Extension methods for PointClouds. More...

Public Types
enum	CropRange { CropWithinRange = 0 , CropOutsideRange = 1 }
	Indicates cropping range. More...

enum	CropDirection { Below = 0 , Above = 1 }
	Indicates cropping direction. More...

Static Public Member Functions
static Cuboid	CalculateBoundingBox (this PointCloud pc)
	Calculates the minimum and maximum extent of the point cloud.

static Point3Dd	CalculateCenterOfGravity (this PointCloud pc)
	Calculates the center of gravity of the point cloud.

static Matrix3D	CalculateCovarianceMatrix (this PointCloud pc)
	Calculates the covariance matrix of the point cloud.

static Geometry3D.Plane	FitPlane (this PointCloud pc)
	Fits a plane in the points of the PointCloud pc .

static Geometry3D.Plane	FitPlane (this PointCloud pc, Cuboid aoi)
	Fits a plane in the points of the PointCloud pc restricted by the given aoi .

static PointCloud	Crop (this PointCloud pc, Cuboid clipBox)
	Creates a new point cloud which is a copy of this point cloud, which only consists of the points inside the given clipBox .

static PointCloud	FrustumCrop (this PointCloud pc, Cuboid clipBox, Angle theta, Angle phi)
	Creates a new point cloud which only cosists 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 .

static PointCloud	PlaneCrop (this PointCloud pc, Geometry3D.Plane plane, ValueRange< double > range, CropRange cropRange)
	Creates a new point cloud where points within or outside a range parallel to given plane are cropped.

static PointCloud	PlaneCrop (this PointCloud pc, Geometry3D.Plane plane, double threshold, CropDirection cropBelowAbove=CropDirection.Below)
	Creates a new point cloud which only consists of the points below or above given plane .

static PointCloud	DownsampleByFactor (this PointCloud pc, int factor)
	Creates a new point cloud which is a copy of this point cloud, with every nth point removed (n being defined by the given factor ).

static PointCloud	DownsampleRandomly (this PointCloud pc, int amount)
	Creates a new point cloud which is a copy of this point cloud, with n random points removed (n being defined by the given amount ).

static PointCloud	Scale (this PointCloud pc, Factors3D factors)
	Creates a new point cloud which is a copy of this point cloud, with all points scaled by the given factors .

static Image	ToRangeMap (this PointCloud pc, ValueRange< double > xRange, ValueRange< double > yRange, Size2D targetSize, double backgroundValue)
	Creates a new range map image via linear project in negative z direction.

static Image	ToRangeMap (this PointCloud pc, ValueRange< double > xRange, ValueRange< double > yRange, int targetWidth, int targetHeight, double backgroundValue)
	Creates a new range map image via linear project in negative z direction.

static void	Save (this PointCloud pc, string fileName)
	Saves this point cloud to the given fileName .

static byte[]	ToMemory (this PointCloud pc, PointCloudFlags flags, FileFormat fileFormat)
	Saves this point cloud to memory.

static void	ToMemory (this PointCloud pc, IntPtr buffer, long bufferSize, PointCloudFlags flags, FileFormat fileFormat)
	Saves this point cloud to the given buffer .

Detailed Description

Extension methods for PointClouds.

Member Enumeration Documentation

◆ CropDirection

enum CropDirection

Indicates cropping direction.

Enumerator
Below	Crop below given plane.
Above	Crop above given plane.

◆ CropRange

enum CropRange

Indicates cropping range.

Enumerator
CropWithinRange	Crop points within given range.
CropOutsideRange	Crop points outside given range.

Member Function Documentation

◆ CalculateBoundingBox()

static Cuboid CalculateBoundingBox ( this PointCloud pc )

static

Calculates the minimum and maximum extent of the point cloud.

Parameters

pc	PointCloud whose bounding box to calculate.

Exceptions

CvbException When calculating the bounding box failed.

Returns: The bounding box.

◆ CalculateCenterOfGravity()

static Point3Dd CalculateCenterOfGravity ( this PointCloud pc )

static

Calculates the center of gravity of the point cloud.

Parameters

pc	PointCloud whose center of gravity to calculate.

Exceptions

CvbException When calculating the center of gravity failed.

Returns: Point to the center of gravity.

◆ CalculateCovarianceMatrix()

static Matrix3D CalculateCovarianceMatrix ( this PointCloud pc )

static

Calculates the covariance matrix of the point cloud.

Parameters

pc	PointCloud whose covariance matrix to calculate.

Exceptions

CvbException When calculating the covariance matrix failed.

Returns: The covariance matrix.

◆ Crop()

static PointCloud Crop	(	this PointCloud	pc,
		Cuboid	clipBox )

static

Creates a new point cloud which is a copy of this point cloud, which only consists of the points inside the given clipBox .

Parameters

pc	PointCloud to crop.
clipBox	Cuboid defining the inclusive bounds for the points to be copied.

Returns: Cropped point cloud.

Exceptions

CvbException When creating the cropped point cloud failed.

◆ DownsampleByFactor()

static PointCloud DownsampleByFactor	(	this PointCloud	pc,
		int	factor )

static

Creates a new point cloud which is a copy of this point cloud, with every nth point removed (n being defined by the given factor ).

Parameters

pc	PointCloud to downsample.
factor	Factor by which to remove points.

Returns: Downsampled point cloud.

◆ DownsampleRandomly()

static PointCloud DownsampleRandomly	(	this PointCloud	pc,
		int	amount )

static

Creates a new point cloud which is a copy of this point cloud, with n random points removed (n being defined by the given amount ).

Parameters

pc	PointCloud to downsample.
amount	Amount of points to remove.

Returns: Downsampled point cloud.

◆ FitPlane() [1/2]

static Geometry3D.Plane FitPlane ( this PointCloud pc )

static

Fits a plane in the points of the PointCloud pc .

Also fits a plane in points lying on one line, thus make sure that the points really span a plane.

Parameters

pc	Point cloud to extract points from.

Returns: Newly created Plane object fitted in the points from the point cloud.

◆ FitPlane() [2/2]

static Geometry3D.Plane FitPlane	(	this PointCloud	pc,
		Cuboid	aoi )

static

Fits a plane in the points of the PointCloud pc restricted by the given aoi .

Also fits a plane in points lying on one line, thus make sure that the points really span a plane.

Parameters

pc	Point cloud to extract points from.
aoi	Bounding cuboid to extract points from.

Returns: Newly created Plane object fitted in the points from the point cloud.

◆ FrustumCrop()

static PointCloud FrustumCrop	(	this PointCloud	pc,
		Cuboid	clipBox,
		Angle	theta,
		Angle	phi )

static

Creates a new point cloud which only cosists 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(PointCloud, Cuboid). 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

pc	PointCloud to frustum crop
clipBox	ClipBox Cuboid defining the bounds for the points to be copied (min/max are inclusive)
theta	Theta Tilt angle of the two Z-boundary planes Z=Zmin and Z=Zmax towards the positive Y-axis.
phi	Phi Rotation angle of the tilted Z-boundary planes around the Z-axis. If Theta = 0, Phi will have no effect.

Returns: Frustum cropped point cloud.

◆ PlaneCrop() [1/2]

static PointCloud PlaneCrop	(	this PointCloud	pc,
		Geometry3D.Plane	plane,
		double	threshold,
		CropDirection	cropBelowAbove = CropDirection::Below )

static

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:

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.

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.If the input point cloud is dense and does not contain a confidence plane, a confidence plane will be added
to the cropped point cloud.

Parameters

pc	PointCloud to crop.
plane	Points beyond this plane will be cropped.
threshold	Points 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 beyond this plane plus noise are cropped.
cropBelowAbove	Indicates if points should either be cropped below or above plane(optional, default value: CropDirection.Below).

Returns: Cropped point cloud.

◆ PlaneCrop() [2/2]

static PointCloud PlaneCrop	(	this PointCloud	pc,
		Geometry3D.Plane	plane,
		ValueRange< double >	range,
		CropRange	cropRange )

static

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 have to be positive and negative respectively.

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

Parameters

pc	PointCloud to crop.
plane	Points parallel to this plane will be cropped.
range	Points within or outside this range will be cropped.
cropRange	Indicates whether points should be cropped within or outside the range.

Returns: Cropped point cloud.

◆ Save()

static void Save	(	this PointCloud	pc,
		string	fileName )

static

Saves this point cloud to the given fileName .

Parameters

pc	PointCloud to save.
fileName	Full path to the file to save to.

Exceptions

CvbException When saving the point cloud failed.

◆ Scale()

static PointCloud Scale	(	this PointCloud	pc,
		Factors3D	factors )

static

Creates a new point cloud which is a copy of this point cloud, with all points scaled by the given factors .

Parameters

pc	PointCloud to scale.
factors	Factors to be applied to each point.

Returns: Scaled point cloud.

Exceptions

CvbException When creating the scaled point cloud failed.

◆ ToMemory() [1/2]

static void ToMemory	(	this PointCloud	pc,
		IntPtr	buffer,
		long	bufferSize,
		PointCloudFlags	flags,
		FileFormat	fileFormat )

static

Saves this point cloud to the given buffer .

Parameters

pc	Point cloud to save.
buffer	Buffer to save point cloud to.
bufferSize	Size of the buffer .
flags	Flags of the point cloud.
fileFormat	File format to save.

Exceptions

CvbException When an error during saving occurs.

◆ ToMemory() [2/2]

static byte[] ToMemory	(	this PointCloud	pc,
		PointCloudFlags	flags,
		FileFormat	fileFormat )

static

Saves this point cloud to memory.

Parameters

pc	Point cloud to save.
flags	Flags of the point cloud.
fileFormat	File format to save.

Returns: Array containing the byte data.

Exceptions

CvbException When an error during saving occurs.

◆ ToRangeMap() [1/2]

static Image ToRangeMap	(	this PointCloud	pc,
		ValueRange< double >	xRange,
		ValueRange< double >	yRange,
		int	targetWidth,
		int	targetHeight,
		double	backgroundValue )

static

Creates a new range map image via linear project in negative z direction.

Parameters

pc	PointCloud to create range map from.
xRange	Input window along the x axis (inclusive).
yRange	Input window along the y axis (inclusive).
targetWidth	Target width of the RangeMap in pixels (greater or equal to 2).
targetHeight	Target height of the RangeMap in pixels (greater or equal to 2).
backgroundValue	Background value (initialization value for RangeMap).

Returns: The created range map image.

Exceptions

CvbException When creating the range map failed.

◆ ToRangeMap() [2/2]

static Image ToRangeMap	(	this PointCloud	pc,
		ValueRange< double >	xRange,
		ValueRange< double >	yRange,
		Size2D	targetSize,
		double	backgroundValue )

static

Creates a new range map image via linear project in negative z direction.

Parameters

pc	PointCloud to create range map from.
xRange	Input window along the x axis (inclusive).
yRange	Input window along the y axis (inclusive).
targetSize	Target size of the RangeMap in pixels (greater or equal to 2).
backgroundValue	Background value (initialization value for RangeMap).

Returns: The created range map image.

Exceptions

CvbException When creating the range map failed.

Public Types

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ CropDirection

◆ CropRange

Member Function Documentation

◆ CalculateBoundingBox()

◆ CalculateCenterOfGravity()

◆ CalculateCovarianceMatrix()

◆ Crop()

◆ DownsampleByFactor()

◆ DownsampleRandomly()

◆ FitPlane() [1/2]

◆ FitPlane() [2/2]

◆ FrustumCrop()

◆ PlaneCrop() [1/2]

◆ PlaneCrop() [2/2]

◆ Save()

◆ Scale()

◆ ToMemory() [1/2]

◆ ToMemory() [2/2]

◆ ToRangeMap() [1/2]

◆ ToRangeMap() [2/2]