pointcloudpreprocessing.h

#ifndef POINTCLOUDPREPROCESSING_H
#define POINTCLOUDPREPROCESSING_H

#include "entityoctreecontainer.h"
#include "splat.h"
#include <Eigen/Dense>

class PointCloudPreprocessing
{
public:
    ~PointCloudPreprocessing();

    static bool convertToSplatCloud(EntityOctreeContainer &container, unsigned int k, float epsilon);

private:
    PointCloudPreprocessing();
    static Eigen::MatrixXf pca(Eigen::MatrixXf mat);
    static float growCircularSplat(Splat &splat, Entity **neighbours, float *neighbourDists, unsigned int neighbourCount, float twoEpsilon);
    static void growEllipticalSplat(Splat &splat, Entity **neighbours, float *neighbourDists, unsigned int neighbourCount, float twoEpsilon);
    static bool flipNormals(EntityOctreeContainer &container, unsigned int k, unsigned int maxK);
    static void alignNormal(Splat &prototype, Splat &unalignedSplat);
    static Eigen::Vector3f convertVec(const QVector3D &vec);
    static QVector3D convertVec(const Eigen::Vector3f &vec);

    template<typename T> static void insertIntoSorted(T *list, float *values, unsigned int listLength, T newEntry, float newValue) {
        unsigned int pos = listLength - 1;
        if (newValue >= values[pos])
            return;
        while (pos > 0 && values[pos-1] > newValue) {
            values[pos] = values[pos-1];
            list[pos] = list[pos-1];
            pos--;
        }
        list[pos] = newEntry;
        values[pos] = newValue;
    }
};

#endif // POINTCLOUDPREPROCESSING_H