Feature/point cloud utils

src/diffCheck/geometry/DFPointCloud.cc

@@ -216,6 +216,21 @@ namespace diffCheck::geometry
             this->Normals.push_back(normal);
     }
 
+    void DFPointCloud::Crop(const Eigen::Vector3d &minBound, const Eigen::Vector3d &maxBound)
+    {
+        auto O3DPointCloud = this->Cvt2O3DPointCloud();
+        auto O3DPointCloudCropped = O3DPointCloud->Crop(open3d::geometry::AxisAlignedBoundingBox(minBound, maxBound));
+        this->Points.clear();
+        for (auto &point : O3DPointCloudCropped->points_)
+            this->Points.push_back(point);
+        this->Colors.clear();
+        for (auto &color : O3DPointCloudCropped->colors_)
+            this->Colors.push_back(color);
+        this->Normals.clear();
+        for (auto &normal : O3DPointCloudCropped->normals_)
+            this->Normals.push_back(normal);
+    }
+
     void DFPointCloud::UniformDownsample(int everyKPoints)
     {
         auto O3DPointCloud = this->Cvt2O3DPointCloud();
@@ -258,6 +273,50 @@ namespace diffCheck::geometry
         return bboxPts;
     }
 
+    void DFPointCloud::SubtractPoints(const DFPointCloud &pointCloud, double distanceThreshold)
+    {
+        if (this->Points.size() == 0 || pointCloud.Points.size() == 0)
+            throw std::invalid_argument("One of the point clouds is empty.");
+
+        auto O3DSourcePointCloud = this->Cvt2O3DPointCloud();
+        auto O3DTargetPointCloud = std::make_shared<DFPointCloud>(pointCloud)->Cvt2O3DPointCloud();
+        auto O3DResultPointCloud = std::make_shared<open3d::geometry::PointCloud>();
+
+        open3d::geometry::KDTreeFlann threeDTree;
+        threeDTree.SetGeometry(*O3DTargetPointCloud);
+        std::vector<int> indices;
+        std::vector<double> distances;
+        for (const auto &point : O3DSourcePointCloud->points_)
+        {
+            threeDTree.SearchRadius(point, distanceThreshold, indices, distances);
+            if (indices.empty())
+            {
+                O3DResultPointCloud->points_.push_back(point);
+                if (O3DSourcePointCloud->HasColors())
+                {
+                    O3DResultPointCloud->colors_.push_back(O3DSourcePointCloud->colors_[&point - &O3DSourcePointCloud->points_[0]]);
+                }
+                if (O3DSourcePointCloud->HasNormals())
+                {
+                    O3DResultPointCloud->normals_.push_back(O3DSourcePointCloud->normals_[&point - &O3DSourcePointCloud->points_[0]]);
+                }
+            }
+        }
+        this->Points.clear();
+        for (auto &point : O3DResultPointCloud->points_)
+            this->Points.push_back(point);
+        if (O3DResultPointCloud->HasColors())
+        {
+            this->Colors.clear();
+            for (auto &color : O3DResultPointCloud->colors_){this->Colors.push_back(color);};
+        }
+        if (O3DResultPointCloud->HasNormals())
+        {
+            this->Normals.clear();
+            for (auto &normal : O3DResultPointCloud->normals_){this->Normals.push_back(normal);};
+        }
+    }
+
     void DFPointCloud::ApplyTransformation(const diffCheck::transformation::DFTransformation &transformation)
     {
         auto O3DPointCloud = this->Cvt2O3DPointCloud();

src/diffCheck/geometry/DFPointCloud.hh

@@ -89,6 +89,14 @@ namespace diffCheck::geometry
          */
         void RemoveStatisticalOutliers(int nbNeighbors, double stdRatio);
 
+        /**
+         *  @brief Crop the point cloud to a bounding box defined by the min and max bounds
+         * 
+         *  @param minBound the minimum bound of the bounding box as an Eigen::Vector3d
+         *  @param maxBound the maximum bound of the bounding box as an Eigen::Vector3d
+         */
+        void Crop(const Eigen::Vector3d &minBound, const Eigen::Vector3d &maxBound);
+
     public:  ///< Downsamplers
         /**
          * @brief Downsample the point cloud with voxel grid
@@ -136,6 +144,15 @@ namespace diffCheck::geometry
          *  /// 
         */
         std::vector<Eigen::Vector3d> GetTightBoundingBox();
+
+    public:  ///< Point cloud subtraction
+        /**
+         * @brief Subtract the points, colors and normals from another point cloud when they are too close to the points of another point cloud.
+         * 
+         * @param pointCloud the other point cloud to subtract from this one
+         * @param distanceThreshold the distance threshold to consider a point as too close. Default is 0.01.
+         */
+        void SubtractPoints(const DFPointCloud &pointCloud, double distanceThreshold = 0.01);
 
     public:  ///< Transformers
         /**

src/diffCheckBindings.cc

@@ -41,6 +41,9 @@ PYBIND11_MODULE(diffcheck_bindings, m) {
         .def("downsample_by_size", &diffCheck::geometry::DFPointCloud::DownsampleBySize,
             py::arg("target_size"))
 
+        .def("subtract_points", &diffCheck::geometry::DFPointCloud::SubtractPoints,
+            py::arg("point_cloud"), py::arg("distance_threshold"))
+
         .def("apply_transformation", &diffCheck::geometry::DFPointCloud::ApplyTransformation,
             py::arg("transformation"))
 
@@ -54,6 +57,8 @@ PYBIND11_MODULE(diffcheck_bindings, m) {
 
         .def("remove_statistical_outliers", &diffCheck::geometry::DFPointCloud::RemoveStatisticalOutliers, 
             py::arg("nb_neighbors"), py::arg("std_ratio"))
+        .def("crop", &diffCheck::geometry::DFPointCloud::Crop,
+            py::arg("min_bound"), py::arg("max_bound"))
 
         .def("load_from_PLY", &diffCheck::geometry::DFPointCloud::LoadFromPLY)
         .def("save_to_PLY", &diffCheck::geometry::DFPointCloud::SaveToPLY)

src/gh/components/DF_cloud_subtractor/code.py

@@ -0,0 +1,25 @@
+from diffCheck import df_cvt_bindings as df_cvt
+
+import Rhino
+from Grasshopper.Kernel import GH_RuntimeMessageLevel as RML
+
+from ghpythonlib.componentbase import executingcomponent as component
+
+class DFCloudSubtract(component):
+    def __init__(self):
+        super(DFCloudSubtract, self).__init__()
+    def RunScript(self,
+            i_cloud_subtract_from: Rhino.Geometry.PointCloud,
+            i_cloud_subtract_with: Rhino.Geometry.PointCloud,
+            i_distance_threshold: float):
+        df_cloud = df_cvt.cvt_rhcloud_2_dfcloud(i_cloud_subtract_from)
+        df_cloud_substract = df_cvt.cvt_rhcloud_2_dfcloud(i_cloud_subtract_with)
+        if i_distance_threshold is None:
+            ghenv.Component.AddRuntimeMessage(RML.Warning, "Distance threshold not defined. 0.01 used as default value.")# noqa: F821
+            i_distance_threshold = 0.01
+        if i_distance_threshold <= 0:
+            ghenv.Component.AddRuntimeMessage(RML.Warning, "Distance threshold must be greater than 0. Please provide a valid distance threshold.")# noqa: F821
+            return None
+        df_cloud.subtract_points(df_cloud_substract, i_distance_threshold)
+        rh_cloud = df_cvt.cvt_dfcloud_2_rhcloud(df_cloud)
+        return [rh_cloud]

src/gh/components/DF_cloud_subtractor/metadata.json

@@ -0,0 +1,64 @@
+{
+    "name": "DFSubtractCloud",
+    "nickname": "Subtract",
+    "category": "diffCheck",
+    "subcategory": "Cloud",
+    "description": "Subtracts points from a point cloud based on a distance threshold.",
+    "exposure": 4,
+    "instanceGuid": "9ef299aa-76dc-4417-9b95-2a374e2b36af",
+    "ghpython": {
+        "hideOutput": true,
+        "hideInput": true,
+        "isAdvancedMode": true,
+        "marshalOutGuids": true,
+        "iconDisplay": 2,
+        "inputParameters": [
+            {
+                "name": "i_cloud_subtract_from",
+                "nickname": "i_cloud_subtract_from",
+                "description": "The point cloud to subtract from.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "pointcloud"
+            },
+            {
+                "name": "i_cloud_subtract_with",
+                "nickname": "i_cloud_subtract_with",
+                "description": "The point cloud to subtract with.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "pointcloud"
+            },
+            {
+                "name": "i_distance_threshold",
+                "nickname": "i_distance_threshold",
+                "description": "The distance threshold to consider a point as too close.",
+                "optional": true,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "brep"
+            }
+        ],
+        "outputParameters": [
+            {
+                "name": "o_cloud",
+                "nickname": "o_cloud",
+                "description": "The resulting cloud after subtraction.",
+                "optional": false,
+                "sourceCount": 0,
+                "graft": false
+            }
+        ]
+    }
+}

src/gh/components/DF_crop_cloud/code.py

@@ -0,0 +1,31 @@
+from diffCheck import df_cvt_bindings as df_cvt
+
+import numpy as np
+
+import Rhino
+from Grasshopper.Kernel import GH_RuntimeMessageLevel as RML
+
+from ghpythonlib.componentbase import executingcomponent as component
+
+class DFCloudCrop(component):
+    def __init__(self):
+        super(DFCloudCrop, self).__init__()
+    def RunScript(self,
+            i_cloud: Rhino.Geometry.PointCloud,
+            i_box: Rhino.Geometry.Brep):
+        if i_cloud is None:
+            ghenv.Component.AddRuntimeMessage(RML.Warning, "No point cloud provided. Please connect a point cloud to the input.")  # noqa: F821
+            return None
+
+        if i_box is not None:
+            bbox = i_box.GetBoundingBox(True)
+            bb_min_as_array = np.asarray([bbox.Min.X, bbox.Min.Y, bbox.Min.Z])
+            bb_max_as_array = np.asarray([bbox.Max.X, bbox.Max.Y, bbox.Max.Z])
+
+        else:
+            ghenv.Component.AddRuntimeMessage(RML.Warning, "Please provide a box to crop the point cloud with")  # noqa: F821
+
+        df_cloud = df_cvt.cvt_rhcloud_2_dfcloud(i_cloud)
+        df_cloud.crop(bb_min_as_array, bb_max_as_array)
+        rh_cloud = df_cvt.cvt_dfcloud_2_rhcloud(df_cloud)
+        return [rh_cloud]

src/gh/components/DF_crop_cloud/metadata.json

@@ -0,0 +1,52 @@
+{
+    "name": "DFCropCloud",
+    "nickname": "Crop",
+    "category": "diffCheck",
+    "subcategory": "Cloud",
+    "description": "Crops a point cloud by giving the bounding box or limit values.",
+    "exposure": 4,
+    "instanceGuid": "f0461287-b1aa-47ec-87c4-0f03924cea24",
+    "ghpython": {
+        "hideOutput": true,
+        "hideInput": true,
+        "isAdvancedMode": true,
+        "marshalOutGuids": true,
+        "iconDisplay": 2,
+        "inputParameters": [
+            {
+                "name": "i_cloud",
+                "nickname": "i_cloud",
+                "description": "The point cloud to crop.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "pointcloud"
+            },
+            {
+                "name": "i_box",
+                "nickname": "i_box",
+                "description": "The brep box to crop the point cloud with.",
+                "optional": false,
+                "allowTreeAccess": true,
+                "showTypeHints": true,
+                "scriptParamAccess": "item",
+                "wireDisplay": "default",
+                "sourceCount": 0,
+                "typeHintID": "brep"
+            }
+        ],
+        "outputParameters": [
+            {
+                "name": "o_cloud",
+                "nickname": "o_cloud",
+                "description": "The downsampled cloud.",
+                "optional": false,
+                "sourceCount": 0,
+                "graft": false
+            }
+        ]
+    }
+}