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Image Component Library (ICL)
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Image Component Library (ICL)
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PointCloudObject implementation for the PCLPointCloud types. More...
#include <PCLPointCloudObject.h>
Public Member Functions | |
| PCLPointCloudObject (int width, int height=-1, const PCLPointType &init=PCLPointType()) | |
| creates a PCLPointCloudObject with given width height and intial value More... | |
| PCLPointCloudObject (const PCLPointCloudObject< PCLPointType > &other) | |
| deeply copying copy constructor More... | |
| PCLPointCloudObject< PCLPointType > & | operator= (const PCLPointCloudObject< PCLPointType > &other) |
| deeply copying assignment operator More... | |
| PCLPointCloudObject (const pcl::PointCloud< PCLPointType > &cloud) | |
| const wrapper for given pcl-pointcloud (deep copy only) More... | |
| PCLPointCloudObject (pcl::PointCloud< PCLPointType > &cloud, bool deepCopy=true) | |
| wrapps given pcl-point-cloud (optionally shallowly copied) More... | |
| ~PCLPointCloudObject () | |
| Destructor. More... | |
| pcl::PointCloud< PCLPointType > & | pcl () |
| grants access to the underlying pcl-point-cloud More... | |
| const pcl::PointCloud< PCLPointType > & | pcl () const |
| grants access to the underlying pcl-point-cloud (const) More... | |
| void | setPCL (const pcl::PointCloud< PCLPointType > &pcl) |
| sets wrapped PCL point cloud (const, always deeply copied) More... | |
| void | setPCL (pcl::PointCloud< PCLPointType > &pcl, bool deepCopy=true) |
| sets wrapped PCL point cloud (const, always deeply copied) More... | |
| virtual bool | supports (FeatureType t) const |
| generic version, that trys to get an offset (can be optimized with specialization) More... | |
| virtual bool | isOrganized () const |
| returns whether pointcloud is 2D organized More... | |
| virtual utils::Size | getSize () const |
| returns the 2D size of the pointcloud (throws exception if not ordered) More... | |
| virtual int | getDim () const |
| return the linearily ordered number of point in the point cloud More... | |
| virtual void | setSize (const utils::Size &size) |
| adapts the point cloud size More... | |
| bool | isNull () const |
| virtual core::DataSegment< float, 1 > | selectIntensity () |
| well known feature Intensity (single float values) More... | |
| virtual core::DataSegment< icl32s, 1 > | selectLabel () |
| well known feature Intensity (single 32bit int values) More... | |
| virtual core::DataSegment< icl8u, 3 > | selectBGR () |
| well known feature Intensity (three byte vectors ordered BGR) More... | |
| virtual core::DataSegment< icl8u, 4 > | selectBGRA () |
| well known feature Intensity (four byte vectors ordered BGRA) More... | |
| virtual core::DataSegment< icl32s, 1 > | selectBGRA32s () |
| well known feature Intensity (single int value encoding byte-wise BGRA) More... | |
| virtual core::DataSegment< float, 3 > | selectXYZ () |
| well know features XYZ (three floats, this feature must usually be available) More... | |
| virtual core::DataSegment< float, 4 > | selectXYZH () |
| common way to store XYZ-data (4th float define homogeneous part) More... | |
| virtual core::DataSegment< float, 4 > | selectNormal () |
| well known feature Normal (4 float values) More... | |
| virtual core::DataSegment< float, 4 > | selectRGBA32f () |
| well known feature RGBA (4 float values, ordred RGBA) More... | |
| virtual core::DataSegmentBase | select (const std::string &featureName) |
| selects a dynamic feature More... | |
| virtual PCLPointCloudObject< PCLPointType > * | copy () const |
| deep copy interface More... | |
 Public Member Functions inherited from icl::geom::PointCloudObjectBase | |
| PointCloudObjectBase () | |
| Default constructor. More... | |
| virtual void | setTime (const utils::Time &t) |
| sets the current timestamp More... | |
| virtual const utils::Time & | getTime () const |
| returns the current timestamp More... | |
| virtual bool | canAddFeature (FeatureType t) const |
| interface function for dynamic Point cloud types that can dynamically add features More... | |
| virtual void | addFeature (FeatureType t) |
| interface for adding a feature to an existing point cloud instance More... | |
| void | setDim (int dim) |
| sets the number of contained points (and enables the unorganized mode) More... | |
| virtual core::DataSegment< float, 1 > | selectDepth () |
| well known feature Depth (single float values) More... | |
| const core::DataSegment< float, 3 > | selectXYZ () const |
| const xyz data More... | |
| const core::DataSegment< float, 4 > | selectXYZH () const |
| const xyzh data More... | |
| const core::DataSegment< float, 1 > | selectIntensity () const |
| const intensity data More... | |
| const core::DataSegment< float, 1 > | selectDepth () const |
| const intensity data More... | |
| const core::DataSegment< icl32s, 1 > | selectLabel () const |
| const label data More... | |
| const core::DataSegment< icl8u, 3 > | selectBGR () const |
| const bgr data More... | |
| const core::DataSegment< icl8u, 4 > | selectBGRA () const |
| const rgba data More... | |
| const core::DataSegment< icl32s, 1 > | selectBGRA32s () const |
| const bgra32s data More... | |
| const core::DataSegment< float, 4 > | selectNormal () const |
| const normals data More... | |
| const core::DataSegment< float, 4 > | selectRGBA32f () const |
| const rgba32f data More... | |
| const core::DataSegmentBase | select (const std::string &featureName) const |
| const dynamic/custom data More... | |
| void | setColorsFromImage (const core::ImgBase &image) |
| tints the point cloud pixel from the given image data More... | |
| void | extractColorsToImage (core::ImgBase &image, bool withAlpha=false) const |
| extracts the color information and stores it into the given image More... | |
| void | setDefaultVertexColor (const GeomColor &color) |
| sets the color that is used to render points if color information is available More... | |
| virtual GeomColor | getDefaultVertexColor () const |
| implements the SceneObject's virtual getter function for this feature More... | |
| virtual std::vector< std::string > | getSupportedDynamicFeatures () const |
| For subclasses that provide Dynamic features, this function must be implemented. More... | |
| virtual void | customRender () |
| custom rendering method More... | |
| void | setUseDrawNormalLines (bool use, float lineLength=40, int granularity=4) |
| set use draw normal lines More... | |
| void | setUseMasking (bool use, core::Img8u &mask) |
| void | setUseTriangulation (bool use, float maxDelta=50) |
| void | setUseTexturing (bool use, core::Img8u &tex, core::DataSegment< float, 2 > texCoords) |
| virtual void | deepCopy (PointCloudObjectBase &dst) const |
| deeply copies all well-known features that are shared by this and dst More... | |
| virtual bool | equals (const PointCloudObjectBase &dst, bool compareOnlySharedFeatures=false, bool allowDifferentColorTypes=true, float tollerance=1.0e-5) const |
| returns whether two points clouds are equal More... | |
| std::map< std::string, std::string > & | getMetaData () |
| returns the meta data associated with this point cloud object More... | |
| const std::map< std::string, std::string > & | getMetaData () const |
| returns the meta data associated with this point cloud object (const) More... | |
| const std::string & | getMetaData (const std::string &key) const |
| returns the meta data associated with a given key More... | |
| bool | hasMetaData (const std::string &key) const |
| returns whether meta data to the given key is associated More... | |
| bool | hasAnyMetaData () const |
| returns whether any meta data is available More... | |
| void | setMetaData (const std::string &key, const std::string &value) |
| sets the meta data entry for given key to value More... | |
| void | clearAllMetaData () |
| deletes all meta data entries More... | |
| void | clearMetaData (const std::string &key) |
| clears the meta data for a given key More... | |
| std::vector< std::string > | getAllMetaDataEntries () const |
| returns a list of all available meta data entires More... | |
| Public Member Functions inherited from icl::geom::SceneObject | |
| ICLGeom_API | SceneObject () |
| create an object More... | |
| ICLGeom_API | SceneObject (const std::string &type, const float *params) |
| create by string: More... | |
| ICLGeom_API | SceneObject (const std::string &objFileName) |
| creates a scene object from given .obj file More... | |
| SceneObject (const SceneObject &other) | |
| deep copy of SceneObject instance More... | |
| ICLGeom_API SceneObject & | operator= (const SceneObject &other) |
| assignment operator for deep copy More... | |
| virtual ICLGeom_API | ~SceneObject () |
| Empty destructor (but virtual) More... | |
| ICLGeom_API std::vector< Vec > & | getVertices () |
| returns object vertices More... | |
| ICLGeom_API const std::vector< Vec > & | getVertices () const |
| returns object vertices (const) More... | |
| ICLGeom_API const std::vector< Vec > & | getNormals () const |
| returns object normals (const) More... | |
| ICLGeom_API std::vector< GeomColor > & | getVertexColors () |
| returns object vertex colors More... | |
| ICLGeom_API const std::vector< GeomColor > & | getVertexColors () const |
| returns object vertex colors (const) More... | |
| ICLGeom_API std::vector< Primitive * > & | getPrimitives () |
| returns object's primitives (lines, quads, etc...) More... | |
| ICLGeom_API const std::vector< Primitive * > & | getPrimitives () const |
| returns object's primitives (lines, quads, etc...) (const) More... | |
| ICLGeom_API void | setVisible (int oredTypes, bool visible, bool recursive=true) |
| changes visibility of given primitive type More... | |
| ICLGeom_API void | setVisible (const std::string &what, bool recursive=true) |
| convenience method that allows for setting several visibility properties at once More... | |
| void | setVisible (const char *what, bool recursive=true) |
| explicit version for const char pointer to avoid an explicit cast to bool/int More... | |
| ICLGeom_API bool | isVisible (Primitive::Type t) const |
| returns visibility of given primitive type More... | |
| virtual ICLGeom_API bool | isInvisibleForCamera (int camIndex) const |
| this can be overwrittern in subclasses to hide an object for given camera indices More... | |
| ICLGeom_API void | addVertex (const Vec &p, const GeomColor &color=GeomColor(255, 0, 0, 255)) |
| adds a new vertex to this object More... | |
| ICLGeom_API void | addSharedTexture (utils::SmartPtr< qt::GLImg > gli) |
| adds a GLImg as shared texture More... | |
| ICLGeom_API void | addSharedTexture (const core::ImgBase *image, core::scalemode sm=core::interpolateLIN) |
| adds an core::ImgBase * as shared texutre More... | |
| ICLGeom_API void | addNormal (const Vec &n) |
| adds a new normal to this object More... | |
| ICLGeom_API void | addLine (int x, int y, const GeomColor &color=GeomColor(100, 100, 100, 255)) |
| adds a new line to this object More... | |
| ICLGeom_API void | addTriangle (int a, int b, int c, int na, int nb, int nc, const GeomColor &color=GeomColor(0, 100, 250, 255)) |
| adds a new triangle to this onject More... | |
| void | addTriangle (int a, int b, int c, const GeomColor &color=GeomColor(0, 100, 250, 255)) |
| convenience method for creation of a triangle with auto-normals More... | |
| ICLGeom_API void | addQuad (int a, int b, int c, int d, int na, int nb, int nc, int nd, const GeomColor &color=GeomColor(0, 100, 250, 255)) |
| adds a new triangle to this onject More... | |
| void | addQuad (int a, int b, int c, int d, const GeomColor &color=GeomColor(0, 100, 250, 255)) |
| convenience method for creation of a quad with auto-normals More... | |
| ICLGeom_API void | addPolygon (int nPoints, const int *vertexIndices, const GeomColor &color=GeomColor(0, 100, 250, 255), const int *normalIndices=0) |
| add a polygon to this object (note triangles and quads are slower here) More... | |
| ICLGeom_API void | addTexture (int a, int b, int c, int d, const core::ImgBase *texture, int na, int nb, int nc, int nd, bool createTextureOnce=true, core::scalemode sm=core::interpolateLIN) |
| void | addTexture (int a, int b, int c, int d, const core::ImgBase *texture, bool createTextureOnce=true, core::scalemode sm=core::interpolateLIN) |
| convenience method for creation of a texture with auto-normals More... | |
| ICLGeom_API void | addTexture (int a, int b, int c, int d, int sharedTextureIndex, int na=-1, int nb=-1, int nc=-1, int nd=-1) |
| adds are shared texture primitive More... | |
| ICLGeom_API void | addTexture (const core::ImgBase *image, int numPoints, const int *vertexIndices, const utils::Point32f *texCoords, const int *normalIndices=0, bool createTextureOnce=true) |
| adds a GenericTexturePrimitive for custom texCoords More... | |
| ICLGeom_API void | addTextureGrid (int w, int h, const core::ImgBase *image, const icl32f *px, const icl32f *py, const icl32f *pz, const icl32f *pnx=0, const icl32f *pny=0, const icl32f *pnz=0, int stride=1, bool createTextureOnce=true, core::scalemode sm=core::interpolateLIN) |
| adds a texture that is drawn on a 2D grid of vertices in 3D space More... | |
| ICLGeom_API void | addTwoSidedTextureGrid (int w, int h, const core::ImgBase *front, const core::ImgBase *back, const icl32f *px, const icl32f *py, const icl32f *pz, const icl32f *pnx=0, const icl32f *pny=0, const icl32f *pnz=0, int stride=1, bool createFrontOnce=true, bool createBackOnce=true, core::scalemode sm=core::interpolateLIN) |
| adds a texture grid that has two different texture for the two faces More... | |
| ICLGeom_API void | addTwoSidedTGrid (int w, int h, const Vec *vertices, const Vec *normals=0, const GeomColor &frontColor=GeomColor(0, 100, 255, 255), const GeomColor &backColor=GeomColor(255, 0, 100, 255), const GeomColor &lineColor=GeomColor(0, 255, 100, 255), bool drawLines=false, bool drawQuads=true) |
| adds a two sided grid (sides may have different colors) More... | |
| ICLGeom_API void | addTextTexture (int a, int b, int c, int d, const std::string &text, const GeomColor &color, int na, int nb, int nc, int nd, int textSize, core::scalemode sm=core::interpolateLIN) |
| adds text-texture quad -primitive to this object More... | |
| void | addTextTexture (int a, int b, int c, int d, const std::string &text, const GeomColor &color=GeomColor(255, 255, 255, 255), int textSize=30, core::scalemode sm=core::interpolateLIN) |
| convenience method for creation of a text-texture with auto-normals More... | |
| ICLGeom_API void | addText (int a, const std::string &text, float billboardHeight=10, const GeomColor &color=GeomColor(255, 255, 255, 255), int textRenderSize=30, core::scalemode sm=core::interpolateLIN) |
| adds a billboard text-texture attached to given node index a More... | |
| void | addCustomPrimitive (Primitive *p) |
| adds a custom primitive More... | |
| SceneObject * | addCube (float x, float y, float z, float d) |
| adds a cube child-object with given parameters More... | |
| ICLGeom_API SceneObject * | addCuboid (float x, float y, float z, float dx, float dy, float dz) |
| adds a cuboid child-object with given parameters More... | |
| SceneObject * | addSphere (float x, float y, float z, float r, int rzSteps, int xySlices) |
| adds a cuboid child-object with given parameters More... | |
| ICLGeom_API SceneObject * | addSpheroid (float x, float y, float z, float rx, float ry, float rz, int rzSteps, int xySlices) |
| adds a cuboid child-object with given parameters More... | |
| ICLGeom_API SceneObject * | addCylinder (float x, float y, float z, float rx, float ry, float h, int steps) |
| adds a cylindical child object with given parameters More... | |
| ICLGeom_API SceneObject * | addCone (float x, float y, float z, float rx, float ry, float h, int steps) |
| adds a conical child object with given parameters More... | |
| ICLGeom_API void | setColor (Primitive::Type t, const GeomColor &color, bool recursive=true) |
| tints all Primitives with given type in given color More... | |
| ICLGeom_API void | setPointSize (float pointSize, bool recursive=true) |
| sets point size More... | |
| ICLGeom_API void | setLineWidth (float lineWidth, bool recursive=true) |
| sets point size More... | |
| ICLGeom_API void | setUseCustomRender (bool use, bool recursive=true) |
| if set, only custom render is used More... | |
| virtual void | prepareForRendering () |
| called by the renderer before the object is rendered More... | |
| virtual void | complexCustomRender (icl::geom::ShaderUtil *util) |
| this function is called when an object is rendered More... | |
| ICLGeom_API void | setColorsFromVertices (Primitive::Type t, bool on, bool recursive=true) |
| sets how 2D-geom colors are set More... | |
| ICLGeom_API bool | getSmoothShading () const |
| returns wheather smooth shading is activated More... | |
| ICLGeom_API void | setSmoothShading (bool on, bool recursive=true) |
| sets whether to use smoothshading (default is false) More... | |
| ICLGeom_API void | createAutoNormals (bool smooth=true) |
| automatically creates precomputed normals More... | |
| ICLGeom_API Hit | hit (const ViewRay &v, bool recursive=true) |
| returns whether this object is hit by the given viewray More... | |
| const Hit | hit (const ViewRay &v, bool recursive=true) const |
| returns whether this object is hit by the given viewray (const) More... | |
| ICLGeom_API std::vector< Hit > | hits (const ViewRay &v, bool recursive=true) |
| returns all hits with SceneObjects form the given viewray More... | |
| ICLGeom_API std::vector< Vec > | getTransformedVertices () const |
| returns all vertices in their final world coordinates More... | |
| ICLGeom_API Vec | getClosestVertex (const Vec &pWorld, bool relative=false) |
| returns the vertex, that is closest to the given point in wold coordinates More... | |
| ICLGeom_API void | setVisible (bool visible, bool recursive=true) |
| sets the visibility of this object More... | |
| bool | isVisible () const |
| returns whether this object is currently visible More... | |
| void | hide (bool recursive=true) |
| calls setVisible(false) More... | |
| void | show (bool recursive=true) |
| calls setVisible(true) More... | |
| void | setLockingEnabled (bool enabled) |
| sets locking enabled or disabled More... | |
| bool | getLockingEnabled () const |
| returns whether locking is current enabled for this object More... | |
| virtual void | lock () const |
| locks the internal mutex if locking enabled is set to true More... | |
| virtual void | unlock () const |
| unlocks the internal mutex if locking enabled is set to true More... | |
| void | setPointSmoothingEnabled (bool enabled=true) |
| sets whether points are visualized in a smoothed manner More... | |
| void | setLineSmoothingEnabled (bool enabled=true) |
| sets whether lines are visualized in a smoothed manner More... | |
| void | setPolygonSmoothingEnabled (bool enabled=true) |
| sets whether faces are visualized in a smoothed manner More... | |
| ICLGeom_API void | clearAllPrimitives () |
| deletes and removes all primitives More... | |
| virtual ICLGeom_API void | clearObject (bool deleteAndRemoveChildren=true, bool resetTransform=false) |
| deletes all primitive and all vertex, color and normal content (and optionally also the children) More... | |
| ICLGeom_API void | createDisplayList () |
| creates a displaylist in the next render cycle More... | |
| ICLGeom_API void | freeDisplayList () |
| frees the displaylist in the next render cycle More... | |
| ICLGeom_API void | setFragmentShader (qt::GLFragmentShader *shader) |
| sets a fragment shader to use for this object More... | |
| qt::GLFragmentShader * | getFragmentShader () |
| returns the current fragment shader (or NULL if non was given) More... | |
| const qt::GLFragmentShader * | getFragmentShader () const |
| returns the current fragment shader (or NULL if non was given, const version) More... | |
| void | setCastShadowsEnabled (bool castShadows=true) |
| bool | getCastShadowsEnabled () |
| void | setReceiveShadowsEnabled (bool receiveShadows=true) |
| bool | getReceiveShadowsEnabled () |
| void | setShininess (icl8u value) |
| sets the material shininess (default is 128) More... | |
| void | setSpecularReflectance (const GeomColor &values) |
| sets the materials specular reflectance More... | |
| bool | getDepthTestEnabled () const |
| returns whether depth test is enabled for this object More... | |
| void | setDepthTestEnabled (bool enabled, bool recursive=true) |
| sets whether depth test is enabled for this object More... | |
| float | getPointHitMaxDistance () const |
| returns the maximum distance to a pointing viewraw More... | |
| void | setPointHitMaxDistance (float d) |
| sets the maximum distance to a pointing view-ray More... | |
| virtual ICLGeom_API void | setTransformation (const Mat &m) |
| Sets a transformation matrix. More... | |
| ICLGeom_API void | removeTransformation () |
| sets the internal transformation to the identity matrix More... | |
| virtual ICLGeom_API void | transform (const Mat &m) |
| multiplies the current transformation matrix by given matrix More... | |
| template<class T > | |
| void | transform (const T &m) |
| utility method for passing arbitrary matrix classes More... | |
| virtual ICLGeom_API void | rotate (float rx, float ry, float rz, icl::math::AXES axes=icl::math::AXES_DEFAULT) |
| rotates the scene object (this affects it's transformation matrix) More... | |
| template<class T > | |
| void | rotate (const T &t, icl::math::AXES axes=icl::math::AXES_DEFAULT) |
| utility wrapper for vector based rotation More... | |
| virtual ICLGeom_API void | translate (float dx, float dy, float dz) |
| translates the scene object (this affects it's translates matrix) More... | |
| template<class T > | |
| void | translate (const T &t) |
| utility wrapper for vector based translation More... | |
| virtual ICLGeom_API void | scale (float sx, float sy, float sz) |
| transformes the current transformation matrix by a scale matrix More... | |
| template<class T > | |
| void | scale (const T &t) |
| utility wrapper for vector based scaling More... | |
| ICLGeom_API Mat | getTransformation (bool relative=false) const |
| returns the current transformation matrix More... | |
| ICLGeom_API bool | hasTransformation (bool relative=false) const |
| returns whether the SceneObject has currently a non-ID-transformation More... | |
| ICLGeom_API SceneObject * | getParent () |
| returns the parent scene object More... | |
| ICLGeom_API const SceneObject * | getParent () const |
| returns the parent scene object (const version) More... | |
| ICLGeom_API void | addChild (SceneObject *child, bool passOwnerShip=true) |
| adds a new child to this scene object More... | |
| void | addChild (utils::SmartPtr< SceneObject > child) |
| directly passes a smart pointer as a child More... | |
| ICLGeom_API void | removeChild (SceneObject *child) |
| removes given child More... | |
| ICLGeom_API void | removeAllChildren () |
| removes all children More... | |
| ICLGeom_API bool | hasChildren () const |
| returns whether the SceneObject has children at all More... | |
| ICLGeom_API int | getChildCount () const |
| returns the number of children More... | |
| ICLGeom_API SceneObject * | getChild (int index) |
| returns child at given index More... | |
| ICLGeom_API const SceneObject * | getChild (int index) const |
| returns child at given index (const) More... | |
| utils::SmartPtr< SceneObject > | getChildPtr (int index) |
| returns a shared pointer to the child at given index More... | |
| ICLGeom_API bool | hasChild (const SceneObject *o) const |
| returns whether the given object is a child of this one More... | |
Private Types | |
| typedef PCLPointType | Entry |
| internally used typedef More... | |
Private Member Functions | |
| int | offset (FeatureType) const |
| this is actually specialized for the different types More... | |
| icl8u * | data () |
| returns the data orignin pointer More... | |
| const icl8u * | data () const |
| returns the data orignin pointer (const) More... | |
| template<class T , int N, FeatureType t> | |
| core::DataSegment< T, N > | createSegment () |
| creates a data segment for a given feature type More... | |
| void | deletePCL () |
| savely delets the pcl_image More... | |
Private Attributes | |
| pcl::PointCloud< PCLPointType > * | m_pcl |
| internal pcl::PointCloud data pointer More... | |
| bool | m_ownPCL |
| ownership flag More... | |
Additional Inherited Members | |
| Public Types inherited from icl::geom::PointCloudObjectBase | |
| enum | FeatureType { Intensity, Label, Depth, BGR, BGRA, BGRA32s, XYZ, XYZH, Normal, RGBA32f, NUM_FEATURES } |
| List of well known features. More... | |
| Static Public Member Functions inherited from icl::geom::SceneObject | |
| static SceneObject * | cube (float x, float y, float z, float r) |
| create a cube scene object More... | |
| static SceneObject * | cuboid (float x, float y, float z, float dx, float dy, float dz) |
| create a cuboid scene object More... | |
| static SceneObject * | sphere (float x, float y, float z, float r, int rzSteps, int xySlices) |
| create a shere scene object More... | |
| static SceneObject * | spheroid (float x, float y, float z, float rx, float ry, float rz, int rzSteps, int xySlices) |
| create a shere scene object More... | |
| static SceneObject * | superquadric (float x, float y, float z, float rx, float ry, float rz, float dx, float dy, float dz, float e1, float e2, int rzSteps, int xySlices) |
| create a superquadric scene object More... | |
| Protected Member Functions inherited from icl::geom::PointCloudObjectBase | |
| template<class T , int N> | |
| core::DataSegment< T, N > & | error (const std::string &fname) |
| internally used utility method that throws verbose exceptions More... | |
| core::DataSegmentBase & | error_dyn (const std::string &featureName) |
| internally used utility method that throws verbose exceptions More... | |
| virtual void | drawNormalLines () |
| draw normal lines More... | |
| Static Protected Member Functions inherited from icl::geom::PointCloudObjectBase | |
| static float | length (Vec d) |
| Static Protected Member Functions inherited from icl::geom::SceneObject | |
| static void | collect_hits_recursive (SceneObject *obj, const ViewRay &v, std::vector< Hit > &hits, bool recursive) |
| recursive picking method More... | |
| Protected Attributes inherited from icl::geom::PointCloudObjectBase | |
| GeomColor | m_defaultPointColor |
| default color used to render points that have no color information More... | |
| std::map< std::string, std::string > | m_metaData |
| internal map of meta data More... | |
| bool | useDrawNormalLines |
| float | normalLineLength |
| int | normalLineGranularity |
| bool | useMasking |
| core::Img8u | maskImage |
| bool | useTriangulation |
| float | maxDeltaValue |
| bool | useTexturing |
| core::Img8u | textureImage |
| core::DataSegment< float, 2 > | textureCoordinates |
| Protected Attributes inherited from icl::geom::SceneObject | |
| std::vector< Vec > | m_vertices |
| std::vector< Vec > | m_normals |
| std::vector< GeomColor > | m_vertexColors |
| std::vector< Primitive * > | m_primitives |
| std::vector< utils::SmartPtr< qt::GLImg > > | m_sharedTextures |
| int | m_visibleMask |
| bool | m_lineColorsFromVertices |
| bool | m_triangleColorsFromVertices |
| bool | m_quadColorsFromVertices |
| bool | m_polyColorsFromVertices |
| bool | m_useCustomRender |
| float | m_pointSize |
| float | m_lineWidth |
| bool | m_useSmoothShading |
| bool | m_isVisible |
| Mat | m_transformation |
| for the scene graph implementation More... | |
| bool | m_hasTransformation |
| SceneObject * | m_parent |
| std::vector< utils::SmartPtr< SceneObject > > | m_children |
| utils::Mutex | m_mutex |
| for asynchronous updates More... | |
| bool | m_enableLocking |
| can be enabled More... | |
| bool | m_pointSmoothingEnabled |
| bool | m_lineSmoothingEnabled |
| bool | m_polygonSmoothingEnabled |
| bool | m_depthTestEnabled |
| default is true More... | |
| icl8u | m_shininess |
| GeomColor | m_specularReflectance |
PointCloudObject implementation for the PCLPointCloud types.
Right now, the following pcl-point types are supported. Due to the non-inline implementation of the class, all other point-types are not available. For other point types, one can specialize the offset()-template in the source file.
pcl::PointXYZI
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private |
internally used typedef
| icl::geom::PCLPointCloudObject< PCLPointType >::PCLPointCloudObject | ( | int | width, |
| int | height = -1, |
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| const PCLPointType & | init = PCLPointType() |
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| ) |
creates a PCLPointCloudObject with given width height and intial value
If the height value is -1, the PointCloud instance is assumed to be not ordered, e.g. only a 1D set of points instead of a 2D array
| icl::geom::PCLPointCloudObject< PCLPointType >::PCLPointCloudObject | ( | const PCLPointCloudObject< PCLPointType > & | other | ) |
deeply copying copy constructor
| icl::geom::PCLPointCloudObject< PCLPointType >::PCLPointCloudObject | ( | const pcl::PointCloud< PCLPointType > & | cloud | ) |
const wrapper for given pcl-pointcloud (deep copy only)
| icl::geom::PCLPointCloudObject< PCLPointType >::PCLPointCloudObject | ( | pcl::PointCloud< PCLPointType > & | cloud, |
| bool | deepCopy = true |
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| ) |
wrapps given pcl-point-cloud (optionally shallowly copied)
| icl::geom::PCLPointCloudObject< PCLPointType >::~PCLPointCloudObject | ( | ) |
Destructor.
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virtual |
deep copy interface
Reimplemented from icl::geom::PointCloudObjectBase.
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inlineprivate |
creates a data segment for a given feature type
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inlineprivate |
returns the data orignin pointer
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inlineprivate |
returns the data orignin pointer (const)
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private |
savely delets the pcl_image
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virtual |
return the linearily ordered number of point in the point cloud
Implements icl::geom::PointCloudObjectBase.
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virtual |
returns the 2D size of the pointcloud (throws exception if not ordered)
Implements icl::geom::PointCloudObjectBase.
| bool icl::geom::PCLPointCloudObject< PCLPointType >::isNull | ( | ) | const |
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virtual |
returns whether pointcloud is 2D organized
Implements icl::geom::PointCloudObjectBase.
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private |
this is actually specialized for the different types
Please note, offset needs to return -1 for non-supported feature types
| PCLPointCloudObject<PCLPointType>& icl::geom::PCLPointCloudObject< PCLPointType >::operator= | ( | const PCLPointCloudObject< PCLPointType > & | other | ) |
deeply copying assignment operator
for shallow copies, use
| pcl::PointCloud<PCLPointType>& icl::geom::PCLPointCloudObject< PCLPointType >::pcl | ( | ) |
grants access to the underlying pcl-point-cloud
| const pcl::PointCloud<PCLPointType>& icl::geom::PCLPointCloudObject< PCLPointType >::pcl | ( | ) | const |
grants access to the underlying pcl-point-cloud (const)
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virtual |
selects a dynamic feature
some pcl types support special features that can be selected by a string ID. By default, the featureName 'all' can be used to create a DataSegment that give access to all data entries as floats
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
well known feature Intensity (three byte vectors ordered BGR)
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
well known feature Intensity (four byte vectors ordered BGRA)
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
well known feature Intensity (single int value encoding byte-wise BGRA)
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
well known feature Intensity (single float values)
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
well known feature Intensity (single 32bit int values)
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
well known feature Normal (4 float values)
in the PCL, the 4th value is sometimes used to store a local curvature value
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
well known feature RGBA (4 float values, ordred RGBA)
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
well know features XYZ (three floats, this feature must usually be available)
Reimplemented from icl::geom::PointCloudObjectBase.
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virtual |
common way to store XYZ-data (4th float define homogeneous part)
Reimplemented from icl::geom::PointCloudObjectBase.
| void icl::geom::PCLPointCloudObject< PCLPointType >::setPCL | ( | const pcl::PointCloud< PCLPointType > & | pcl | ) |
sets wrapped PCL point cloud (const, always deeply copied)
| void icl::geom::PCLPointCloudObject< PCLPointType >::setPCL | ( | pcl::PointCloud< PCLPointType > & | pcl, |
| bool | deepCopy = true |
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| ) |
sets wrapped PCL point cloud (const, always deeply copied)
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virtual |
adapts the point cloud size
if the sizes height is smaller than 1, the cloud becomes un-organized
Implements icl::geom::PointCloudObjectBase.
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virtual |
generic version, that trys to get an offset (can be optimized with specialization)
Implements icl::geom::PointCloudObjectBase.
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private |
ownership flag
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private |
internal pcl::PointCloud data pointer
1.8.15