Base class for point cloud data types. More...

#include <PointCloudObjectBase.h>

Inheritance diagram for icl::geom::PointCloudObjectBase:

Public Types
enum	FeatureType { Intensity, Label, Depth, BGR, BGRA, BGRA32s, XYZ, XYZH, Normal, RGBA32f, NUM_FEATURES }
	List of well known features. More...

Public Member Functions
	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	supports (FeatureType t) const =0
	interface for supported features 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...

virtual bool	isOrganized () const =0
	interface for supported features More...

virtual utils::Size	getSize () const =0
	returns the 2D size of the pointcloud (throws exception if not ordered) More...

virtual int	getDim () const =0
	return the linearily ordered number of point in the point cloud More...

virtual void	setSize (const utils::Size &size)=0
	adapts the 2D size and enables the 'organized mode' More...

void	setDim (int dim)
	sets the number of contained points (and enables the unorganized mode) 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, 1 >	selectIntensity ()
	well known feature Intensity (single float values) More...

virtual core::DataSegment< float, 1 >	selectDepth ()
	well known feature Depth (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, 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)
	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...

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 PointCloudObjectBase *	copy () const
	deep copy interface (needs to be implemented by subclasses) More...

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 Member Functions
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
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
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 Attributes
utils::Time	timestamp
	timestamp associated with the point cloud More...

Additional Inherited Members
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...

Detailed Description

Base class for point cloud data types.

The PointCloudObjectBase class provides a generic but abstract interface for point cloud data types. By inheriting the SceneObject class, it allows for easy visualization as an object in an instance of an icl::Scene. The interface includes querying important, but abstract information about the acutal point cloud, such as it's size or which features are supported. In addition to this, it's select*** methods allow for accessing the internal point feature information in a generic manner.

Member Enumeration Documentation

◆ FeatureType

enum icl::geom::PointCloudObjectBase::FeatureType

List of well known features.

Enumerator
Intensity	scalar components 4 bytes each! single float intensity
Label	single int32 label
Depth	single float depth value (interpretation suggestion: dist to camera center)
BGR	[uchar b,g,r, padding]
BGRA	[uchar b,g,r, alpha]
BGRA32s	bgra packed as one icl32s
XYZ	[float x,y,z, padding]
XYZH	[float x,y,z, homogenous part]
Normal	[float nx,ny,nz,curvature]
RGBA32f	[float r,g,b,a ]
NUM_FEATURES

Constructor & Destructor Documentation

◆ PointCloudObjectBase()

icl::geom::PointCloudObjectBase::PointCloudObjectBase ( )

inline

Default constructor.

Enables locking in the wrapped SceneObject class

Member Function Documentation

◆ addFeature()

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

inlinevirtual

interface for adding a feature to an existing point cloud instance

if the given feature cannot be added, an exception is thrown. To avoid this, call canAddFeature before using this function. Implementations of this function are supposed ignore this call in cases where the feature is actually already supported

Reimplemented in icl::geom::PointCloudObject.

◆ canAddFeature()

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

inlinevirtual

interface function for dynamic Point cloud types that can dynamically add features

For features that are already supported, the output is undefined

Reimplemented in icl::geom::PointCloudObject.

◆ clearAllMetaData()

void icl::geom::PointCloudObjectBase::clearAllMetaData ( )

deletes all meta data entries

◆ clearMetaData()

void icl::geom::PointCloudObjectBase::clearMetaData ( const std::string & key )

clears the meta data for a given key

◆ copy()

virtual PointCloudObjectBase* icl::geom::PointCloudObjectBase::copy ( ) const

inlinevirtual

deep copy interface (needs to be implemented by subclasses)

Reimplemented from icl::geom::SceneObject.

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >, icl::geom::PointCloudObject, and icl::geom::PointCloudSegment.

◆ customRender()

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

virtual

custom rendering method

The basic implementation of this method uses the XYZ data segment to render points using an OpenGL vertex array. If any color information is available, it is used to tint the drawn points using OpenGL color pointer. Miss-ordered BGR types are rendered using an OpenGL fragment shaded to swap the transferred blue and red channels

Reimplemented from icl::geom::SceneObject.

Reimplemented in icl::geom::PointCloudObject.

◆ deepCopy()

virtual void icl::geom::PointCloudObjectBase::deepCopy ( PointCloudObjectBase & dst ) const

virtual

deeply copies all well-known features that are shared by this and dst

◆ drawNormalLines()

virtual void icl::geom::PointCloudObjectBase::drawNormalLines ( )

protectedvirtual

draw normal lines

◆ equals()

virtual bool icl::geom::PointCloudObjectBase::equals	(	const PointCloudObjectBase &	dst,
		bool	compareOnlySharedFeatures = `false`,
		bool	allowDifferentColorTypes = `true`,
		float	tollerance = `1.0e-5`
	)		const

virtual

returns whether two points clouds are equal

◆ error()

template<class T , int N>

core::DataSegment<T,N>& icl::geom::PointCloudObjectBase::error ( const std::string & fname )

inlineprotected

internally used utility method that throws verbose exceptions

◆ error_dyn()

core::DataSegmentBase& icl::geom::PointCloudObjectBase::error_dyn ( const std::string & featureName )

inlineprotected

internally used utility method that throws verbose exceptions

◆ extractColorsToImage()

void icl::geom::PointCloudObjectBase::extractColorsToImage	(	core::ImgBase &	image,
		bool	withAlpha = `false`
	)		const

extracts the color information and stores it into the given image

The image size and color format is adapted if necessary

◆ getAllMetaDataEntries()

std::vector<std::string> icl::geom::PointCloudObjectBase::getAllMetaDataEntries ( ) const

returns a list of all available meta data entires

◆ getDefaultVertexColor()

virtual GeomColor icl::geom::PointCloudObjectBase::getDefaultVertexColor ( ) const

inlinevirtual

implements the SceneObject's virtual getter function for this feature

Reimplemented from icl::geom::SceneObject.

◆ getDim()

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

pure virtual

return the linearily ordered number of point in the point cloud

Implemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ getMetaData() [1/3]

std::map<std::string,std::string>& icl::geom::PointCloudObjectBase::getMetaData ( )

returns the meta data associated with this point cloud object

◆ getMetaData() [2/3]

const std::map<std::string,std::string>& icl::geom::PointCloudObjectBase::getMetaData ( ) const

returns the meta data associated with this point cloud object (const)

◆ getMetaData() [3/3]

const std::string& icl::geom::PointCloudObjectBase::getMetaData ( const std::string & key ) const

returns the meta data associated with a given key

◆ getSize()

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

pure virtual

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

Implemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ getSupportedDynamicFeatures()

virtual std::vector<std::string> icl::geom::PointCloudObjectBase::getSupportedDynamicFeatures ( ) const

inlinevirtual

For subclasses that provide Dynamic features, this function must be implemented.

◆ getTime()

virtual const utils::Time& icl::geom::PointCloudObjectBase::getTime ( ) const

inlinevirtual

returns the current timestamp

◆ hasAnyMetaData()

bool icl::geom::PointCloudObjectBase::hasAnyMetaData ( ) const

returns whether any meta data is available

◆ hasMetaData()

bool icl::geom::PointCloudObjectBase::hasMetaData ( const std::string & key ) const

returns whether meta data to the given key is associated

◆ isOrganized()

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

pure virtual

interface for supported features

Implemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ length()

static float icl::geom::PointCloudObjectBase::length ( Vec d )

inlinestaticprotected

◆ select() [1/2]

virtual core::DataSegmentBase icl::geom::PointCloudObjectBase::select ( const std::string & featureName )

inlinevirtual

dynamic feature selection function

This can be implemented in subclasses to grant access to less common feature types such as feature point descriptors

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >.

◆ select() [2/2]

const core::DataSegmentBase icl::geom::PointCloudObjectBase::select ( const std::string & featureName ) const

inline

const dynamic/custom data

◆ selectBGR() [1/2]

virtual core::DataSegment<icl8u,3> icl::geom::PointCloudObjectBase::selectBGR ( )

inlinevirtual

well known feature Intensity (three byte vectors ordered BGR)

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >.

◆ selectBGR() [2/2]

const core::DataSegment<icl8u,3> icl::geom::PointCloudObjectBase::selectBGR ( ) const

inline

const bgr data

◆ selectBGRA() [1/2]

virtual core::DataSegment<icl8u,4> icl::geom::PointCloudObjectBase::selectBGRA ( )

inlinevirtual

well known feature Intensity (four byte vectors ordered BGRA)

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >.

◆ selectBGRA() [2/2]

const core::DataSegment<icl8u,4> icl::geom::PointCloudObjectBase::selectBGRA ( ) const

inline

const rgba data

◆ selectBGRA32s() [1/2]

virtual core::DataSegment<icl32s,1> icl::geom::PointCloudObjectBase::selectBGRA32s ( )

inlinevirtual

well known feature Intensity (single int value encoding byte-wise BGRA)

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >.

◆ selectBGRA32s() [2/2]

const core::DataSegment<icl32s,1> icl::geom::PointCloudObjectBase::selectBGRA32s ( ) const

inline

const bgra32s data

◆ selectDepth() [1/2]

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

inlinevirtual

well known feature Depth (single float values)

Reimplemented in icl::geom::PointCloudObject.

◆ selectDepth() [2/2]

const core::DataSegment<float,1> icl::geom::PointCloudObjectBase::selectDepth ( ) const

inline

const intensity data

◆ selectIntensity() [1/2]

virtual core::DataSegment<float,1> icl::geom::PointCloudObjectBase::selectIntensity ( )

inlinevirtual

well known feature Intensity (single float values)

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >.

◆ selectIntensity() [2/2]

const core::DataSegment<float,1> icl::geom::PointCloudObjectBase::selectIntensity ( ) const

inline

const intensity data

◆ selectLabel() [1/2]

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

inlinevirtual

well known feature Intensity (single 32bit int values)

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ selectLabel() [2/2]

const core::DataSegment<icl32s,1> icl::geom::PointCloudObjectBase::selectLabel ( ) const

inline

const label data

◆ selectNormal() [1/2]

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

inlinevirtual

well known feature Normal (4 float values)

in the PCL, the 4th value is sometimes used to store a local curvature value

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ selectNormal() [2/2]

const core::DataSegment<float,4> icl::geom::PointCloudObjectBase::selectNormal ( ) const

inline

const normals data

◆ selectRGBA32f() [1/2]

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

inlinevirtual

well known feature RGBA (4 float values, ordred RGBA)

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ selectRGBA32f() [2/2]

const core::DataSegment<float,4> icl::geom::PointCloudObjectBase::selectRGBA32f ( ) const

inline

const rgba32f data

◆ selectXYZ() [1/2]

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

inlinevirtual

well know features XYZ (three floats, this feature must usually be available)

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ selectXYZ() [2/2]

const core::DataSegment<float,3> icl::geom::PointCloudObjectBase::selectXYZ ( ) const

inline

const xyz data

◆ selectXYZH() [1/2]

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

inlinevirtual

common way to store XYZ-data (4th float define homogeneous part)

Reimplemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ selectXYZH() [2/2]

const core::DataSegment<float,4> icl::geom::PointCloudObjectBase::selectXYZH ( ) const

inline

const xyzh data

◆ setColorsFromImage()

void icl::geom::PointCloudObjectBase::setColorsFromImage ( const core::ImgBase & image )

tints the point cloud pixel from the given image data

The image size must be equal to the point cloud size

◆ setDefaultVertexColor()

void icl::geom::PointCloudObjectBase::setDefaultVertexColor ( const GeomColor & color )

sets the color that is used to render points if color information is available

◆ setDim()

void icl::geom::PointCloudObjectBase::setDim ( int dim )

inline

sets the number of contained points (and enables the unorganized mode)

◆ setMetaData()

void icl::geom::PointCloudObjectBase::setMetaData	(	const std::string &	key,
		const std::string &	value
	)

sets the meta data entry for given key to value

◆ setSize()

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

pure virtual

adapts the 2D size and enables the 'organized mode'

Implementations of this method should ensure, that the function behaves lazy, i.e. if the object has already the desired size, nothing should be done.
Furthermore, if the given height is 0 or smaller, the point-cloud should be set to the un-organized mode

Implemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

◆ setTime()

virtual void icl::geom::PointCloudObjectBase::setTime ( const utils::Time & t )

inlinevirtual

sets the current timestamp

◆ setUseDrawNormalLines()

void icl::geom::PointCloudObjectBase::setUseDrawNormalLines	(	bool	use,
		float	lineLength = `40`,
		int	granularity = `4`
	)

set use draw normal lines

◆ setUseMasking()

void icl::geom::PointCloudObjectBase::setUseMasking	(	bool	use,
		core::Img8u &	mask
	)

◆ setUseTexturing()

void icl::geom::PointCloudObjectBase::setUseTexturing	(	bool	use,
		core::Img8u &	tex,
		core::DataSegment< float, 2 >	texCoords
	)

◆ setUseTriangulation()

void icl::geom::PointCloudObjectBase::setUseTriangulation	(	bool	use,
		float	maxDelta = `50`
	)

◆ supports()

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

pure virtual

interface for supported features

Implemented in icl::geom::PCLPointCloudObject< PCLPointType >, and icl::geom::PointCloudObject.

Member Data Documentation

◆ m_defaultPointColor

GeomColor icl::geom::PointCloudObjectBase::m_defaultPointColor

protected

default color used to render points that have no color information

◆ m_metaData

std::map<std::string,std::string> icl::geom::PointCloudObjectBase::m_metaData

protected

internal map of meta data

◆ maskImage

core::Img8u icl::geom::PointCloudObjectBase::maskImage

protected

◆ maxDeltaValue

float icl::geom::PointCloudObjectBase::maxDeltaValue

protected

◆ normalLineGranularity

int icl::geom::PointCloudObjectBase::normalLineGranularity

protected

◆ normalLineLength

float icl::geom::PointCloudObjectBase::normalLineLength

protected

◆ textureCoordinates

core::DataSegment<float,2> icl::geom::PointCloudObjectBase::textureCoordinates

protected

◆ textureImage

core::Img8u icl::geom::PointCloudObjectBase::textureImage

protected

◆ timestamp

utils::Time icl::geom::PointCloudObjectBase::timestamp

private

timestamp associated with the point cloud

◆ useDrawNormalLines

bool icl::geom::PointCloudObjectBase::useDrawNormalLines

protected

◆ useMasking

bool icl::geom::PointCloudObjectBase::useMasking

protected

◆ useTexturing

bool icl::geom::PointCloudObjectBase::useTexturing

protected

◆ useTriangulation

bool icl::geom::PointCloudObjectBase::useTriangulation

protected

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

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

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ FeatureType

Constructor & Destructor Documentation

◆ PointCloudObjectBase()

Member Function Documentation

◆ addFeature()

◆ canAddFeature()

◆ clearAllMetaData()

◆ clearMetaData()

◆ copy()

◆ customRender()

◆ deepCopy()

◆ drawNormalLines()

◆ equals()

◆ error()

◆ error_dyn()

◆ extractColorsToImage()

◆ getAllMetaDataEntries()

◆ getDefaultVertexColor()

◆ getDim()

◆ getMetaData() [1/3]

◆ getMetaData() [2/3]

◆ getMetaData() [3/3]

◆ getSize()

◆ getSupportedDynamicFeatures()

◆ getTime()

◆ hasAnyMetaData()

◆ hasMetaData()

◆ isOrganized()

◆ length()

◆ select() [1/2]

◆ select() [2/2]

◆ selectBGR() [1/2]

◆ selectBGR() [2/2]

◆ selectBGRA() [1/2]

◆ selectBGRA() [2/2]

◆ selectBGRA32s() [1/2]

◆ selectBGRA32s() [2/2]

◆ selectDepth() [1/2]

◆ selectDepth() [2/2]

◆ selectIntensity() [1/2]

◆ selectIntensity() [2/2]

◆ selectLabel() [1/2]

◆ selectLabel() [2/2]

◆ selectNormal() [1/2]

◆ selectNormal() [2/2]

◆ selectRGBA32f() [1/2]

◆ selectRGBA32f() [2/2]

◆ selectXYZ() [1/2]

◆ selectXYZ() [2/2]

◆ selectXYZH() [1/2]

◆ selectXYZH() [2/2]

◆ setColorsFromImage()

◆ setDefaultVertexColor()

◆ setDim()

◆ setMetaData()

◆ setSize()

◆ setTime()

◆ setUseDrawNormalLines()

◆ setUseMasking()

◆ setUseTexturing()

◆ setUseTriangulation()

◆ supports()

Member Data Documentation

◆ m_defaultPointColor

◆ m_metaData

◆ maskImage

◆ maxDeltaValue

◆ normalLineGranularity

◆ normalLineLength

◆ textureCoordinates

◆ textureImage