Points: apply clang-formatting
This commit is contained in:
wmayer
@@ -30,141 +30,179 @@
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#include "Points.h"
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#define POINTS_CT_GRID 256 // Default value for number of elements per grid
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#define POINTS_MAX_GRIDS 100000 // Default value for maximum number of grids
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#define POINTS_CT_GRID_PER_AXIS 20
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#define PONTSGRID_BBOX_EXTENSION 10.0f
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#define POINTS_CT_GRID 256 // Default value for number of elements per grid
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#define POINTS_MAX_GRIDS 100000// Default value for maximum number of grids
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#define POINTS_CT_GRID_PER_AXIS 20
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#define PONTSGRID_BBOX_EXTENSION 10.0f
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namespace Points {
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namespace Points
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{
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class PointsGrid;
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/**
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* The PointsGrid allows to divide a global point cloud into smaller regions of elements depending on the resolution of the grid.
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* All grid elements in the grid structure have the same size.
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* The PointsGrid allows to divide a global point cloud into smaller regions of elements depending
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* on the resolution of the grid. All grid elements in the grid structure have the same size.
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*
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* Grids can be used within algorithms to avoid to iterate through all elements, so grids can speed up algorithms dramatically.
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* Grids can be used within algorithms to avoid to iterate through all elements, so grids can speed
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* up algorithms dramatically.
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* @author Werner Mayer
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*/
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class PointsExport PointsGrid
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{
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public:
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/** @name Construction */
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//@{
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/// Construction
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explicit PointsGrid (const PointKernel &rclM);
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/// Construction
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PointsGrid ();
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/// Construction
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PointsGrid (const PointKernel &rclM, int iCtGridPerAxis);
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/// Construction
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PointsGrid (const PointKernel &rclM, double fGridLen);
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/// Construction
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PointsGrid (const PointKernel &rclM, unsigned long ulX, unsigned long ulY, unsigned long ulZ);
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/// Destruction
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virtual ~PointsGrid () = default;
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//@}
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/** @name Construction */
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//@{
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/// Construction
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explicit PointsGrid(const PointKernel& rclM);
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/// Construction
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PointsGrid();
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/// Construction
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PointsGrid(const PointKernel& rclM, int iCtGridPerAxis);
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/// Construction
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PointsGrid(const PointKernel& rclM, double fGridLen);
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/// Construction
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PointsGrid(const PointKernel& rclM, unsigned long ulX, unsigned long ulY, unsigned long ulZ);
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/// Destruction
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virtual ~PointsGrid() = default;
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//@}
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public:
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/** Attaches the point kernel to this grid, an already attached point cloud gets detached. The grid gets rebuilt
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* automatically. */
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virtual void Attach (const PointKernel &rclM);
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/** Rebuilds the grid structure. */
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virtual void Rebuild (unsigned long ulPerGrid = POINTS_CT_GRID, unsigned long ulMaxGrid = POINTS_MAX_GRIDS);
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/** Rebuilds the grid structure. */
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virtual void Rebuild (int iCtGridPerAxis = POINTS_CT_GRID_PER_AXIS);
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/** Rebuilds the grid structure. */
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virtual void Rebuild (unsigned long ulX, unsigned long ulY, unsigned long ulZ);
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/** Attaches the point kernel to this grid, an already attached point cloud gets detached. The
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* grid gets rebuilt automatically. */
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virtual void Attach(const PointKernel& rclM);
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/** Rebuilds the grid structure. */
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virtual void Rebuild(unsigned long ulPerGrid = POINTS_CT_GRID,
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unsigned long ulMaxGrid = POINTS_MAX_GRIDS);
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/** Rebuilds the grid structure. */
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virtual void Rebuild(int iCtGridPerAxis = POINTS_CT_GRID_PER_AXIS);
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/** Rebuilds the grid structure. */
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virtual void Rebuild(unsigned long ulX, unsigned long ulY, unsigned long ulZ);
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/** @name Search */
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//@{
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide (const Base::BoundBox3d &rclBB, std::vector<unsigned long> &raulElements, bool bDelDoubles = true) const;
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide (const Base::BoundBox3d &rclBB, std::set<unsigned long> &raulElementss) const;
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide (const Base::BoundBox3d &rclBB, std::vector<unsigned long> &raulElements,
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const Base::Vector3d &rclOrg, double fMaxDist, bool bDelDoubles = true) const;
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/** Searches for the nearest grids that contain elements from a point, the result are grid indices. */
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void SearchNearestFromPoint (const Base::Vector3d &rclPt, std::set<unsigned long> &rclInd) const;
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//@}
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/** @name Search */
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//@{
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide(const Base::BoundBox3d& rclBB,
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std::vector<unsigned long>& raulElements,
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bool bDelDoubles = true) const;
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide(const Base::BoundBox3d& rclBB,
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std::set<unsigned long>& raulElementss) const;
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/** Searches for elements lying in the intersection area of the grid and the bounding box. */
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virtual unsigned long InSide(const Base::BoundBox3d& rclBB,
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std::vector<unsigned long>& raulElements,
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const Base::Vector3d& rclOrg,
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double fMaxDist,
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bool bDelDoubles = true) const;
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/** Searches for the nearest grids that contain elements from a point, the result are grid
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* indices. */
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void SearchNearestFromPoint(const Base::Vector3d& rclPt, std::set<unsigned long>& rclInd) const;
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//@}
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/** Returns the lengths of the grid elements in x,y and z direction. */
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virtual void GetGridLengths (double &rfLenX, double &rfLenY, double &rfLenZ) const
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{ rfLenX = _fGridLenX; rfLenY = _fGridLenY; rfLenZ = _fGridLenZ; }
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/** Returns the number of grid elements in x,y and z direction. */
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virtual void GetCtGrids (unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const
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{ rulX = _ulCtGridsX; rulY = _ulCtGridsY; rulZ = _ulCtGridsZ; }
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/** Returns the lengths of the grid elements in x,y and z direction. */
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virtual void GetGridLengths(double& rfLenX, double& rfLenY, double& rfLenZ) const
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{
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rfLenX = _fGridLenX;
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rfLenY = _fGridLenY;
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rfLenZ = _fGridLenZ;
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}
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/** Returns the number of grid elements in x,y and z direction. */
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virtual void GetCtGrids(unsigned long& rulX, unsigned long& rulY, unsigned long& rulZ) const
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{
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rulX = _ulCtGridsX;
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rulY = _ulCtGridsY;
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rulZ = _ulCtGridsZ;
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}
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/** @name Boundings */
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//@{
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/** Returns the bounding box of a given grid element. */
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inline Base::BoundBox3d GetBoundBox (unsigned long ulX, unsigned long ulY, unsigned long ulZ) const;
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/** Returns the bounding box of the whole. */
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inline Base::BoundBox3d GetBoundBox () const;
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//@}
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/** Returns the number of elements in a given grid. */
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unsigned long GetCtElements(unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
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{ return _aulGrid[ulX][ulY][ulZ].size(); }
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/** Finds all points that lie in the same grid as the point \a rclPoint. */
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unsigned long FindElements(const Base::Vector3d &rclPoint, std::set<unsigned long>& aulElements) const;
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/** Validates the grid structure and rebuilds it if needed. */
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virtual void Validate (const PointKernel &rclM);
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/** Validates the grid structure and rebuilds it if needed. */
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virtual void Validate ();
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/** Verifies the grid structure and returns false if inconsistencies are found. */
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virtual bool Verify() const;
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/** Returns the indices of the grid this point lies in. If the point is outside the grid then the indices of
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* the nearest grid element are taken.*/
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virtual void Position (const Base::Vector3d &rclPoint, unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const;
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/** Returns the indices of the elements in the given grid. */
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unsigned long GetElements (unsigned long ulX, unsigned long ulY, unsigned long ulZ, std::set<unsigned long> &raclInd) const;
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/** @name Boundings */
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//@{
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/** Returns the bounding box of a given grid element. */
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inline Base::BoundBox3d
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GetBoundBox(unsigned long ulX, unsigned long ulY, unsigned long ulZ) const;
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/** Returns the bounding box of the whole. */
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inline Base::BoundBox3d GetBoundBox() const;
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//@}
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/** Returns the number of elements in a given grid. */
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unsigned long GetCtElements(unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
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{
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return _aulGrid[ulX][ulY][ulZ].size();
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}
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/** Finds all points that lie in the same grid as the point \a rclPoint. */
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unsigned long FindElements(const Base::Vector3d& rclPoint,
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std::set<unsigned long>& aulElements) const;
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/** Validates the grid structure and rebuilds it if needed. */
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virtual void Validate(const PointKernel& rclM);
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/** Validates the grid structure and rebuilds it if needed. */
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virtual void Validate();
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/** Verifies the grid structure and returns false if inconsistencies are found. */
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virtual bool Verify() const;
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/** Returns the indices of the grid this point lies in. If the point is outside the grid then
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* the indices of the nearest grid element are taken.*/
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virtual void Position(const Base::Vector3d& rclPoint,
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unsigned long& rulX,
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unsigned long& rulY,
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unsigned long& rulZ) const;
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/** Returns the indices of the elements in the given grid. */
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unsigned long GetElements(unsigned long ulX,
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unsigned long ulY,
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unsigned long ulZ,
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std::set<unsigned long>& raclInd) const;
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protected:
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/** Checks if this is a valid grid position. */
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inline bool CheckPos (unsigned long ulX, unsigned long ulY, unsigned long ulZ) const;
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/** Initializes the size of the internal structure. */
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virtual void InitGrid ();
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/** Deletes the grid structure. */
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virtual void Clear ();
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/** Calculates the grid length dependent on maximum number of grids. */
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virtual void CalculateGridLength (unsigned long ulCtGrid, unsigned long ulMaxGrids);
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/** Calculates the grid length dependent on the number of grids per axis. */
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virtual void CalculateGridLength (int iCtGridPerAxis);
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/** Rebuilds the grid structure. */
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virtual void RebuildGrid ();
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/** Returns the number of stored elements. */
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unsigned long HasElements () const
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{ return _pclPoints->size(); }
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/** Get the indices of all elements lying in the grids around a given grid with distance \a ulDistance. */
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void GetHull (unsigned long ulX, unsigned long ulY, unsigned long ulZ, unsigned long ulDistance, std::set<unsigned long> &raclInd) const;
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/** Checks if this is a valid grid position. */
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inline bool CheckPos(unsigned long ulX, unsigned long ulY, unsigned long ulZ) const;
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/** Initializes the size of the internal structure. */
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virtual void InitGrid();
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/** Deletes the grid structure. */
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virtual void Clear();
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/** Calculates the grid length dependent on maximum number of grids. */
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virtual void CalculateGridLength(unsigned long ulCtGrid, unsigned long ulMaxGrids);
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/** Calculates the grid length dependent on the number of grids per axis. */
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virtual void CalculateGridLength(int iCtGridPerAxis);
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/** Rebuilds the grid structure. */
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virtual void RebuildGrid();
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/** Returns the number of stored elements. */
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unsigned long HasElements() const
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{
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return _pclPoints->size();
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}
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/** Get the indices of all elements lying in the grids around a given grid with distance \a
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* ulDistance. */
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void GetHull(unsigned long ulX,
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unsigned long ulY,
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unsigned long ulZ,
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unsigned long ulDistance,
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std::set<unsigned long>& raclInd) const;
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protected:
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std::vector<std::vector<std::vector<std::set<unsigned long> > > > _aulGrid; /**< Grid data structure. */
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const PointKernel* _pclPoints; /**< The point kernel. */
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unsigned long _ulCtElements;/**< Number of grid elements for validation issues. */
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unsigned long _ulCtGridsX; /**< Number of grid elements in z. */
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unsigned long _ulCtGridsY; /**< Number of grid elements in z. */
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unsigned long _ulCtGridsZ; /**< Number of grid elements in z. */
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double _fGridLenX; /**< Length of grid elements in x. */
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double _fGridLenY; /**< Length of grid elements in y. */
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double _fGridLenZ; /**< Length of grid elements in z. */
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double _fMinX; /**< Grid null position in x. */
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double _fMinY; /**< Grid null position in y. */
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double _fMinZ; /**< Grid null position in z. */
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std::vector<std::vector<std::vector<std::set<unsigned long>>>>
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_aulGrid; /**< Grid data structure. */
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const PointKernel* _pclPoints; /**< The point kernel. */
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unsigned long _ulCtElements; /**< Number of grid elements for validation issues. */
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unsigned long _ulCtGridsX; /**< Number of grid elements in z. */
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unsigned long _ulCtGridsY; /**< Number of grid elements in z. */
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unsigned long _ulCtGridsZ; /**< Number of grid elements in z. */
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double _fGridLenX; /**< Length of grid elements in x. */
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double _fGridLenY; /**< Length of grid elements in y. */
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double _fGridLenZ; /**< Length of grid elements in z. */
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double _fMinX; /**< Grid null position in x. */
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double _fMinY; /**< Grid null position in y. */
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double _fMinZ; /**< Grid null position in z. */
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// friends
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friend class PointsGridIterator;
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friend class PointsGridIteratorStatistic;
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// friends
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friend class PointsGridIterator;
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friend class PointsGridIteratorStatistic;
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public:
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protected:
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/** Adds a new point element to the grid structure. \a rclPt is the geometric point and \a ulPtIndex
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* the corresponding index in the point kernel. */
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void AddPoint (const Base::Vector3d &rclPt, unsigned long ulPtIndex, float fEpsilon = 0.0f);
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/** Returns the grid numbers to the given point \a rclPoint. */
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void Pos(const Base::Vector3d &rclPoint, unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const;
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/** Adds a new point element to the grid structure. \a rclPt is the geometric point and \a
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* ulPtIndex the corresponding index in the point kernel. */
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void AddPoint(const Base::Vector3d& rclPt, unsigned long ulPtIndex, float fEpsilon = 0.0f);
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/** Returns the grid numbers to the given point \a rclPoint. */
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void Pos(const Base::Vector3d& rclPoint,
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unsigned long& rulX,
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unsigned long& rulY,
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unsigned long& rulZ) const;
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};
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/**
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@@ -174,99 +212,144 @@ protected:
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class PointsExport PointsGridIterator
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{
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public:
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/// Construction
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explicit PointsGridIterator (const PointsGrid &rclG);
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/** Returns the bounding box of the current grid element. */
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Base::BoundBox3d GetBoundBox () const
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{ return _rclGrid.GetBoundBox(_ulX, _ulY, _ulZ); }
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/** Returns indices of the elements in the current grid. */
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void GetElements (std::vector<unsigned long> &raulElements) const
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{
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raulElements.insert(raulElements.end(), _rclGrid._aulGrid[_ulX][_ulY][_ulZ].begin(), _rclGrid._aulGrid[_ulX][_ulY][_ulZ].end());
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}
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/** @name Iteration */
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//@{
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/** Sets the iterator to the first element*/
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void Init ()
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{ _ulX = _ulY = _ulZ = 0; }
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/** Checks if the iterator has not yet reached the end position. */
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bool More () const
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{ return (_ulZ < _rclGrid._ulCtGridsZ); }
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/** Go to the next grid. */
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void Next ()
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{
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if (++_ulX >= (_rclGrid._ulCtGridsX)) _ulX = 0; else return;
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if (++_ulY >= (_rclGrid._ulCtGridsY)) { _ulY = 0; _ulZ++; } else return;
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}
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//@}
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/// Construction
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explicit PointsGridIterator(const PointsGrid& rclG);
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/** Returns the bounding box of the current grid element. */
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Base::BoundBox3d GetBoundBox() const
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{
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return _rclGrid.GetBoundBox(_ulX, _ulY, _ulZ);
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}
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/** Returns indices of the elements in the current grid. */
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void GetElements(std::vector<unsigned long>& raulElements) const
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{
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raulElements.insert(raulElements.end(),
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_rclGrid._aulGrid[_ulX][_ulY][_ulZ].begin(),
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_rclGrid._aulGrid[_ulX][_ulY][_ulZ].end());
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}
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/** @name Iteration */
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//@{
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/** Sets the iterator to the first element*/
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void Init()
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{
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_ulX = _ulY = _ulZ = 0;
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}
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/** Checks if the iterator has not yet reached the end position. */
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bool More() const
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{
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return (_ulZ < _rclGrid._ulCtGridsZ);
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}
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/** Go to the next grid. */
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void Next()
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{
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if (++_ulX >= (_rclGrid._ulCtGridsX)) {
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_ulX = 0;
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}
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else {
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return;
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}
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if (++_ulY >= (_rclGrid._ulCtGridsY)) {
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_ulY = 0;
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_ulZ++;
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}
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else {
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return;
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}
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}
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//@}
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/** @name Tests with rays */
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//@{
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/** Searches for facets around the ray. */
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bool InitOnRay (const Base::Vector3d &rclPt, const Base::Vector3d &rclDir, std::vector<unsigned long> &raulElements);
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/** Searches for facets around the ray. */
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bool InitOnRay (const Base::Vector3d &rclPt, const Base::Vector3d &rclDir, float fMaxSearchArea, std::vector<unsigned long> &raulElements);
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/** Searches for facets around the ray. */
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bool NextOnRay (std::vector<unsigned long> &raulElements);
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//@}
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/** @name Tests with rays */
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//@{
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/** Searches for facets around the ray. */
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bool InitOnRay(const Base::Vector3d& rclPt,
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const Base::Vector3d& rclDir,
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std::vector<unsigned long>& raulElements);
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/** Searches for facets around the ray. */
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bool InitOnRay(const Base::Vector3d& rclPt,
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const Base::Vector3d& rclDir,
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float fMaxSearchArea,
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std::vector<unsigned long>& raulElements);
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/** Searches for facets around the ray. */
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bool NextOnRay(std::vector<unsigned long>& raulElements);
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//@}
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/** Returns the grid number of the current position. */
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void GetGridPos (unsigned long &rulX, unsigned long &rulY, unsigned long &rulZ) const
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{ rulX = _ulX; rulY = _ulY; rulZ = _ulZ; }
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/** Returns the grid number of the current position. */
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void GetGridPos(unsigned long& rulX, unsigned long& rulY, unsigned long& rulZ) const
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{
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rulX = _ulX;
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rulY = _ulY;
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rulZ = _ulZ;
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}
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protected:
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const PointsGrid& _rclGrid; /**< The point grid. */
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unsigned long _ulX{0}; /**< Number of grids in x. */
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unsigned long _ulY{0}; /**< Number of grids in y. */
|
||||
unsigned long _ulZ{0}; /**< Number of grids in z. */
|
||||
Base::Vector3d _clPt; /**< Base point of search ray. */
|
||||
Base::Vector3d _clDir; /**< Direction of search ray. */
|
||||
bool _bValidRay{false}; /**< Search ray ok? */
|
||||
float _fMaxSearchArea{FLOAT_MAX};
|
||||
/** Checks if a grid position is already visited by NextOnRay(). */
|
||||
struct GridElement
|
||||
{
|
||||
GridElement( unsigned long x, unsigned long y, unsigned long z)
|
||||
{ this->x = x; this->y = y; this->z = z; }
|
||||
bool operator < (const GridElement& pos) const
|
||||
const PointsGrid& _rclGrid; /**< The point grid. */
|
||||
unsigned long _ulX {0}; /**< Number of grids in x. */
|
||||
unsigned long _ulY {0}; /**< Number of grids in y. */
|
||||
unsigned long _ulZ {0}; /**< Number of grids in z. */
|
||||
Base::Vector3d _clPt; /**< Base point of search ray. */
|
||||
Base::Vector3d _clDir; /**< Direction of search ray. */
|
||||
bool _bValidRay {false}; /**< Search ray ok? */
|
||||
float _fMaxSearchArea {FLOAT_MAX};
|
||||
/** Checks if a grid position is already visited by NextOnRay(). */
|
||||
struct GridElement
|
||||
{
|
||||
if ( x == pos.x)
|
||||
{ if ( y == pos.y) return z < pos.z; else return y < pos.y; }
|
||||
else
|
||||
{ return x < pos.x; }
|
||||
}
|
||||
private:
|
||||
unsigned long x,y,z;
|
||||
};
|
||||
std::set<GridElement> _cSearchPositions;
|
||||
GridElement(unsigned long x, unsigned long y, unsigned long z)
|
||||
{
|
||||
this->x = x;
|
||||
this->y = y;
|
||||
this->z = z;
|
||||
}
|
||||
bool operator<(const GridElement& pos) const
|
||||
{
|
||||
if (x == pos.x) {
|
||||
if (y == pos.y) {
|
||||
return z < pos.z;
|
||||
}
|
||||
else {
|
||||
return y < pos.y;
|
||||
}
|
||||
}
|
||||
else {
|
||||
return x < pos.x;
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
unsigned long x, y, z;
|
||||
};
|
||||
std::set<GridElement> _cSearchPositions;
|
||||
};
|
||||
|
||||
// --------------------------------------------------------------
|
||||
|
||||
inline Base::BoundBox3d PointsGrid::GetBoundBox (unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
|
||||
inline Base::BoundBox3d
|
||||
PointsGrid::GetBoundBox(unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
|
||||
{
|
||||
double fX, fY, fZ;
|
||||
double fX, fY, fZ;
|
||||
|
||||
fX = _fMinX + (double(ulX) * _fGridLenX);
|
||||
fY = _fMinY + (double(ulY) * _fGridLenY);
|
||||
fZ = _fMinZ + (double(ulZ) * _fGridLenZ);
|
||||
fX = _fMinX + (double(ulX) * _fGridLenX);
|
||||
fY = _fMinY + (double(ulY) * _fGridLenY);
|
||||
fZ = _fMinZ + (double(ulZ) * _fGridLenZ);
|
||||
|
||||
return Base::BoundBox3d(fX, fY, fZ, fX + _fGridLenX, fY + _fGridLenY, fZ + _fGridLenZ);
|
||||
return Base::BoundBox3d(fX, fY, fZ, fX + _fGridLenX, fY + _fGridLenY, fZ + _fGridLenZ);
|
||||
}
|
||||
|
||||
inline Base::BoundBox3d PointsGrid::GetBoundBox () const
|
||||
inline Base::BoundBox3d PointsGrid::GetBoundBox() const
|
||||
{
|
||||
return Base::BoundBox3d(_fMinX, _fMinY, _fMinZ, _fMinX + (_fGridLenX * double(_ulCtGridsX)),
|
||||
_fMinY + (_fGridLenY * double(_ulCtGridsY)), _fMinZ + (_fGridLenZ * double(_ulCtGridsZ)));
|
||||
return Base::BoundBox3d(_fMinX,
|
||||
_fMinY,
|
||||
_fMinZ,
|
||||
_fMinX + (_fGridLenX * double(_ulCtGridsX)),
|
||||
_fMinY + (_fGridLenY * double(_ulCtGridsY)),
|
||||
_fMinZ + (_fGridLenZ * double(_ulCtGridsZ)));
|
||||
}
|
||||
|
||||
inline bool PointsGrid::CheckPos (unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
|
||||
inline bool PointsGrid::CheckPos(unsigned long ulX, unsigned long ulY, unsigned long ulZ) const
|
||||
{
|
||||
return ((ulX < _ulCtGridsX) && (ulY < _ulCtGridsY) && (ulZ < _ulCtGridsZ));
|
||||
return ((ulX < _ulCtGridsX) && (ulY < _ulCtGridsY) && (ulZ < _ulCtGridsZ));
|
||||
}
|
||||
|
||||
// --------------------------------------------------------------
|
||||
|
||||
} // namespace Points
|
||||
}// namespace Points
|
||||
|
||||
#endif // POINTS_GRID_H
|
||||
#endif// POINTS_GRID_H
|
||||
|
||||
Reference in New Issue
Block a user