ADD: normal estimation to dfcloud

Author: 9and3

src/diffCheck/geometry/DFPointCloud.cc

@@ -1,4 +1,5 @@
 #include "DFPointCloud.hh"
+#include "diffCheck/log.hh"
 
 #include "diffCheck/IOManager.hh"
 
@@ -55,6 +56,37 @@ namespace diffCheck::geometry
         return extremePoints;
     }
 
+    void DFPointCloud::EstimateNormals(
+        std::optional<int> knn,
+        std::optional<double> searchRadius
+    )
+    {
+        auto O3DPointCloud = this->Cvt2O3DPointCloud();
+        O3DPointCloud->EstimateNormals();
+
+        if (knn.value() != 30 && searchRadius.has_value() == false)
+        {
+            open3d::geometry::KDTreeSearchParamKNN knnSearchParam(knn.value());
+            O3DPointCloud->EstimateNormals(knnSearchParam);
+            DIFFCHECK_INFO(("Estimating normals with knn = " + std::to_string(knn.value())).c_str());
+        }
+        else if (searchRadius.has_value())
+        {
+            open3d::geometry::KDTreeSearchParamHybrid hybridSearchParam(searchRadius.value(), knn.value());
+            O3DPointCloud->EstimateNormals(hybridSearchParam);
+            DIFFCHECK_INFO(("Estimating normals with hybrid search radius = " + std::to_string(searchRadius.value()) + "and knn = " + std::to_string(knn.value())).c_str());
+        }
+        else
+        {
+            O3DPointCloud->EstimateNormals();
+            DIFFCHECK_INFO("Default estimation of normals with knn = 30");
+        }
+
+        this->Normals.clear();
+        for (auto &normal : O3DPointCloud->normals_)
+            this->Normals.push_back(normal);
+    }
+
     void DFPointCloud::VoxelDownsample(double voxelSize)
     {
         if (voxelSize <= 0)

src/diffCheck/geometry/DFPointCloud.hh

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <optional>
 #include <Eigen/Core>
 #include <open3d/Open3D.h>
 
@@ -58,6 +59,18 @@ namespace diffCheck::geometry
         */
         std::vector<Eigen::Vector3d> ComputeBoundingBox();
 
+        /**
+         * @brief Estimate the normals of the point cloud by either knn or if the radius
+         * is provided by hybrid search.
+         * 
+         * <a href=https://www.open3d.org/html/cpp_api/classopen3d_1_1t_1_1geometry_1_1_point_cloud.html#a4937528c4b6194092631f002bccc44d0> Reference from Open3d</a>.
+         * @param knn the number of nearest neighbors to consider (by default 30)
+         * @param searchRadius the radius of the search, by default deactivated
+         */
+        void EstimateNormals(
+            std::optional<int> knn = 30,
+            std::optional<double> searchRadius = std::nullopt);
+
     public:  ///< Downsamplers
         /**
          * @brief Downsample the point cloud with voxel grid