A simple point cloud data structure. Points may be ordered or not. An ordered set is kept as a single array in row major order and with a width and a height. An unordered array must have height==1 and width equal to the number of points. More...

#include <PointCloud.hpp>

Inherits GeometryData.

Public Types
typedef rw::core::Ptr< PointCloud >	Ptr
	smart pointer type to this class

typedef rw::math::Vector3D< float >	point_type
	type of point used internally in pointcloud

Public Types inherited from GeometryData
enum	GeometryType { PointCloud , LineMesh , PlainTriMesh , IdxTriMesh , SpherePrim , BoxPrim , OBBPrim , AABBPrim , LinePrim , PointPrim , PyramidPrim , ConePrim , TrianglePrim , CylinderPrim , TubePrim , PlanePrim , RayPrim , Implicit , Quadratic , UserType }
	geometry data types

typedef rw::core::Ptr< GeometryData >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const GeometryData >	CPtr
	const smart pointer type to this class

Public Member Functions
	PointCloud ()
	constructor

	PointCloud (int w, int h)
	constructor More...

virtual	~PointCloud ()
	destructor

GeometryType	getType () const
	the type of this primitive More...

virtual size_t	size () const
	gets the number of points in the point cloud.

bool	isOrdered ()

std::vector< rw::math::Vector3D< float > > &	getData ()
	returns a char pointer to the image data More...

const std::vector< rw::math::Vector3D< float > > &	getData () const
	returns a char pointer to the image data More...

const rw::math::Vector3D< float > &	operator() (int x, int y) const
	access points in point cloud. More...

rw::math::Vector3D< float > &	operator() (int x, int y)
	access points in point cloud. More...

int	getWidth () const
	width of the point cloud data. If the data is unordered then this will be equal to the number of points. More...

int	getHeight () const

void	resize (int w, int h)
	set width of point cloud. Data elements are accessed as [x+y*width]. More...

rw::core::Ptr< TriMesh >	getTriMesh (bool forceCopy=true)
	gets a trimesh representation of this geometry data. More...

rw::core::Ptr< const TriMesh >	getTriMesh (bool forceCopy=true) const
	gets a trimesh representation of this geometry data. More...

const rw::math::Transform3D< float > &	getDataTransform () const

Public Member Functions inherited from GeometryData
virtual	~GeometryData ()
	Destructor.

virtual bool	isConvex ()
	test if this geometry data is convex More...

Static Public Member Functions
static rw::core::Ptr< PointCloud >	loadPCD (const std::string &filename)
	load point cloud from PCD file More...

static void	savePCD (const PointCloud &cloud, const std::string &filename, const rw::math::Transform3D< float > &t3d=rw::math::Transform3D< float >::identity())
	save point cloud in PCD file format (PCL library format) More...

Static Public Member Functions inherited from GeometryData
static std::string	toString (GeometryType type)
	format GeometryType to string More...

Detailed Description

A simple point cloud data structure. Points may be ordered or not. An ordered set is kept as a single array in row major order and with a width and a height. An unordered array must have height==1 and width equal to the number of points.

Constructor & Destructor Documentation

◆ PointCloud()

PointCloud	(	int	w,
		int	h
	)

inline

constructor

Parameters

w
h

Member Function Documentation

◆ getData() [1/2]

std::vector<rw::math::Vector3D<float> >& getData ( )

inline

returns a char pointer to the image data

Returns: char pointer to the image data

◆ getData() [2/2]

const std::vector<rw::math::Vector3D<float> >& getData ( ) const

inline

returns a char pointer to the image data

Returns: const char pointer to the image data

◆ getHeight()

int getHeight ( ) const

inline

Returns: height

◆ getTriMesh() [1/2]

rw::core::Ptr<TriMesh> getTriMesh ( bool forceCopy = true )

virtual

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means ownership is transfered to the caller. Specifying forceCopy to false will enable copy by reference and ownership is not necesarilly transfered. This is more efficient, though pointer is only alive as long as this GeometryData is alive.

Returns: TriMesh representation of this GeometryData

Implements GeometryData.

◆ getTriMesh() [2/2]

rw::core::Ptr<const TriMesh> getTriMesh ( bool forceCopy = true ) const

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means ownership is transfered to the caller. Specifying forceCopy to false will enable copy by reference and ownership is not necesarilly transfered. This is more efficient, though pointer is only alive as long as this GeometryData is alive.

Returns: TriMesh representation of this GeometryData

◆ getType()

GeometryType getType ( ) const

inlinevirtual

the type of this primitive

Implements GeometryData.

◆ getWidth()

int getWidth ( ) const

inline

width of the point cloud data. If the data is unordered then this will be equal to the number of points.

Returns: width of data points

◆ loadPCD()

static rw::core::Ptr<PointCloud> loadPCD ( const std::string & filename )

static

load point cloud from PCD file

Parameters

filename [in] name of PCD file

Returns: a point cloud

◆ operator()() [1/2]

rw::math::Vector3D<float>& operator()	(	int	x,
		int	y
	)

inline

access points in point cloud.

Parameters

x	[in] x coordinate, must be in [0;width[
y	[in] y coordinate, must be in [0;height[

Returns: point

◆ operator()() [2/2]

const rw::math::Vector3D<float>& operator()	(	int	x,
		int	y
	)		const

inline

access points in point cloud.

Parameters

x	[in] x coordinate, must be in [0;width[
y	[in] y coordinate, must be in [0;height[

Returns: point

◆ resize()

void resize	(	int	w,
		int	h
	)

inline

set width of point cloud. Data elements are accessed as [x+y*width].

If the current data array cannot contain the elements then it will be resized to be able to it.

Parameters

w	[in] new width
h	[in] new height

◆ savePCD()

static void savePCD	(	const PointCloud &	cloud,
		const std::string &	filename,
		const rw::math::Transform3D< float > &	t3d = `rw::math::Transform3D< float >::identity()`
	)

static

save point cloud in PCD file format (PCL library format)

Parameters

cloud	[in] the point cloud to save
filename	[in] the name of the file to save to
t3d	[in] the transformation of the point cloud

The documentation for this class was generated from the following file:

PointCloud.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PointCloud()

Member Function Documentation

◆ getData() [1/2]

◆ getData() [2/2]

◆ getHeight()

◆ getTriMesh() [1/2]

◆ getTriMesh() [2/2]

◆ getType()

◆ getWidth()

◆ loadPCD()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ resize()

◆ savePCD()