Image Component Library (ICL)
Public Member Functions | Protected Attributes | Private Member Functions | List of all members
icl::geom::PointCloudObject Class Reference

Base implementation of the SceneObjectBase interface for compability with common icl::SceneObjects. More...

#include <PointCloudObject.h>

Inheritance diagram for icl::geom::PointCloudObject:
icl::geom::PointCloudObjectBase icl::geom::SceneObject icl::geom::PointCloudSegment

Public Member Functions

 PointCloudObject (bool withNormals=false, bool withColors=false, bool withLabels=false, bool withDepth=false)
 creates an empty point cloud with with optionally initialized featuers More...
 
 PointCloudObject (int numPoints, bool withNormals=false, bool withColors=true, bool withLabels=false, bool withDepth=false)
 create an un-organizied point cloud with N points More...
 
 PointCloudObject (int width, int height, bool organized=true, bool withNormals=false, bool withColors=true, bool withLabels=false, bool withDepth=false)
 creates a new organized or un-organized SimplePointCloudObject instance More...
 
virtual bool supports (FeatureType t) const
 returns which features are supported (only XYZ and RGBA32f) More...
 
virtual bool isOrganized () const
 returns whether the points are 2D-ordered 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...
 
virtual core::DataSegment< float, 3 > selectXYZ ()
 returns XYZ data segment More...
 
virtual core::DataSegment< float, 4 > selectXYZH ()
 returns XYZH data segment More...
 
virtual core::DataSegment< float, 4 > selectRGBA32f ()
 returns the RGBA data segment (4-floats) More...
 
virtual core::DataSegment< float, 4 > selectNormal ()
 returns the Normals data segment (4-floats) More...
 
virtual core::DataSegment< icl32s, 1 > selectLabel ()
 returns the label data segment (32-bit signed integer) More...
 
virtual core::DataSegment< float, 1 > selectDepth ()
 returns the depth data segment (single channel float, packed) More...
 
virtual void customRender ()
 important, this is again, reimplemented in order to NOT draw the stuff manually here More...
 
virtual bool canAddFeature (FeatureType t) const
 only normals and color can be added in hindsight More...
 
virtual void addFeature (FeatureType t)
 adds normals or colors in hindsight More...
 
virtual PointCloudObjectcopy () const
 deep copy function More...
 
void push_back (const Vec &point)
 just a simple wrapper for top-top level classe's addVertex method More...
 
void push_back (const Vec &point, const GeomColor &color)
 adds xyz point with given color More...
 
void push_back (const Vec &point, const Vec &normal, const GeomColor &color, float depth=0)
 adds xyz point with given normal and color and optional depth value 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::TimegetTime () const
 returns the current timestamp More...
 
void setDim (int dim)
 sets the number of contained points (and enables the unorganized mode) More...
 
virtual core::DataSegment< float, 1 > selectIntensity ()
 well known feature Intensity (single float 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::DataSegmentBase select (const std::string &featureName)
 dynamic feature selection function 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...
 
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 SceneObjectoperator= (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...
 
SceneObjectaddCube (float x, float y, float z, float d)
 adds a cube child-object with given parameters More...
 
ICLGeom_API SceneObjectaddCuboid (float x, float y, float z, float dx, float dy, float dz)
 adds a cuboid child-object with given parameters More...
 
SceneObjectaddSphere (float x, float y, float z, float r, int rzSteps, int xySlices)
 adds a cuboid child-object with given parameters More...
 
ICLGeom_API SceneObjectaddSpheroid (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 SceneObjectaddCylinder (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 SceneObjectaddCone (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< Hithits (const ViewRay &v, bool recursive=true)
 returns all hits with SceneObjects form the given viewray More...
 
ICLGeom_API std::vector< VecgetTransformedVertices () 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::GLFragmentShadergetFragmentShader ()
 returns the current fragment shader (or NULL if non was given) More...
 
const qt::GLFragmentShadergetFragmentShader () 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 SceneObjectgetParent ()
 returns the parent scene object More...
 
ICLGeom_API const SceneObjectgetParent () 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 SceneObjectgetChild (int index)
 returns child at given index More...
 
ICLGeom_API const SceneObjectgetChild (int index) const
 returns child at given index (const) More...
 
utils::SmartPtr< SceneObjectgetChildPtr (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...
 

Protected Attributes

bool m_organized
 internal 2D organized flag More...
 
utils::Size m_dim2D
 2D dimension More...
 
bool m_hasNormals
 flag whether normals are given More...
 
bool m_hasColors
 flag whether the point cloud has colors More...
 
bool m_hasLabels
 flag indicating whether labels are supported More...
 
bool m_hasDepth
 flag indicating whether a depth-feature is supported More...
 
std::vector< int > m_labels
 label mask (activated in constructor) More...
 
std::vector< float > m_depth
 optional feature for the depth mask (Depth-feature) 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< Vecm_vertices
 
std::vector< Vecm_normals
 
std::vector< GeomColorm_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
 
SceneObjectm_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
 

Private Member Functions

ICLGeom_API void addVertex (const Vec &p, const GeomColor &color=GeomColor(255, 0, 0, 255))
 hidden in this interface to avoid More...
 
ICLGeom_API void addNormal (const Vec &n)
 adds a new normal to this object 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 SceneObjectcube (float x, float y, float z, float r)
 create a cube scene object More...
 
static SceneObjectcuboid (float x, float y, float z, float dx, float dy, float dz)
 create a cuboid scene object More...
 
static SceneObjectsphere (float x, float y, float z, float r, int rzSteps, int xySlices)
 create a shere scene object More...
 
static SceneObjectspheroid (float x, float y, float z, float rx, float ry, float rz, int rzSteps, int xySlices)
 create a shere scene object More...
 
static SceneObjectsuperquadric (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::DataSegmentBaseerror_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...
 

Detailed Description

Base implementation of the SceneObjectBase interface for compability with common icl::SceneObjects.

This class replaces the former implementations

Normals

The PointCloudObject can be set up to have also normals in the constructor.

ToDo

Constructor & Destructor Documentation

◆ PointCloudObject() [1/3]

icl::geom::PointCloudObject::PointCloudObject ( bool  withNormals = false,
bool  withColors = false,
bool  withLabels = false,
bool  withDepth = false 
)

creates an empty point cloud with with optionally initialized featuers

◆ PointCloudObject() [2/3]

icl::geom::PointCloudObject::PointCloudObject ( int  numPoints,
bool  withNormals = false,
bool  withColors = true,
bool  withLabels = false,
bool  withDepth = false 
)

create an un-organizied point cloud with N points

◆ PointCloudObject() [3/3]

icl::geom::PointCloudObject::PointCloudObject ( int  width,
int  height,
bool  organized = true,
bool  withNormals = false,
bool  withColors = true,
bool  withLabels = false,
bool  withDepth = false 
)

creates a new organized or un-organized SimplePointCloudObject instance

Parameters
widthnumber of points per line (if unordered, number of points)
heightnumber of points per row (if unordered, height is not used)
organizedspecifies whether there is a 2D data order or not @params withNormals if true, also normals will be created for each point

Member Function Documentation

◆ addFeature()

virtual void icl::geom::PointCloudObject::addFeature ( FeatureType  t)
virtual

adds normals or colors in hindsight

If the given feature is already contained, calling this function has no effect. The function calls lock() and unlock() internally

Reimplemented from icl::geom::PointCloudObjectBase.

◆ addNormal()

ICLGeom_API void icl::geom::SceneObject::addNormal
private

adds a new normal to this object

◆ addVertex()

ICLGeom_API void icl::geom::SceneObject::addVertex
private

hidden in this interface to avoid

◆ canAddFeature()

virtual bool icl::geom::PointCloudObject::canAddFeature ( FeatureType  t) const
virtual

only normals and color can be added in hindsight

Reimplemented from icl::geom::PointCloudObjectBase.

◆ copy()

virtual PointCloudObject* icl::geom::PointCloudObject::copy ( ) const
inlinevirtual

deep copy function

Reimplemented from icl::geom::PointCloudObjectBase.

Reimplemented in icl::geom::PointCloudSegment.

◆ customRender()

virtual void icl::geom::PointCloudObject::customRender ( )
virtual

important, this is again, reimplemented in order to NOT draw the stuff manually here

Reimplemented from icl::geom::PointCloudObjectBase.

◆ getDim()

virtual int icl::geom::PointCloudObject::getDim ( ) const
virtual

return the linearily ordered number of point in the point cloud

Implements icl::geom::PointCloudObjectBase.

◆ getSize()

virtual utils::Size icl::geom::PointCloudObject::getSize ( ) const
virtual

returns the 2D size of the pointcloud (throws exception if not ordered)

Implements icl::geom::PointCloudObjectBase.

◆ isOrganized()

virtual bool icl::geom::PointCloudObject::isOrganized ( ) const
virtual

returns whether the points are 2D-ordered

Implements icl::geom::PointCloudObjectBase.

◆ push_back() [1/3]

void icl::geom::PointCloudObject::push_back ( const Vec point)
inline

just a simple wrapper for top-top level classe's addVertex method

This method does not work for organized point cloud objects. The organized flag is not checked for performance reason. The behaviour of calling push_back on ordered point clouds is undefined

◆ push_back() [2/3]

void icl::geom::PointCloudObject::push_back ( const Vec point,
const GeomColor color 
)
inline

adds xyz point with given color

See also
push_back(const Vec&)

◆ push_back() [3/3]

void icl::geom::PointCloudObject::push_back ( const Vec point,
const Vec normal,
const GeomColor color,
float  depth = 0 
)
inline

adds xyz point with given normal and color and optional depth value

See also
push_back(const Vec&)

◆ selectDepth()

virtual core::DataSegment<float,1> icl::geom::PointCloudObject::selectDepth ( )
virtual

returns the depth data segment (single channel float, packed)

Only available if the the Depth feature was explicitly enabled

Reimplemented from icl::geom::PointCloudObjectBase.

◆ selectLabel()

virtual core::DataSegment<icl32s,1> icl::geom::PointCloudObject::selectLabel ( )
virtual

returns the label data segment (32-bit signed integer)

Only available if the the Label feature was explicitly enabled

Reimplemented from icl::geom::PointCloudObjectBase.

◆ selectNormal()

virtual core::DataSegment<float,4> icl::geom::PointCloudObject::selectNormal ( )
virtual

returns the Normals data segment (4-floats)

Only available if the constructor was called with "withNormals" set to true

Reimplemented from icl::geom::PointCloudObjectBase.

◆ selectRGBA32f()

virtual core::DataSegment<float,4> icl::geom::PointCloudObject::selectRGBA32f ( )
virtual

returns the RGBA data segment (4-floats)

Reimplemented from icl::geom::PointCloudObjectBase.

◆ selectXYZ()

virtual core::DataSegment<float,3> icl::geom::PointCloudObject::selectXYZ ( )
virtual

returns XYZ data segment

Reimplemented from icl::geom::PointCloudObjectBase.

◆ selectXYZH()

virtual core::DataSegment<float,4> icl::geom::PointCloudObject::selectXYZH ( )
virtual

returns XYZH data segment

Reimplemented from icl::geom::PointCloudObjectBase.

◆ setSize()

virtual void icl::geom::PointCloudObject::setSize ( const utils::Size size)
virtual

adapts the point cloud size

if the sizes height is smaller than 1, the cloud becomes un-organized

Implements icl::geom::PointCloudObjectBase.

◆ supports()

virtual bool icl::geom::PointCloudObject::supports ( FeatureType  t) const
virtual

returns which features are supported (only XYZ and RGBA32f)

Implements icl::geom::PointCloudObjectBase.

Member Data Documentation

◆ m_depth

std::vector<float> icl::geom::PointCloudObject::m_depth
protected

optional feature for the depth mask (Depth-feature)

◆ m_dim2D

utils::Size icl::geom::PointCloudObject::m_dim2D
protected

2D dimension

◆ m_hasColors

bool icl::geom::PointCloudObject::m_hasColors
protected

flag whether the point cloud has colors

◆ m_hasDepth

bool icl::geom::PointCloudObject::m_hasDepth
protected

flag indicating whether a depth-feature is supported

◆ m_hasLabels

bool icl::geom::PointCloudObject::m_hasLabels
protected

flag indicating whether labels are supported

◆ m_hasNormals

bool icl::geom::PointCloudObject::m_hasNormals
protected

flag whether normals are given

◆ m_labels

std::vector<int> icl::geom::PointCloudObject::m_labels
protected

label mask (activated in constructor)

◆ m_organized

bool icl::geom::PointCloudObject::m_organized
protected

internal 2D organized flag


The documentation for this class was generated from the following file: