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dgirardeau merged 2 commits into from
Jun 20, 2026
Merged

Syntax update #130

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4fa5b7c
Fix return value of computeCloud2CloudDistance (#129)
tmontaigu May 1, 2026
d8bb8bd
Change more return types or values to harmonize the distance computat…
dgirardeau Jun 20, 2026
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72 changes: 43 additions & 29 deletions include/DistanceComputationTools.h
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Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,8 @@ namespace CCCoreLib
\param compOctree the pre-computed octree of the compared cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)
\param refOctree the pre-computed octree of the reference cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)

\return 0 if ok, a negative value otherwise
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2CloudDistances( GenericIndexedCloudPersist* comparedCloud,
GenericIndexedCloudPersist* referenceCloud,
Expand Down Expand Up @@ -210,7 +211,8 @@ namespace CCCoreLib
\param progressCb the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
\param cloudOctree the pre-computed octree of the compared cloud (warning: its bounding box should be equal to the union of both point cloud and mesh bbs and it should be cubical - it is automatically computed if 0)

\return 0 if ok, a negative value otherwise
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2MeshDistances( GenericIndexedCloudPersist* pointCloud,
GenericIndexedMesh* mesh,
Expand All @@ -224,7 +226,8 @@ namespace CCCoreLib
\param intersection a specific structure corresponding the intersection of the mesh with the grid
\param params parameters
\param progressCb the client method can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
\return -1 if an error occurred (e.g. not enough memory) and 0 otherwise
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2MeshDistancesWithOctree(const DgmOctree* octree,
const GridAndMeshIntersection& intersection,
Expand All @@ -240,7 +243,8 @@ namespace CCCoreLib
\param distance the output distance
\param intersection a specific structure corresponding the intersection of the mesh with the grid
\param params parameters
\return -1 if an error occurred (e.g. not enough memory) and 0 otherwise
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computePoint2MeshDistancesWithOctree(const CCVector3& P,
ScalarType& distance,
Expand All @@ -262,7 +266,8 @@ namespace CCCoreLib
\param compOctree the pre-computed octree of the compared cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)
\param refOctree the pre-computed octree of the reference cloud (warning: both octrees must have the same cubical bounding-box - it is automatically computed if 0)

\return negative error code or a positive value in case of success
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeApproxCloud2CloudDistance(GenericIndexedCloudPersist* comparedCloud,
GenericIndexedCloudPersist* referenceCloud,
Expand Down Expand Up @@ -333,7 +338,8 @@ namespace CCCoreLib
\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
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2ConeEquation( GenericIndexedCloudPersist* cloud,
const CCVector3& coneP1,
Expand Down Expand Up @@ -364,7 +370,8 @@ namespace CCCoreLib
\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
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2CylinderEquation( GenericIndexedCloudPersist* cloud,
const CCVector3& cylinderP1,
Expand All @@ -381,7 +388,8 @@ namespace CCCoreLib
\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
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2SphereEquation( GenericIndexedCloudPersist *cloud,
const CCVector3& sphereCenter,
Expand All @@ -397,7 +405,8 @@ namespace CCCoreLib
\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
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2DiscEquation(GenericIndexedCloudPersist* cloud,
const CCVector3& discCenter,
Expand All @@ -412,7 +421,8 @@ namespace CCCoreLib
\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 DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2PlaneEquation( GenericIndexedCloudPersist* cloud,
const PointCoordinateType* planeEquation,
Expand All @@ -428,7 +438,8 @@ namespace CCCoreLib
\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
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2RectangleEquation( GenericIndexedCloudPersist *cloud,
PointCoordinateType widthX,
Expand All @@ -446,7 +457,8 @@ namespace CCCoreLib
\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
\return DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2BoxEquation(GenericIndexedCloudPersist* cloud,
const CCVector3& boxDimensions,
Expand All @@ -460,22 +472,13 @@ namespace CCCoreLib
\param[in] polyline the polyline to measure to
\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 DISTANCE_COMPUTATION_RESULTS::SUCCESS on success,
a negative error code from DISTANCE_COMPUTATION_RESULTS otherwise.
**/
static int computeCloud2PolylineEquation( GenericIndexedCloudPersist* cloud,
const Polyline* polyline,
double* rms = nullptr);

//! Error estimators
enum ERROR_MEASURES
{
RMS, /**< Root Mean Square error **/
MAX_DIST_68_PERCENT, /**< Max distance @ 68% (1 sigma) **/
MAX_DIST_95_PERCENT, /**< Max distance @ 98% (2 sigmas) **/
MAX_DIST_99_PERCENT, /**< Max distance @ 99% (3 sigmas) **/
MAX_DIST, /**< Max distance **/
};

//! Error codes returned by the distance computation methods
enum DISTANCE_COMPUTATION_RESULTS
{
Expand Down Expand Up @@ -522,24 +525,35 @@ namespace CCCoreLib
ERROR_UNKOWN_ERRORMEASURES_TYPE,
ERROR_INTERNAL,
INVALID_INPUT,
SUCCESS = 1,
SUCCESS = 0,
};

//! Computes the "distance" (see ERROR_MEASURES) between a point cloud and a plane
//! Distance/error measurement type
enum MEASURE_TYPE
{
RMS, /**< Root Mean Square distance **/
MAX_DIST_68_PERCENT, /**< Max distance @ 68% (1 sigma) **/
MAX_DIST_95_PERCENT, /**< Max distance @ 98% (2 sigmas) **/
MAX_DIST_99_PERCENT, /**< Max distance @ 99% (3 sigmas) **/
MAX_DIST, /**< Max distance **/
};

//! Computes the distance 'measure' (see MEASURE_TYPE) between a point cloud and a plane
/** \param cloud a point cloud
\param planeEquation plane equation: [a,b,c,d] as 'ax+by+cz=d'
\param measureType measure type
\return the distance measure (or NAN_VALUE in case of error)
**/
static ScalarType ComputeCloud2PlaneDistance( GenericCloud* cloud,
const PointCoordinateType* planeEquation,
ERROR_MEASURES measureType);
static ScalarType ComputeCloud2PlaneDistanceMeasure(GenericCloud* cloud,
const PointCoordinateType* planeEquation,
MEASURE_TYPE measureType);

//! Computes the maximum distance between a point cloud and a plane
/** \warning this method uses the cloud global iterator
\param cloud a point cloud
\param planeEquation plane equation: [a,b,c,d] as 'ax+by+cz=d'
\param percent percentage of lowest values ignored
\return the max distance @ 'percent' % between the point and the plane
\return the max distance @ 'percent' % between the point and the plane (or NAN_VALUE in case of error)
**/
static ScalarType ComputeCloud2PlaneRobustMax( GenericCloud* cloud,
const PointCoordinateType* planeEquation,
Expand Down
6 changes: 3 additions & 3 deletions include/TrueKdTree.h
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,7 @@ namespace CCCoreLib
\param progressCb the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)
**/
bool build( double maxError,
DistanceComputationTools::ERROR_MEASURES errorMeasure = DistanceComputationTools::RMS,
DistanceComputationTools::MEASURE_TYPE errorMeasure = DistanceComputationTools::RMS,
unsigned minPointCountPerCell = 3,
unsigned maxPointCountPerCell = 0,
GenericProgressCallback* progressCb = nullptr);
Expand All @@ -142,7 +142,7 @@ namespace CCCoreLib
inline double getMaxError() const { return m_maxError; }

//! Returns max error estimator used for planarity-based split strategy
inline DistanceComputationTools::ERROR_MEASURES getMaxErrorType() const { return m_errorMeasure; }
inline DistanceComputationTools::MEASURE_TYPE getMaxErrorType() const { return m_errorMeasure; }

//! Returns all leaf nodes
bool getLeaves(LeafVector& leaves) const;
Expand All @@ -162,7 +162,7 @@ namespace CCCoreLib
double m_maxError;

//! Error measurement
DistanceComputationTools::ERROR_MEASURES m_errorMeasure;
DistanceComputationTools::MEASURE_TYPE m_errorMeasure;

//! Min number of points per cell (speed-up)
/** Can't be < 3
Expand Down
62 changes: 32 additions & 30 deletions src/DistanceComputationTools.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,25 +216,27 @@ int DistanceComputationTools::computeCloud2CloudDistances( GenericIndexedCloudPe
reinterpret_cast<void*>(&computeSplitDistances)
};

int result = DISTANCE_COMPUTATION_RESULTS::SUCCESS;

if (!comparedOctree)
{
return DISTANCE_COMPUTATION_RESULTS::ERROR_NULL_COMPAREDOCTREE;
}

result = comparedOctree->executeFunctionForAllCellsAtLevel(params.octreeLevel,
params.localModel == NO_MODEL ? computeCellHausdorffDistance : computeCellHausdorffDistanceWithLocalModel,
additionalParameters,
params.multiThread,
progressCb,
"Cloud-Cloud Distance",
params.maxThreadCount);
if(result == 0) //executeFunctionForAllCellsAtLevel returns zero if error or canceled
int result = comparedOctree->executeFunctionForAllCellsAtLevel(params.octreeLevel,
params.localModel == NO_MODEL ? computeCellHausdorffDistance : computeCellHausdorffDistanceWithLocalModel,
additionalParameters,
params.multiThread,
progressCb,
"Cloud-Cloud Distance",
params.maxThreadCount);
if (result == 0) // executeFunctionForAllCellsAtLevel returns zero if error or canceled
{
//something went wrong
// something went wrong
result = DISTANCE_COMPUTATION_RESULTS::ERROR_EXECUTE_FUNCTION_FOR_ALL_CELLS_AT_LEVEL_FAILURE;
}
else
{
result = DISTANCE_COMPUTATION_RESULTS::SUCCESS;
}


if (comparedOctree && !compOctree)
Expand Down Expand Up @@ -3070,13 +3072,13 @@ ScalarType DistanceComputationTools::computeCloud2PlaneDistanceRMS( GenericCloud
assert(pointCloud && planeEquation);
if (!pointCloud)
{
return 0;
return NAN_VALUE;
}
//point count
unsigned count = pointCloud->size();
if (count == 0)
{
return 0;
return NAN_VALUE;
}

//point to plane distance: d = std::abs(a0*x+a1*y+a2*z-a3) / sqrt(a0^2+a1^2+a2^2) <-- "norm"
Expand Down Expand Up @@ -3111,19 +3113,19 @@ ScalarType DistanceComputationTools::ComputeCloud2PlaneRobustMax( GenericCloud*

if (!pointCloud)
{
return 0;
return NAN_VALUE;
}
//point count
unsigned count = pointCloud->size();
if (count == 0)
{
return 0;
return NAN_VALUE;
}

//point to plane distance: d = std::abs(a0*x+a1*y+a2*z-a3) / sqrt(a0^2+a1^2+a2^2) <-- "norm"
double norm2 = CCVector3::vnorm2d(planeEquation);
//the norm should always be equal to 1.0!
if ( LessThanEpsilon( norm2 ) )
if (LessThanEpsilon(norm2))
{
return NAN_VALUE;
}
Expand All @@ -3139,8 +3141,8 @@ ScalarType DistanceComputationTools::ComputeCloud2PlaneRobustMax( GenericCloud*
std::size_t pos = 0;
for (unsigned i = 0; i < count; ++i)
{
const CCVector3* P = pointCloud->getNextPoint();
PointCoordinateType d = std::abs(CCVector3::vdot(P->u, planeEquation) - planeEquation[3])/*/norm*/; //norm == 1.0
const CCVector3* P = pointCloud->getNextPoint();
PointCoordinateType d = std::abs(CCVector3::vdot(P->u, planeEquation) - planeEquation[3]) /*/norm*/; // norm == 1.0

if (pos < tailSize)
{
Expand All @@ -3154,12 +3156,12 @@ ScalarType DistanceComputationTools::ComputeCloud2PlaneRobustMax( GenericCloud*
//search the max element of the tail
if (pos > 1)
{
std::size_t maxPos = pos - 1;
std::size_t maxPos = pos - 1;
std::size_t maxIndex = maxPos;
for (std::size_t j = 0; j < maxPos; ++j)
if (tail[j] < tail[maxIndex])
maxIndex = j;
//and put it to the back!
// and put it at the back!
if (maxPos != maxIndex)
std::swap(tail[maxIndex], tail[maxPos]);
}
Expand All @@ -3174,19 +3176,19 @@ ScalarType DistanceComputationTools::ComputeCloud2PlaneMaxDistance( GenericCloud
assert(pointCloud && planeEquation);
if (!pointCloud)
{
return 0;
return NAN_VALUE;
}
//point count
unsigned count = pointCloud->size();
if (count == 0)
{
return 0;
return NAN_VALUE;
}

//point to plane distance: d = std::abs(a0*x+a1*y+a2*z-a3) / sqrt(a0^2+a1^2+a2^2) <-- "norm"
double norm2 = CCVector3::vnorm2d(planeEquation);
//the norm should always be equal to 1.0!
if ( LessThanEpsilon( norm2 ) )
if (LessThanEpsilon(norm2))
{
return NAN_VALUE;
}
Expand All @@ -3198,17 +3200,17 @@ ScalarType DistanceComputationTools::ComputeCloud2PlaneMaxDistance( GenericCloud
pointCloud->placeIteratorAtBeginning();
for (unsigned i = 0; i < count; ++i)
{
const CCVector3* P = pointCloud->getNextPoint();
PointCoordinateType d = std::abs(CCVector3::vdot(P->u,planeEquation) - planeEquation[3])/*/norm*/; //norm == 1.0
maxDist = std::max(d,maxDist);
const CCVector3* P = pointCloud->getNextPoint();
PointCoordinateType d = std::abs(CCVector3::vdot(P->u, planeEquation) - planeEquation[3]) /*/norm*/; // norm == 1.0
maxDist = std::max(d, maxDist);
}

return static_cast<ScalarType>(maxDist);
}

ScalarType DistanceComputationTools::ComputeCloud2PlaneDistance(GenericCloud* pointCloud,
const PointCoordinateType* planeEquation,
ERROR_MEASURES measureType)
ScalarType DistanceComputationTools::ComputeCloud2PlaneDistanceMeasure(GenericCloud* pointCloud,
const PointCoordinateType* planeEquation,
MEASURE_TYPE measureType)
{
switch (measureType)
{
Expand All @@ -3227,7 +3229,7 @@ ScalarType DistanceComputationTools::ComputeCloud2PlaneDistance(GenericCloud* po

default:
assert(false);
return -1.0;
return NAN_VALUE;
}
}

Expand Down
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