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:

List of all members.

Public Member Functions
	PointCloudObject (int numPoints, bool withNormals=false, bool withColors=true)
	create an un-organizied point cloud with N points
	PointCloudObject (int width, int height, bool organized=true, bool withNormals=false, bool withColors=true)
	creates a new organized or un-organized SimplePointCloudObject instance
virtual bool	supports (FeatureType t) const
	returns which features are supported (only XYZ and RGBA32f)
virtual bool	isOrganized () const
	returns whether the points are 2D-ordered
virtual utils::Size	getSize () const throw (utils::ICLException)
	returns the 2D size of the pointcloud (throws exception if not ordered)
virtual int	getDim () const
	return the linearily ordered number of point in the point cloud
virtual void	setSize (const utils::Size &size)
	adapts the point cloud size
virtual DataSegment< float, 3 >	selectXYZ ()
	returns XYZ data segment
virtual DataSegment< float, 4 >	selectXYZH ()
	returns XYZH data segment
virtual DataSegment< float, 4 >	selectRGBA32f ()
	returns the RGBA data segment (4-floats)
virtual DataSegment< float, 4 >	selectNormal ()
	returns the Normals data segment (4-floats)
virtual void	customRender ()
	important, this is again, reimplemented in order to NOT draw the stuff manually here
virtual PointCloudObject *	copy () const
	deep copy function
void	push_back (const Vec &point)
	just a simple wrapper for top-top level classe's addVertex method
void	push_back (const Vec &point, const GeomColor &color)
	adds xyz point with given color
void	push_back (const Vec &point, const Vec &normal, const GeomColor &color)
	adds xyz point with given normal and color
Protected Attributes
bool	m_organized
	internal 2D organized flag
utils::Size	m_dim2D
	2D dimension
bool	m_hasNormals
	flag whether normals are given
bool	m_hasColors
	flag whether the point cloud has colors

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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)

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Constructor & Destructor Documentation

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

create an un-organizied point cloud with N points

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

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 withNormals if true, also normals will be created for each point

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Member Function Documentation

virtual PointCloudObject* icl::geom::PointCloudObject::copy

(

)

const [inline, virtual]

deep copy function

Reimplemented from icl::geom::PointCloudObjectBase.

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.

virtual int icl::geom::PointCloudObject::getDim

(

)

const [virtual]

return the linearily ordered number of point in the point cloud

Implements icl::geom::PointCloudObjectBase.

virtual utils::Size icl::geom::PointCloudObject::getSize

(

)

const throw (utils::ICLException) [virtual]

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

Implements icl::geom::PointCloudObjectBase.

virtual bool icl::geom::PointCloudObject::isOrganized

(

)

const [virtual]

returns whether the points are 2D-ordered

Implements icl::geom::PointCloudObjectBase.

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

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&)

void icl::geom::PointCloudObject::push_back	(	const Vec &	point,
		const Vec &	normal,
		const GeomColor &	color
	)		[inline]

adds xyz point with given normal and color

See also:

push_back(const Vec&)

virtual 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.

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

(

)

[virtual]

returns the RGBA data segment (4-floats)

Reimplemented from icl::geom::PointCloudObjectBase.

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

(

)

[virtual]

returns XYZ data segment

Reimplemented from icl::geom::PointCloudObjectBase.

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

(

)

[virtual]

returns XYZH data segment

Reimplemented from icl::geom::PointCloudObjectBase.

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.

virtual bool icl::geom::PointCloudObject::supports

(

FeatureType

t

)

const [virtual]

returns which features are supported (only XYZ and RGBA32f)

Implements icl::geom::PointCloudObjectBase.

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Member Data Documentation

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

2D dimension

bool icl::geom::PointCloudObject::m_hasColors [protected]

flag whether the point cloud has colors

bool icl::geom::PointCloudObject::m_hasNormals [protected]

flag whether normals are given

bool icl::geom::PointCloudObject::m_organized [protected]

internal 2D organized flag

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

• /home/jenkins/workspace/icl-manual-8.0/icl-manual/ICLGeom/src/ICLGeom/PointCloudObject.h