A 3D point cloud class. More...
#include <PointCloud.h>
Inheritance diagram for Meshing::PointCloud3D:
Public Member Functions | |
| void | Clear () |
| bool | LoadPCL (const char *fn) |
| bool | SavePCL (const char *fn) const |
| bool | LoadPCL (istream &in) |
| bool | SavePCL (ostream &out) const |
| void | FromDepthImage (int w, int h, float wfov, float hfov, const std::vector< float > &depths, const std::vector< unsigned int > &rgb, float invalidDepth=0.0) |
| Converts a w x h depth image to a structured point cloud. The camera frame is x right, y down, z forward. More... | |
| void | FromDepthImage (int w, int h, float wfov, float hfov, float depthscale, const std::vector< unsigned short > &depths, const std::vector< unsigned int > &rgb, unsigned short invalidDepth=0) |
| Converts a w x h depth image to a structured point cloud. The camera frame is x right, y down, z forward. More... | |
| void | GetAABB (Vector3 &bmin, Vector3 &bmax) const |
| Returns the bounding box of the point set. | |
| void | Transform (const Matrix4 &mat) |
| Transforms all points and, if present, normals. | |
| bool | IsStructured () const |
| A structured point cloud has settings "width" and "height". Invalid points are marked as (0,0,0) (preferred) or (nan,nan,nan) | |
| int | GetStructuredWidth () const |
| int | GetStructuredHeight () const |
| void | SetStructured (int w, int h) |
| Vector3 | GetOrigin () const |
| void | SetOrigin (const Vector3 &origin) |
| RigidTransform | GetViewpoint () const |
| void | SetViewpoint (const RigidTransform &T) |
| int | PropertyIndex (const string &name) const |
| bool | HasProperty (const string &name) const |
| bool | GetProperty (const string &name, vector< Real > &items) const |
| Returns a vector giving all of the points' values of the given property. More... | |
| int | SetProperty (const string &name, const vector< Real > &items) |
| Sets property from a vector giving all of the points' values of the given property. More... | |
| void | RemoveProperty (const string &name) |
| Removes a property and its channel. Relatively expensive (O(nm)). | |
| void | GetSubCloud (const Vector3 &bmin, const Vector3 &bmax, PointCloud3D &subcloud) |
| Extracts all points within the bounding box [bmin,bmax]. | |
| void | GetSubCloud (const string &property, Real value, PointCloud3D &subcloud) |
| Extracts all points with the named property = value. | |
| void | GetSubCloud (const string &property, Real minValue, Real maxValue, PointCloud3D &subcloud) |
| Extracts all points with the minValue <= named property <= maxValue. | |
| bool | HasXYZAsProperties () const |
| Some point clouds have properties x, y, and z rather than specifying points. | |
| void | SetXYZAsProperties (bool) |
| Convert to/from x, y, z as properties vs points. | |
| bool | HasNormals () const |
| bool | GetNormals (vector< Vector3 > &normals) const |
| void | SetNormals (const vector< Vector3 > &normals) |
| void | ComputeNormals (Real radius=0) |
| bool | HasColor () const |
| bool | HasOpacity () const |
| bool | HasRGB () const |
| bool | HasRGBA () const |
| bool | UnpackColorChannels (bool alpha=false) |
| Converts rgb or rgba packed color channels to r,g,b / r,g,b,a channels. Removes old channels. | |
| bool | PackColorChannels (const char *fmt="rgba") |
| Converts unpacked color channels into packed channel. fmt is the desired property, either "rgb" or "rgba". Removes old channels. | |
| bool | GetColors (vector< Real > &r, vector< Real > &g, vector< Real > &b, vector< Real > &a) const |
| bool | GetColors (vector< Vector4 > &rgba) const |
| void | SetColors (const vector< Real > &r, const vector< Real > &g, const vector< Real > &b, bool includeAlpha=false) |
| void | SetColors (const vector< Real > &r, const vector< Real > &g, const vector< Real > &b, const vector< Real > &a, bool includeAlpha=true) |
| void | SetColors (const vector< Vector4 > &rgba, bool includeAlpha=true) |
| bool | HasUV () const |
| bool | GetUV (vector< Vector2 > &uvs) const |
| void | SetUV (const vector< Vector2 > &uvs) |
Public Attributes | |
| vector< Vector3 > | points |
| vector< string > | propertyNames |
| vector< Vector > | properties |
| PropertyMap | settings |
Detailed Description
A 3D point cloud class.
Points may have optional associated floating point properties like ID, color, normal, etc. These are named in propertyNames and each element of the properties vector is a Vector of length propertyNames.size(). A user needs to manually maintain properties.size()==points.size().
The point cloud itself may also have associated settings, as given by the settings map. Standard properties include:
- width, height: for structured point clouds, the width and height of the point cloud. If present, the points list will be interpreted in scan-line order (left to right, top to bottom)
- viewpoint: if present, the "x y z qw qx qy qz" camera frame. [x,y,z] is the focal point (origin) and (qw,qx,qy,qz) is the quaternion representing its rotation from the standard camera reference frame (+z forward, +x right, +y down)
- id: if present, the id of the scan
Standard properties (adopted from PCL) include:
- normal_x, normal_y, normal_z: the outward normal estimated at a point
- rgb: integer representation of the 8-bit RGB value of a color. 0x00ff0000 is red, 0x0000ff00 is green, 0x000000ff is blue.
- rgba: integer representation of the 8-bit ARGB value of a color with alpha channel. 0xff000000 is the opacity.
- opacity: a floating point value indicating the opacity of a point, in the range [0,1].
- c: A byte-based opacity format used in PCL where opacity is in the range [0,255].
- r,g,b,a: color channels in the range [0,1]
- u,v: a (u,v) coordinate in range [0,1]^2 mapping into some other image (usually RGB color)
- radius: a radius occupied around the point, to treat the point as a surfel or a sphere When drawn via the GeometryAppearance class, these properties will be properly interpreted to color the point cloud display.
Member Function Documentation
| void Meshing::PointCloud3D::ComputeNormals | ( | Real | radius = 0 | ) |
Computes normals. Uses the structured point cloud (centered difference) or an unstructured point cloud. In the latter case, the given radius is used for normal estimation (locally weighted regression)
| void PointCloud3D::FromDepthImage | ( | int | w, |
| int | h, | ||
| float | wfov, | ||
| float | hfov, | ||
| const std::vector< float > & | depths, | ||
| const std::vector< unsigned int > & | rgb, | ||
| float | invalidDepth = 0.0 |
||
| ) |
Converts a w x h depth image to a structured point cloud. The camera frame is x right, y down, z forward.
- w,h: width and height
- wfov,hfov: the field of view in the width and height directions, respectively (in radians)
- depths: depth values in scanline order)
- rgb (optional): color values in RGB format
- invalidDepth: a depth value that indicates a bad reading
| void PointCloud3D::FromDepthImage | ( | int | w, |
| int | h, | ||
| float | wfov, | ||
| float | hfov, | ||
| float | depthscale, | ||
| const std::vector< unsigned short > & | depths, | ||
| const std::vector< unsigned int > & | rgb, | ||
| unsigned short | invalidDepth = 0 |
||
| ) |
Converts a w x h depth image to a structured point cloud. The camera frame is x right, y down, z forward.
- w,h: width and height
- wfov,hfov: the field of view in the width and height directions, respectively (in radians)
- depthscale: the absolute depth is depths[i]*depthscale
- depths: depth values in scanline order)
- rgb (optional): color values in RGB format
- invalidDepth: a depth value that indicates a bad reading
| bool PointCloud3D::GetProperty | ( | const string & | name, |
| vector< Real > & | items | ||
| ) | const |
Returns a vector giving all of the points' values of the given property.
If the property doesn't exist, returns false.
Result has length points.size().
Referenced by GLDraw::GeometryAppearance::Refresh().
| int PointCloud3D::SetProperty | ( | const string & | name, |
| const vector< Real > & | items | ||
| ) |
Sets property from a vector giving all of the points' values of the given property.
If the property doesn't exist, then it will be added. The index of the given property is returned.
items must have size points.size().
The documentation for this class was generated from the following files:
- PointCloud.h
- PointCloud.cpp
