A very simple point cloud (no point duplication) More...

#include <ReferenceCloud.h>

Inheritance diagram for CCCoreLib::ReferenceCloud:

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Collaboration diagram for CCCoreLib::ReferenceCloud:

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Public Member Functions
	ReferenceCloud (GenericIndexedCloudPersist *associatedCloud)
	Default constructor.

	ReferenceCloud (const ReferenceCloud &refCloud)
	Copy constructor.

	~ReferenceCloud () override=default
	Destructor.

unsigned	size () const override
	Returns the number of points. More...

void	forEach (genericPointAction action) override
	Fast iteration mechanism. More...

void	getBoundingBox (CCVector3 &bbMin, CCVector3 &bbMax) override
	Returns the cloud bounding box. More...

unsigned char	testVisibility (const CCVector3 &P) const override
	Returns a given point visibility state (relatively to a sensor for instance) More...

void	placeIteratorAtBeginning () override
	Sets the cloud iterator at the beginning. More...

const CCVector3 *	getNextPoint () override
	Returns the next point (relatively to the global iterator position) More...

bool	enableScalarField () override
	Enables the scalar field associated to the cloud. More...

bool	isScalarFieldEnabled () const override
	Returns true if the scalar field is enabled, false otherwise. More...

void	setPointScalarValue (unsigned pointIndex, ScalarType value) override
	Sets the ith point associated scalar value. More...

ScalarType	getPointScalarValue (unsigned pointIndex) const override
	Returns the ith point associated scalar value. More...

const CCVector3 *	getPoint (unsigned index) const override
	Returns the ith point. More...

void	getPoint (unsigned index, CCVector3 &P) const override
	Returns the ith point. More...

bool	normalsAvailable () const override
	Returns whether normals are available. More...

const CCVector3 *	getNormal (unsigned index) const override
	If per-point normals are available, returns the one at a specific index. More...

const CCVector3 *	getPointPersistentPtr (unsigned index) const override
	Returns the ith point as a persistent pointer. More...

virtual unsigned	getPointGlobalIndex (unsigned localIndex) const
	Returns global index (i.e. relative to the associated cloud) of a given element. More...

virtual const CCVector3 *	getCurrentPointCoordinates () const
	Returns the coordinates of the point pointed by the current element. More...

virtual unsigned	getCurrentPointGlobalIndex () const
	Returns the global index of the point pointed by the current element.

virtual ScalarType	getCurrentPointScalarValue () const
	Returns the current point associated scalar value.

virtual void	setCurrentPointScalarValue (ScalarType value)
	Sets the current point associated scalar value.

virtual void	forwardIterator ()
	Forwards the local element iterator.

virtual void	clear (bool releaseMemory=false)
	Clears the cloud. More...

virtual bool	addPointIndex (unsigned globalIndex)
	Point global index insertion mechanism. More...

virtual bool	addPointIndex (unsigned firstIndex, unsigned lastIndex)
	Point global index insertion mechanism (range) More...

virtual void	setPointIndex (unsigned localIndex, unsigned globalIndex)
	Sets global index for a given element. More...

virtual bool	reserve (unsigned n)
	Reserves some memory for hosting the point references. More...

virtual bool	resize (unsigned n)
	Presets the size of the vector used to store point references. More...

virtual unsigned	capacity () const
	Returns max capacity.

virtual void	swap (unsigned i, unsigned j)
	Swaps two point references. More...

virtual void	removeCurrentPointGlobalIndex ()
	Removes current element. More...

virtual void	removePointGlobalIndex (unsigned localIndex)
	Removes a given element. More...

virtual GenericIndexedCloudPersist *	getAssociatedCloud ()
	Returns the associated (source) cloud.

virtual const GenericIndexedCloudPersist *	getAssociatedCloud () const
	Returns the associated (source) cloud (const version)

virtual void	setAssociatedCloud (GenericIndexedCloudPersist *cloud)
	Sets the associated (source) cloud.

bool	add (const ReferenceCloud &cloud)
	Add another reference cloud. More...

void	invalidateBoundingBox ()
	Invalidates the bounding-box.

Public Member Functions inherited from CCCoreLib::GenericIndexedCloudPersist
	GenericIndexedCloudPersist ()=default
	Default constructor.

	GenericIndexedCloudPersist (const char *name, unsigned ID)
	Mock constructor for compatibility with the PointCloudTpl interface. More...

	~GenericIndexedCloudPersist () override=default
	Default destructor.

virtual const CCVector3 *	getPointPersistentPtr (unsigned index) const =0
	Returns the ith point as a persistent pointer. More...

Public Member Functions inherited from CCCoreLib::GenericIndexedCloud
	GenericIndexedCloud ()=default
	Default constructor.

	~GenericIndexedCloud () override=default
	Default destructor.

virtual const CCVector3 *	getPoint (unsigned index) const =0
	Returns the ith point. More...

virtual void	getPoint (unsigned index, CCVector3 &P) const =0
	Returns the ith point. More...

virtual bool	normalsAvailable () const
	Returns whether normals are available. More...

virtual const CCVector3 *	getNormal (unsigned index) const
	If per-point normals are available, returns the one at a specific index. More...

Public Member Functions inherited from CCCoreLib::GenericCloud
	GenericCloud ()=default
	Default constructor.

virtual	~GenericCloud ()=default
	Default destructor.

virtual unsigned	size () const =0
	Returns the number of points. More...

virtual void	forEach (genericPointAction action)=0
	Fast iteration mechanism. More...

virtual void	getBoundingBox (CCVector3 &bbMin, CCVector3 &bbMax)=0
	Returns the cloud bounding box. More...

virtual unsigned char	testVisibility (const CCVector3 &P) const
	Returns a given point visibility state (relatively to a sensor for instance) More...

virtual void	placeIteratorAtBeginning ()=0
	Sets the cloud iterator at the beginning. More...

virtual const CCVector3 *	getNextPoint ()=0
	Returns the next point (relatively to the global iterator position) More...

virtual bool	enableScalarField ()=0
	Enables the scalar field associated to the cloud. More...

virtual bool	isScalarFieldEnabled () const =0
	Returns true if the scalar field is enabled, false otherwise. More...

virtual void	setPointScalarValue (unsigned pointIndex, ScalarType value)=0
	Sets the ith point associated scalar value. More...

virtual ScalarType	getPointScalarValue (unsigned pointIndex) const =0
	Returns the ith point associated scalar value. More...

Protected Types
using	ReferencesContainer = std::vector< unsigned int >
	Container of 3D point indexes.

Protected Attributes
ReferencesContainer	m_theIndexes
	Indexes of (some of) the associated cloud points.

std::atomic< unsigned >	m_globalIterator
	Iterator on the point references container.

BoundingBox	m_bbox
	Bounding-box.

GenericIndexedCloudPersist *	m_theAssociatedCloud
	Associated cloud. More...

std::mutex	m_mutex
	For concurrent access.

Additional Inherited Members
Public Types inherited from CCCoreLib::GenericCloud
using	genericPointAction = std::function< void(const CCVector3 &, ScalarType &)>
	Generic function applied to a point (used by foreach)

Detailed Description

A very simple point cloud (no point duplication)

Implements the GenericIndexedCloudPersist interface. A simple point cloud that stores references to Generic3dPoint instances in a vector.

Partial thread safety for all methods that can change the size of the cloud or that change or rely on point ordering.

Member Function Documentation

◆ add()

bool ReferenceCloud::add ( const ReferenceCloud & cloud )

Add another reference cloud.

Warning: Both clouds should have the same reference cloud!; No verification for duplicates! Thread safe.

◆ addPointIndex() [1/2]

bool ReferenceCloud::addPointIndex	(	unsigned	firstIndex,
		unsigned	lastIndex
	)

virtual

Point global index insertion mechanism (range)

Parameters

firstIndex	first point global index of range
lastIndex	last point global index of range (excluded)

Returns: false if not enough memory Thread safe.

◆ addPointIndex() [2/2]

bool ReferenceCloud::addPointIndex ( unsigned globalIndex )

virtual

Point global index insertion mechanism.

Parameters

globalIndex a point global index

Returns: false if not enough memory Thread safe.

◆ clear()

void ReferenceCloud::clear ( bool releaseMemory = false )

virtual

Clears the cloud.

Thread safe.

Reimplemented in CCCoreLib::Polyline.

◆ enableScalarField()

bool CCCoreLib::ReferenceCloud::enableScalarField ( )

inlineoverridevirtual

Enables the scalar field associated to the cloud.

If the scalar field structure is not yet initialized/allocated, this method gives the signal for its creation. Otherwise, if possible the structure size should be pre-reserved with the same number of elements as the point cloud.

Warning: If the cloud is empty, the scalar field will be empty as well. The scalar field will be reserved with the same capacity as the cloud.

Implements CCCoreLib::GenericCloud.

◆ forEach()

void ReferenceCloud::forEach ( genericPointAction action )

overridevirtual

Fast iteration mechanism.

Virtual method to apply a function to the whole cloud

Parameters

action the function to apply (see GenericCloud::genericPointAction)

Implements CCCoreLib::GenericCloud.

◆ getBoundingBox()

void ReferenceCloud::getBoundingBox	(	CCVector3 &	bbMin,
		CCVector3 &	bbMax
	)

overridevirtual

Returns the cloud bounding box.

Virtual method to request the cloud bounding box limits

Parameters

bbMin	lower bounding-box limits (Xmin,Ymin,Zmin)
bbMax	higher bounding-box limits (Xmax,Ymax,Zmax)

Implements CCCoreLib::GenericCloud.

◆ getCurrentPointCoordinates()

const CCVector3 * ReferenceCloud::getCurrentPointCoordinates ( ) const

virtual

Returns the coordinates of the point pointed by the current element.

Returns a persistent pointer.

◆ getNextPoint()

const CCVector3 * CCCoreLib::ReferenceCloud::getNextPoint ( )

inlineoverridevirtual

Returns the next point (relatively to the global iterator position)

Virtual method to handle the cloud global iterator. Global iterator position should be increased by one each time this method is called. Warning:

the returned object may not be persistent!
THIS METHOD MAY NOT BE COMPATIBLE WITH PARALLEL STRATEGIES (see the DgmOctree::executeFunctionForAllCellsAtLevel_MT and DgmOctree::executeFunctionForAllCellsAtStartingLevel_MT methods).
Returns
pointer on next point (or 0 if no more)

Implements CCCoreLib::GenericCloud.

◆ getNormal()

const CCVector3 * CCCoreLib::ReferenceCloud::getNormal ( unsigned index ) const

inlineoverridevirtual

If per-point normals are available, returns the one at a specific index.

Warning: If overriden, this method should return a valid normal for all points

Reimplemented from CCCoreLib::GenericIndexedCloud.

◆ getPoint() [1/2]

const CCVector3 * CCCoreLib::ReferenceCloud::getPoint ( unsigned index ) const

inlineoverridevirtual

Returns the ith point.

Virtual method to request a point with a specific index. WARNINGS:

the returned object may not be persistent!
THIS METHOD MAY NOT BE COMPATIBLE WITH PARALLEL STRATEGIES (see the DgmOctree::executeFunctionForAllCellsAtLevel_MT and DgmOctree::executeFunctionForAllCellsAtStartingLevel_MT methods). Consider the other version of getPoint instead or the GenericIndexedCloudPersist class.
Parameters

index of the requested point (between 0 and the cloud size minus 1)

Returns
the requested point (undefined behavior if index is invalid)

Implements CCCoreLib::GenericIndexedCloud.

◆ getPoint() [2/2]

void CCCoreLib::ReferenceCloud::getPoint	(	unsigned	index,
		CCVector3 &	P
	)		const

inlineoverridevirtual

Returns the ith point.

Virtual method to request a point with a specific index. Index must be valid (undefined behavior if index is invalid)

Parameters

index	of the requested point (between 0 and the cloud size minus 1)
P	output point

Implements CCCoreLib::GenericIndexedCloud.

◆ getPointGlobalIndex()

virtual unsigned CCCoreLib::ReferenceCloud::getPointGlobalIndex ( unsigned localIndex ) const

inlinevirtual

Returns global index (i.e. relative to the associated cloud) of a given element.

Parameters

localIndex local index (i.e. relative to the internal index container)

◆ getPointPersistentPtr()

const CCVector3 * CCCoreLib::ReferenceCloud::getPointPersistentPtr ( unsigned index ) const

inlineoverridevirtual

Returns the ith point as a persistent pointer.

Virtual method to request a point with a specific index. WARNING: the returned object MUST be persistent in order to be compatible with parallel strategies!

Parameters

index of the requested point (between 0 and the cloud size minus 1)

Returns: the requested point (or 0 if index is invalid)

Implements CCCoreLib::GenericIndexedCloudPersist.

◆ getPointScalarValue()

ScalarType CCCoreLib::ReferenceCloud::getPointScalarValue ( unsigned pointIndex ) const

inlineoverridevirtual

Returns the ith point associated scalar value.

Implements CCCoreLib::GenericCloud.

◆ isScalarFieldEnabled()

bool CCCoreLib::ReferenceCloud::isScalarFieldEnabled ( ) const

inlineoverridevirtual

Returns true if the scalar field is enabled, false otherwise.

Implements CCCoreLib::GenericCloud.

◆ normalsAvailable()

bool CCCoreLib::ReferenceCloud::normalsAvailable ( ) const

inlineoverridevirtual

Returns whether normals are available.

Reimplemented from CCCoreLib::GenericIndexedCloud.

◆ placeIteratorAtBeginning()

void CCCoreLib::ReferenceCloud::placeIteratorAtBeginning ( )

inlineoverridevirtual

Sets the cloud iterator at the beginning.

Virtual method to handle the cloud global iterator

Implements CCCoreLib::GenericCloud.

◆ removeCurrentPointGlobalIndex()

virtual void CCCoreLib::ReferenceCloud::removeCurrentPointGlobalIndex ( )

inlinevirtual

Removes current element.

WARNING: this method changes the cloud size! Thread safe.

◆ removePointGlobalIndex()

void ReferenceCloud::removePointGlobalIndex ( unsigned localIndex )

virtual

Removes a given element.

WARNING: this method changes the cloud size! Thread safe.

◆ reserve()

bool ReferenceCloud::reserve ( unsigned n )

virtual

Reserves some memory for hosting the point references.

Parameters

n	the number of points (references) Thread safe.

◆ resize()

bool ReferenceCloud::resize ( unsigned n )

virtual

Presets the size of the vector used to store point references.

Parameters

n	the number of points (references) Thread safe.

◆ setPointIndex()

void ReferenceCloud::setPointIndex	(	unsigned	localIndex,
		unsigned	globalIndex
	)

virtual

Sets global index for a given element.

Parameters

localIndex	local index
globalIndex	global index

◆ setPointScalarValue()

void CCCoreLib::ReferenceCloud::setPointScalarValue	(	unsigned	pointIndex,
		ScalarType	value
	)

inlineoverridevirtual

Sets the ith point associated scalar value.

Implements CCCoreLib::GenericCloud.

◆ size()

unsigned CCCoreLib::ReferenceCloud::size ( ) const

inlineoverridevirtual

Returns the number of points.

Virtual method to request the cloud size

Returns: the cloud size

Implements CCCoreLib::GenericCloud.

◆ swap()

virtual void CCCoreLib::ReferenceCloud::swap	(	unsigned	i,
		unsigned	j
	)

inlinevirtual

Swaps two point references.

the point references indexes should be smaller than the total number of "reserved" points (see ReferenceCloud::reserve).

Parameters

i	the first point index
j	the second point index Thread safe.

◆ testVisibility()

unsigned char CCCoreLib::ReferenceCloud::testVisibility ( const CCVector3 & P ) const

inlineoverridevirtual

Returns a given point visibility state (relatively to a sensor for instance)

Generic method to request a point visibility (should be overloaded if this functionality is required). The point visibility is such as defined in Daniel Girardeau-Montaut's PhD manuscript (see Chapter 2, section 2-3-3). In this case, a ground based laser sensor model should be used to determine it. This method is called before performing any point-to-cloud comparison. If the result is not POINT_VISIBLE, then the comparison won't be performed and the scalar field value associated to this point will be this visibility value.

Parameters

P	the 3D point to test

Returns: visibility (default: POINT_VISIBLE)

Reimplemented from CCCoreLib::GenericCloud.

Member Data Documentation

◆ m_theAssociatedCloud

GenericIndexedCloudPersist* CCCoreLib::ReferenceCloud::m_theAssociatedCloud

protected

Associated cloud.

The cloud from which references are referring to. WARNING: do not use the inner iterator as it is used to 'implement' the ReferenceCloud one.

The documentation for this class was generated from the following files:

ReferenceCloud.h
ReferenceCloud.cpp

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ add()

◆ addPointIndex() [1/2]

◆ addPointIndex() [2/2]

◆ clear()

◆ enableScalarField()

◆ forEach()

◆ getBoundingBox()

◆ getCurrentPointCoordinates()

◆ getNextPoint()

◆ getNormal()

◆ getPoint() [1/2]

◆ getPoint() [2/2]

◆ getPointGlobalIndex()

◆ getPointPersistentPtr()

◆ getPointScalarValue()

◆ isScalarFieldEnabled()

◆ normalsAvailable()

◆ placeIteratorAtBeginning()

◆ removeCurrentPointGlobalIndex()

◆ removePointGlobalIndex()

◆ reserve()

◆ resize()

◆ setPointIndex()

◆ setPointScalarValue()

◆ size()

◆ swap()

◆ testVisibility()

Member Data Documentation

◆ m_theAssociatedCloud