SparsePointCloud Class Reference

Unorganized sparse point cloud object. More...

Inherits PointCloud.

Public Member Functions
	SparsePointCloud (long numPoints)
	Constructor.
	SparsePointCloud (long numPoints, PointCloudFlags flags)
	Constructor.
SparseComponentsPointer3D< T >	GetComponentsPointer3D< T > ()
	Gets the generic components pointer for this point cloud.
DensePointCloud	ToDensePointCloud (ConversionMode conversionMode=ConversionMode.Automatic)
	Creates a dense pointcloud from a sparse cloud.
DensePointCloud	ToDensePointCloud (out long numDroppedPoints, ConversionMode conversionMode=ConversionMode.Automatic)
	Creates a dense pointcloud from a sparse cloud.
Public Member Functions inherited from PointCloud
void	Dispose ()
	IDisposable implementation.
PointCloud	Clone ()
	Creates a new point cloud which is a copy of this point cloud.
IEnumerable< T >	TryEnumeratePointsAs< T > ()
	Tries to get the points of this point cloud.

Static Public Member Functions
static SparsePointCloud	Create< T > (long numPoints)
	Creates a new point cloud with the specified numPoints and components of the given type T .
Static Public Member Functions inherited from PointCloud
static PointCloud	FromFile (string fileName)
	Loads a point cloud from the given fileName .
static PointCloud	FromFile (string fileName, PointCloudFlags flags)
	Loads a point cloud from the given fileName with the specified flags .
static PointCloud	FromComposite (Composite obj)
	Create a point cloud from the given Composite obj .
static PointCloud	FromHandle (IntPtr handle, ShareObject doShare)
	Creates a point cloud from the given handle .
static PointCloud	FromMemory< T > (byte[] buffer, FileFormat fileFormat)
	Creates a point cloud from the given buffer buffer.
static PointCloud	FromMemory (byte[] buffer, PointCloudFlags flags, FileFormat fileFormat)
	Creates a point cloud from the given buffer buffer.
static PointCloud	FromMemory< T > (IntPtr buffer, long bufferSize, FileFormat fileFormat)
	Creates a point cloud from the given buffer buffer.
static PointCloud	FromMemory (IntPtr buffer, long bufferSize, PointCloudFlags flags, FileFormat fileFormat)
	Creates a point cloud from the given buffer buffer.

Additional Inherited Members
Protected Member Functions inherited from PointCloud
	PointCloud (IntPtr handle)
	Constructor.
	PointCloud (IntPtr handle, UseMemoryPressure useMemoryPressure)
	Constructor.
virtual void	Dispose (bool disposing)
	IDisposable helper function.
Properties inherited from PointCloud
IntPtr	Handle [get]
	Native handle of the PointCloud.
bool	IsDisposed [get]
	Gets if the native handle has been disposed.
PointCloudLayout	Layout [get]
	The layout of the buffer / planes.
DataType	DataType [get]
	The data type.
long	NumPoints [get]
	Number of points.
ComponentsPointer3D	PointComponents [get]
	The pointer components for the points.
PlaneEnumerator	Planes [get]
	Gets all the component planes of this point cloud.
Events inherited from PointCloud
NativeHandleEventDelegate	ObjectDisposing
	Raised when this object is about to be disposed via the IDisposable.Dispose method.
Events inherited from INativeHandle
NativeHandleEventDelegate	ObjectDisposing
	Raised when this object is about to be disposed via the IDisposable.Dispose method.

Detailed Description

Unorganized sparse point cloud object.

An unorganized 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 an organized dense point cloud.

Conversion to a dense point cloud is difficult, as the grid thus neighbor information is missing.

For further information refer to CVB Point Cloud Concept.

Constructor & Destructor Documentation

SparsePointCloud() [1/2]

SparsePointCloud

(

long

numPoints

)

Constructor.

Parameters

numPoints

Amount of points to create.

SparsePointCloud() [2/2]

SparsePointCloud	(	long	numPoints,
		PointCloudFlags	flags )

Constructor.

For detailed information see CreateHandle.

Parameters

numPoints	Amount of points to create.
flags	Flags to create point cloud with.

Member Function Documentation

Create< T >()

static SparsePointCloud Create< T > ( long numPoints )

static

Creates a new point cloud with the specified numPoints and components of the given type T .

For detailed information see CreateHandle.

Template Parameters

T	One of the Stemmer.Cvb.Point3D point types.

Parameters

numPoints

Amount of points to create.

Returns

Newly created point cloud.

Exceptions

ArgumentException	When T is not double or float.
CvbException	When creating the sparse point cloud failed.

Type Constraints

T

:

struct

GetComponentsPointer3D< T >()

SparseComponentsPointer3D< T > GetComponentsPointer3D< T >

(

)

Gets the generic components pointer for this point cloud.

Template Parameters

T	Type of the points.

Returns

Generic components pointer for this point cloud.

Type Constraints

T

:

struct

ToDensePointCloud() [1/2]

DensePointCloud ToDensePointCloud

(

ConversionMode

conversionMode = ConversionMode::Automatic

)

Creates a dense pointcloud from a sparse cloud.

Parameters

conversionMode

Mode used to convert pointcloud.

Returns

Newly created and filled dense point 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. If multiple points map onto the same x,y position in the dense point 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.

ToDensePointCloud() [2/2]

DensePointCloud ToDensePointCloud	(	out long	numDroppedPoints,
		ConversionMode	conversionMode = ConversionMode::Automatic )

Creates a dense pointcloud from a sparse cloud.

Parameters

numDroppedPoints	The number of source points that overlapped in x and y and thus got dropped.
conversionMode	Mode used to convert pointcloud.

Returns

Newly created and filled dense point 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. If multiple points map onto the same x,y position in the dense point 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.