350+
The modifications from the paper are to compute the closest distance when the point is interior to the cone.
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http://liris.cnrs.fr/Documents/Liris-1297.pdf
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If outputSolutionType is true (mostly for debug purpose), the possible values of the scalar field will be:
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- 1 = exterior to the cylinder and within the bounds of the axis
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- 2 = interior to the cylinder and either closer to an end-cap or the cylinder wall
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- 3 = beyond the bounds of the cylinder's axis and radius
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- 4 = beyond the bounds of the cylinder's axis but within the bounds of it's radius
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\param[in] cloud a 3D point cloud
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\param[in] cylinderP1 center bottom point
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\param[in] cylinderP2 center top point
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\param[in] cylinderRadius cylinder radius
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\param[in] signedDistances whether to compute signed or positive distances
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\param[in] outputSolutionType if true the scalar field will be set to which solution was selected (from 1 to 4 - see above)
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a cylinder (optional)
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\return negative error code or a positive value in case of success
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**/
@@ -347,14 +371,14 @@ namespace CCCoreLib
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const CCVector3& cylinderP2,
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const PointCoordinateType cylinderRadius,
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bool signedDistances = true,
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bool solutionType = false,
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bool outputSolutionType = false,
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double* rms = nullptr);
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//! Computes the distance between each point in a cloud and a sphere
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/** \param[in] cloud a 3D point cloud
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\param[in] sphereCenter sphere 3d center point
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\param[in] sphereRadius sphere radius
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\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
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\param[in] signedDistances whether to compute signed or positive distances
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a sphere (optional)
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\return negative error code or a positive value in case of success
@@ -365,13 +389,30 @@ namespace CCCoreLib
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bool signedDistances = true,
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double* rms = nullptr);
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//! Computes the distance between each point in a cloud and a disc
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/** \param[in] cloud a 3D point cloud
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\param[in] discCenter disc 3D center point
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\param[in] discRadius disc radius
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\param[in] rotationTransform (plane) disc position in space
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\param[in] signedDistances whether to compute signed or absolute distances
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a disc (optional)
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\return negative error code or a positive value in case of success
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**/
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static int computeCloud2DiscEquation(GenericIndexedCloudPersist* cloud,
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const CCVector3& discCenter,
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const PointCoordinateType discRadius,
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const SquareMatrix& rotationTransform,
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bool signedDistances = true,
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double* rms = nullptr);
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//! Computes the distance between each point in a cloud and a plane
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/** \param[in] cloud a 3D point cloud
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\param[in] planeEquation plane equation: [a,b,c,d] as 'ax+by+cz=d' with norm(a,bc)==1
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\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a plane (optional)
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\param[in] planeEquation plane equation: [a,b,c,d] as 'ax+by+cz=d' with norm(a,bc)==1
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\param[in] signedDistances whether to compute signed or absolute distances
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a plane (optional)
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\return negative error code or a positive value in case of success
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\return negative error code or a positive value in case of success
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**/
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static int computeCloud2PlaneEquation( GenericIndexedCloudPersist* cloud,
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const PointCoordinateType* planeEquation,
@@ -384,7 +425,7 @@ namespace CCCoreLib
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\param[in] widthY rectangle height
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\param[in] rotationTransform (plane) rectangle position in space
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\param[in] center (plane) rectangle center point
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\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
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\param[in] signedDistances whether to compute signed or absolute distances
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a rectangle (optional)
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\return negative error code or a positive value in case of success
@@ -402,7 +443,7 @@ namespace CCCoreLib
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\param[in] boxDimensions box 3D dimensions
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\param[in] rotationTransform box position in space
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\param[in] boxCenter box center point
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\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
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\param[in] signedDistances whether to compute signed or positive distances
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\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a box (optional)
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\return negative error code or a positive value in case of success

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