Module: Point Cloud Density ()

Description:

This module computes the local density of a point cloud. The density value is stored as a new data column on the result point cloud. The density is defined as number of points per volume of a sphere centered at the point's location.

Several algorithms for computing the density are available. The algorithms differ in memory requirements and speed. The default algorithm uses an octree based approach which is good for point cloud with larger number of points.

Connections:

Data [required]
Input point cloud for which the density needs to be computed.

Ports:

Algorithm

The "Octree" based approach is suited for point cloud with large number of points. The algorithm will use additional memory and time to setup the internal data structures. The second algorithm "Flat tree" uses a tree of a fixed size. This does not take into account the distribution of points in space as its done by the octree based approach. The first algorithm "No tree" uses a trivial implementation suited for point cloud with a small number of points, no additional memory is required.

Radius

The radius value specifies the radius of the sphere used for the density computation.

Mass

A data value attached to each point can be used as point masses. The density computation will use the mass values.

Commands:

setFlatTreeSize <x> <y> <z>
Sets the size of the flat tree. By default, the size is (8, 8, 8).

getFlatTreeSize
Returns the size of the flat tree as a string.

setOctreeDepth <value>
Sets the depth value of the octree. A default value of 7 is used.

getOctreeDepth
Returns the size of the octree used for computation.

setOctreeLeafNumber <value>
Sets the maximum number of nodes for each leaf. The number should not be too small because this requires a large time to setup the octree.

getOctreeLeafNumber
Returns the maximum number of cloud points for each leaf of the octree.