Public Member Functions | Static Public Member Functions | List of all members
DensePointCloud Class Reference

A dense Cartesian 3D point cloud object. More...

#include <cvb/dense_point_cloud.hpp>

Inherits PointCloud.

Public Member Functions

SparsePointCloudPtr ToSparsePointCloud () const
 Creates a sparse point cloud from this dense point cloud with confidence plane. More...
 
Cvb::Size2D< int > LatticeSize () const
 Gets the number of x,y,z(,w) point rows and columns of the given dense PointCloud. More...
 
DensePointCloudPtr Shrink () const
 Creates a new dense point cloud where lines and columns at the borders containing only non-confident points are removed. More...
 
DensePointCloudPtr Crop (const Cuboid &clipBox) const
 Creates a new point cloud which only consists of the points inside the clip box. More...
 
DensePointCloudPtr FrustumCrop (const Cuboid &clipBox, Angle theta, Angle phi) const
 Creates a new point cloud which only consists of the points inside the clipBox, where the orientation of the two boundary planes Z=Zmin and Z=Zmax can be modified by angles theta and phi. More...
 
DensePointCloudPtr PlaneCrop (const Plane3D &plane, const ValueRange< double > &range, CropRange cropRange) const
 Creates a new point cloud where points within or outside a range parallel to given plane are cropped. More...
 
DensePointCloudPtr PlaneCrop (const Plane3D &plane, double threshold, CropDirection cropBelowAbove=CropDirection::Below) const
 Creates a new point cloud which only consists of the points below or above given plane. More...
 
template<class T >
DenseComponentsPointers3D< T > PointComponents () const
 Get the point components from the given point cloud. More...
 
template<class T >
bool TryPointComponents (DenseComponentsPointers3D< T > &components) const noexcept
 Tries to get the point components from the given point cloud. More...
 
- Public Member Functions inherited from PointCloud
PointCloudLayout Layout () const
 Get the layout of the available buffers/planes of the given point cloud. More...
 
class DataType DataType () const
 Gets the DataType of the x,y,z(,w) components of the given PointCloud. More...
 
std::size_t NumPoints () const
 Gets the number of x,y,z(,w) points in the given point cloud. More...
 
ComponentsPointers3D PointComponents () const
 Tries to get the point components from the given point cloud. More...
 
template<class T >
std::size_t Points (Point3D< T > *&points) const
 Gets the 3D points from the given point cloud. More...
 
template<class T >
std::size_t PointsH (Point3DH< T > *&pointsH) const
 Tries to get the 3D points from the given point cloud. More...
 
Cuboid CalculateBoundingBox () const
 Calculates the minimum and maximum extent of the point cloud. More...
 
Point3D< double > CalculateCenterOfGravity () const
 Calculates the center of gravity of the point cloud. More...
 
Matrix3D CalculateCovarianceMatrix () const
 Calculates the covariance matrix of the point cloud. More...
 
Plane3D FitPlane () const
 Fits a plane in the points of the point cloud without cropping it. More...
 
Plane3D FitPlane (const Cuboid &aoi) const
 Fits a plane in the points of the point cloud for a specified area of interest. More...
 
template<class T >
std::shared_ptr< T > Crop (const Cuboid &clipBox) const
 Creates a new point cloud which only consists of the points inside the clip box. More...
 
template<class T >
std::shared_ptr< T > FrustumCrop (const Cuboid &clipBox, Angle theta, Angle phi) const
 Creates a new point cloud which only consists of the points inside the clipBox, where the orientation of the two boundary planes Z=Zmin and Z=Zmax can be modified by angles theta and phi. More...
 
template<class T >
std::shared_ptr< T > PlaneCrop (const Plane3D &plane, const ValueRange< double > &range, CropRange cropRange) const
 Creates a new point cloud where points within or outside a range parallel to given plane are cropped. More...
 
template<class T >
std::shared_ptr< T > PlaneCrop (const Plane3D &plane, double threshold, CropDirection cropBelowAbove=CropDirection::Below) const
 Creates a new point cloud which only consists of the points below or above given plane. More...
 
PointCloudPtr Downsample (DownSampleMode mode, int value) const
 Creates a new point cloud which has several points being removed dependent on the down sample mode and value. More...
 
PointCloudPtr Duplicate () const
 Creates a new point cloud which is a copy this point cloud. More...
 
void Save (const String &fileName) const
 Saves the given point cloud to the file with the given FileName. More...
 
PointCloudPtr Convert (PointCloudFlags flags) const
 Creates a new point cloud, which is a copy from this point cloud, but with possibly different data type and number of components. More...
 
PointCloudPtr Scale (Factors3D factors) const
 Creates a new point cloud with all points being scaled by the given factors. More...
 
PointCloudPtr Transform (const AffineMatrix3D &transformation) const
 Creates a new point cloud with all points being transformed by the given transformation. More...
 
PointCloudPtr Transform (const Matrix3DH &transformation) const
 Creates a new point cloud with all points being transformed by the given transformation. More...
 
void Transform (const AffineMatrix3D &affineTransformation, PointCloud &pointCloud)
 Transforms all points in this point cloud by the given AffineTransformation and stores them in the given point cloud. More...
 
void Transform (const Cvb::Matrix3DH &transformation, PointCloud &pointCloud)
 Transforms all points in this point cloud by the given transformation and stores them in the given point cloud. More...
 
std::unique_ptr< Cvb::ImageRangeMap (ValueRange< double > xRange, ValueRange< double > yRange, Size2D< int > size, double background) const
 Creates a new range map image via linear projection in negative z-direction. More...
 
int PlaneCount () const noexcept
 Gets the number of planes enumerated by this object. More...
 
std::vector< PlanePtrPlanes () const
 Gets all available planes enumerated by this object. More...
 
PlanePtr Plane (int index) const
 Index based plane access. More...
 
size_t MemorySize (PointCloudFlags flags, Cvb::PointCloudFileFormat format) const
 Determines the amount of memory needed for ToMemory. More...
 
template<class Point >
size_t MemorySize (Cvb::PointCloudFileFormat format) const
 Determines the amount of memory needed for ToMemory. More...
 
void ToMemory (PointCloudFlags flags, Cvb::PointCloudFileFormat format, size_t size, void *buffer) const
 Saves the point cloud to the memory in the given format. More...
 
template<class Point >
void ToMemory (Cvb::PointCloudFileFormat format, size_t size, std::uint8_t *buffer) const
 Saves the point cloud to the memory in the given format. More...
 
void * Handle () const noexcept
 Returns C-API style handle to Node Object. More...
 

Static Public Member Functions

static DensePointCloudPtr FromComposite (CompositePtr object)
 Creates a dense point cloud from a composite. More...
 
- Static Public Member Functions inherited from PointCloud
static PointCloudPtr FromHandle (HandleGuard< PointCloud > &&guard)
 Creates a point cloud from a classic API handle. More...
 
template<class T >
static std::shared_ptr< T > FromComposite (CompositePtr object)
 Creates a point cloud from a composite. More...
 
static PointCloudPtr FromMemory (void *buffer, size_t size, PointCloudFlags flags, Cvb::PointCloudFileFormat format)
 Creates a point cloud reading memory from buffer. More...
 
template<class Point >
static PointCloudPtr FromMemory (void *buffer, size_t size, Cvb::PointCloudFileFormat format)
 Creates a point cloud reading memory from buffer. More...
 

Detailed Description

A dense Cartesian 3D point cloud object.

A dense point cloud is an ordered set of 3D points, placed on a grid with a given width and height. The advantage of dense clouds is to have immediate neighbor information. The disadvantage is, that you cannot have arbitrary clouds (e.g. an affine transformation breaks the lattice view). Also each x-y-position can have only one corresponding z-height.

A dense point cloud has grid / neighbor information available and has a larger memory than a sparse point cloud (due to NaN values / holes).

Each dense point cloud can be converted to a sparse point cloud.

See also
SparsePointCloud
Examples
Cvb/CppPointCloudCreateAndHandle.

Member Function Documentation

◆ Crop()

DensePointCloudPtr Crop ( const Cuboid clipBox) const
inline

Creates a new point cloud which only consists of the points inside the clip box.

Parameters
[in]clipBoxCuboid defining the bounds for the points to be copied (min/max are inclusive).
Returns
The new point cloud.
Exceptions
Anyexception derived from std::exception including CvbException.

◆ FromComposite()

static DensePointCloudPtr FromComposite ( CompositePtr  object)
inlinestatic

Creates a dense point cloud from a composite.

Parameters
[in]objectA composite to share.
Returns
A dense point cloud pointer that shares resources with the composite.
Exceptions
Anyexception derived from std::exception including CvbException.

◆ FrustumCrop()

DensePointCloudPtr FrustumCrop ( const Cuboid clipBox,
Angle  theta,
Angle  phi 
) const
inline

Creates a new point cloud which only consists of the points inside the clipBox, where the orientation of the two boundary planes Z=Zmin and Z=Zmax can be modified by angles theta and phi.

For theta, phi = 0,0 the function will give the same result as Crop(). Angle theta tilts the two Z-boundary planes towards the (positive) Y-axis. Additionally, phi rotates the tilted Z-boundary planes around the Z-axis (for theta=0, phi will have no effect, because it is then just an inplane-rotation). The two Z-boundary planes will stay parallel, but no longer necessarily orthogonal to the lateral boundary planes. Note, that only the Z-boundaries are tilted and not the whole bounding box, i.e. X- and Y-boundaries will stay the same.

Parameters
[in]clipBoxCuboid defining the bounds for the points to be copied (min/max are inclusive).
[in]thetaTilt angle of the two Z-boundary planes Z=Zmin and Z=Zmax towards the positive Y-axis.
[in]phiRotation angle of the tilted Z-boundary planes around the Z-axis. If Theta = 0, Phi will have no effect.
Returns
The new point cloud.
Exceptions
Anyexception derived from std::exception including CvbException.

◆ LatticeSize()

Cvb::Size2D<int> LatticeSize ( ) const
inline

Gets the number of x,y,z(,w) point rows and columns of the given dense PointCloud.

Returns
The size as number of columns and number of rows.
Exceptions
Anyexception derived from std::exception including CvbException.
Examples
Cvb/CppPointCloudCreateAndHandle.

◆ PlaneCrop() [1/2]

DensePointCloudPtr PlaneCrop ( const Plane3D plane,
const ValueRange< double > &  range,
CropRange  cropRange 
) const
inline

Creates a new point cloud where points within or outside a range parallel to given plane are cropped.

The plane is defined by the hessian normal form:

hessian_normal_form.png

Points are cropped within or outside a range parallel to the given plane. The range is defined by range. Note, that Range.Max and Range.Min are applied along normal direction.

plane_crop1.png
plane_crop2.png
plane_crop3.png

In order to define a range around the plane, maximum and minimum range have to be positive and negative respectively.

Cropped points are set non-confident. Lines and columns at the borders containing only non-confident points are removed. If the input does not contain a confidence plane, a confidence plane will be added to the cropped point cloud.

Parameters
[in]planePoints parallel to this plane will be cropped.
[in]rangePoints within or outside this range will be cropped.
[in]cropRangeIndicates whether points should be cropped within or outside the range.
Returns
Cropped point cloud.
Exceptions
Anyexception derived from std::exception including CvbException.

◆ PlaneCrop() [2/2]

DensePointCloudPtr PlaneCrop ( const Plane3D plane,
double  threshold,
CropDirection  cropBelowAbove = CropDirection::Below 
) const
inline

Creates a new point cloud which only consists of the points below or above given plane.

The plane is defined by the hessian normal form:

hessian_normal_form.png

Above plane means all points with z values greater than the plane are cropped. It makes no difference in which direction the given normal points. The normal is always converted, so that it points up (positive z value). Note, if Normal.Z equals 0, "below" and "above" is undefined and thus no cropping is done. Instead the input point cloud will be duplicated.

cropBelowPlane.png
cropAbovePlane.png
Note
Points beyond the plane are set non-confident. Lines and columns at the borders containing only non-confident points are removed. If the input does not contain a confidence plane, a confidence plane will be added to the cropped point cloud.
Parameters
[in]planePoints beyond this plane will be cropped.
[in]thresholdPoints below plane plus this value and points above plane minus this value are cropped respectively. This threshold should be set, if plane is calculated via FitPlane(). It ensures, that all points of plane plus noise are cropped. Therefore the threshold is added or substracted depending on whether it should be cropped above or below.
[in]cropBelowAboveIndicates if points should either be cropped below or above plane.
Returns
Cropped point cloud.
Exceptions
Anyexception derived from std::exception including CvbException.

◆ PointComponents()

DenseComponentsPointers3D<T> PointComponents ( ) const
inline

Get the point components from the given point cloud.

Returns
A typed struct with pointers to the cloud's components.
Exceptions
Anyexception derived from std::exception including CvbException.

◆ Shrink()

DensePointCloudPtr Shrink ( ) const
inline

Creates a new dense point cloud where lines and columns at the borders containing only non-confident points are removed.

Please ensure that your point cloud contains a confidence plane.

Returns
The shrinked point cloud.
Exceptions
Anyexception derived from std::exception including CvbException.

◆ ToSparsePointCloud()

CVB_BEGIN_INLINE_NS SparsePointCloudPtr ToSparsePointCloud ( ) const
inline

Creates a sparse point cloud from this dense point cloud with confidence plane.

Non-confident points will be removed and the confidence plane is not kept. The new sparse point cloud has the same planes as this dense point cloud (except confidence).

Returns
Converted sparse point cloud

◆ TryPointComponents()

bool TryPointComponents ( DenseComponentsPointers3D< T > &  components) const
inlinenoexcept

Tries to get the point components from the given point cloud.

This method does not throw if the point type does not match the point cloud type.

Parameters
[out]componentsThe components pointers.
Returns
True if type matches the point cloud point type, false otherwise.
Exceptions
Doesnot throw any exception.