PointCloud Class Reference

#include <ImFusion/Base/PointCloud.h>

Data structure for point clouds. More...

Inheritance diagram for PointCloud:

Detailed Description

Data structure for point clouds.

Examples

ExamplePointCloudAlgorithm.cpp, and ExamplePointCloudAlgorithm.h.

Classes
struct	PointCloudData
	Struct holding the underlying "heavy" data of a PointCloud object. More...

Public Member Functions
	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.
virtual int	removePoints (const std::vector< int > &indices)
	Remove the points with the specified indices while keeping the point cloud consistent.
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.
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.

Static Public Member Functions
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
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.

Protected Member Functions
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 Attributes
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.

Methods implementing the Data interface
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.

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...

Constructor & Destructor Documentation

PointCloud()

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.

Parameters

[in]	points	Vertices of the point cloud
[in]	normals	Normals of the point cloud
[in]	colors	Vertex colors of the point cloud
[in]	pixelToIndexMap	For dense point clouds (point clouds which are organized as an image) gives the index of the point for each pixel position. If no point is associated with a pixel the entry must be -1. An internal copy of the map is made.

Returns

PointCloud object

Member Function Documentation

setMatrix()

void setMatrix ( const mat4 & m )

overridevirtual

Set the transformation matrix.

Note

The matrix convention expected for m depends on the concrete derived class implementation, with either a matrix mapping to or from the world coordinate system being expected. Only use if convention is explicitly known. Use methods setMatrixFromWorld or setMatrixToWorld to avoid inconsistencies. The default implementation sets m_matrix.

Reimplemented from Data.

isAnnotationType()

bool isAnnotationType ( ) const

inlineoverridevirtual

Return whether this data type is visualized through an annotation (e.g. mesh)

Reimplemented from Data.

isDenseCalibrated()

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.

The points are reprojected to the image and the error is checked with respect to the given pixel tolerance 'pixelTol'

kind()

Kind kind ( ) const

overridevirtual

Return the kind of this data.

Implements Data.

bounds()

Geometry::AlignedBox bounds ( ) const

overridevirtual

Returns the axis-aligned bounding box of this data in world space.

Implements Data.

matrixConvention()

Pose::TransformationConvention matrixConvention ( ) const

overridevirtual

Matrices of point clouds map to world coordinate system.

Implements Data.

setPoints()

void setPoints

(

std::vector< vec3 > &&

points

)

Set the points.

If normals and/or colors are available they will be cleared unless the size of the passed in vector is the same as the size of the existing points.

setNormals()

bool setNormals

(

std::vector< vec3 > &&

normals

)

Set the normals.

If the size of the normal vector is not equal to the point cloud size the method does nothing and returns false. Passing in an empty vector clears the normal information.

setColors()

bool setColors

(

std::vector< vec3 > &&

colors

)

Set the colors.

If the size of the color vector is not equal to the point cloud size the method does nothing and returns false. Passing in an empty vector clears the color information.

label()

int label

(

int

idx

)

const

Get label of the point.

Returns 0 if index is invalid or if point cloud does not contain label information. Query presence of labels by using hasLabels() method

setLabels()

bool setLabels

(

std::vector< int > &&

labels

)

Set the labels.

If the size of the label vector is not equal to the point cloud size the method does nothing and returns false. Passing in an empty vector clears the label information. If there is no texture for point label colors, a default one will be created. If the existing texture for point label colors does not have an entry for at least one of the new labels, the texture will be reset with a default one of appropriate size

densePointCloudIndex()

bool densePointCloudIndex	(	int	x,
		int	y,
		int &	indexOut ) const

Retrieves point cloud data associated with a given pixel for dense point clouds.

Parameters

[in]	pixelIn	Coordinate (x, y) of the image pixel
[out]	indexOut	Index of the vertex associated with the pixelIn

Returns

True when successful, false otherwise (i.e. if the cloud is not dense or if the vertex doesn't exist at pixelIn)

removePoints()

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

virtual

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

Reimplemented in FrameBasedPointCloud.

beginUpdate()

void beginUpdate

(

)

After this call no signals will be emitted if the point cloud data is changed.

This is useful if many update operations must be performed but it is not desired that the signal is emitted for every update. When done with the update operations call endUpdate to emit a single update signal

signalsBlocked()

bool signalsBlocked

(

)

const

Returns true if the signals are blocked.

Useful to know whether the signals were blocked before calling beginUpdate - endUpdate. User might want not to call endUpdate, so that the signals remain blocked

convertColorsToLabels()

void convertColorsToLabels	(	const std::vector< std::pair< vec3, int > > *	colorToLabelMap = nullptr,
		double	channelTol = 0.1 )

Resets point cloud labels.

Converts point cloud colors to labels using the predefined colorToLabelMap if provided, otherwise random labels are assigned to colors. In case colorToLabelMap if provided, tolerance of channelTol is applied when comparing each channel of the point cloud colors to the channels in the map. Example: color of 1st point is {0.52, 0.2, 0.7}, one of the map entry contains {0.5, 0.2, 0.7} with corresponding label 2. In case of default channelTol parameter, the label of the 1st point will be assigned to 2. If channelTol was 0.01, the color of the point wouldn't correspond to the entry in the map, and therefore, its label would stay unchanged unless the other fitting map entry could be found

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

• ImFusion/Base/PointCloud.h