C++ ReferenceCloud::addPointIndex方法代码示例

CCLib::ReferenceCloud* ccGenericPointCloud::getTheVisiblePoints()
{
    if (!m_visibilityArray || m_visibilityArray->currentSize()<size())
        return 0;

	unsigned i,count = size();
	assert(count == m_visibilityArray->currentSize());

    //we create an entity with the 'visible' vertices only
    CCLib::ReferenceCloud* rc = new CCLib::ReferenceCloud(this);

    for (i=0;i<count;++i)
        if (m_visibilityArray->getValue(i) > 0)
            rc->addPointIndex(i);

    return rc;
}

CCLib::ReferenceCloud* ccGenericPointCloud::getTheVisiblePoints() const
{
	unsigned count = size();
	assert(count == m_pointsVisibility->currentSize());

	if (!m_pointsVisibility || m_pointsVisibility->currentSize() != count)
	{
		ccLog::Warning("[ccGenericPointCloud::getTheVisiblePoints] No visibility table instantiated!");
		return 0;
	}

	//count the number of points to copy
	unsigned pointCount = 0;
	{
		for (unsigned i=0; i<count; ++i)
			if (m_pointsVisibility->getValue(i) == POINT_VISIBLE)
				++pointCount;
	}

	if (pointCount == 0)
	{
		ccLog::Warning("[ccGenericPointCloud::getTheVisiblePoints] No point in selection");
		return 0;
	}

	//we create an entity with the 'visible' vertices only
	CCLib::ReferenceCloud* rc = new CCLib::ReferenceCloud(const_cast<ccGenericPointCloud*>(this));
	if (rc->reserve(pointCount))
	{
		for (unsigned i=0; i<count; ++i)
			if (m_pointsVisibility->getValue(i) == POINT_VISIBLE)
				rc->addPointIndex(i); //can't fail (see above)
	}
	else
	{
		delete rc;
		rc = 0;
		ccLog::Error("[ccGenericPointCloud::getTheVisiblePoints] Not enough memory!");
	}

	return rc;
}

//.........这里部分代码省略.........
			catch (const std::bad_alloc&)
			{
				ccLog::Error("Not enough memory!");
				return false;
			}
			for (unsigned i=0; i<count; ++i)
			{
				distances[i] = dataCloud->getPointScalarValue(i);
			}
			
			ParallelSort(distances.begin(), distances.end());
			
			//now look for the max value at 'finalOverlapRatio+margin' percent
			maxSearchDist = distances[static_cast<unsigned>(std::max(1.0,count*(finalOverlapRatio+s_overlapMarginRatio)))-1];
		}

		//evntually select the points with distance below 'maxSearchDist'
		//(should roughly correspond to 'finalOverlapRatio + margin' percent)
		{
			CCLib::ReferenceCloud* refCloud = new CCLib::ReferenceCloud(dataCloud);
			cloudGarbage.add(refCloud);
			unsigned countBefore = dataCloud->size();
			unsigned baseIncrement = static_cast<unsigned>(std::max(100.0,countBefore*finalOverlapRatio*0.05));
			for (unsigned i=0; i<countBefore; ++i)
			{
				if (dataCloud->getPointScalarValue(i) <= maxSearchDist)
				{
					if (	refCloud->size() == refCloud->capacity()
						&&	!refCloud->reserve(refCloud->size() + baseIncrement) )
					{
						ccLog::Error("Not enough memory!");
						return false;
					}
					refCloud->addPointIndex(i);
				}
			}
			refCloud->resize(refCloud->size());
			dataCloud = refCloud;

			unsigned countAfter = dataCloud->size();
			double keptRatio = static_cast<double>(countAfter)/countBefore;
			ccLog::Print(QString("[ICP][Partial overlap] Selecting %1 points out of %2 (%3%) for registration").arg(countAfter).arg(countBefore).arg(static_cast<int>(100*keptRatio)));

			//update the relative 'final overlap' ratio
			finalOverlapRatio /= keptRatio;
		}
	}

	//weights
	CCLib::ScalarField* modelWeights = nullptr;
	CCLib::ScalarField* dataWeights = nullptr;
	{
		if (!modelMesh && useModelSFAsWeights)
		{
			if (modelCloud == dynamic_cast<CCLib::GenericIndexedCloudPersist*>(model) && model->isA(CC_TYPES::POINT_CLOUD))
			{
				ccPointCloud* pc = static_cast<ccPointCloud*>(model);
				modelWeights = pc->getCurrentDisplayedScalarField();
				if (!modelWeights)
					ccLog::Warning("[ICP] 'useDataSFAsWeights' is true but model has no displayed scalar field!");
			}
			else
			{
				ccLog::Warning("[ICP] 'useDataSFAsWeights' is true but only point cloud scalar fields can be used as weights!");
			}
		}

CCLib::ReferenceCloud* qHPR::removeHiddenPoints(CCLib::GenericIndexedCloudPersist* theCloud, const CCVector3d& viewPoint, double fParam)
{
	assert(theCloud);

	unsigned nbPoints = theCloud->size();
	if (nbPoints == 0)
		return 0;

	//less than 4 points? no need for calculation, we return the whole cloud
	if (nbPoints < 4)
	{
		CCLib::ReferenceCloud* visiblePoints = new CCLib::ReferenceCloud(theCloud);
		if (!visiblePoints->addPointIndex(0,nbPoints)) //well even for less than 4 points we never know ;)
		{
			//not enough memory!
			delete visiblePoints;
			visiblePoints = 0;
		}
		return visiblePoints;
	}

	double maxRadius = 0;

	//convert point cloud to an array of double triplets (for qHull)
	coordT* pt_array = new coordT[(nbPoints+1)*3];
	{
		coordT* _pt_array = pt_array;

		for (unsigned i=0; i<nbPoints; ++i)
		{
			CCVector3d P = CCVector3d::fromArray(theCloud->getPoint(i)->u) - viewPoint;
			*_pt_array++ = static_cast<coordT>(P.x);
			*_pt_array++ = static_cast<coordT>(P.y);
			*_pt_array++ = static_cast<coordT>(P.z);

			//we keep track of the highest 'radius'
			double r2 = P.norm2();
			if (maxRadius < r2)
				maxRadius = r2;
		}
		
		//we add the view point (Cf. HPR)
		*_pt_array++ = 0;
		*_pt_array++ = 0;
		*_pt_array++ = 0;

		maxRadius = sqrt(maxRadius);
	}

	//apply spherical flipping
	{
		maxRadius *= pow(10.0,fParam) * 2;
	
		coordT* _pt_array = pt_array;
		for (unsigned i=0; i<nbPoints; ++i)
		{
			CCVector3d P = CCVector3d::fromArray(theCloud->getPoint(i)->u) - viewPoint;

			double r = (maxRadius/P.norm()) - 1.0;
			*_pt_array++ *= r;
			*_pt_array++ *= r;
			*_pt_array++ *= r;
		}
	}

	//array to flag points on the convex hull
	std::vector<bool> pointBelongsToCvxHull;

	static char qHullCommand[] = "qhull QJ Qci";
	if (!qh_new_qhull(3,nbPoints+1,pt_array,False,qHullCommand,0,stderr))
	{
		try
		{
			pointBelongsToCvxHull.resize(nbPoints+1,false);
		}
		catch (const std::bad_alloc&)
		{
			//not enough memory!
			delete[] pt_array;
			return 0;
		}

		vertexT *vertex = 0,**vertexp = 0;
		facetT *facet = 0;

		FORALLfacets
		{
			//if (!facet->simplicial)
			//	error("convhulln: non-simplicial facet"); // should never happen with QJ

			setT* vertices = qh_facet3vertex(facet);
			FOREACHvertex_(vertices)
			{
				pointBelongsToCvxHull[qh_pointid(vertex->point)] = true;
			}
			qh_settempfree(&vertices);
		}
	}

	delete[] pt_array;
//.........这里部分代码省略.........

int Cropper::compute()
{

    ccHObject::Container outcrops = vombat::theInstance()->getAllObjectsSelectedBySPCDti(&spc::VirtualOutcrop::Type);

    if (outcrops.size() > 1) {
        LOG(INFO) << "please select only one virtual outcrop on which to operate";
        return 1;
    }

    else if (outcrops.size() == 1) {
        m_root_outcrop = dynamic_cast<ccVirtualOutcrop*>(outcrops.at(0));
    }
    else
        m_root_outcrop = new ccVirtualOutcrop();

    ccHObject::Container selections = m_dialog->getSelections();

    //    ccHObject::Container clouds = m_dialog->getClouds();

    ccHObject::Container croppables = m_dialog->getCroppables();

    LOG(INFO) << "found " << selections.size() << " to be processed";
    //    LOG(INFO) << "Found " << clouds.size() << " point clouds to be analyzed";
    LOG(INFO) << "Found " << croppables.size() << " polylines";

    //    if (m_dialog->generateRegions())

    // first create selections out of regions
    for (ccHObject* obj : selections) {

        ccPlanarSelection* sel = dynamic_cast<ccPlanarSelection*>(obj);

        for (ccHObject* to_crop : croppables) {
            if (to_crop->isA(CC_TYPES::POLY_LINE)) {
//                if (to_crop->isA(CC_TYPES::POINT_CLOUD)) {
                ccPolyline* pline = ccHObjectCaster::ToPolyline(to_crop);

                ccPointCloud* vertices = dynamic_cast<ccPointCloud*>(pline->getAssociatedCloud());

                ccPointCloud* cropped_vertices = sel->crop(vertices);

                if (cropped_vertices) {
                    ccPolyline* cropped_pline = new ccPolyline(cropped_vertices);

                    cropped_pline->addPointIndex(0, cropped_vertices->size() - 1);
                    cropped_pline->setVisible(true);
                    //                    if (m_dialog->cropStrataTraces())
                    sel->addChild(cropped_pline);
                }
            }

            else if (to_crop->isA(CC_TYPES::POINT_CLOUD)) {

				LOG(INFO) << "cropping point cloud with name " << to_crop->getName().toStdString();

                ccPointCloud* cloud = ccHObjectCaster::ToPointCloud(to_crop);

                spc::PointCloudBase::Ptr asspc = spcCCPointCloud::fromccPointCloud(cloud);

                spc::SelectionExtractor<Eigen::Vector3f, int> ext;
                ext.setInputSet(asspc);
                ext.setSelection(sel->getSPCElement<spc::SelectionBase<Eigen::Vector3f> >());
                ext.compute();

                std::vector<int> inside = ext.getInsideIds();

                if (inside.size() == 0)
				{
					LOG(WARNING) << "the selection did not find anything inside it. Skipping";
                    continue;
				}

                CCLib::ReferenceCloud* ref = new CCLib::ReferenceCloud(cloud);
                for (int i : inside) {
                    ref->addPointIndex(i);
                }

                ccPointCloud* outcloud = cloud->partialClone(ref);

				LOG(INFO) << "done with cropping, calling add child on object: " << sel->getName().toStdString();
                sel->addChild(outcloud);
                newEntity(outcloud);
            }
        }
    }


    return 1;
}

CCLib::ReferenceCloud* qHPR::removeHiddenPoints(CCLib::GenericIndexedCloudPersist* theCloud, float viewPoint[], float fParam)
{
	assert(theCloud);

	unsigned i,nbPoints = theCloud->size();

	if (nbPoints==0)
		return 0;

	CCLib::ReferenceCloud* newCloud = new CCLib::ReferenceCloud(theCloud);

	//less than 4 points ? no need for calculation, we return the whole cloud
	if (nbPoints<4)
	{
		if (!newCloud->reserve(nbPoints)) //well, we never know ;)
		{
			//not enough memory!
			delete newCloud;
			return 0;
		}
		newCloud->addPointIndex(0,nbPoints);
		return newCloud;
	}

	//view point
	coordT Cx = viewPoint[0];
	coordT Cy = viewPoint[1];
	coordT Cz = viewPoint[2];

	float* radius = new float[nbPoints];
	if (!radius)
	{
		//not enough memory!
		delete newCloud;
		return 0;
	}
	float r,maxRadius = 0.0;

	//table of points
	coordT* pt_array = new coordT[(nbPoints+1)*3];
	coordT* _pt_array = pt_array;
	theCloud->placeIteratorAtBegining();

//#define BACKUP_PROJECTED_CLOUDS
#ifdef BACKUP_PROJECTED_CLOUDS
	FILE* fp = fopen("output_centered.asc","wt");
#endif
	double x,y,z;
	for (i=0;i<nbPoints;++i)
	{
		const CCVector3* P = theCloud->getNextPoint();
		*(_pt_array++)=x=coordT(P->x)-Cx;
		*(_pt_array++)=y=coordT(P->y)-Cy;
		*(_pt_array++)=z=coordT(P->z)-Cz;
		//we pre-compute the radius ...
		r = (float)sqrt(x*x+y*y+z*z);
		//in order to determine the max radius
		if (maxRadius<r)
			maxRadius = r;
		radius[i] = r;
#ifdef BACKUP_PROJECTED_CLOUDS
		fprintf(fp,"%f %f %f %f\n",x,y,z,r);
#endif
	}
	//we add the view point (Cf. HPR)
	*(_pt_array++)=0.0;
	*(_pt_array++)=0.0;
	*(_pt_array++)=0.0;
#ifdef BACKUP_PROJECTED_CLOUDS
	fprintf(fp,"%f %f %f %f\n",0,0,0,0);
	fclose(fp);
#endif

	maxRadius *= 2.0f*pow(10.0f,fParam);

	_pt_array = pt_array;
#ifdef BACKUP_PROJECTED_CLOUDS
	fp = fopen("output_transformed.asc","wt");
#endif
	for (i=0;i<nbPoints;++i)
	{
		//Spherical flipping
		r = maxRadius/radius[i]-1.0f;
#ifndef BACKUP_PROJECTED_CLOUDS
		*(_pt_array++) *= double(r);
		*(_pt_array++) *= double(r);
		*(_pt_array++) *= double(r);
#else
		x = *_pt_array * double(r);
		*(_pt_array++) = x;
		y = *_pt_array * double(r);
		*(_pt_array++) = y;
		z = *_pt_array * double(r);
		*(_pt_array++) = z;
		fprintf(fp,"%f %f %f %f\n",x,y,z,r);
#endif
	}
#ifdef BACKUP_PROJECTED_CLOUDS
	fclose(fp);
#endif
//.........这里部分代码省略.........