HausdorffDistance

Compute the Hausdorff distance of two point clouds.

Templates:

• Rigid2d
• Rigid3d
• Vec1d
• Vec2d
• Vec3d

Target: Sofa.Component.Engine.Analyze

namespace: sofa::component::engine::analyze

parents:

• DataEngine

Data

Name	Description	Default value
name	object name	unnamed
printLog	if true, emits extra messages at runtime.	0
tags	list of the subsets the object belongs to
bbox	this object bounding box
componentState	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).	Undefined
listening	if true, handle the events, otherwise ignore the events	0
update	Recompute every time step	0
Input
points1	Points belonging to the first point cloud
points2	Points belonging to the second point cloud
Output
d12	Distance from point cloud 1 to 2
d21	Distance from point cloud 2 to 1
max	Symmetrical Hausdorff distance

Links

Name	Description	Destination type name
context	Graph Node containing this object (or BaseContext::getDefault() if no graph is used)	BaseContext
slaves	Sub-objects used internally by this object	BaseObject
master	nullptr for regular objects, or master object for which this object is one sub-objects	BaseObject

Examples

HausdorffDistance.scn

XMLPython

<Node name="Scene" gravity="0 0 0" dt="0.1" >
    <RequiredPlugin name="Sofa.Component.Engine.Analyze"/> <!-- Needed to use components [HausdorffDistance] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
    <RequiredPlugin name="Sofa.Component.Setting"/> <!-- Needed to use components [BackgroundSetting] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showBehavior" />
    <BackgroundSetting color="1 1 1"/>
    <DefaultAnimationLoop/>

    <Node name="case1">
        <Node name="mesh1">
            <MeshOBJLoader name="meshloader1" filename="mesh/cube.obj"/>          
            <OglModel name="visu1" src="@meshloader1" color="0.8 0.2 0.2 0.5"/>

        </Node>

        <Node name="mesh2">
            <MeshOBJLoader name="meshloader2" filename="mesh/cube.obj" />
            <OglModel name="visu1" src="@meshloader2" color="0.2 0.2 0.8 0.5"/>
        </Node>

        <HausdorffDistance points1="@mesh1/meshloader1.position" points2="@mesh2/meshloader2.position"/>
    </Node>

    <Node name="case2">
        <Node name="mesh1">
            <MeshOBJLoader name="meshloader1" filename="mesh/cube.obj" translation="5 0 0"/>          
            <OglModel name="visu1" src="@meshloader1" color="0.8 0.2 0.2 0.5"/>

        </Node>

        <Node name="mesh2">
            <MeshOBJLoader name="meshloader2" filename="mesh/cube.obj" translation="6 0 0"/>
            <OglModel name="visu1" src="@meshloader2" color="0.2 0.2 0.8 0.5"/>
        </Node>

        <HausdorffDistance points1="@mesh1/meshloader1.position" points2="@mesh2/meshloader2.position"/>
    </Node>

    <Node name="case3">
        <Node name="mesh1">
            <MeshOBJLoader name="meshloader1" filename="mesh/cube.obj" translation="10 0 0"/>          
            <OglModel name="visu1" src="@meshloader1" color="0.8 0.2 0.2 0.5"/>

        </Node>

        <Node name="mesh2">
            <MeshOBJLoader name="meshloader2" filename="mesh/sphere.obj" translation="10 0 0"/>
            <OglModel name="visu1" src="@meshloader2" color="0.2 0.2 0.8 0.5"/>
        </Node>

        <HausdorffDistance points1="@mesh1/meshloader1.position" points2="@mesh2/meshloader2.position"/>
    </Node>

    <Node name="case4">
        <MeshOBJLoader name="meshloader1" filename="mesh/sphere.obj" translation="10 0 0"/>
        <HausdorffDistance points1="@meshloader1.position" points2="0 0 0"/>
    </Node>

    <Node name="case5">
        <HausdorffDistance points1="10 0 0" points2="0 0 0"/>
    </Node>

    <Node name="case6">
        <HausdorffDistance template="Vec2" points1="10 0" points2="0 0"/>
    </Node>

    <Node name="case7">
        <HausdorffDistance template="Vec1" points1="10" points2="0"/>
    </Node>
</Node>

def createScene(root_node):

   scene = root_node.addChild('Scene', gravity="0 0 0", dt="0.1")

   scene.addObject('RequiredPlugin', name="Sofa.Component.Engine.Analyze")
   scene.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   scene.addObject('RequiredPlugin', name="Sofa.Component.Setting")
   scene.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   scene.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   scene.addObject('VisualStyle', displayFlags="showBehavior")
   scene.addObject('BackgroundSetting', color="1 1 1")
   scene.addObject('DefaultAnimationLoop', )

   case1 = Scene.addChild('case1')

   mesh1 = case1.addChild('mesh1')

   mesh1.addObject('MeshOBJLoader', name="meshloader1", filename="mesh/cube.obj")
   mesh1.addObject('OglModel', name="visu1", src="@meshloader1", color="0.8 0.2 0.2 0.5")

   mesh2 = case1.addChild('mesh2')

   mesh2.addObject('MeshOBJLoader', name="meshloader2", filename="mesh/cube.obj")
   mesh2.addObject('OglModel', name="visu1", src="@meshloader2", color="0.2 0.2 0.8 0.5")

   case1.addObject('HausdorffDistance', points1="@mesh1/meshloader1.position", points2="@mesh2/meshloader2.position")

   case2 = Scene.addChild('case2')

   mesh1 = case2.addChild('mesh1')

   mesh1.addObject('MeshOBJLoader', name="meshloader1", filename="mesh/cube.obj", translation="5 0 0")
   mesh1.addObject('OglModel', name="visu1", src="@meshloader1", color="0.8 0.2 0.2 0.5")

   mesh2 = case2.addChild('mesh2')

   mesh2.addObject('MeshOBJLoader', name="meshloader2", filename="mesh/cube.obj", translation="6 0 0")
   mesh2.addObject('OglModel', name="visu1", src="@meshloader2", color="0.2 0.2 0.8 0.5")

   case2.addObject('HausdorffDistance', points1="@mesh1/meshloader1.position", points2="@mesh2/meshloader2.position")

   case3 = Scene.addChild('case3')

   mesh1 = case3.addChild('mesh1')

   mesh1.addObject('MeshOBJLoader', name="meshloader1", filename="mesh/cube.obj", translation="10 0 0")
   mesh1.addObject('OglModel', name="visu1", src="@meshloader1", color="0.8 0.2 0.2 0.5")

   mesh2 = case3.addChild('mesh2')

   mesh2.addObject('MeshOBJLoader', name="meshloader2", filename="mesh/sphere.obj", translation="10 0 0")
   mesh2.addObject('OglModel', name="visu1", src="@meshloader2", color="0.2 0.2 0.8 0.5")

   case3.addObject('HausdorffDistance', points1="@mesh1/meshloader1.position", points2="@mesh2/meshloader2.position")

   case4 = Scene.addChild('case4')

   case4.addObject('MeshOBJLoader', name="meshloader1", filename="mesh/sphere.obj", translation="10 0 0")
   case4.addObject('HausdorffDistance', points1="@meshloader1.position", points2="0 0 0")

   case5 = Scene.addChild('case5')

   case5.addObject('HausdorffDistance', points1="10 0 0", points2="0 0 0")

   case6 = Scene.addChild('case6')

   case6.addObject('HausdorffDistance', template="Vec2", points1="10 0", points2="0 0")

   case7 = Scene.addChild('case7')

   case7.addObject('HausdorffDistance', template="Vec1", points1="10", points2="0")