PointCloud Class Reference

A point cloud object. More...

Inherits object.

Inherited by DensePointCloud, and SparsePointCloud.

Public Member Functions
cvb.Cuboid	calculate_bounding_box (self)
	Calculates the minimum and maximum extent of the point cloud. More...
cvb.Point3D	calculate_center_of_gravity (self)
	Gets the center of gravity of the point cloud. More...
cvb.Matrix3D	calculate_covariance_matrix (self)
	Get the covariance matrix of the point cloud. More...
Union[cvb.DensePointCloud, cvb.SparsePointCloud]	convert (self, int flags)
	Creates a new point cloud, which is a copy from this point cloud, but with possibly different data type and number of components. More...
Union[cvb.DensePointCloud, cvb.SparsePointCloud]	down_sample (self, int mode, int value)
	Creates a new point cloud which has several points being removed dependent on the down sample mode and value. More...
Union[cvb.DensePointCloud, cvb.SparsePointCloud]	duplicate (self)
	Creates a new point cloud which is a copy from this point cloud. More...
cvb.Plane3D	fit_plane (self, Optional[cvb.Cuboid] aoi)
	Fits a plane in the points of the point cloud. More...
Union[cvb.DensePointCloud, cvb.SparsePointCloud]	from_composite (cvb.Composite composite)
	Creates a point cloud from a composite. More...
Union[cvb.DensePointCloud, cvb.SparsePointCloud]	matrix_transform (self, cvb.Matrix3DH matrix)
	Creates a new point cloud with all points being transformed by the given transformation. More...
cvb.Image	range_map (self, cvb.NumberRange x_range, cvb.NumberRange y_range, cvb.Size2D size, float background)
	Creates a new range map image via linear projection in negative z-direction. More...
None	save (self, str file_name, Optional[int] flags=cvb.PointCloudFlags.Float)
	Saves the given point cloud to the file with the given file_name. More...
Union[cvb.DensePointCloud, cvb.SparsePointCloud]	scale (self, Union[cvb.Factors3D, List[float]] factors)
	Creates a new point cloud with all points being scaled by the given factors. More...
Union[cvb.DensePointCloud, cvb.SparsePointCloud]	transform (self, cvb.AffineMatrix3D transformation)
	Creates a new point cloud with all points being transformed by the given transformation. More...

Properties
	data_type = property
	cvb.DataType: Gets the DataType of the x, y, z(, w) components of the given PointCloud.
	layout = property
	int: Gets the layout of the available buffers / planes of the given point cloud (see cvb.PointCloudLayout).
	num_points = property
	int: Gets the number of x, y, z(, w) points in the given point cloud.
	plane_count = property
	int: Gets the number of planes enumerated by this object.
	planes = property
	List[cvb.Plane]: Gets all available planes enumerated by this object.

Detailed Description

A point cloud object.

At its core the point cloud is a collection of 3D points (x, y, z and optionally w).

Member Function Documentation

calculate_bounding_box()

cvb.Cuboid calculate_bounding_box

(

self

)

Calculates the minimum and maximum extent of the point cloud.

Returns

cvb.Cuboid The variable to receive the extent.

calculate_center_of_gravity()

cvb.Point3D calculate_center_of_gravity

(

self

)

Gets the center of gravity of the point cloud.

Returns

cvb.Point3D The variable to receive the extent.

calculate_covariance_matrix()

cvb.Matrix3D calculate_covariance_matrix

(

self

)

Get the covariance matrix of the point cloud.

Returns

cvb.Matrix3D The covariance Matrix to be filled.

convert()

Union[cvb.DensePointCloud, cvb.SparsePointCloud] convert	(		self,
		int	flags
	)

Creates a new point cloud, which is a copy from this point cloud, but with possibly different data type and number of components.

Parameters

flags : int Flags specifying the kind of point cloud to be created (see cvb.PointCloudFlags).

Returns

Union[cvb.DensePointCloud, cvb.SparsePointCloud] The new point cloud.

down_sample()

Union[cvb.DensePointCloud, cvb.SparsePointCloud] down_sample	(		self,
		int	mode,
		int	value
	)

Creates a new point cloud which has several points being removed dependent on the down sample mode and value.

Parameters

mode : int Downsample strategy (see cvb.DownSampleMode).

value : int Every Value-th point will be removed (must be greater than one).

Returns

Union[cvb.DensePointCloud, cvb.SparsePointCloud] The new point cloud.

duplicate()

Union[cvb.DensePointCloud, cvb.SparsePointCloud] duplicate

(

self

)

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

Attention: The duplicated point cloud may have a different point cloud layout.

Returns

Union[cvb.DensePointCloud, cvb.SparsePointCloud] The new point cloud.

fit_plane()

cvb.Plane3D fit_plane	(		self,
		Optional[cvb.Cuboid]	aoi
	)

Fits a plane in the points of the point cloud.

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

Parameters

aoi : Optional[cvb.Cuboid] Bounding cuboid to extract points from; if nothing is supplied then self.calculate_bounding_box() is applied.

Returns

cvb.Plane3D Newly created Plane object fitted in the points from the point cloud.

from_composite()

Union[cvb.DensePointCloud, cvb.SparsePointCloud] from_composite

(

cvb.Composite

composite

)

Creates a point cloud from a composite.

Parameters

composite : cvb.Composite A composite to share.

Returns

Union[cvb.DensePointCloud, cvb.SparsePointCloud] An object that shares resources with the composite.

matrix_transform()

Union[cvb.DensePointCloud, cvb.SparsePointCloud] matrix_transform	(		self,
		cvb.Matrix3DH	matrix
	)

Creates a new point cloud with all points being transformed by the given transformation.

Parameters

matrix : cvb.Matrix3DH Homogeneous transformation matrix.

Returns

Union[cvb.DensePointCloud, cvb.SparsePointCloud] The new point cloud.

range_map()

cvb.Image range_map	(		self,
		cvb.NumberRange	x_range,
		cvb.NumberRange	y_range,
		cvb.Size2D	size,
		float	background
	)

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

Parameters

x_range : cvb.NumberRange Input window along the x-axis (inclusive).

y_range : cvb.NumberRange Input window along the y-axis (inclusive).

size : cvb.Size2D Target size of RangeMap in pixels (greater or equal to 2x2).

background : float Background value (initialization value for RangeMap).

Returns

cvb.Image The range map image.

save()

None save	(		self,
		str	file_name,
		Optional[int]	flags = cvb.PointCloudFlags.Float
	)

Saves the given point cloud to the file with the given file_name.

Parameters

file_name : str Complete path where to save the file to.

flags : Optional[int] Flags specifying the kind of point cloud to be created (see cvb.PointCloudFlags).

scale()

Union[cvb.DensePointCloud, cvb.SparsePointCloud] scale	(		self,
		Union[cvb.Factors3D, List[float]]	factors
	)

Creates a new point cloud with all points being scaled by the given factors.

Parameters

factors : Union[cvb.Factors3D, List[float]] Scale factors to be applied to each point.

Returns

Union[cvb.DensePointCloud, cvb.SparsePointCloud] The new point cloud.

transform()

Union[cvb.DensePointCloud, cvb.SparsePointCloud] transform	(		self,
		cvb.AffineMatrix3D	transformation
	)

Creates a new point cloud with all points being transformed by the given transformation.

Parameters

transformation : cvb.AffineMatrix3D 3D transformation.

Returns

Union[cvb.DensePointCloud, cvb.SparsePointCloud] The new point cloud.