FrameBasedPointCloud Class Reference

#include <ImFusion/Base/FrameBasedPointCloud.h>

Data structure for point clouds with frame-dependent point data. More...

Inheritance diagram for FrameBasedPointCloud:

Detailed Description

Data structure for point clouds with frame-dependent point data.

In this point cloud, all points are stored in raw form per frame, i.e. in local frame coordinates, so that when the matrix of the frame is changed, the world coordinates of the points can be easily recomputed. This is particularly useful if the points are derived from ultrasound sweeps and the calibration matrix is optimized after some segmentation.

Note

There is no mechanism to ensure that the dependent TrackedSharedImageSets are not deleted. If a TrackedSharedImageSets is removed from the data model, the associated points are removed as well.

Public Member Functions
	FrameBasedPointCloud (const std::vector< TrackedSharedImageSet * > &tsiss, std::vector< size_t > frameIndices, std::vector< vec3 > points, std::vector< vec3 > normals, std::vector< vec3 > colors, const std::string &name="")
	Constructs a new point cloud using the given TrackedSharedImageSets.
	FrameBasedPointCloud (const std::vector< TrackedSharedImageSet * > &tsiss, std::vector< size_t > frameIndices, std::vector< vec3 > points, std::vector< vec3 > normals, const std::string &name="")
	Constructs a new point cloud using the given TrackedSharedImageSets.
	FrameBasedPointCloud (const std::vector< TrackedSharedImageSet * > &tsiss, std::vector< size_t > frameIndices, std::vector< vec3 > points, const std::string &name="")
	Constructs a new point cloud using the given TrackedSharedImageSets.
	FrameBasedPointCloud (const std::string &name="")
	Constructs an empty frame based point cloud.
	FrameBasedPointCloud (const FrameBasedPointCloud &other)
	Copy constructor with another frame-based point cloud instance.
	FrameBasedPointCloud (FrameBasedPointCloud &&other) noexcept
	Move constructor with another point cloud instance.
FrameBasedPointCloud &	operator= (FrameBasedPointCloud) noexcept
	Copy/Move assignment operator.
bool	setAdditionalCalibration (const mat4 &mat, double temp)
	Sets additional spatial and temporal calibrations to consider, without modifying the calibration of m_tsiss.
void	applyAdditionalCalibration ()
	Applies m_calibMat and m_calibTemp to all TrackedSharedImageSets and sets them to zero.
int	removePoints (const std::vector< int > &indices) override
	Remove the points with the specified indices while keeping the point cloud consistent.
const std::vector< size_t > &	frameIndices () const
	Returns the input frame indices.
const std::map< size_t, std::vector< uint32_t > > &	framePoints () const
	Returns the points corresponding to their frames.
std::vector< vec3 >	rawPoints () const
	Returns the raw points in local frame coordinates.
std::vector< vec3 >	rawNormals () const
	Returns the raw normals in local frame coordinates.
const std::vector< TrackedSharedImageSet * > &	trackedSharedImageSets () const
	Returns the input TrackedSharedImageSets.
void	swapWith (FrameBasedPointCloud &other)
	Swaps the data of with other point cloud and emits a changed signal for both.
Public Member Functions inherited from PointCloud
	PointCloud (int width=0, int height=0, const std::string &name="")
	Constructs an empty point cloud.
	PointCloud (std::vector< vec3 > points, int width=0, int height=0, const std::string &name="")
	Constructs a point cloud with the specified vertices.
	PointCloud (std::vector< vec3 > points, std::vector< vec3 > normals, int width=0, int height=0, const std::string &name="")
	Constructs a point cloud with the specified vertices and normals.
	PointCloud (std::vector< vec3 > points, std::vector< vec3 > normals, std::vector< vec3 > colors, int width=0, int height=0, const std::string &name="")
	Constructs a point cloud with the specified vertices, normals and colors.
	PointCloud (std::vector< vec3 > points, std::vector< vec3 > normals, std::vector< vec3 > colors, const TypedImage< int > *pixelToIndexMap, int width=0, int height=0, const std::string &name="")
	Constructs a point cloud with the specified vertices, normals, colors and mapping from pixel (x, y) to a vertex index.
	PointCloud (const PointCloud &other)
	Copy constructor with another point cloud instance.
	PointCloud (PointCloud &&other) noexcept
	Move constructor with another point cloud instance.
	~PointCloud () override
	Destructor.
PointCloud &	operator= (PointCloud) noexcept
	Copy/Move assignment operator.
void	setMatrix (const mat4 &m) override
	Set the transformation matrix.
bool	isAnnotationType () const override
	Return whether this data type is visualized through an annotation (e.g. mesh)
int	size () const
void	clear ()
bool	isValid (bool runExtendedCheck=false) const
	Check consistency of point cloud data structure. Set runExtendedCheck to true to also check pixelToIndexMap contents (slow).
int	width () const
	Return width.
void	setWidth (int w)
	Set width.
int	height () const
	Return height.
void	setHeight (int h)
	Set height.
void	setCameraIntrinsics (const mat3 &K)
mat3	cameraIntrinsics () const
bool	isDense () const
	Return true when the point cloud is organized as an image.
bool	isDenseCalibrated (bool reproject=false, unsigned int pixelTol=5) const
	Return true when the point cloud is organized, the intrinsics are set When 'reproject' flag is set to true, we also check that points are given in the camera coordinate system.
const std::vector< vec3 > &	points () const
	Const access to point coordinates.
void	setPoints (std::vector< vec3 > &&points)
	Set the points.
void	setPoints (const std::vector< vec3 > &points)
bool	setPoint (int idx, const vec3 &point)
const std::vector< vec3 > &	normals () const
	Const access to normal coordinates.
bool	setNormals (std::vector< vec3 > &&normals)
	Set the normals.
bool	setNormals (const std::vector< vec3 > &normals)
bool	setNormal (int idx, const vec3 &normal)
bool	hasNormals () const
	Return true if point cloud has normals.
const std::vector< vec3 > &	colors () const
	Const access to color coordinates.
bool	setColors (std::vector< vec3 > &&colors)
	Set the colors.
bool	setColors (const std::vector< vec3 > &colors)
bool	setColor (int idx, const vec3 &color)
bool	hasColors () const
	Return true if point cloud has colors.
const std::vector< double > &	weights () const
	Const access to weights.
bool	setWeights (std::vector< double > &&colors)
	Set the weights. If the size of the weight vector is not equal to the point cloud size the method does nothing and returns false. Passing in an empty vector clears the weight information.
bool	setWeights (const std::vector< double > &colors)
bool	setWeight (int idx, double color)
bool	hasWeights () const
	Return true if point cloud has weights.
const std::vector< int > &	labels () const
	Const access to labels.
int	label (int idx) const
	Get label of the point.
bool	setLabels (std::vector< int > &&labels)
	Set the labels.
bool	setLabels (const std::vector< int > &labels)
bool	setLabel (int idx, int label)
void	requestLabels ()
	If point cloud doesn't have labels, assign zero labels to all points;.
void	resetLabels ()
	Rest labels of all points to zero, if label information is present.
bool	hasLabels () const
	Returns true if point cloud contains point labels.
PointCloudData	takeData ()
	Takes all the underlying data and clears the PointCloud object.
MemImage *	labelTexture () const
	Returns the texture image used for colors of point labels.
const TypedImage< int > *	pixelToIndexMap () const
	Access to pixel to index map.
void	setPixelToIndexMap (const TypedImage< int > *pixelToIndexMap)
	Set pixel to index map. Internally a copy is made.
void	setLabelTexture (std::unique_ptr< MemImage > tex)
	Set texture for point labels. The image ownership is transferred to the point cloud class.
bool	densePointCloudIndex (int x, int y, int &indexOut) const
	Retrieves point cloud data associated with a given pixel for dense point clouds.
const mat4 &	matrixRef () const
void	setFilename (const std::string &name)
	Sets a filename from where this point cloud can be loaded.
const std::string &	filename () const
	Returns the filename from where this point cloud can be loaded or an empty string if it's not on disk.
void	computeBoundingBox (vec3 &origin, vec3 &extent, bool useMatrix) const
	Computes the bounding box.
void	computeBoundingBox ()
	Compute bounding box without matrices and store results in object.
vec3	center ()
	Return bounding box center computed by a previous call to computeBoundingBox.
vec3	origin ()
	Return bounding box origin computed by a previous call to computeBoundingBox.
vec3	extent ()
	Return bounding box extent computed by a previous call to computeBoundingBox.
int	duplicatePoints (const std::vector< int > &indices)
	Duplicate the point with the specified indices while keeping the point cloud consistent. Invalidates m_pixelToIndexMap.
void	beginUpdate ()
	After this call no signals will be emitted if the point cloud data is changed.
void	endUpdate ()
	End update and send point cloud changed signal.
bool	signalsBlocked () const
	Returns true if the signals are blocked.
void	transformPointCloud (const mat4 &transformation)
	Apply given matrix to point cloud.
void	convertColorsToLabels (const std::vector< std::pair< vec3, int > > *colorToLabelMap=nullptr, double channelTol=0.1)
	Resets point cloud labels.
void	swapWith (PointCloud &other)
	Swaps the data of with other point cloud and emits a changed signal for both.
Kind	kind () const override
	Return the kind of this data.
Geometry::AlignedBox	bounds () const override
	Returns the axis-aligned bounding box of this data in world space.
Geometry::AlignedBox	boundsLocal ()
	Returns the axis-aligned bounding box of this data in local space.
Pose::TransformationConvention	matrixConvention () const override
	Matrices of point clouds map to world coordinate system.
Public Member Functions inherited from Data
	Data (const std::string &name="")
	Data (const Data &other)
Data &	operator= (const Data &other)
virtual	~Data ()
	Mandatory virtual destructor.
virtual Modality	modality () const
	Return the modality of this data.
const std::string &	name () const
	Return the name of this data.
void	setName (const std::string &name)
	Sets the name of this data.
const DataComponentList &	components () const
	Returns the list of DataComponents for this data.
DataComponentList &	components ()
virtual std::string	describe () const
	Human readable description of the data for showing in the info bar.
virtual void	setMatrixFromWorld (const mat4 &m)
	Set matrix mapping from the world coordinate system to the data coordinate system.
virtual void	setMatrixToWorld (const mat4 &m)
	Set matrix mapping from the data coordinate system to the world coordinate system.
virtual mat4	matrixFromWorld () const
	Get matrix mapping from the world coordinate system to the data coordinate system.
virtual mat4	matrixToWorld () const
	Get matrix mapping from the data coordinate system to the world coordinate system.
virtual mat4	matrix () const
	Return the transformation matrix.
Public Member Functions inherited from SignalReceiver
	SignalReceiver ()=default
	Default constructor.
	SignalReceiver (const SignalReceiver &other)
	Copy constructor, does not copy any existing signal connections from other.
SignalReceiver &	operator= (SignalReceiver rhs)
	Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs.
virtual	~SignalReceiver ()
	Virtual destructor disconnects from all connected signals.

Protected Types
typedef std::pair< TrackedSharedImageSet *, int >	FrameId

Protected Member Functions
void	initialize (bool computePixelCoordinates=true)
	Called in constructor. Sets up signals and runs the first point computation.
void	trackingSequenceUpdated ()
	Recomputes points if not suspended and emits point cloud changed signal.
void	recomputePoints ()
	Recomputes the point cloud representation using the frame matrices in m_tsiss, taking m_calibMat and m_calibTemp into account.
void	deleteFramePoints (TrackedSharedImageSet *tsis, int frameIdx)
	Delete points of specified frame index. All points are deleted if frame index is -1.
Protected Member Functions inherited from PointCloud
void	emitPointCloudChangedSignal ()
void	createDefaultLabelTexture (int numLabels)
	Create a default texture for point labels. Size of the texture is defined by input parameter 'numLabels'.
Protected Member Functions inherited from Data
void	swapWith (Data &other)
	Swaps the data and emits a matrix and name changed signal for both.
Protected Member Functions inherited from SignalReceiver
void	disconnectAll ()
	Disconnects all existing connections.

Protected Attributes
std::vector< size_t >	m_frameIndices
	Index assigning each point to a TrackedSharedImageSet (4th byte) and a frame therein (bytes 1-3).
std::vector< vec3 >	m_rawPoints
	Points in local frame coordinates (internally stored in pixel coordinates)
std::vector< vec3 >	m_rawNormals
	Normals in local frame coordinates (internally stored in pixel coordinates)
std::vector< TrackedSharedImageSet * >	m_tsiss
	TrackedSharedImageSets containing the frames m_frameIndices map to.
std::vector< std::shared_ptr< SignalConnection > >	m_trackingChangedSignalConnections
	Connections to signal when used tracking changed.
std::unordered_map< const SharedImage *, FrameId >	m_imageToFrameId
	Look-up table to associate deletion signal of a SharedImage to the TrackedSharedImageSet and the frame index therein.
std::map< size_t, std::vector< uint32_t > >	m_frameToPointsIndices
Protected Attributes inherited from PointCloud
std::vector< vec3 >	m_points
	point cloud vertices
std::vector< vec3 >	m_normals
	point cloud vertex normals
std::vector< vec3 >	m_colors
	point cloud vertex colors
std::vector< int >	m_labels
	point cloud vertex labels
std::vector< double >	m_weights
std::unique_ptr< TypedImage< int > >	m_pixelToIndexMap
int	m_width
	width of the point cloud. In case of non-dense point clouds it should be equal to the number of vertices
int	m_height
	height of the point cloud. In case of non-dense point clouds it should be equal to 1
mat3	m_K
std::string	m_filename
	the path from where the point cloud was loaded or empty if not loaded from file
bool	m_updateBoundingBox
vec3	m_origin
vec3	m_extent
bool	m_updateBoundingBoxWithMatrix
	axis-aligned bounding box of this data in world space
Geometry::AlignedBox	m_boundingBoxWithMatrix
	flag which indicates whether the bounds of this data should be re-computed
std::unique_ptr< MemImage >	m_labelTexture
Protected Attributes inherited from Data
mat4	m_matrix
	Transformation matrix.
std::recursive_mutex *	m_matrixMutex
	Used to internally synchronize access to the matrix of data.
DataComponentList	m_dataComponentList
	The list of DataComponents for this data.

Additional Inherited Members
Public Types inherited from Data
enum	Kind {   UNKNOWN = 0 , IMAGE = 1 , VOLUME = 2 , IMAGESET = 3 ,   VOLUMESET = 4 , IMAGESTREAM = 5 , VOLUMESTREAM = 6 , POINTSET = 7 ,   SURFACE = 8 , TRACKINGSTREAM = 9 , LIVETRACKINGSTREAM = TRACKINGSTREAM , TRACKINGDATA = 10 ,   TREE = 11 , TENSOR = 12 , POLYDATASTREAM = 13 , STEREOIMAGESET = 14 ,   STEREOIMAGESTREAM = 15 , VOLUMETRICMESH = 16 }
	Kind of data. More...
enum	Modality {   NA = 0 , XRAY = 1 , CT = 2 , MRI = 3 ,   ULTRASOUND = 4 , VIDEO = 5 , NM = 6 , OCT = 7 ,   LABEL = 8 , DISTANCE = 9 }
	Image modality of the data. More...
Static Public Member Functions inherited from PointCloud
static bool	convertFromPCL (PointCloud *&pcOut, const pcl::PCLPointCloud2 &headerIn, const std::string &nameIn="", bool ignoreNanPoints=true, int versionImFusion=-1)
	Convert PClPointCloud2 to PointCloud.
static bool	convertToPCL (pcl::PCLPointCloud2 &headerOut, std::string &nameOut, const PointCloud *pcIn, bool applyMatrix)
	Convert PointCloud to PClPointCloud2.
Static Public Member Functions inherited from Data
static std::string	modalityString (Data::Modality m)
	Return the name of an image modality.
static Data::Modality	stringToModality (const std::string &s)
	Returns the modality corresponding to a modality string or NA if nothing matches.
Public Attributes inherited from PointCloud
Signal	signalPointCloudChanged
	Signal emitted when the point cloud data has changed.
Public Attributes inherited from Data
Signal< const Data * >	signalDeleted
	Signal emitted when this instance is deleted.
Signal< const Data * >	signalMatrixChanged
	Signal emitted when the transformation of this Data has changed.
Signal< std::string >	signalNameChanged
	Signal emitted when the name changed.

Constructor & Destructor Documentation

FrameBasedPointCloud() [1/3]

FrameBasedPointCloud	(	const std::vector< TrackedSharedImageSet * > &	tsiss,
		std::vector< size_t >	frameIndices,
		std::vector< vec3 >	points,
		std::vector< vec3 >	normals,
		std::vector< vec3 >	colors,
		const std::string &	name = "" )

Constructs a new point cloud using the given TrackedSharedImageSets.

Provide points and normals untransformed, i.e. in local frame coordinates. The transformation will be applied automatically.

Note

The frame indices encode the index of the frame within a TrackedSharedImageSet (bytes 1-3) and the TrackedSharedImageSet itself (1 byte representing the position in the vector).

Example: A frame index of 0x010000ff refers to the image at position 255 of the TrackedSharedImageSet at position 1 in the vector tsiss.

FrameBasedPointCloud() [2/3]

FrameBasedPointCloud	(	const std::vector< TrackedSharedImageSet * > &	tsiss,
		std::vector< size_t >	frameIndices,
		std::vector< vec3 >	points,
		std::vector< vec3 >	normals,
		const std::string &	name = "" )

Constructs a new point cloud using the given TrackedSharedImageSets.

Provide points and normals untransformed, i.e. in local frame coordinates. The transformation will be applied automatically.

FrameBasedPointCloud() [3/3]

FrameBasedPointCloud	(	const std::vector< TrackedSharedImageSet * > &	tsiss,
		std::vector< size_t >	frameIndices,
		std::vector< vec3 >	points,
		const std::string &	name = "" )

Constructs a new point cloud using the given TrackedSharedImageSets.

Provide points untransformed, i.e. in local frame coordinates. The transformation will be applied automatically.

Member Function Documentation

setAdditionalCalibration()

bool setAdditionalCalibration	(	const mat4 &	mat,
		double	temp )

Sets additional spatial and temporal calibrations to consider, without modifying the calibration of m_tsiss.

A standard use case would be the opimization of the calibration matrix, where only the optimal calibration should be applied at the end. Will call recomputePoints if any of the two has changed.

Returns

True if points were recomputed.

applyAdditionalCalibration()

void applyAdditionalCalibration

(

)

Applies m_calibMat and m_calibTemp to all TrackedSharedImageSets and sets them to zero.

Because this operation does not cause any point to move its position, recomputePoints is not called.

removePoints()

int removePoints ( const std::vector< int > & indices )

overridevirtual

Remove the points with the specified indices while keeping the point cloud consistent.

Reimplemented from PointCloud.

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

• ImFusion/Base/FrameBasedPointCloud.h