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

#include <PointCloudObject.h>

Inheritance diagram for icl::geom::PointCloudObject:

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 PointCloudObject *	copy () 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::Time &	getTime () 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 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...

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< 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

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 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...

Detailed Description

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

This class replaces the former implementations

PointcloudSceneObject
RGBDImageSceneObject

Normals

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

ToDo

add optional color (perhaps not possible)

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

width	number of points per line (if unordered, number of points)
height	number of points per row (if unordered, height is not used)
organized	specifies 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:

/Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/PointCloudObject.h

Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Normals

ToDo

Constructor & Destructor Documentation

◆ PointCloudObject() [1/3]

◆ PointCloudObject() [2/3]

◆ PointCloudObject() [3/3]

Member Function Documentation

◆ addFeature()

◆ addNormal()

◆ addVertex()

◆ canAddFeature()

◆ copy()

◆ customRender()

◆ getDim()

◆ getSize()

◆ isOrganized()

◆ push_back() [1/3]

◆ push_back() [2/3]

◆ push_back() [3/3]

◆ selectDepth()

◆ selectLabel()

◆ selectNormal()

◆ selectRGBA32f()

◆ selectXYZ()

◆ selectXYZH()

◆ setSize()

◆ supports()

Member Data Documentation

◆ m_depth

◆ m_dim2D

◆ m_hasColors

◆ m_hasDepth

◆ m_hasLabels

◆ m_hasNormals

◆ m_labels

◆ m_organized