An unorganized sparse Cartesian 3D point cloud object. More...

#include <cvb/sparse_point_cloud.hpp>

Public Member Functions
DensePointCloudPtr	ToDensePointCloud (size_t &numDroppedPoints, ConversionMode conversionMode=ConversionMode::Automatic) const
	Creates a dense point cloud from a sparse point cloud.

DensePointCloudPtr	ToDensePointCloud (ConversionMode conversionMode=ConversionMode::Automatic) const
	Creates a dense point cloud from a sparse point cloud.

SparsePointCloudPtr	Crop (const Cuboid &clipBox) const
	Creates a new point cloud which only consists of the points inside the clip box.

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.

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.

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.

template<class T>
SparseComponentsPointers3D< T >	PointComponents () const
	Get the point components from the given point cloud.

template<class T>
bool	TryPointComponents (SparseComponentsPointers3D< T > &components) const noexcept
	Tries to get the point components from the given point cloud.

Public Member Functions inherited from PointCloud
PointCloudLayout	Layout () const
	Get the layout of the available buffers/planes of the given point cloud.

class DataType	DataType () const
	Gets the DataType of the x,y,z(,w) components of the given PointCloud.

std::size_t	NumPoints () const
	Gets the number of x,y,z(,w) points in the given point cloud.

ComponentsPointers3D	PointComponents () const
	Tries to get the point components from the given point cloud.

template<class T>
std::size_t	Points (Point3D< T > *&points) const
	Gets the 3D points from the given point cloud.

template<class T>
std::size_t	PointsH (Point3DH< T > *&pointsH) const
	Tries to get the 3D points from the given point cloud.

Cuboid	CalculateBoundingBox (bool onlyConfidentPoints=true) const
	Calculates the minimum and maximum extent of the point cloud.

template<typename FN, typename std::enable_if_t< detail::is_invocable_r< bool, FN, double, double, double >::value > * = nullptr>
Cuboid	CalculateBoundingBox (const FN &xyzPredicate) const
	Calculates the minimum and maximum extent of the point cloud, using a predicate that filters points based on their (x, y, z) coordinates.

template<typename FN, typename std::enable_if_t< detail::is_invocable_r< bool, FN, double >::value > * = nullptr>
Cuboid	CalculateBoundingBox (const FN &confidencePredicate) const
	Calculates the minimum and maximum extent of the point cloud, using a predicate that filters points based on their confidence value.

Point3D< double >	CalculateCenterOfGravity () const
	Calculates the center of gravity of the point cloud.

Matrix3D	CalculateCovarianceMatrix () const
	Calculates the covariance matrix of the point cloud.

Plane3D	FitPlane () const
	Fits a plane in the points of the point cloud without cropping it.

Plane3D	FitPlane (const Cuboid &aoi) const
	Fits a plane in the points of the point cloud for a specified area of interest.

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.

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.

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.

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.

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.

PointCloudPtr	Duplicate () const
	Creates a new point cloud which is a copy this point cloud.

void	Save (const String &fileName) const
	Saves the given point cloud to the file with the given FileName.

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.

PointCloudPtr	Scale (Factors3D factors) const
	Creates a new point cloud with all points being scaled by the given factors.

SparsePointCloudPtr	Transform (const AffineMatrix3D &transformation) const
	Creates a new point cloud with all points being transformed by the given transformation.

SparsePointCloudPtr	Transform (const Matrix3DH &transformation) const
	Creates a new point cloud with all points being transformed by the given transformation.

void	Transform (const AffineMatrix3D &affineTransformation, SparsePointCloud &pointCloud)
	Transforms all points in this point cloud by the given AffineTransformation and stores them in the given unorganized sparse point cloud.

void	Transform (const Cvb::Matrix3DH &transformation, SparsePointCloud &pointCloud)
	Transforms all points in this point cloud by the given transformation and stores them in the given unorganized sparse point cloud.

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.

int	PlaneCount () const noexcept
	Gets the number of planes enumerated by this object.

std::vector< PlanePtr >	Planes () const
	Gets all available planes enumerated by this object.

PlanePtr	Plane (int index) const
	Index based plane access.

size_t	MemorySize (PointCloudFlags flags, Cvb::PointCloudFileFormat format) const
	Determines the amount of memory needed for ToMemory.

template<class Point>
size_t	MemorySize (Cvb::PointCloudFileFormat format) const
	Determines the amount of memory needed for ToMemory.

void	ToMemory (PointCloudFlags flags, Cvb::PointCloudFileFormat format, size_t size, void *buffer) const
	Saves the point cloud to the memory in the given format.

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.

void *	Handle () const noexcept
	Returns C-API style handle to Node Object.

Static Public Member Functions
static SparsePointCloudPtr	FromDensePointCloud (const DensePointCloud &densePointCloud)
	Creates a sparse point cloud from a dense point cloud with confidence plane.

static SparsePointCloudPtr	FromComposite (CompositePtr object)
	Creates a sparse point cloud from a composite.

Static Public Member Functions inherited from PointCloud
static PointCloudPtr	FromHandle (HandleGuard< PointCloud > &&guard)
	Creates a point cloud from a classic API handle.

template<class T>
static std::shared_ptr< T >	FromComposite (CompositePtr object)
	Creates a point cloud from a composite.

static PointCloudPtr	FromMemory (void *buffer, size_t size, PointCloudFlags flags, Cvb::PointCloudFileFormat format)
	Creates a point cloud reading memory from buffer.

template<class Point>
static PointCloudPtr	FromMemory (void *buffer, size_t size, Cvb::PointCloudFileFormat format)
	Creates a point cloud reading memory from buffer.

Detailed Description

An unorganized sparse Cartesian 3D 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 a dense point cloud.

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

For further information refer to CVB Point Cloud Concept.

See also: DensePointCloud

Member Function Documentation

◆ Crop()

SparsePointCloudPtr Crop ( const Cuboid & clipBox ) const

inline

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

Parameters

[in] clipBox Cuboid defining the bounds for the points to be copied (min/max are inclusive).

Returns: The new point cloud.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ FromComposite()

static SparsePointCloudPtr FromComposite ( CompositePtr object )

inlinestatic

Creates a sparse point cloud from a composite.

Parameters

[in] object A composite to share.

Returns: A sparse point cloud pointer that shares resources with the composite.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ FromDensePointCloud()

CVB_BEGIN_INLINE_NS SparsePointCloudPtr FromDensePointCloud ( const DensePointCloud & densePointCloud )

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).

Parameters

[in] densePointCloud Dense point cloud create sparse point cloud from.

Returns: Converted sparse point cloud

◆ FrustumCrop()

SparsePointCloudPtr FrustumCrop	(	const Cuboid &	clipBox,
		Angle	theta,
		Angle	phi ) const

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.

Parameters

[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.

Returns: The new point cloud.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ PlaneCrop() [1/2]

SparsePointCloudPtr PlaneCrop	(	const Plane3D &	plane,
		const ValueRange< double > &	range,
		CropRange	cropRange ) const

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.

Parameters

[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.

Returns: Cropped point cloud.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ PlaneCrop() [2/2]

SparsePointCloudPtr PlaneCrop	(	const Plane3D &	plane,
		double	threshold,
		CropDirection	cropBelowAbove = CropDirection::Below ) const

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.

Parameters

[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.

Returns: Cropped point cloud.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ PointComponents()

template<class T>

SparseComponentsPointers3D< T > PointComponents ( ) const

inline

Get the point components from the given point cloud.

Returns: A typed struct with pointers to the cloud's components.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ ToDensePointCloud() [1/2]

DensePointCloudPtr ToDensePointCloud ( ConversionMode conversionMode = ConversionMode::Automatic ) const

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.

Parameters

[in] conversionMode Mode used in conversion to dense pointcloud. Currently Automatic is the only option.

Returns: Converted dense point cloud.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ ToDensePointCloud() [2/2]

DensePointCloudPtr ToDensePointCloud	(	size_t &	numDroppedPoints,
		ConversionMode	conversionMode = ConversionMode::Automatic ) const

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.

Parameters

[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.

Returns: Converted dense point cloud.

Exceptions

Any	exception derived from std::exception including CvbException.

◆ TryPointComponents()

template<class T>

bool TryPointComponents ( SparseComponentsPointers3D< T > & components ) const

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.

Parameters

[out] components The components pointers.

Returns: True if type matches the point cloud point type, false otherwise.

Exceptions

Does	not throw any exception.

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ Crop()

◆ FromComposite()

◆ FromDensePointCloud()

◆ FrustumCrop()

◆ PlaneCrop() [1/2]

◆ PlaneCrop() [2/2]

◆ PointComponents()

◆ ToDensePointCloud() [1/2]

◆ ToDensePointCloud() [2/2]

◆ TryPointComponents()