Functions to work with PointCloud mesh objects. More...

Modules
	Point Cloud
	Cloud of 3D points.

Data Structures
struct	CVC3DCuboid
	3D rectangle More...

struct	CVC3DFactors
	Linear transformation factors for a point. More...

struct	CVC3DPlane
	3D plane in Hessian normal form. More...

struct	CVC3DPointCD
	Cartesian 3D point with confidence information (X, Y, Z, C) with double components. More...

struct	CVC3DPointCF
	Cartesian 3D point with confidence information (X, Y, Z, C) with float components. More...

struct	CVC3DPointD
	Cartesian 3D point (X, Y, Z) with double components. More...

struct	CVC3DPointF
	Cartesian 3D point (X, Y, Z) with float components. More...

struct	CVC3DPointHD
	Cartesian, homogeneous 3D point (X, Y, Z, W) with double components. More...

struct	CVC3DPointHF
	Cartesian, homogeneous 3D point (X, Y, Z, W) with float components. More...

struct	CVC3DRange
	One dimensional, inclusive range. More...

struct	CVC3DSensorSettings
	Camera sensor settings. More...

Typedefs
typedef cvbuint32_t *	CVC3DPolygonIndexTable
	List of polygon indices. More...

typedef void *	CVCOMPOSITE
	A PointCloud as seen from this library.

Enumerations
enum	CVC3DDownsampleMode { CVC3DDownsampleByFactor , CVC3DRemoveRandomly }

enum	CVC3DPointCloudFileFormat { CVC3DPCFF_Ascii , CVC3DPCFF_Ply , CVC3DPCFF_Stl , CVC3DPCFF_WavefrontObj , CVC3DPCFF_Tiff , CVC3DPCFF_Pcd }

enum	CVC3DPointCloudFlags { CVC3DPCF_DTFloat = 0 << 0 , CVC3DPCF_DTDouble = 1 << 0 , CVC3DPCF_XYZ = 0 << 0 , CVC3DPCF_XYZW = 1 << 5 , CVC3DPCF_XYZConfidence = 1 << 6 , CVC3DPCF_WithConfidence = 1 << 12 , CVC3DPCF_NoExtrinsic = 1 << 24 , CVC3DPCF_NoMeshIndices = 1 << 25 }

enum	CVC3DPointCloudLayout { CVC3DPCL_Invalid , CVC3DPCL_Linear , CVC3DPCL_SeparatePlanar , CVC3DPCL_Planar , CVC3DPCL_Interleaved }

Functions
cvbres_t	CVC3DCalculatePlaneFromPointDs (const CVC3DPointD *pPoints, size_t NumPoints, CVC3DPlane &Plane)
	Fits a plane into the given double pPoints. More...

cvbres_t	CVC3DCalculatePlaneFromPointFs (const CVC3DPointF *pPoints, size_t NumPoints, CVC3DPlane &Plane)
	Fits a plane into the given float pPoints. More...

cvbres_t	CVC3DConvertSparseToDensePointCloudAutomatic (CVCOMPOSITE SparseCloudIn, CVCOMPOSITE &DenseCloudOut, size_t &DroppedPoints)
	Creates a dense pointcloud from a sparse cloud. More...

cvbres_t	CVC3DCreateCroppedPointCloud (CVCOMPOSITE PointCloudIn, const CVC3DCuboid &ClipBox, CVCOMPOSITE &PointCloudOut)
	Creates a new point cloud which only consists of the points inside the ClipBox. More...

cvbres_t	CVC3DCreateDownsampledPointCloud (CVCOMPOSITE PointCloudIn, CVC3DDownsampleMode Mode, cvbint64_t Value, CVCOMPOSITE &PointCloudOut)
	Creates a new point cloud which has several points being removed dependent on the downsample Mode and Value. More...

cvbres_t	CVC3DCreateDuplicatePointCloud (CVCOMPOSITE PointCloudIn, CVCOMPOSITE &PointCloudOut)
	Creates a new point cloud which is a copy from PointCloudIn. More...

cvbres_t	CVC3DCreateFrustrumCroppedPointCloud (CVCOMPOSITE PointCloudIn, const CVC3DCuboid &ClipBox, const double Theta, const double Phi, CVCOMPOSITE &PointCloudOut)
	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...

cvbres_t	CVC3DCreateFrustumCroppedPointCloud (CVCOMPOSITE PointCloudIn, const CVC3DCuboid &ClipBox, double Theta, double Phi, CVCOMPOSITE &PointCloudOut)
	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...

cvbres_t	CVC3DCreatePlaneCroppedPointCloud (CVCOMPOSITE PointCloudIn, const CVC3DPlane &Plane, const CVC3DRange &Range, enum CVC3DCropRange CropRange, CVCOMPOSITE &PointCloudOut)
	Creates a new point cloud where points within or outside a range parallel to given Plane are cropped. More...

cvbres_t	CVC3DCreateRasterMeshToDensePointCloud (CVCOMPOSITE Mesh, const CVC3DMatrix CameraRotation, const CVC3DVector CameraTranslation, double XResIncrement, double YResIncrement, CVCOMPOSITE SparseTempBuffer, CVCOMPOSITE &DenseCloudOut)
	Rasters a sparse mesh into a zbuffer and stores the result a newly created DenseCloud. More...

cvbres_t	CVC3DCreateShrinkedDensePointCloud (CVCOMPOSITE DensePointCloudIn, CVCOMPOSITE &PointCloudOut)
	Creates a new dense point cloud where lines and columns at the borders containing only non-confident points are removed. More...

cvbres_t	CVC3DCreateSparseFromDensePointCloud (CVCOMPOSITE DensePointCloudIn, CVCOMPOSITE &SparsePointCloudOut)
	Creates a sparse point cloud from a dense point cloud with confidence plane. More...

cvbres_t	CVC3DCreateSparsePointCloudFromPointer (void *pPlaneBasePtrs, cvbdim_t NumPlanes, cvbdatatype_t Datatype, cvbint64_t NumPoints, intptr_t PlaneIncs[], PFFINALRELEASE ReleaseCallback, void pPrivate, CVCOMPOSITE &PointCloud)
	Creates a PointCloud from the given memory without copying the data. More...

cvbres_t	CVC3DCreateTargetDensePointCloud (const CVCOMPOSITE &Mesh, double XResolution, double YResolution, cvbval_t Flags, CVCOMPOSITE &DensePointCloud)
	Creates a target dense pointcloud to be used for orthographic rastering. More...

cvbres_t	CVC3DLoadFile (const char *FileName, cvbval_t Flags, CVCOMPOSITE &PointCloud)
	Loads a 3D point, polygon or mesh file (ASCII string version). More...

cvbres_t	CVC3DLoadFileW (const wchar_t *FileName, cvbval_t Flags, CVCOMPOSITE &PointCloud)
	Loads a 3D point, polygon or mesh file (Unicode string version). More...

cvbres_t	CVC3DMemoryToPointCloud (void *Memory, size_t Size, cvbval_t Flags, CVC3DPointCloudFileFormat FileFormat, CVCOMPOSITE &PointCloud)
	Creates a point cloud from given Memory. More...

cvbres_t	CVC3DPointCloudCalculateBoundingBox (CVCOMPOSITE PointCloud, CVC3DCuboid &BoundingBox)
	Calculates the minimum and maximum extent of the PointCloud. More...

cvbres_t	CVC3DPointCloudCalculateCenterOfGravity (CVCOMPOSITE PointCloud, CVC3DPointD &Center)
	Calculates the center of gravity of the PointCloud. More...

cvbres_t	CVC3DPointCloudCalculateCovarianceMatrix (CVCOMPOSITE PointCloud, CVC3DMatrix Covariance)
	Calculates the covariance matrix of the PointCloud. More...

cvbres_t	CVC3DPointCloudCalculatePlaneFromCuboid (CVCOMPOSITE PointCloud, const CVC3DCuboid &AOI, CVC3DPlane &Plane)
	Fits a plane into the given pPoints. More...

cvbres_t	CVC3DPointCloudGetPolygonTable (CVCOMPOSITE Mesh, CVC3DPolygonIndexTable &PolygonTable, cvbint64_t &NumPolygons)
	Gets the mesh's polygon vertex indices embedded into the PointCloud. More...

cvbres_t	CVC3DPointCloudToMemory (CVCOMPOSITE PointCloud, cvbval_t Flags, CVC3DPointCloudFileFormat FileFormat, void *Memory, size_t Size)
	Saves the given PointCloud to the Memory in the given FileFormat. More...

cvbres_t	CVC3DPointCloudToMemorySize (CVCOMPOSITE PointCloud, cvbval_t Flags, CVC3DPointCloudFileFormat FileFormat, size_t &Size)
	Determine the amount of memory needed for CVC3DMemoryToPointCloud. More...

cvbres_t	CVC3DRasterMeshToDensePointCloud (CVCOMPOSITE Mesh, const CVC3DMatrix CameraRotation, const CVC3DVector CameraTranslation, CVCOMPOSITE SparseTempBuffer, CVCOMPOSITE DenseCloud)
	Rasters a sparse mesh into a zbuffer and stores the result into the given DenseCloud. More...

cvbres_t	CVC3DWriteFile (CVCOMPOSITE PointCloud, cvbval_t Flags, const char *FileName)
	Saves the given PointCloud to the file with the given FileName (ASCII string version). More...

cvbres_t	CVC3DWriteFileW (CVCOMPOSITE PointCloud, cvbval_t Flags, const wchar_t *FileName)
	Saves the given PointCloud to the file with the given FileName (Unicode string version). More...

Detailed Description

Functions to work with PointCloud mesh objects.

Functions to create, copy and access PointCloud objects.

Functions to crop PointCloud objects.

Functions to raster PointCloud mesh objects to dense PointClouds..

Typedef Documentation

◆ CVC3DPolygonIndexTable

CVC3DPolygonIndexTable

List of polygon indices.

This structure is filled in by CVC3DPointCloudGetPolygonTable from a pointcloud that was loaded with a mesh's face information. See the documentation there on interpretation of the contents.

Enumeration Type Documentation

◆ CVC3DDownsampleMode

enum CVC3DDownsampleMode

Enumerator
CVC3DDownsampleByFactor	Remove points by an integer factor.
CVC3DRemoveRandomly	Remove a specified number of points randomly.

◆ CVC3DPointCloudFileFormat

enum CVC3DPointCloudFileFormat

Enumerator
CVC3DPCFF_Ascii	Ascii file format. This format is usually specified by the filename extensions: .asc, .xyz, .pts or .txt. Mesh information is ignored when loading or storing with this format.
CVC3DPCFF_Ply	Polygon file format. This format is usually specified by the filename extension: .ply It can be in binary or text format. Reading supports both formats, while writing will be in binary. Loading and storing mesh information is supported with both reads and writes.
CVC3DPCFF_Stl	Stereo lithography file format. This format is usually specified by the filename extension: .stl Loading mesh information is supported. For writing stl, mesh information must be present.
CVC3DPCFF_WavefrontObj	Wavefront object file format. This format is usually specified by the filename extension: .obj Only reading is supported. Loading mesh information is supported.
CVC3DPCFF_Tiff	TIFF file format. This format is usually specified by the filename extensions: .tif or .tiff Reading and writing is supported only with files, not memory. Mesh information is ignored when loading or storing with this format.

◆ CVC3DPointCloudFlags

enum CVC3DPointCloudFlags

Enumerator
CVC3DPCF_DTFloat	Create the point cloud with float components.
CVC3DPCF_DTDouble	Create the point cloud with double components.
CVC3DPCF_XYZ	Create the point cloud with three Cartesian components x, y, z.
CVC3DPCF_XYZW	Create the point cloud with four Cartesian, homogeneous components x, y, z, w.
CVC3DPCF_XYZConfidence	Create the point cloud with three Cartesian components x, y, z and an interleaved confidence component. This implies CVC3DPCF_WithConfidence.
CVC3DPCF_WithConfidence	Create the point cloud with an additional confidence plane. If CVC3DPCF_XYZConfidence is specified the confidence components are interleaved; an extra plane is generate otherwise.
CVC3DPCF_NoExtrinsic	Only apply intrinsic calibration in CVC3DCreateCalibratedPointCloudFromRangeMap.
CVC3DPCF_NoMeshIndices	Do not load mesh information in CVC3DLoadFile, even if present.

◆ CVC3DPointCloudLayout

enum CVC3DPointCloudLayout

Enumerator
CVC3DPCL_Invalid	No known/supported point cloud format.
CVC3DPCL_Linear	No known buffer layout. For this layout only the plane roles CVCPR_CoordCartesian_X, CVCPR_CoordCartesian_Y and CVCPR_CoordCartesian_Z are known with their increments. Thus the PointCloud composite either has no buffer or no buffer that can be mapped via a PFNC value.
CVC3DPCL_SeparatePlanar	Each plane is in its own, contiguous buffer. For each plane role CVCPR_CoordCartesian_X, CVCPR_CoordCartesian_Y and CVCPR_CoordCartesian_Z exists one distinct buffer. Increment to the next element is element sized as in a simple array. If the component __cvbdatatype_t__s are float, the composite has at least three buffers with PFNC values Coord3D_A32f, Coord3D_B32f and Coord3D_C32f.
CVC3DPCL_Planar	All planes are in one planar, contiguous buffer. All plane roles CVCPR_CoordCartesian_X, CVCPR_CoordCartesian_Y and CVCPR_CoordCartesian_Z lay component wise one after the other. First all x, then all y and finally all z components. If the component cvbdatatype_t is float, the composite has at least one buffer with a PFNC value of Coord3D_ABC32f_Planar.
CVC3DPCL_Interleaved	All points are stored x,y,z interleaved as in CVC3DPointF. All plane roles CVCPR_CoordCartesian_X, CVCPR_CoordCartesian_Y and CVCPR_CoordCartesian_Z lay point wise one after the other. If the component cvbdatatype_t is float, the composite has at least one buffer with a PFNC value of Coord3D_ABC32f.

Function Documentation

◆ CVC3DCalculatePlaneFromPointDs()

cvbres_t CVC3DCalculatePlaneFromPointDs	(	const CVC3DPointD *	pPoints,
		size_t	NumPoints,
		CVC3DPlane &	Plane
	)

Fits a plane into the given double pPoints.

Any plane in 3D space can be found. It uses a Hessian Normal representation for the plane.

Note: NumPoints must be at least 3. The pPoints should not be on the same line as the solution then is ambiguous.

: The normal direction is set so that the distance to the origin is always positive.

Parameters

[in]	pPoints	Pointer to array of points.
[in]	NumPoints	Number of points in pPoints.
[out]	Plane	Reference to structure to be filled with plane data.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_PARAMETER) if parameters are invalid.

See also: CVC3DPointCloudCalculatePlaneFromCuboid

◆ CVC3DCalculatePlaneFromPointFs()

cvbres_t CVC3DCalculatePlaneFromPointFs	(	const CVC3DPointF *	pPoints,
		size_t	NumPoints,
		CVC3DPlane &	Plane
	)

Fits a plane into the given float pPoints.

Any plane in 3D space can be found. It uses a Hessian Normal representation for the plane.

Note: NumPoints must be at least 3. The pPoints should not be on the same line as the solution then is ambiguous.

: The normal direction is set so that the distance to the origin is always positive.

Parameters

[in]	pPoints	Pointer to array of points.
[in]	NumPoints	Number of points in pPoints.
[out]	Plane	Reference to structure to be filled with plane data.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_PARAMETER) if parameters are invalid.

See also: CVC3DPointCloudCalculatePlaneFromCuboid

◆ CVC3DConvertSparseToDensePointCloudAutomatic()

cvbres_t CVC3DConvertSparseToDensePointCloudAutomatic	(	CVCOMPOSITE	SparseCloudIn,
		CVCOMPOSITE &	DenseCloudOut,
		size_t &	DroppedPoints
	)

Creates a dense pointcloud from a sparse cloud.

This function maps the points of a sparse pointcloud into a newly created dense pointcloud. First, a resolution is determined that minimizes the points lost by the conversion.

Similarly to CVC3DCreateRangeMapFromPointCloud, if multiple points map onto the same x, y position in the dense cloud, the one with the larger z value is retained. The output cloud always has a confidence plane, which is set to 0 if no point of the sparse cloud matched the location. It is set to 1 if a point of the sparse cloud could be mapped to that location.

If the sparse cloud has a w component, it is replicated as well.

Parameters

[in]	SparseCloudIn	The source sparse point cloud.
[out]	DenseCloudOut	Receives the newly created and filled dense point cloud.
[out]	DroppedPoints	The number of source points that overlapped in x and y and thus got dropped.

Returns

CVC_ERROR (#CVC_E_OK) on success
CVC_ERROR(CVC_E_ERROR) else

◆ CVC3DCreateCroppedPointCloud()

cvbres_t CVC3DCreateCroppedPointCloud	(	CVCOMPOSITE	PointCloudIn,
		const CVC3DCuboid &	ClipBox,
		CVCOMPOSITE &	PointCloudOut
	)

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

The given PointCloudIn must have a valid CVC3DPointCloudLayout.

Note: PointCloudOut has the same planes as PointCloudIn. If the input point cloud is dense, points outside the bounding box are set non-confident. Lines and columns at the borders containing only non-confident points are removed via function CVC3DCreateShrinkedDensePointCloud. If PointCloudIn is dense and does not contain a confidence plane, it will be added to PointCloudOut.

If the input point cloud is sparse, PointCloudOut has the same properties as if a new point cloud was created via CVC3DCreateSparsePointCloud.

: If this function returns successfully you need to release the returned PointCloudOut via ReleaseObject if not needed anymore.

Parameters

[in]	PointCloudIn	Handle to point cloud object to copy from.
[in]	ClipBox	Cuboid defining the bounds for the points to be copied (min/max are inclusive).
[out]	PointCloudOut	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloudIn is not a valid point cloud IComposite.
#CVC_ERROR (#CVC_E_EMPTYRESULT) if clipping PointCloudIn resulted in an empty point cloud.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

See also: CVC3DPointCloudCalculateBoundingBox, CVC3DCreateFrustumCroppedPointCloud, CVC3DCreatePlaneCroppedPointCloud, CVC3DCreateShrinkedDensePointCloud

◆ CVC3DCreateDownsampledPointCloud()

cvbres_t CVC3DCreateDownsampledPointCloud	(	CVCOMPOSITE	PointCloudIn,
		CVC3DDownsampleMode	Mode,
		cvbint64_t	Value,
		CVCOMPOSITE &	PointCloudOut
	)

Creates a new point cloud which has several points being removed dependent on the downsample Mode and Value.

The following removal strategies are supported (Mode):

CVC3DDownsampleByFactor: Every Value-th point will be removed. Thus if Value is two, every second point will be removed. Value must be greater than one.
CVC3DRemoveRandomly: Value number of points will be randomly removed. Value must be less than the number of points in PointCloudIn.

The given PointCloudIn must have a valid CVC3DPointCloudLayout.

Note: CVC3DDownsampleByFactor and CVC3DRemoveRandomly are a crude, but fast way of removing points as they don't take the point values into account.

: PointCloudOut has the same properties as if a new point cloud was created via CVC3DCreateSparsePointCloud.

: If this function returns successfully you need to release the returned PointCloudOut via ReleaseObject if not needed anymore.

Parameters

[in]	PointCloudIn	Handle to point cloud object to copy from.
[in]	Mode	Downsample strategy as described above.
[in]	Value	Positive, non-null downsample value as described above.
[out]	PointCloudOut	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloudIn is not a valid point cloud IComposite.
#CVC_ERROR (#CVC_E_PARAMETER) if Mode or Value have invalid values.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

◆ CVC3DCreateDuplicatePointCloud()

cvbres_t CVC3DCreateDuplicatePointCloud	(	CVCOMPOSITE	PointCloudIn,
		CVCOMPOSITE &	PointCloudOut
	)

Creates a new point cloud which is a copy from PointCloudIn.

The given PointCloudIn must have a valid CVC3DPointCloudLayout.

Note: Depending on the PointCloudIn, the PointCloudOut has the same properties as if a new point cloud was created via CVC3DCreateSparsePointCloud or CVC3DCreateDensePointCloud respectively. Mesh information and additional planes are copied along.

Attention: The duplicated point cloud PointCloudOut may have a different point cloud layout as the input point cloud PointCloudIn.

: If this function returns successfully you need to release the returned PointCloudOut via ReleaseObject if not needed anymore.

Parameters

[in]	PointCloudIn	Handle to point cloud object to copy.
[out]	PointCloudOut	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloudIn is not a valid point cloud IComposite.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

◆ CVC3DCreateFrustrumCroppedPointCloud()

cvbres_t CVC3DCreateFrustrumCroppedPointCloud	(	CVCOMPOSITE	PointCloudIn,
		const CVC3DCuboid &	ClipBox,
		const double	Theta,
		const double	Phi,
		CVCOMPOSITE &	PointCloudOut
	)

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 CVC3DCreateCroppedPointCloud. 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.

The given PointCloudIn must have a valid CVC3DPointCloudLayout.

Note: PointCloudOut has the same properties as if a new point cloud was created via CVC3DCreateSparsePointCloud.

: If this function returns successfully you need to release the returned PointCloudOut via ReleaseObject if not needed anymore.

Parameters

[in]	PointCloudIn	Handle to point cloud object to copy from.
[in]	ClipBox	Cuboid defining the bounds for the points to be copied (min/max are inclusive).
[in]	Theta	Tilt angle of the two Z-boundary planes Z=Zmin and Z=Zmax towards the positive Y-axis (in degrees).
[in]	Phi	Rotation angle of the tilted Z-boundary planes around the Z-axis (in degrees). If Theta = 0, Phi will have no effect.
[out]	PointCloudOut	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloudIn is not a valid point cloud IComposite.
#CVC_ERROR (#CVC_E_NOINTERSECTION) if clipping PointCloudIn resulted in an empty point cloud.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

See also: CVC3DPointCloudCalculateBoundingBox, CVC3DCreateCroppedPointCloud

◆ CVC3DCreateFrustumCroppedPointCloud()

cvbres_t CVC3DCreateFrustumCroppedPointCloud	(	CVCOMPOSITE	PointCloudIn,
		const CVC3DCuboid &	ClipBox,
		double	Theta,
		double	Phi,
		CVCOMPOSITE &	PointCloudOut
	)

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 CVC3DCreateCroppedPointCloud. 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.

The given PointCloudIn must have a valid CVC3DPointCloudLayout.

Note: PointCloudOut has the same planes as PointCloudIn. If the input point cloud is dense, points outside the bounding box are set non-confident. Lines and columns at the borders containing only non-confident points are removed via function CVC3DCreateShrinkedDensePointCloud. If PointCloudIn is dense and does not contain a confidence plane, it will be added to PointCloudOut.

If the input point cloud is sparse, PointCloudOut has the same properties as if a new point cloud was created via CVC3DCreateSparsePointCloud.

: If this function returns successfully you need to release the returned PointCloudOut via ReleaseObject if not needed anymore.

Parameters

[in]	PointCloudIn	Handle to point cloud object to copy from.
[in]	ClipBox	Cuboid defining the bounds for the points to be copied (min/max are inclusive).
[in]	Theta	Tilt angle of the two Z-boundary planes Z=Zmin and Z=Zmax towards the positive Y-axis (in degrees).
[in]	Phi	Rotation angle of the tilted Z-boundary planes around the Z-axis (in degrees). If Theta = 0, Phi will have no effect.
[out]	PointCloudOut	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloudIn is not a valid point cloud IComposite.
#CVC_ERROR (#CVC_E_EMPTYRESULT) if clipping PointCloudIn resulted in an empty point cloud.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

See also: CVC3DPointCloudCalculateBoundingBox, CVC3DCreatePlaneCroppedPointCloud, CVC3DCreateCroppedPointCloud

◆ CVC3DCreatePlaneCroppedPointCloud()

cvbres_t CVC3DCreatePlaneCroppedPointCloud	(	CVCOMPOSITE	PointCloudIn,
		const CVC3DPlane &	Plane,
		const CVC3DRange &	Range,
		enum CVC3DCropRange	CropRange,
		CVCOMPOSITE &	PointCloudOut
	)

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:

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.

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

With this function it is also possible to crop below or above a plane. Therefore a plane parallel to the xy plane has to be given and the minimum or maximum range has to be extended to infinite or very large values.

Note: PointCloudOut has the same planes as PointCloudIn. If the input point cloud is dense, points beyond the plane are set non-confident. Lines and columns at the borders containing only non-confident points are removed via function CVC3DCreateShrinkedDensePointCloud. If PointCloudIn is dense and does not contain a confidence plane, a confidence plane will be added to PointCloudOut.

If the input point cloud is sparse, PointCloudOut has the same properties as if a new point cloud was created via CVC3DCreateSparsePointCloud.

If this function returns successfully you need to release the returned PointCloudOut via ReleaseObject if not needed anymore.

Parameters

[in]	PointCloudIn	Handle to point cloud object to copy from.
[in]	Plane	Points will be cropped parallel to this plane.
[in]	Range	Points will be cropped within or outside this range.
[in]	CropWithinBand	Indicates whether points should be cropped within or outside the range.
[out]	PointCloudOut	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloudIn is not a valid point cloud IComposite.
#CVC_ERROR (#CVC_E_EMPTYRESULT) if clipping PointCloudIn resulted in an empty point cloud.
#CVC_ERROR (#CVC_E_PARAMETER) if given normal is zero.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

See also: CVC3DCreateCroppedPointCloud, CVC3DCreateFrustumCroppedPointCloud, CVC3DCreateShrinkedDensePointCloud

◆ CVC3DCreateRasterMeshToDensePointCloud()

cvbres_t CVC3DCreateRasterMeshToDensePointCloud	(	CVCOMPOSITE	Mesh,
		const CVC3DMatrix	CameraRotation,
		const CVC3DVector	CameraTranslation,
		double	XResIncrement,
		double	YResIncrement,
		CVCOMPOSITE	SparseTempBuffer,
		CVCOMPOSITE &	DenseCloudOut
	)

Rasters a sparse mesh into a zbuffer and stores the result a newly created DenseCloud.

The resulting DenseCloudOut's lattice size is determined by the bounding box of the camera transformed Mesh and the pixel sizes XResIncrement and YResIncrement. The z values are calculated in the center of each pixel.

Note: This function expects a scene based camera with camera position and camera rotation. All mesh points are therefore transformed via R*x+R*t = y, where R is the rotation from CameraRotation and t is the translation from CameraTranslation

Parameters

[in]	Mesh	Handle to pointcloud object with mesh information, usually loaded from a mesh file.
[in]	CameraRotation	Rotation matrix for the camera.
[in]	CameraTranslation	Translation vector of the camera.
[in]	XResIncrement	The pixel size in x-direction.
[in]	YResIncrement	The pixel size in y-direction.
[in]	SparseTempBuffer	(optional) A sparse pointcloud of exactly the same size as Mesh, used as temporary storage to avoid potentially costly allocations. If an invalid object is given (e.g. NULL) a temporary buffer is allocated on each call (recommended, if you are not sure about the size of Mesh).
[out]	DenseCloudOut	A new dense pointcloud that is filled with the rastered mesh. The lattice size of this pointcloud is defined by the bounding box of the transformed mesh and the XResIncrement and YResIncrement.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_NOTPRESENT) if Mesh does not contain mesh information.
#CVC_ERROR (#CVC_E_WRONGOBJECT) if Mesh is not a valid point cloud IComposite or SparseTempBuffer is invalid.
#CVC_ERROR (#CVC_E_INVALIDDIMENSION) if Mesh contains non-triangular polygons.

◆ CVC3DCreateShrinkedDensePointCloud()

cvbres_t CVC3DCreateShrinkedDensePointCloud	(	CVCOMPOSITE	DensePointCloudIn,
		CVCOMPOSITE &	PointCloudOut
	)

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

Note: PointCloudOut has the same planes as PointCloudIn. Please ensure that PointCloudIn contains a confidence plane.

: If this function returns successfully you need to release the returned PointCloudOut via ReleaseObject if not needed anymore.

Parameters

[in]	PointCloudIn	Handle to point cloud object to copy from.
[out]	PointCloudOut	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if DensePointCloudIn is not a valid dense point cloud IComposite or confidence plane is missing.
#CVC_ERROR (#CVC_E_EMPTYRESULT) if shrinking PointCloudIn resulted in an empty point cloud.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

See also: CVC3DCreateCroppedPointCloud, CVC3DCreateFrustumCroppedPointCloud, CVC3DCreateShrinkedDensePointCloud

◆ CVC3DCreateSparseFromDensePointCloud()

cvbres_t CVC3DCreateSparseFromDensePointCloud	(	CVCOMPOSITE	DensePointCloudIn,
		CVCOMPOSITE &	SparsePointCloudOut
	)

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

Non-confident points will be removed and the confidence plane is not kept. PointCloudOut has the same planes as PointCloudIn (except confidence).

: If this function returns successfully you need to release the returned PointCloudOut via ReleaseObject if not needed anymore.

Parameters

[in]	DensePointCloudIn	Handle to point cloud object to copy from.
[out]	SparsePointCloudOut	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloudIn is not a valid point cloud IComposite.
#CVC_ERROR (#CVC_E_EMPTYRESULT) if clipping PointCloudIn resulted in an empty point cloud.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

See also: CVC3DCreateCroppedPointCloud, CVC3DCreateShrinkedDensePointCloud

◆ CVC3DCreateSparsePointCloudFromPointer()

cvbres_t CVC3DCreateSparsePointCloudFromPointer	(	void **	pPlaneBasePtrs,
		cvbdim_t	NumPlanes,
		cvbdatatype_t	Datatype,
		cvbint64_t	NumPoints,
		intptr_t	PlaneIncs[],
		PFFINALRELEASE	ReleaseCallback,
		void *	pPrivate,
		CVCOMPOSITE &	PointCloud
	)

Creates a PointCloud from the given memory without copying the data.

This function creates a view on the given memory buffer(s) and creates a point cloud from it. It does not own the memory given. If you need to get notified on the disposal of the created PointCloud, you can pass a ReleaseCallback with its pPrivate. The base pointer passed to the ReleaseCallback will be pPlaneBasePtrs[0].

Note: If the given buffer is a contiguous X, Y, Z array, additional data will be allocated to support direct access with our processing and display.

: If the planes do not result in a contiguous X, Y, Z point array, most algorithms will use CVC3DCreateDuplicatePointCloud on the PointCloud internally (or something similar).

: If this function returns successfully you need to release the returned PointCloud via ReleaseObject if not needed anymore.

Attention: Take care to specify the correct memory layout as access violations/segmentation faults or worse may occur! These effects will first be visible when actually accessing the buffer, not when creating the point cloud view.

: Also take care that the referenced memory buffer stays valid as long as this object lives.

: Currently only the single precision (float) Datatype is supported: DT_Float | DT_Signed | 32. Also currently NumPlanes must be 3.

Parameters

[in]	pPlaneBasePtrs	Base pointers of the X, Y, Z and optionally W component planes.
[in]	NumPlanes	Number of pPlaneBasePtrs.
[in]	Datatype	Datatype of the pPlaneBasePtrs.
[in]	NumPoints	Number of elements in each plane.
[in]	PlaneIncs	Offset to the next component in the respective plane in bytes.
[in]	ReleaseCallback	Optional callback to get notified when the returned PointCloud is released.
[in]	pPrivate	Private data pointer, e.g. object pointer, to be passed to the ReleaseCallback.
[out]	PointCloud	Variable to receive the handle of the resulting point cloud.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_INVALIDDIMENSION) if NumPlanes is not 3 or 4.
#CVC_ERROR (#CVC_E_PARAMETER) if parameters are invalid.
#CVC_ERROR (#CVC_E_INVALIDDATATYPE) if non float Datatype was given.
#CVC_ERROR (#CVC_E_MEMORY) if not enough memory was available to create the point cloud.

◆ CVC3DCreateTargetDensePointCloud()

cvbres_t CVC3DCreateTargetDensePointCloud	(	const CVCOMPOSITE &	Mesh,
		double	XResolution,
		double	YResolution,
		cvbval_t	Flags,
		CVCOMPOSITE &	DensePointCloud
	)

Creates a target dense pointcloud to be used for orthographic rastering.

This function creates a dense point cloud with suitable size to raster the given mesh from all angles. It will calculate the maximum size for the sensor to store all rastered points and preallocate the necessary storage.

Using this function prior to rastering an object from multiple angles and positions will speed up the progress.

Note: This calculation depends on the given X and Y resolutions. While the position and rotation of the camera as well as the object can change, the resolution must be fixed.

Parameters

[in]	Mesh	The mesh object to process.
[in]	XResolution	The horizontal scan resolution of the sensor in object-units per pixel
[in]	YResolution	The vertical scan resolution of the sensor in object - units per pixel.
[in]	Flags	CVC3DPointCloudFlags specifying the kind of point cloud to be created.
[out]	DensePointCloud	Target dense pointcloud with prealocated storage.

Returns

CVC_ERROR (#CVC_E_OK) on success
CVC_ERROR(CVC_E_ERROR) else

◆ CVC3DLoadFile()

cvbres_t CVC3DLoadFile	(	const char *	FileName,
		cvbval_t	Flags,
		CVCOMPOSITE &	PointCloud
	)

Loads a 3D point, polygon or mesh file (ASCII string version).

The following file formats are supported:

Name	Extension(s)
Polygon File Format	ply
Stereo Lithography	stl
Wavefront OBJ	obj
TIFF	tif, tiff
ASCII	asc, pts, txt, xyz
PCL Format	pcd

The resulting point cloud is created via CVC3DCreateSparsePointCloud except for TIFF which maybe created via CVC3DCreateDensePointCloud if the image height is larger than one.

Note: TIFF files are interpreted as point clouds. Supported are three sample float or double files. The samples are interpreted as x,y,z. Thus if you want to load a TIFF as a range map, use LoadImageFile from the CVCImg library and call CVC3DCreateDensePointCloudFromRangeMap.; The following point types are supported as PCL format: PointXYZ, PointXYZI, PointXYZRGB, PointXYZNormal. If the point cloud contains additional layer only X,Y,Z is read. Pcd files without xyz coordinates are not supported.

: If this function returns successfully you need to release the returned PointCloud via ReleaseObject if not needed anymore.

Parameters

[in]	FileName	Full path to the file to load.
[in]	Flags	CVC3DPointCloudFlags specifying the kind of point cloud to be created.
[out]	PointCloud	Variable to receive the loaded object.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_PARAMETER) if FileName is NULL or Flags have an unsupported combination.
#CVC_ERROR (#CVC_E_FILEIO) if FileName is not accessible/existent
#CVC_ERROR (#CVC_E_NOTSUPPORTED) if the file format is not supported

◆ CVC3DLoadFileW()

cvbres_t CVC3DLoadFileW	(	const wchar_t *	FileName,
		cvbval_t	Flags,
		CVCOMPOSITE &	PointCloud
	)

Loads a 3D point, polygon or mesh file (Unicode string version).

The following file formats are supported:

Name	Extension(s)
Polygon File Format	ply
Stereo Lithography	stl
Wavefront OBJ	obj
TIFF	tif, tiff
ASCII	asc, pts, txt, xyz
PCL Format	pcd

The resulting point cloud is created via CVC3DCreateSparsePointCloud except for TIFF which maybe created via CVC3DCreateDensePointCloud if the image height is larger than one.

Note: TIFF files are interpreted as point clouds. Supported are three sample float or double files. The samples are interpreted as x,y,z. Thus if you want to load a TIFF as a range map, use LoadImageFile from the CVCImg library and call CVC3DCreateDensePointCloudFromRangeMap.; The following point types are supported as PCL format: PointXYZ, PointXYZI, PointXYZRGB, PointXYZNormal. If the point cloud contains additional layer only X,Y,Z is read. Pcd files without xyz coordinates are not supported.

: If this function returns successfully you need to release the returned PointCloud via ReleaseObject if not needed anymore.

Parameters

[in]	FileName	Full path to the file to load.
[in]	Flags	CVC3DPointCloudFlags specifying the kind of point cloud to be created.
[out]	PointCloud	Variable to receive the loaded object.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_PARAMETER) if FileName is NULL or Flags have an unsupported combination.
#CVC_ERROR (#CVC_E_FILEIO) if FileName is not accessible/existent
#CVC_ERROR (#CVC_E_NOTSUPPORTED) if the file format is not supported

◆ CVC3DMemoryToPointCloud()

cvbres_t CVC3DMemoryToPointCloud	(	void *	Memory,
		size_t	Size,
		cvbval_t	Flags,
		CVC3DPointCloudFileFormat	FileFormat,
		CVCOMPOSITE &	PointCloud
	)

Creates a point cloud from given Memory.

The following data formats are supported:

Name	Extension(s)
Polygon File Format	ply
Wavefront OBJ	obj
Stereo Lithography	stl
ASCII	asc, pts, txt, xyz

The resulting point cloud is created via CVC3DCreateSparsePointCloud .

: If this function returns successfully you need to release the returned PointCloud via ReleaseObject if not needed anymore.

Parameters

[in]	Memory	Buffer containing the data that is to be read.
[in]	Size	The number of bytes in the Memory buffer.
[in]	Flags	CVC3DPointCloudFlags specifying the kind of point cloud to be created.
[in]	FileFormat	The data format the buffer is in.
[out]	PointCloud	Variable to receive the loaded object.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_PARAMETER) if Memory is NULL, Size is 0, or Flags have an unsupported combination.
#CVC_ERROR (#CVC_E_NOTSUPPORTED) if the \ FileFormat is not supported

See also: CVC3DPointCloudToMemory

◆ CVC3DPointCloudCalculateBoundingBox()

cvbres_t CVC3DPointCloudCalculateBoundingBox	(	CVCOMPOSITE	PointCloud,
		CVC3DCuboid &	BoundingBox
	)

Calculates the minimum and maximum extent of the PointCloud.

Parameters

[in]	PointCloud	Point cloud of which to calculate the extend.
[out]	BoundingBox	Variable to receive the extent.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud IComposite.

See also: CVC3DCreateCroppedPointCloud, CVC3DCreateFrustumCroppedPointCloud

◆ CVC3DPointCloudCalculateCenterOfGravity()

cvbres_t CVC3DPointCloudCalculateCenterOfGravity	(	CVCOMPOSITE	PointCloud,
		CVC3DPointD &	Center
	)

Calculates the center of gravity of the PointCloud.

Parameters

[in]	PointCloud	Point cloud of which to calculate the extend.
[out]	Center	Variable to receive the center.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud IComposite.

◆ CVC3DPointCloudCalculateCovarianceMatrix()

cvbres_t CVC3DPointCloudCalculateCovarianceMatrix	(	CVCOMPOSITE	PointCloud,
		CVC3DMatrix	Covariance
	)

Calculates the covariance matrix of the PointCloud.

The trace of this matrix contains the components variances (xx, yy, zz). The other cells the respective covariances (xy, xz, ...).

Parameters

[in]	PointCloud	Point cloud of which to calculate the extend.
[out]	Covariance	Matrix to be filled.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_PARAMETER) if Covariance is nullptr.
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud IComposite.

◆ CVC3DPointCloudCalculatePlaneFromCuboid()

cvbres_t CVC3DPointCloudCalculatePlaneFromCuboid	(	CVCOMPOSITE	PointCloud,
		const CVC3DCuboid &	AOI,
		CVC3DPlane &	Plane
	)

Fits a plane into the given pPoints.

Any plane in 3D space can be found. It uses a Hessian Normal representation for the plane.

Note: NumPoints must be at least 3. The pPoints should not be on the same line as the solution then is ambiguous.

: The normal direction is set so that the distance to the origin is always positive.

Parameters

[in]	PointCloud	Point cloud of which points are to be taken.
[in]	AOI	Cuboid of the region of points to be considered for plane fit.
[out]	Plane	Reference to structure to be filled with plane data.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud IComposite.
#CVC_ERROR (#CVC_E_NOINTERSECTION) if AOI resulted in an no points.
#CVC_ERROR (#CVC_E_PARAMETER) if parameters are invalid.

See also: CVC3DCalculatePlaneFromPointFs, CVC3DCalculatePlaneFromPointDs

◆ CVC3DPointCloudGetPolygonTable()

cvbres_t CVC3DPointCloudGetPolygonTable	(	CVCOMPOSITE	Mesh,
		CVC3DPolygonIndexTable &	PolygonTable,
		cvbint64_t &	NumPolygons
	)

Gets the mesh's polygon vertex indices embedded into the PointCloud.

If PointCloud was loaded with mesh information, this is retrieved otherwise NumPolygons is set to 0 and an error code is returned.

The mesh information is stored in PolygonTable as 32-bit unsigned: integers. The first value always specifies how many vertex indices a polygon has. After the number of indices, exactly this number of values follow. They are the indices of points in PointCloud. All these points constitute a single face of the mesh. If not having reached the last polygon, the next integer is the number of indices of the next polygon. NumPolygons contains the number of polygons.

Parameters

[in]	Mesh	Handle to pointcloud object with mesh information.
[out]	PolygonTable	Pointer to receive the address to the index table.
[out]	NumPolygons	The number of polygons represented in PolygonTable.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_NOTPRESENT) if PointCloud does not contain mesh information.
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud IComposite.

◆ CVC3DPointCloudToMemory()

cvbres_t CVC3DPointCloudToMemory	(	CVCOMPOSITE	PointCloud,
		cvbval_t	Flags,
		CVC3DPointCloudFileFormat	FileFormat,
		void *	Memory,
		size_t	Size
	)

Saves the given PointCloud to the Memory in the given FileFormat.

The data format to be used is determined by the FileFormat. The following file formats are supported:

Name	Extension(s)
Polygon File Format	ply
Wavefront OBJ	obj
Stereo Lithography	stl
ASCII	asc, pts, txt, xyz

CVC3DPointCloudToMemorySize can be used to determine the required size for Memory.

Note: Exporting polygon information is only supported for ply, obj and stl. For the other formats this function only saves the point (or vertex) data. Applications expecting polygon information will fail to load the saved files.

: Stereo Lithography (STL) is only supported if polygon information is present.

Parameters

[in]	PointCloud	Point cloud object to save.
[in]	Flags	Ignored so far.
[in]	FileFormat	The data format to be used for the export.
[in,out]	Memory	The buffer, that the export should be written to.
[in]	Size	The size of the buffer in bytes.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud.
#CVC_ERROR (#CVC_E_NOTSUPPORTED) if the file format is not supported
#CVC_ERROR (#CVC_E_NOTENOUGHDATA) if the Size of the buffer is too small.
#CVC_ERROR (#CVC_E_PARAMETER) if the Memory is NULL or Size is 0.

See also: CVC3DPointCloudToMemorySize, CVC3DMemoryToPointCloud

◆ CVC3DPointCloudToMemorySize()

cvbres_t CVC3DPointCloudToMemorySize	(	CVCOMPOSITE	PointCloud,
		cvbval_t	Flags,
		CVC3DPointCloudFileFormat	FileFormat,
		size_t &	Size
	)

Determine the amount of memory needed for CVC3DMemoryToPointCloud.

The data format to be considered is determined by the FileFormat. The following file formats are supported:

Name	Extension(s)
Polygon File Format	ply
Wavefront OBJ	obj
Stereo Lithography	stl
ASCII	asc, pts, txt, xyz

Parameters

[in]	PointCloud	Point cloud object to save.
[in]	Flags	Ignored so far.
[in]	FileFormat	The data format to be used for the export.
[in,out]	Size	The size of the buffer in bytes.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud.
#CVC_ERROR (#CVC_E_NOTSUPPORTED) if the file format is not supported

See also: CVC3DMemoryToPointCloud, CVC3DPointCloudToMemory

◆ CVC3DRasterMeshToDensePointCloud()

cvbres_t CVC3DRasterMeshToDensePointCloud	(	CVCOMPOSITE	Mesh,
		const CVC3DMatrix	CameraRotation,
		const CVC3DVector	CameraTranslation,
		CVCOMPOSITE	SparseTempBuffer,
		CVCOMPOSITE	DenseCloud
	)

Rasters a sparse mesh into a zbuffer and stores the result into the given DenseCloud.

The z values are calculated in the center of each pixel.

Note: This function expects a scene based camera with camera position and camera rotation. All mesh points are therefore transformed via R*x+R*t = y, where R is the rotation from CameraRotation and t is the translation from CameraTranslation

Parameters

[in]	Mesh	Handle to pointcloud object with mesh information, usually loaded from a mesh file.
[in]	CameraRotation	Rotation matrix for the camera.
[in]	CameraTranslation	Translation vector of the camera.
[in]	SparseTempBuffer	(optional) A sparse pointcloud of exactly the same size as Mesh, used as temporary storage to avoid potentially costly allocations. If an invalid object is given (e.g. NULL) a temporary buffer is allocated on each call (recommended, if you are not sure about the size of Mesh).
[in,out]	DenseCloud	The preallocated dense pointcloud with confidence plane that is filled with the rastered mesh. The lattice size of this pointcloud defines the resolution that is used for rasterization.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_NOTPRESENT) if Mesh does not contain mesh information.
#CVC_ERROR (#CVC_E_WRONGOBJECT) if Mesh or DenseCloud are not valid point cloud IComposite or SparseTempBuffer is invalid.
#CVC_ERROR (#CVC_E_INVALIDDIMENSION) if Mesh contains non-triangular polygons.
#CVC_ERROR (#CVC_E_NOTENOUGHDATA) if DenseCloud does not have a confidence plane.

◆ CVC3DWriteFile()

cvbres_t CVC3DWriteFile	(	CVCOMPOSITE	PointCloud,
		cvbval_t	Flags,
		const char *	FileName
	)

Saves the given PointCloud to the file with the given FileName (ASCII string version).

The type of file to be saved is determined by the FileName extension. The following file formats are supported:

Name	Extension(s)
Polygon File Format	ply
Wavefront OBJ	obj
Stereo Lithography	stl
TIFF	tif, tiff
ASCII	asc, pts, txt, xyz
PCL Format	pcd

Note: Exporting polygon information is only supported for ply, obj and stl. For the other formats this function only saves the point (or vertex) data. Applications expecting polygon information will fail to load the saved files.

: Stereo Lithography (STL) is only supported if polygon information is present.

: When saving to TIFF the file will contain three float or double samples per point (x,y,z) depending on the cvbdatatype_t of the PointCloud. For dense clouds width and height are set accordingly; for sparse clouds the width is one and the height is the number of points. Thus TIFF is the only format that preserves the dense point cloud lattice.

Parameters

[in]	PointCloud	Point cloud object to save.
[in]	Flags	Ignored so far.
[in]	FileName	Full path where to save the file to.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud.
#CVC_ERROR (#CVC_E_PARAMETER) if FileName is NULL
#CVC_ERROR (#CVC_E_FILEIO) if writing to FileName is not possible
#CVC_ERROR (#CVC_E_NOTSUPPORTED) if the file format is not supported

◆ CVC3DWriteFileW()

cvbres_t CVC3DWriteFileW	(	CVCOMPOSITE	PointCloud,
		cvbval_t	Flags,
		const wchar_t *	FileName
	)

Saves the given PointCloud to the file with the given FileName (Unicode string version).

The type of file to be saved is determined by the FileName extension. The following file formats are supported:

Name	Extension(s)
Polygon File Format	ply
Wavefront OBJ	obj
Stereo Lithography	stl
TIFF	tif, tiff
ASCII	asc, pts, txt, xyz
PCL Format	pcd

Note: Exporting polygon information is only supported for ply, obj and stl. For the other formats this function only saves the point (or vertex) data. Applications expecting polygon information will fail to load the saved files.

: Stereo Lithography (STL) is only supported if polygon information is present.

: When saving to TIFF the file will contain three float or double samples per point (x,y,z) depending on the cvbdatatype_t of the PointCloud. For dense clouds width and height are set accordingly; for sparse clouds the width is one and the height is the number of points. Thus TIFF is the only format that preserves the dense point cloud lattice.

Parameters

[in]	PointCloud	Point cloud object to save.
[in]	Flags	Ignored so far.
[in]	FileName	Full path where to save the file to.

Returns

#CVC_ERROR (#CVC_E_OK) on success
#CVC_ERROR (#CVC_E_WRONGOBJECT) if PointCloud is not a valid point cloud.
#CVC_ERROR (#CVC_E_PARAMETER) if FileName is NULL
#CVC_ERROR (#CVC_E_FILEIO) if writing to FileName is not possible
#CVC_ERROR (#CVC_E_NOTSUPPORTED) if the file format is not supported

Modules

Data Structures

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ CVC3DPolygonIndexTable

Enumeration Type Documentation

◆ CVC3DDownsampleMode

◆ CVC3DPointCloudFileFormat

◆ CVC3DPointCloudFlags

◆ CVC3DPointCloudLayout

Function Documentation

◆ CVC3DCalculatePlaneFromPointDs()

◆ CVC3DCalculatePlaneFromPointFs()

◆ CVC3DConvertSparseToDensePointCloudAutomatic()

◆ CVC3DCreateCroppedPointCloud()

◆ CVC3DCreateDownsampledPointCloud()

◆ CVC3DCreateDuplicatePointCloud()

◆ CVC3DCreateFrustrumCroppedPointCloud()

◆ CVC3DCreateFrustumCroppedPointCloud()

◆ CVC3DCreatePlaneCroppedPointCloud()

◆ CVC3DCreateRasterMeshToDensePointCloud()

◆ CVC3DCreateShrinkedDensePointCloud()

◆ CVC3DCreateSparseFromDensePointCloud()

◆ CVC3DCreateSparsePointCloudFromPointer()

◆ CVC3DCreateTargetDensePointCloud()

◆ CVC3DLoadFile()

◆ CVC3DLoadFileW()

◆ CVC3DMemoryToPointCloud()

◆ CVC3DPointCloudCalculateBoundingBox()

◆ CVC3DPointCloudCalculateCenterOfGravity()

◆ CVC3DPointCloudCalculateCovarianceMatrix()

◆ CVC3DPointCloudCalculatePlaneFromCuboid()

◆ CVC3DPointCloudGetPolygonTable()

◆ CVC3DPointCloudToMemory()

◆ CVC3DPointCloudToMemorySize()

◆ CVC3DRasterMeshToDensePointCloud()

◆ CVC3DWriteFile()

◆ CVC3DWriteFileW()