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dgirardeau merged 2 commits into from
Nov 22, 2025
Merged

New method: computeCloud2DiscEquation #125

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b3bd225
New method: computeCloud2DiscEquation
p-leroy Nov 18, 2025
1610eba
Syntax update
dgirardeau Nov 22, 2025
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89 changes: 65 additions & 24 deletions include/DistanceComputationTools.h
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Original file line number Diff line number Diff line change
Expand Up @@ -311,14 +311,27 @@ namespace CCCoreLib
static ScalarType computePoint2LineSegmentDistSquared(const CCVector3* point, const CCVector3* start, const CCVector3* end);

//! Computes the distance between each point in a cloud and a cone
/** \param[in] cloud a 3D point cloud
\param[in] coneP1 center point associated with the larger radii
\param[in] coneP2 center point associated with the smaller radii
\param[in] coneR1 cone radius at coneP1 (larger)
\param[in] coneR2 cone radius at coneP2 (smaller)
\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
\param[in] solutionType if true the scalar field will be set to which solution was selected 1-4 (optional)
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a cylinder (optional)
/** This algorithm is a modification of the distance computation between a point and a cylinder from
Barbier & Galin's Fast Distance Computation Between a Point and Cylinders, Cones, Line Swept Spheres and Cone-Spheres.
The modifications from the paper are to compute the closest distance when the point is interior to the capped cylinder.
http://liris.cnrs.fr/Documents/Liris-1297.pdf

If outputSolutionType is true (mostly for debug purpose), the possible values of the scalar field will be:
- 1 = below the bottom point within larger disk radius
- 2 = below the bottom point not within larger disk radius
- 3 = above the bottom point, within smaller disk radius, outside cone
- 4 = above the bottom point, within smaller disk radius, inside cone
- 7 = above the bottom point, outside smaller disk radius, point projects onto the large cap
- 8 = above the bottom point, outside smaller disk radius, point projects onto the small cap
- 9 = above the bottom point, outside smaller disk radius, onto the side of the cone (dist > 0) or inside (dist < 0)
\param[in] cloud a 3D point cloud
\param[in] coneP1 center point associated with the larger radii
\param[in] coneP2 center point associated with the smaller radii
\param[in] coneR1 cone radius at coneP1 (larger)
\param[in] coneR2 cone radius at coneP2 (smaller)
\param[in] signedDistances whether to compute signed or positive distances
\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)
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a cone (optional)

\return negative error code or a positive value in case of success
**/
Expand All @@ -328,17 +341,28 @@ namespace CCCoreLib
const PointCoordinateType coneR1,
const PointCoordinateType coneR2,
bool signedDistances = true,
bool solutionType = false,
bool outputSolutionType = false,
double* rms = nullptr);

//! Computes the distance between each point in a cloud and a cylinder
/** \param[in] cloud a 3D point cloud
\param[in] cylinderP1 center bottom point
\param[in] cylinderP2 center top point
\param[in] cylinderRadius cylinder radius
\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
\param[in] solutionType if true the scalar field will be set to which solution was selected 1-4 (optional)
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a cylinder (optional)
/** This algorithm is a modification of the distance computation between a point and a cone from
Barbier & Galin's Fast Distance Computation Between a Point and Cylinders, Cones, Line Swept Spheres and Cone-Spheres.
The modifications from the paper are to compute the closest distance when the point is interior to the cone.
http://liris.cnrs.fr/Documents/Liris-1297.pdf

If outputSolutionType is true (mostly for debug purpose), the possible values of the scalar field will be:
- 1 = exterior to the cylinder and within the bounds of the axis
- 2 = interior to the cylinder and either closer to an end-cap or the cylinder wall
- 3 = beyond the bounds of the cylinder's axis and radius
- 4 = beyond the bounds of the cylinder's axis but within the bounds of it's radius

\param[in] cloud a 3D point cloud
\param[in] cylinderP1 center bottom point
\param[in] cylinderP2 center top point
\param[in] cylinderRadius cylinder radius
\param[in] signedDistances whether to compute signed or positive distances
\param[in] outputSolutionType if true the scalar field will be set to which solution was selected (from 1 to 4 - see above)
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a cylinder (optional)

\return negative error code or a positive value in case of success
**/
Expand All @@ -347,14 +371,14 @@ namespace CCCoreLib
const CCVector3& cylinderP2,
const PointCoordinateType cylinderRadius,
bool signedDistances = true,
bool solutionType = false,
bool outputSolutionType = false,
double* rms = nullptr);

//! Computes the distance between each point in a cloud and a sphere
/** \param[in] cloud a 3D point cloud
\param[in] sphereCenter sphere 3d center point
\param[in] sphereRadius sphere radius
\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
\param[in] signedDistances whether to compute signed or positive distances
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a sphere (optional)

\return negative error code or a positive value in case of success
Expand All @@ -365,13 +389,30 @@ namespace CCCoreLib
bool signedDistances = true,
double* rms = nullptr);

//! Computes the distance between each point in a cloud and a disc
/** \param[in] cloud a 3D point cloud
\param[in] discCenter disc 3D center point
\param[in] discRadius disc radius
\param[in] rotationTransform (plane) disc position in space
\param[in] signedDistances whether to compute signed or absolute distances
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a disc (optional)

\return negative error code or a positive value in case of success
**/
static int computeCloud2DiscEquation(GenericIndexedCloudPersist* cloud,
const CCVector3& discCenter,
const PointCoordinateType discRadius,
const SquareMatrix& rotationTransform,
bool signedDistances = true,
double* rms = nullptr);

//! Computes the distance between each point in a cloud and a plane
/** \param[in] cloud a 3D point cloud
\param[in] planeEquation plane equation: [a,b,c,d] as 'ax+by+cz=d' with norm(a,bc)==1
\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a plane (optional)
\param[in] planeEquation plane equation: [a,b,c,d] as 'ax+by+cz=d' with norm(a,bc)==1
\param[in] signedDistances whether to compute signed or absolute distances
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a plane (optional)

\return negative error code or a positive value in case of success
\return negative error code or a positive value in case of success
**/
static int computeCloud2PlaneEquation( GenericIndexedCloudPersist* cloud,
const PointCoordinateType* planeEquation,
Expand All @@ -384,7 +425,7 @@ namespace CCCoreLib
\param[in] widthY rectangle height
\param[in] rotationTransform (plane) rectangle position in space
\param[in] center (plane) rectangle center point
\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
\param[in] signedDistances whether to compute signed or absolute distances
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a rectangle (optional)

\return negative error code or a positive value in case of success
Expand All @@ -402,7 +443,7 @@ namespace CCCoreLib
\param[in] boxDimensions box 3D dimensions
\param[in] rotationTransform box position in space
\param[in] boxCenter box center point
\param[in] signedDistances whether to compute the signed or positive (absolute) distance (optional)
\param[in] signedDistances whether to compute signed or positive distances
\param[out] rms will be set with the Root Mean Square (RMS) distance between a cloud and a box (optional)

\return negative error code or a positive value in case of success
Expand Down
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