A sparse Cartesian 3D point cloud object. More...
#include <cvb/sparse_point_cloud.hpp>
Inherits PointCloud.
Public Member Functions | |
DensePointCloudPtr | ToDensePointCloud (size_t &numDroppedPoints, ConversionMode conversionMode=ConversionMode::Automatic) const |
Creates a dense point cloud from a sparse point cloud. More... | |
DensePointCloudPtr | ToDensePointCloud (ConversionMode conversionMode=ConversionMode::Automatic) const |
Creates a dense point cloud from a sparse point cloud. More... | |
SparsePointCloudPtr | Crop (const Cuboid &clipBox) const |
Creates a new point cloud which only consists of the points inside the clip box. More... | |
SparsePointCloudPtr | 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... | |
SparsePointCloudPtr | 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... | |
SparsePointCloudPtr | 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 > | |
SparseComponentsPointers3D< T > | PointComponents () const |
Get the point components from the given point cloud. More... | |
template<class T > | |
bool | TryPointComponents (SparseComponentsPointers3D< 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::Image > | RangeMap (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< PlanePtr > | Planes () 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 SparsePointCloudPtr | FromDensePointCloud (const DensePointCloud &densePointCloud) |
Creates a sparse point cloud from a dense point cloud with confidence plane. More... | |
static SparsePointCloudPtr | FromComposite (CompositePtr object) |
Creates a sparse 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... | |
A sparse Cartesian 3D point cloud object.
A sparse point cloud is logically seen an array of 3D points. There is no order or neighboring information between the single points.
It has less memory than a dense point cloud.
Conversion to a dense point cloud is difficult, as the grid thus neighbor information is missing.
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inline |
Creates a new point cloud which only consists of the points inside the clip box.
[in] | clipBox | Cuboid defining the bounds for the points to be copied (min/max are inclusive). |
Any | exception derived from std::exception including CvbException. |
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inlinestatic |
Creates a sparse point cloud from a composite.
[in] | object | A composite to share. |
Any | exception derived from std::exception including CvbException. |
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inlinestatic |
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. The new sparse point cloud has the same planes as the dense point cloud (except confidence).
[in] | densePointCloud | Dense point cloud create sparse point cloud from. |
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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.
[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] | phi | Rotation angle of the tilted Z-boundary planes around the Z-axis. If Theta = 0, Phi will have no effect. |
Any | exception derived from std::exception including CvbException. |
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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:
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.
[in] | plane | Points parallel to this plane will be cropped. |
[in] | range | Points within or outside this range will be cropped. |
[in] | cropRange | Indicates whether points should be cropped within or outside the range. |
Any | exception derived from std::exception including CvbException. |
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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:
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.
[in] | plane | Points beyond this plane will be cropped. |
[in] | 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 of plane plus noise are cropped. Therefore the threshold is added or substracted depending on whether it should be cropped above or below. |
[in] | cropBelowAbove | Indicates if points should either be cropped below or above plane. |
Any | exception derived from std::exception including CvbException. |
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inline |
Get the point components from the given point cloud.
Any | exception derived from std::exception including CvbException. |
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inline |
Creates a dense point cloud from a sparse point cloud.
This function maps the points of a sparse point cloud into a newly created dense point cloud. First, a resolution is determined that minimizes the points lost by the conversion.
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.
[in] | conversionMode | Mode used in conversion to dense pointcloud. Currently Automatic is the only option. |
Any | exception derived from std::exception including CvbException. |
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inline |
Creates a dense point cloud from a sparse point cloud.
This function maps the points of a sparse point cloud into a newly created dense point cloud. First, a resolution is determined that minimizes the points lost by the conversion.
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.
[out] | numDroppedPoints | The number of source points that overlapped in x and y and thus got dropped. |
[in] | conversionMode | Mode used in conversion to dense point cloud. Currently Automatic is the only option. |
Any | exception derived from std::exception including CvbException. |
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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.
[out] | components | The components pointers. |
Does | not throw any exception. |