Get all points of from the point cloud, which resides on the surface of a given sphere

I have a point cloud defined as the following-
pcl::PointCloud<pcl::PointXYZRGB> cloud

I have defined a sphere and center (x, y, z) and radius r is known.

I want to get all points from this point cloud, which resides on the surface
of given sphere.

A function like following-

std::vector<PointXYZRGB>
getAllSurfacePoints(pcl::PointCloud<pcl::PointXYZRGB> cloud)
{
    // here
}

Thanks a lot.



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Direct approach : for loop on all your points and test

i) an equality condition if you want the points which are exactly on your
sphere
ii) a comparison between (the distance between the current point and the
sphere) and a defined threshold.

Correct me if there's an object for that.



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A simpler formulation of version (ii) is to compute the distance to the sphere's center
and compare that with the radius within the defined threshold

Of course when the points are already in a tree (kd-tree or octree or so), you can limit your
loop over the points that are already roughly within the neighborhood of the sphere's
center point...

Kind regards,

Filip

On 25-Apr-18 22:42, Wyllich wrote:

Direct approach : for loop on all your points and test 

i) an equality condition if you want the points which are exactly on your
sphere
ii) a comparison between (the distance between the current point and the
sphere) and a defined threshold.

Correct me if there's an object for that.



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Thank you very much!



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