A 3D cloud and its associated features (color, normals, scalar fields, etc.) More...

#include <ecvPointCloud.h>

Inheritance diagram for ccPointCloud:

[legend]

Collaboration diagram for ccPointCloud:

[legend]

Classes
struct	Grid
	Grid structure. More...

struct	RgbFilterOptions
	RGB filter options. More...

struct	UnrollBaseParams

struct	UnrollConeParams

struct	UnrollCylinderParams

class	VBO

struct	vboSet
	VBO set. More...

Public Types
enum	CLONE_WARNINGS { WRN_OUT_OF_MEM_FOR_COLORS = 1 , WRN_OUT_OF_MEM_FOR_NORMALS = 2 , WRN_OUT_OF_MEM_FOR_SFS = 4 , WRN_OUT_OF_MEM_FOR_FWF = 8 }
	Warnings for the partialClone method (bit flags) More...

enum	RGB_FILTER_TYPES { NONE , BILATERAL , GAUSSIAN , MEAN , MEDIAN }
	RGB filter types. More...

enum	UnrollMode { CYLINDER = 0 , CONE = 1 , STRAIGHTENED_CONE = 2 , STRAIGHTENED_CONE2 = 3 }

using	BaseClass = cloudViewer::PointCloudTpl< ccGenericPointCloud >
	Base class (shortcut) More...

using	FWFDescriptorSet = QMap< uint8_t, WaveformDescriptor >
	Waveform descriptors set. More...

using	FWFDataContainer = std::vector< uint8_t >
	Waveform data container. More...

using	SharedFWFDataContainer = QSharedPointer< const FWFDataContainer >

Public Types inherited from ccGenericPointCloud
using	VisibilityTableType = std::vector< unsigned char >
	Array of "visibility" information for each point. More...

Public Types inherited from ccHObject
enum	DEPENDENCY_FLAGS { DP_NONE = 0 , DP_NOTIFY_OTHER_ON_DELETE = 1 , DP_NOTIFY_OTHER_ON_UPDATE , DP_DELETE_OTHER = 8 , DP_PARENT_OF_OTHER = 24 }
	Dependency flags. More...

enum	SelectionBehavior { SELECTION_AA_BBOX , SELECTION_FIT_BBOX , SELECTION_IGNORED }
	Behavior when selected. More...

using	Container = std::vector< ccHObject * >
	Standard instances container (for children, etc.) More...

using	Shared = QSharedPointer< ccHObject >
	Shared pointer. More...

using	SharedContainer = std::vector< Shared >
	Shared instances container (for children, etc.) More...

using	GlobalBoundingBox = cloudViewer::BoundingBoxTpl< double >
	Global (non-shifted) bounding-box. More...

Public Types inherited from ccSerializableObject
enum	DeserializationFlags { DF_POINT_COORDS_64_BITS , DF_SCALAR_VAL_32_BITS = 2 }
	Deserialization flags (bit-field) More...

typedef QMultiMap< unsigned, unsigned >	LoadedIDMap
	Map of loaded unique IDs (old ID --> new ID) More...

Public Types inherited from cloudViewer::GenericCloud
using	genericPointAction = std::function< void(const CCVector3 &, ScalarType &)>
	Generic function applied to a point (used by foreach) More...

Public Member Functions
	ccPointCloud (QString name=QString()) throw ()
	Default constructor. More...

	ccPointCloud (const ccPointCloud &cloud)

	ccPointCloud (const std::vector< Eigen::Vector3d > &points, const std::string &name="cloud")

	~ccPointCloud () override
	Default destructor. More...

CV_CLASS_ENUM	getClassID () const override
	Returns class ID. More...

ccPointCloud *	partialClone (const cloudViewer::ReferenceCloud selection, int warnings=nullptr, bool withChildEntities=true) const
	Creates a new point cloud object from a ReferenceCloud (selection) More...

ccPointCloud *	cloneThis (ccPointCloud *destCloud=nullptr, bool ignoreChildren=false)
	Clones this entity. More...

ccGenericPointCloud *	clone (ccGenericPointCloud *destCloud=nullptr, bool ignoreChildren=false) override
	Clones this entity. More...

ccPointCloud &	operator= (const ccPointCloud &cloud)
	Fuses another 3D entity with this one. More...

const ccPointCloud &	operator+= (const ccPointCloud &cloud)

const ccPointCloud &	operator+= (ccPointCloud *)

ccPointCloud	operator+ (const ccPointCloud &cloud) const

void	clear () override
	Clears the entity from all its points and features. More...

void	unalloactePoints ()
	Erases the cloud points. More...

void	unallocateColors ()
	Erases the cloud colors. More...

void	unallocateNorms ()
	Erases the cloud normals. More...

void	colorsHaveChanged ()

void	normalsHaveChanged ()
	Notify a modification of normals display parameters or contents. More...

void	pointsHaveChanged ()
	Notify a modification of points display parameters or contents. More...

bool	reserve (unsigned numberOfPoints) override
	Reserves memory for all the active features. More...

bool	reserveThePointsTable (unsigned _numberOfPoints)
	Reserves memory to store the points coordinates. More...

bool	reserveTheRGBTable ()
	Reserves memory to store the RGB colors. More...

bool	reserveTheNormsTable ()
	Reserves memory to store the compressed normals. More...

bool	resize (unsigned numberOfPoints) override
	Resizes all the active features arrays. More...

bool	resizeTheRGBTable (bool fillWithWhite=false)
	Resizes the RGB colors array. More...

bool	resizeTheNormsTable ()
	Resizes the compressed normals array. More...

void	shrinkToFit ()
	Removes unused capacity. More...

ccScalarField *	getCurrentDisplayedScalarField () const
	Returns the currently displayed scalar (or 0 if none) More...

int	getCurrentDisplayedScalarFieldIndex () const
	Returns the currently displayed scalar field index (or -1 if none) More...

void	setCurrentDisplayedScalarField (int index)
	Sets the currently displayed scalar field. More...

void	deleteScalarField (int index) override
	Deletes a specific scalar field. More...

void	deleteAllScalarFields () override
	Deletes all scalar fields associated to this cloud. More...

int	addScalarField (const char *uniqueName) override
	Creates a new scalar field and registers it. More...

bool	sfColorScaleShown () const
	Returns whether color scale should be displayed or not. More...

void	showSFColorsScale (bool state)
	Sets whether color scale should be displayed or not. More...

size_t	gridCount () const
	Returns the number of associated grids. More...

Grid::Shared &	grid (size_t gridIndex)
	Returns an associated grid. More...

const Grid::Shared &	grid (size_t gridIndex) const
	Returns an associated grid (const verson) More...

bool	addGrid (Grid::Shared grid)
	Adds an associated grid. More...

void	removeGrids ()
	Remove all associated grids. More...

ccMesh *	triangulateGrid (const Grid &grid, double minTriangleAngle_deg=0.0) const
	Meshes a scan grid. More...

bool	computeNormalsWithGrids (double minTriangleAngle_deg=1.0, ecvProgressDialog *pDlg=nullptr)
	Compute the normals with the associated grid structure(s) More...

bool	orientNormalsWithGrids (ecvProgressDialog *pDlg=nullptr)
	Orient the normals with the associated grid structure(s) More...

bool	orientNormalsTowardViewPoint (CCVector3 &VP, ecvProgressDialog *pDlg=nullptr)
	Normals are forced to point to O. More...

bool	computeNormalsWithOctree (CV_LOCAL_MODEL_TYPES model, ccNormalVectors::Orientation preferredOrientation, PointCoordinateType defaultRadius, ecvProgressDialog *pDlg=nullptr)
	Compute the normals by approximating the local surface around each point. More...

bool	orientNormalsWithMST (unsigned kNN=6, ecvProgressDialog *pDlg=nullptr)
	Orient the normals with a Minimum Spanning Tree. More...

bool	orientNormalsWithFM (unsigned char level, ecvProgressDialog *pDlg=nullptr)
	Orient normals with Fast Marching. More...

bool	hasFWF () const
	Returns whether the cloud has associated Full WaveForm data. More...

ccWaveformProxy	waveformProxy (unsigned index) const
	Returns a proxy on a given waveform. More...

FWFDescriptorSet &	fwfDescriptors ()
	Gives access to the FWF descriptors. More...

const FWFDescriptorSet &	fwfDescriptors () const
	Gives access to the FWF descriptors (const version) More...

std::vector< ccWaveform > &	waveforms ()
	Gives access to the associated FWF data. More...

const std::vector< ccWaveform > &	waveforms () const
	Gives access to the associated FWF data (const version) More...

bool	reserveTheFWFTable ()
	Reserves the FWF table. More...

bool	resizeTheFWFTable ()
	Resizes the FWF table. More...

SharedFWFDataContainer &	fwfData ()
	Gives access to the associated FWF data container. More...

const SharedFWFDataContainer &	fwfData () const
	Gives access to the associated FWF data container (const version) More...

bool	compressFWFData ()
	Compresses the associated FWF data container. More...

bool	computeFWFAmplitude (double &minVal, double &maxVal, ecvProgressDialog *pDlg=nullptr) const
	Computes the maximum amplitude of all associated waveforms. More...

void	clearFWFData ()
	Clears all associated FWF data. More...

CCVector3	computeGravityCenter ()
	Returns the cloud gravity center. More...

void	invalidateBoundingBox () override
	Invalidates bounding box. More...

void	getDrawingParameters (glDrawParams &params) const override
	Returns main OpenGL parameters for this entity. More...

unsigned	getUniqueIDForDisplay () const override
	Returns object unqiue ID used for display. More...

bool	hasColors () const override
	Returns whether colors are enabled or not. More...

bool	hasNormals () const override
	Returns whether normals are enabled or not. More...

bool	hasScalarFields () const override
	Returns whether one or more scalar fields are instantiated. More...

bool	hasDisplayedScalarField () const override
	Returns whether an active scalar field is available or not. More...

unsigned char	testVisibility (const CCVector3 &P) const override

bool	normalsAvailable () const override
	Returns whether normals are available. More...

const CCVector3 *	getNormal (unsigned pointIndex) const override
	If per-point normals are available, returns the one at a specific index. More...

const ecvColor::Rgb *	getScalarValueColor (ScalarType d) const override
	Returns color corresponding to a given scalar value. More...

const ecvColor::Rgb *	getPointScalarValueColor (unsigned pointIndex) const override
	Returns color corresponding to a given point associated scalar value. More...

ScalarType	getPointDisplayedDistance (unsigned pointIndex) const override
	Returns scalar value associated to a given point. More...

const ecvColor::Rgb &	getPointColor (unsigned pointIndex) const override
	Returns color corresponding to a given point. More...

const ColorsTableType &	getPointColors () const

ecvColor::Rgb &	getPointColorPtr (size_t pointIndex)

Eigen::Vector3d	getEigenColor (size_t index) const

std::vector< Eigen::Vector3d >	getEigenColors () const

void	setEigenColors (const std::vector< Eigen::Vector3d > &colors)

const CompressedNormType &	getPointNormalIndex (unsigned pointIndex) const override
	Returns compressed normal corresponding to a given point. More...

const CCVector3 &	getPointNormal (unsigned pointIndex) const override
	Returns normal corresponding to a given point. More...

CCVector3 &	getPointNormalPtr (size_t pointIndex) const

std::vector< CCVector3 >	getPointNormals () const

std::vector< CCVector3 * >	getPointNormalsPtr () const

void	setPointNormals (const std::vector< CCVector3 > &normals)

Eigen::Vector3d	getEigenNormal (size_t index) const

std::vector< Eigen::Vector3d >	getEigenNormals () const

void	setEigenNormals (const std::vector< Eigen::Vector3d > &normals)

cloudViewer::ReferenceCloud *	crop (const ccBBox &box, bool inside=true) override
	Crops the cloud inside (or outside) a bounding box. More...

cloudViewer::ReferenceCloud *	crop (const ecvOrientedBBox &bbox) override

virtual void	applyRigidTransformation (const ccGLMatrix &trans) override
	Applies a rigid transformation (rotation + translation) More...

virtual void	scale (PointCoordinateType fx, PointCoordinateType fy, PointCoordinateType fz, CCVector3 center=CCVector3(0, 0, 0)) override
	Multiplies all coordinates by constant factors (one per dimension) More...

void	refreshBB () override
	Forces bounding-box update. More...

ccGenericPointCloud *	createNewCloudFromVisibilitySelection (bool removeSelectedPoints=false, VisibilityTableType visTable=nullptr, std::vector< int > newIndexesOfRemainingPoints=nullptr, bool silent=false, cloudViewer::ReferenceCloud *selection=nullptr) override

bool	removeVisiblePoints (VisibilityTableType visTable=nullptr, std::vector< int > newIndexes=nullptr) override
	Removes all the 'visible' points (as defined by the visibility array) More...

void	enableVisibilityCheck (bool state)

bool	hasSensor () const
	Returns whether the mesh as an associated sensor or not. More...

QSharedPointer< cloudViewer::ReferenceCloud >	computeCPSet (ccGenericPointCloud &otherCloud, cloudViewer::GenericProgressCallback *progressCb=nullptr, unsigned char octreeLevel=0)
	Computes the closest point of this cloud relatively to another cloud. More...

bool	interpolateColorsFrom (ccGenericPointCloud cloud, cloudViewer::GenericProgressCallback progressCb=nullptr, unsigned char octreeLevel=0)
	Interpolate colors from another cloud (nearest neighbor only) More...

void	setPointColor (size_t pointIndex, const ecvColor::Rgb &col)
	Sets a particular point color. More...

void	setPointColor (size_t pointIndex, const ecvColor::Rgba &col)

void	setPointColor (size_t pointIndex, const Eigen::Vector3d &col)

void	setEigenColor (size_t index, const Eigen::Vector3d &color)

void	setPointNormalIndex (size_t pointIndex, CompressedNormType norm)
	Sets a particular point compressed normal. More...

void	setPointNormal (size_t pointIndex, const CCVector3 &N)
	Sets a particular point normal (shortcut) More...

void	setEigenNormal (size_t index, const Eigen::Vector3d &normal)

void	addNormIndex (CompressedNormType index)
	Pushes a compressed normal vector. More...

void	addNorm (const CCVector3 &N)
	Pushes a normal vector on stack (shortcut) More...

void	addEigenNorm (const Eigen::Vector3d &N)

void	addEigenNorms (const std::vector< Eigen::Vector3d > &normals)

void	addNorms (const std::vector< CCVector3 > &Ns)

void	addNorms (const std::vector< CompressedNormType > &idxes)

std::vector< CompressedNormType >	getNorms () const

void	getNorms (std::vector< CompressedNormType > &idxes) const

void	addNormAtIndex (const PointCoordinateType *N, unsigned index)
	Adds a normal vector to the one at a specific index. More...

void	setNormsTable (NormsIndexesTableType *norms)
	Sets the (compressed) normals table. More...

bool	convertNormalToRGB ()
	Converts normals to RGB colors. More...

bool	convertNormalToDipDirSFs (ccScalarField dipSF, ccScalarField dipDirSF)
	Converts normals to two scalar fields: 'dip' and 'dip direction'. More...

void	addRGBColor (const ecvColor::Rgb &C)
	Pushes an RGB color on stack. More...

void	addRGBColors (const std::vector< ecvColor::Rgb > &colors)

void	addEigenColor (const Eigen::Vector3d &color)

void	addEigenColors (const std::vector< Eigen::Vector3d > &colors)

void	addRGBColor (ColorCompType r, ColorCompType g, ColorCompType b)
	Pushes an RGB color on stack (shortcut) More...

void	addGreyColor (ColorCompType g)
	Pushes a grey color on stack (shortcut) More...

bool	convertRGBToGreyScale ()
	Converts RGB to grey scale colors. More...

bool	colorize (float r, float g, float b)
	Multiplies all color components of all points by coefficients. More...

bool	setRGBColorByHeight (unsigned char heightDim, ccColorScale::Shared colorScale)
	Assigns color to points proportionnaly to their 'height'. More...

bool	setRGBColorByBanding (unsigned char dim, double freq)
	Assigns color to points by 'banding'. More...

bool	convertCurrentScalarFieldToColors (bool mixWithExistingColor=false)

bool	setRGBColorWithCurrentScalarField (bool mixWithExistingColor=false)
	Sets RGB colors with current scalar field (values & parameters) More...

bool	setRGBColor (ColorCompType r, ColorCompType g, ColorCompType b)
	Set a unique color for the whole cloud (shortcut) More...

bool	setRGBColor (const ecvColor::Rgb &col)
	Set a unique color for the whole cloud. More...

bool	applyFilterToRGB (PointCoordinateType sigma, PointCoordinateType sigmaSF, RgbFilterOptions filterParams, cloudViewer::GenericProgressCallback *progressCb=nullptr)
	Applies a spatial Gaussian filter on RGB colors. More...

void	invertNormals ()
	Inverts normals (if any) More...

ccPointCloud *	filterPointsByScalarValue (ScalarType minVal, ScalarType maxVal, bool outside=false)
	Filters out points whose scalar values falls into an interval. More...

ccPointCloud *	filterPointsByScalarValue (std::vector< ScalarType > values, bool outside=false)
	Filters out points whose scalar values falls into an interval. More...

void	hidePointsByScalarValue (ScalarType minVal, ScalarType maxVal)
	Hides points whose scalar values falls into an interval. More...

void	hidePointsByScalarValue (std::vector< ScalarType > values)
	Hides points whose scalar values falls into an interval. More...

ccPointCloud *	unroll (UnrollMode mode, UnrollBaseParams params, bool exportDeviationSF=false, double startAngle_deg=0.0, double stopAngle_deg=360.0, cloudViewer::GenericProgressCallback progressCb=nullptr) const
	Unrolls the cloud and its normals on a cylinder or a cone. More...

void	addColorRampInfo (CC_DRAW_CONTEXT &context)
	Adds associated SF color ramp info to current GL context. More...

int	addScalarField (ccScalarField *sf)
	Adds an existing scalar field to this cloud. More...

ColorsTableType *	rgbColors () const
	Returns pointer on RGB colors table. More...

NormsIndexesTableType *	normals () const
	Returns pointer on compressed normals indexes table. More...

cloudViewer::ReferenceCloud *	crop2D (const ccPolyline *poly, unsigned char orthoDim, bool inside=true)
	Crops the cloud inside (or outside) a 2D polyline. More...

const ccPointCloud &	append (ccPointCloud *cloud, unsigned pointCountBefore, bool ignoreChildren=false)
	Appends a cloud to this one. More...

bool	enhanceRGBWithIntensitySF (int sfIdx, bool useCustomIntensityRange=false, double minI=0.0, double maxI=1.0)

bool	exportCoordToSF (bool exportDims[3])
	Exports the specified coordinate dimension(s) to scalar field(s) More...

bool	setCoordFromSF (bool importDims[3], cloudViewer::ScalarField *sf, PointCoordinateType defaultValueForNaN)
	Sets coordinate(s) from a scalar field. More...

bool	exportNormalToSF (bool exportDims[3])
	Exports the specified normal dimension(s) to scalar field(s) More...

virtual bool	IsEmpty () const override

virtual Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

virtual ccBBox	GetAxisAlignedBoundingBox () const override
	Returns an axis-aligned bounding box of the geometry. More...

virtual ecvOrientedBBox	GetOrientedBoundingBox () const override

virtual ccPointCloud &	Transform (const Eigen::Matrix4d &trans) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual ccPointCloud &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

ccPointCloud &	Translate (const CCVector3 &T)

virtual ccPointCloud &	Scale (const double s, const Eigen::Vector3d &center) override
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

virtual ccPointCloud &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

bool	HasCovariances () const
	Returns 'true' if the point cloud contains per-point covariance matrix. More...

ccPointCloud &	NormalizeNormals ()
	Normalize point normals to length 1.`. More...

std::shared_ptr< ccPointCloud >	SelectByIndex (const std::vector< size_t > &indices, bool invert=false) const
	Function to select points from `input` ccPointCloud into `output` ccPointCloud. More...

ccPointCloud &	RemoveNonFinitePoints (bool remove_nan=true, bool remove_infinite=true)
	Remove all points fromt he point cloud that have a nan entry, or infinite entries. More...

std::shared_ptr< ccPointCloud >	VoxelDownSample (double voxel_size)
	Function to downsample input ccPointCloud into output ccPointCloud with a voxel. More...

std::tuple< std::shared_ptr< ccPointCloud >, Eigen::MatrixXi, std::vector< std::vector< int > > >	VoxelDownSampleAndTrace (double voxel_size, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound, bool approximate_class=false) const
	Function to downsample using geometry.ccPointCloud.VoxelDownSample. More...

std::shared_ptr< ccPointCloud >	UniformDownSample (size_t every_k_points) const
	Function to downsample input ccPointCloud into output ccPointCloud uniformly. More...

std::shared_ptr< ccPointCloud >	RandomDownSample (double sampling_ratio) const
	Function to downsample input pointcloud into output pointcloud randomly. More...

std::shared_ptr< ccPointCloud >	FarthestPointDownSample (const size_t num_samples, const size_t start_index=0) const
	Function to downsample input pointcloud into output pointcloud with a set of points has farthest distance. More...

std::shared_ptr< ccPointCloud >	Crop (const ccBBox &bbox) const
	Function to crop ccPointCloud into output ccPointCloud. More...

std::shared_ptr< ccPointCloud >	Crop (const ecvOrientedBBox &bbox) const
	Function to crop ccPointCloud into output ccPointCloud. More...

std::tuple< std::shared_ptr< ccPointCloud >, std::vector< size_t > >	RemoveRadiusOutliers (size_t nb_points, double search_radius) const
	Function to remove points that have less than `nb_points` in a sphere of a given radius. More...

std::tuple< std::shared_ptr< ccPointCloud >, std::vector< size_t > >	RemoveStatisticalOutliers (size_t nb_neighbors, double std_ratio) const
	Function to remove points that are further away from their `nb_neighbor` neighbors in average. More...

bool	EstimateNormals (const cloudViewer::geometry::KDTreeSearchParam &search_param=cloudViewer::geometry::KDTreeSearchParamKNN(), bool fast_normal_computation=true)
	Function to compute the normals of a point cloud. More...

bool	OrientNormalsToAlignWithDirection (const Eigen::Vector3d &orientation_reference=Eigen::Vector3d(0.0, 0.0, 1.0))
	Function to orient the normals of a point cloud. More...

bool	OrientNormalsTowardsCameraLocation (const Eigen::Vector3d &camera_location=Eigen::Vector3d::Zero())
	Function to orient the normals of a point cloud. More...

void	OrientNormalsConsistentTangentPlane (size_t k)
	Function to consistently orient estimated normals based on consistent tangent planes as described in Hoppe et al., "Surface Reconstruction from Unorganized Points", 1992. More...

std::vector< double >	ComputePointCloudDistance (const ccPointCloud &target)
	Function to compute the point to point distances between point clouds. More...

void	EstimateCovariances (const cloudViewer::geometry::KDTreeSearchParam &search_param=cloudViewer::geometry::KDTreeSearchParamKNN())
	Function to compute the covariance matrix for each point of a point cloud. More...

std::vector< double >	ComputeMahalanobisDistance () const
	Function to compute the Mahalanobis distance for points in an input point cloud. More...

std::vector< double >	ComputeNearestNeighborDistance () const

double	ComputeResolution () const

std::tuple< std::shared_ptr< ccMesh >, std::vector< size_t > >	ComputeConvexHull () const
	Function that computes the convex hull of the point cloud using qhull. More...

std::tuple< std::shared_ptr< ccMesh >, std::vector< size_t > >	HiddenPointRemoval (const Eigen::Vector3d &camera_location, const double radius) const
	This is an implementation of the Hidden Point Removal operator described in Katz et. al. 'Direct Visibility of Point Sets', 2007. More...

std::vector< int >	ClusterDBSCAN (double eps, size_t min_points, bool print_progress=false) const
	Cluster ccPointCloud using the DBSCAN algorithm Ester et al., "A Density-Based Algorithm for Discovering Clusters in Large Spatial Databases with Noise", 1996. More...

std::tuple< Eigen::Vector4d, std::vector< size_t > >	SegmentPlane (const double distance_threshold=0.01, const int ransac_n=3, const int num_iterations=100) const
	Segment ccPointCloud plane using the RANSAC algorithm. More...

std::shared_ptr< ccPointCloud >	CreateFromVoxelGrid (const cloudViewer::geometry::VoxelGrid &voxel_grid)
	Function to create a PointCloud from a VoxelGrid. More...

ccPointCloud &	PaintUniformColor (const Eigen::Vector3d &color)
	Assigns each vertex in the ccMesh the same color. More...

bool	initLOD ()
	Intializes the LOD structure. More...

void	clearLOD ()
	Clears the LOD structure. More...

Public Member Functions inherited from cloudViewer::PointCloudTpl< ccGenericPointCloud >
	PointCloudTpl ()
	Default constructor. More...

virtual	~PointCloudTpl ()
	Default destructor. More...

unsigned	size () const override

void	forEach (GenericCloud::genericPointAction action) override

void	getBoundingBox (CCVector3 &bbMin, CCVector3 &bbMax) override

void	placeIteratorAtBeginning () override

const CCVector3 *	getNextPoint () override

bool	enableScalarField () override

bool	isScalarFieldEnabled () const override

void	setPointScalarValue (unsigned pointIndex, ScalarType value) override

ScalarType	getPointScalarValue (unsigned pointIndex) const override

const CCVector3 *	getPoint (unsigned index) const override

void	getPoint (unsigned index, CCVector3 &P) const override

void	getPoint (unsigned index, double P[3]) const override

CCVector3 *	getPointPtr (size_t index)

std::vector< CCVector3 > &	getPoints ()

const std::vector< CCVector3 > &	getPoints () const

const CCVector3 *	getPointPersistentPtr (unsigned index) override

const CCVector3 *	getPointPersistentPtr (unsigned index) const

void	reset ()
	Clears the cloud database. More...

void	addPoint (const CCVector3 &P)
	Adds a 3D point to the database. More...

void	addPoint (double x, double y, double z)

void	addPoint (double xyz[3])

void	setPoint (size_t index, const CCVector3 &P)

void	setEigenPoint (size_t index, const Eigen::Vector3d &point)

void	addEigenPoint (const Eigen::Vector3d &point)

void	addPoints (const std::vector< CCVector3 > &points)

void	addPoints (const std::vector< Eigen::Vector3d > &points)

Eigen::Vector3d	getEigenPoint (size_t index) const

std::vector< Eigen::Vector3d >	getEigenPoints () const

void	setEigenPoints (const std::vector< Eigen::Vector3d > &points)

unsigned	getNumberOfScalarFields () const
	Returns the number of associated (and active) scalar fields. More...

ScalarField *	getScalarField (int index) const
	Returns a pointer to a specific scalar field. More...

const char *	getScalarFieldName (int index) const
	Returns the name of a specific scalar field. More...

int	getScalarFieldIndexByName (const char *name) const
	Returns the index of a scalar field represented by its name. More...

ScalarField *	getCurrentInScalarField () const
	Returns the scalar field currently associated to the cloud input. More...

ScalarField *	getCurrentOutScalarField () const
	Returns the scalar field currently associated to the cloud output. More...

void	setCurrentInScalarField (int index)
	Sets the INPUT scalar field. More...

int	getCurrentInScalarFieldIndex ()
	Returns current INPUT scalar field index (or -1 if none) More...

void	setCurrentOutScalarField (int index)
	Sets the OUTPUT scalar field. More...

int	getCurrentOutScalarFieldIndex ()
	Returns current OUTPUT scalar field index (or -1 if none) More...

void	setCurrentScalarField (int index)
	Sets both the INPUT & OUTPUT scalar field. More...

bool	renameScalarField (int index, const char *newName)
	Renames a specific scalar field. More...

unsigned	capacity () const
	Returns cloud capacity (i.e. reserved size) More...

Public Member Functions inherited from ccGenericPointCloud
	ccGenericPointCloud (QString name=QString())
	Default constructor. More...

	ccGenericPointCloud (const ccGenericPointCloud &cloud)
	Copy constructor. More...

	~ccGenericPointCloud () override
	Default destructor. More...

virtual ccOctree::Shared	computeOctree (cloudViewer::GenericProgressCallback *progressCb=nullptr, bool autoAddChild=true)
	Computes the cloud octree. More...

virtual ccOctree::Shared	getOctree () const
	Returns the associated octree (if any) More...

virtual void	setOctree (ccOctree::Shared octree, bool autoAddChild=true)
	Sets the associated octree. More...

virtual ccOctreeProxy *	getOctreeProxy () const
	Returns the associated octree proxy (if any) More...

virtual void	deleteOctree ()
	Erases the octree. More...

virtual VisibilityTableType &	getTheVisibilityArray ()
	Returns associated visibility array. More...

virtual const VisibilityTableType &	getTheVisibilityArray () const
	Returns associated visibility array (const version) More...

virtual cloudViewer::ReferenceCloud *	getTheVisiblePoints (const VisibilityTableType visTable=nullptr, bool silent=false, cloudViewer::ReferenceCloud selection=nullptr) const
	Returns a ReferenceCloud equivalent to the visibility array. More...

virtual bool	isVisibilityTableInstantiated () const
	Returns whether the visibility array is allocated or not. More...

virtual bool	resetVisibilityArray ()
	Resets the associated visibility array. More...

virtual void	invertVisibilityArray ()
	Inverts the visibility array. More...

virtual void	unallocateVisibilityArray ()
	Erases the points visibility information. More...

ccBBox	getOwnBB (bool withGLFeatures=false) override
	Returns the entity's own bounding-box. More...

bool	isSerializable () const override
	Returns whether object is serializable of not. More...

void	setPointSize (unsigned size=0)
	Sets point size. More...

unsigned char	getPointSize () const
	Returns current point size. More...

void	importParametersFrom (const ccGenericPointCloud *cloud)
	Imports the parameters from another cloud. More...

bool	pointPicking (const CCVector2d &clickPos, const ccGLCameraParameters &camera, int &nearestPointIndex, double &nearestSquareDist, double pickWidth=2.0, double pickHeight=2.0, bool autoComputeOctree=false)
	Point picking (brute force or octree-driven) More...

std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	computeMeanAndCovariance () const

cloudViewer::SquareMatrixd	computeCovariance () const

Public Member Functions inherited from ccShiftedObject
	ccShiftedObject (QString name=QString())
	Default constructor. More...

	ccShiftedObject (const ccShiftedObject &s)
	Copy constructor. More...

void	copyGlobalShiftAndScale (const ccShiftedObject &s)
	Copies the Global Shift and Scale from another entity. More...

virtual void	setGlobalShift (double x, double y, double z)
	Sets shift applied to original coordinates (information storage only) More...

virtual void	setGlobalShift (const CCVector3d &shift)
	Sets shift applied to original coordinates (information storage only) More...

virtual const CCVector3d &	getGlobalShift () const
	Returns the shift applied to original coordinates. More...

virtual void	setGlobalScale (double scale)

virtual double	getGlobalScale () const
	Returns the scale applied to original coordinates. More...

bool	isShifted () const
	Returns whether the cloud is shifted or not. More...

template<typename T >
CCVector3d	toGlobal3d (const Vector3Tpl< T > &Plocal) const
	Returns the point back-projected into the original coordinates system. More...

template<typename T >
CCVector3d	toLocal3d (const Vector3Tpl< T > &Pglobal) const
	Returns the point projected into the local (shifted) coordinates system. More...

template<typename T >
CCVector3	toLocal3pc (const Vector3Tpl< T > &Pglobal) const
	Returns the point projected into the local (shifted) coordinates system. More...

bool	getOwnGlobalBB (CCVector3d &minCorner, CCVector3d &maxCorner) override

GlobalBoundingBox	getOwnGlobalBB (bool withGLFeatures=false) override

Public Member Functions inherited from ccHObject
	ccHObject (QString name=QString())
	Default constructor. More...

	ccHObject (const ccHObject &object)
	Copy constructor. More...

virtual	~ccHObject () override
	Default destructor. More...

virtual Eigen::Vector2d	GetMin2DBound () const

virtual Eigen::Vector2d	GetMax2DBound () const

virtual ccHObject &	Scale (const double s)

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R)

QString	getViewId () const

bool	isGroup () const
	Returns whether the instance is a group. More...

ccHObject *	getParent () const
	Returns parent object. More...

virtual QIcon	getIcon () const
	Returns the icon associated to this entity. More...

void	addDependency (ccHObject *otherObject, int flags, bool additive=true)
	Adds a new dependence (additive or not) More...

int	getDependencyFlagsWith (const ccHObject *otherObject)
	Returns the dependency flags with a given object. More...

void	removeDependencyWith (ccHObject *otherObject)
	Removes any dependency flags with a given object. More...

void	removeDependencyFlag (ccHObject *otherObject, DEPENDENCY_FLAGS flag)
	Removes a given dependency flag. More...

virtual bool	addChild (ccHObject *child, int dependencyFlags=DP_PARENT_OF_OTHER, int insertIndex=-1)
	Adds a child. More...

unsigned	getChildrenNumber () const
	Returns the number of children. More...

unsigned int	getChildCountRecursive () const
	Returns the total number of children under this object recursively. More...

ccHObject *	getChild (unsigned childPos) const
	Returns the ith child. More...

ccHObject *	find (unsigned uniqueID)
	Finds an entity in this object hierarchy. More...

unsigned	filterChildren (Container &filteredChildren, bool recursive=false, CV_CLASS_ENUM filter=CV_TYPES::OBJECT, bool strict=false) const
	Collects the children corresponding to a certain pattern. More...

void	detachChild (ccHObject *child)
	Detaches a specific child. More...

void	detachAllChildren ()
	Removes a specific child. More...

void	getTypeID_recursive (std::vector< removeInfo > &rmInfos, bool relative)

void	getTypeID_recursive (std::vector< hideInfo > &hdInfos, bool relative)

void	removeChild (ccHObject *child)

void	removeChild (int pos)
	Removes a specific child given its index. More...

void	removeAllChildren ()
	Removes all children. More...

int	getChildIndex (const ccHObject *aChild) const
	Returns child index. More...

void	swapChildren (unsigned firstChildIndex, unsigned secondChildIndex)
	Swaps two children. More...

int	getIndex () const
	Returns index relatively to its parent or -1 if no parent. More...

void	transferChild (ccHObject *child, ccHObject &newParent)
	Transfer a given child to another parent. More...

void	transferChildren (ccHObject &newParent, bool forceFatherDependent=false)
	Transfer all children to another parent. More...

ccHObject *	getFirstChild () const
	Shortcut: returns first child. More...

ccHObject *	getLastChild () const
	Shortcut: returns last child. More...

bool	isAncestorOf (const ccHObject *anObject) const
	Returns true if the current object is an ancestor of the specified one. More...

void	removeFromRenderScreen (bool recursive=true)

void	hideObject_recursive (bool recursive)

void	hideBB (CC_DRAW_CONTEXT context)

void	showBB (CC_DRAW_CONTEXT context)

void	setRedrawFlagRecursive (bool redraw=false)

void	setForceRedrawRecursive (bool redraw=false)

void	setPointSizeRecursive (int pSize)

void	setLineWidthRecursive (PointCoordinateType width)

virtual ccBBox	getBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the bounding-box of this entity and it's children. More...

virtual GlobalBoundingBox	getGlobalBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the global bounding-box of this entity and it's children. More...

virtual ccBBox	getDisplayBB_recursive (bool relative)
	Returns the bounding-box of this entity and it's children WHEN DISPLAYED. More...

virtual ccBBox	getOwnFitBB (ccGLMatrix &trans)
	Returns best-fit bounding-box (if available) More...

virtual void	drawBB (CC_DRAW_CONTEXT &context, const ecvColor::Rgb &col)
	Draws the entity (and its children) bounding-box. More...

void	draw (CC_DRAW_CONTEXT &context) override
	Draws entity and its children. More...

void	updateNameIn3DRecursive ()

void	setHideShowType (CC_DRAW_CONTEXT &context)

void	setRemoveType (CC_DRAW_CONTEXT &context)

ENTITY_TYPE	getEntityType () const

virtual void	redrawDisplay (bool forceRedraw=true, bool only2D=false)
	Redraws associated display. More...

bool	getAbsoluteGLTransformation (ccGLMatrix &trans) const

virtual bool	isDisplayed () const
	Returns whether the object is actually displayed (visible) or not. More...

virtual bool	isBranchEnabled () const
	Returns whether the object and all its ancestors are enabled. More...

virtual void	redrawDisplay_recursive (bool p)

virtual void	refreshDisplay_recursive (bool p)

virtual void	setSelected_recursive (bool p)

virtual void	toggleActivation_recursive ()

virtual void	toggleVisibility_recursive ()

virtual void	toggleColors_recursive ()

virtual void	resetGLTransformationHistory_recursive ()

virtual void	toggleNormals_recursive ()

virtual void	toggleSF_recursive ()

virtual void	toggleShowName_recursive ()

unsigned	findMaxUniqueID_recursive () const
	Returns the max 'unique ID' of this entity and its siblings. More...

void	applyGLTransformation_recursive (const ccGLMatrix *trans=nullptr)
	Applies the active OpenGL transformation to the entity (recursive) More...

bool	isSerializable () const override
	Returns whether object is serializable of not. More...

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFileNoChildren (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Custom version of ccSerializableObject::fromFile. More...

virtual bool	isShareable () const
	Returns whether object is shareable or not. More...

virtual void	setSelectionBehavior (SelectionBehavior mode)
	Sets selection behavior (when displayed) More...

virtual SelectionBehavior	getSelectionBehavior () const
	Returns selection behavior. More...

virtual const ccGLMatrix &	getGLTransformationHistory () const
	Returns the transformation 'history' matrix. More...

virtual void	setGLTransformationHistory (const ccGLMatrix &mat)
	Sets the transformation 'history' matrix (handle with care!) More...

virtual void	resetGLTransformationHistory ()
	Resets the transformation 'history' matrix. More...

bool	pushDisplayState () override
	Pushes the current display state (overridden) More...

void	popDisplayState (bool apply=true) override
	Pops the last pushed display state (overridden) More...

Public Member Functions inherited from ccObject
	ccObject (QString name=QString())
	Default constructor. More...

	ccObject (const ccObject &object)
	Copy constructor. More...

virtual QString	getName () const
	Returns object name. More...

virtual void	setName (const QString &name)
	Sets object name. More...

virtual void	setRemoveFlag (bool removeFlag)
	Sets removeFlag. More...

virtual bool	getRemoveFlag ()
	Returns removeFlag. More...

virtual unsigned	getUniqueID () const
	Returns object unique ID. More...

virtual void	setUniqueID (unsigned ID)
	Changes unique ID. More...

virtual bool	isEnabled () const
	Returns whether the object is enabled or not. More...

virtual void	setEnabled (bool state)
	Sets the "enabled" property. More...

virtual void	toggleActivation ()
	Toggles the "enabled" property. More...

virtual bool	isLocked () const
	Returns whether the object is locked or not. More...

virtual void	setLocked (bool state)
	Sets the "enabled" property. More...

bool	isLeaf () const

bool	isCustom () const

bool	isHierarchy () const

bool	isKindOf (CV_CLASS_ENUM type) const

bool	isA (CV_CLASS_ENUM type) const

QVariant	getMetaData (const QString &key) const
	Returns a given associated meta data. More...

bool	removeMetaData (const QString &key)
	Removes a given associated meta-data. More...

void	setMetaData (const QString &key, const QVariant &data)
	Sets a meta-data element. More...

void	setMetaData (const QVariantMap &dataset, bool overwrite=false)
	Sets several meta-data elements at a time. More...

bool	hasMetaData (const QString &key) const
	Returns whether a meta-data element with the given key exists or not. More...

const QVariantMap &	metaData () const
	Returns meta-data map (const only) More...

void	setBaseName (const QString &baseName)

QString	getBaseName () const

void	setFullPath (const QString &fullPaht)

QString	getFullPath () const

Public Member Functions inherited from ccSerializableObject
virtual	~ccSerializableObject ()=default
	Destructor. More...

Public Member Functions inherited from ccDrawableObject
	ccDrawableObject ()
	Default constructor. More...

	ccDrawableObject (const ccDrawableObject &object)
	Copy constructor. More...

virtual	~ccDrawableObject ()=default

virtual bool	isVisible () const
	Returns whether entity is visible or not. More...

virtual void	setVisible (bool state)
	Sets entity visibility. More...

virtual void	toggleVisibility ()
	Toggles visibility. More...

virtual bool	isRedraw () const
	Returns whether entity is to be redraw. More...

virtual void	setRedraw (bool state)
	Sets entity redraw mode. More...

virtual void	setForceRedraw (bool state)
	Sets force redraw. More...

virtual void	setFixedId (bool state)

virtual bool	isFixedId ()

virtual bool	isVisibilityLocked () const
	Returns whether visibility is locked or not. More...

virtual void	lockVisibility (bool state)
	Locks/unlocks visibility. More...

virtual bool	isSelected () const
	Returns whether entity is selected or not. More...

virtual void	setSelected (bool state)
	Selects/Unselects entity. More...

virtual bool	colorsShown () const
	Returns whether colors are shown or not. More...

virtual void	showColors (bool state)
	Sets colors visibility. More...

virtual void	toggleColors ()
	Toggles colors display state. More...

virtual bool	normalsShown () const
	Returns whether normals are shown or not. More...

virtual void	showNormals (bool state)
	Sets normals visibility. More...

virtual void	toggleNormals ()
	Toggles normals display state. More...

virtual void	showSF (bool state)
	Sets active scalarfield visibility. More...

virtual void	toggleSF ()
	Toggles SF display state. More...

virtual bool	sfShown () const
	Returns whether active scalar field is visible. More...

virtual void	toggleMaterials ()
	Toggles material display state. More...

virtual void	showNameIn3D (bool state)
	Sets whether name should be displayed in 3D. More...

virtual bool	nameShownIn3D () const
	Returns whether name is displayed in 3D or not. More...

virtual void	toggleShowName ()
	Toggles name in 3D display state. More...

virtual bool	isColorOverridden () const

virtual const ecvColor::Rgb &	getTempColor () const
	Returns current temporary (unique) color. More...

virtual void	setTempColor (const ecvColor::Rgb &col, bool autoActivate=true)
	Sets current temporary (unique) More...

virtual void	enableTempColor (bool state)
	Set temporary color activation state. More...

virtual float	getOpacity () const

virtual void	setOpacity (float opacity)
	Set opacity activation state. More...

virtual void	setGLTransformation (const ccGLMatrix &trans)
	Associates entity with a GL transformation (rotation + translation) More...

virtual void	enableGLTransformation (bool state)
	Enables/disables associated GL transformation. More...

virtual bool	isGLTransEnabled () const
	Returns whether a GL transformation is enabled or not. More...

virtual const ccGLMatrix &	getGLTransformation () const
	Returns associated GL transformation. More...

virtual void	resetGLTransformation ()
	Resets associated GL transformation. More...

virtual void	rotateGL (const ccGLMatrix &rotMat)
	Multiplies (left) current GL transformation by a rotation matrix. More...

virtual void	translateGL (const CCVector3 &trans)
	Translates current GL transformation by a rotation matrix. More...

virtual void	removeAllClipPlanes ()
	Removes all clipping planes (if any) More...

virtual bool	addClipPlanes (const ccClipPlane &plane)
	Registers a new clipping plane. More...

virtual void	toggleClipPlanes (CC_DRAW_CONTEXT &context, bool enable)
	Enables or disables clipping planes (OpenGL) More...

virtual void	applyDisplayState (const DisplayState &state)
	Applies a display state. More...

Public Member Functions inherited from cloudViewer::GenericIndexedCloudPersist
	~GenericIndexedCloudPersist () override=default
	Default destructor. More...

Public Member Functions inherited from cloudViewer::GenericIndexedCloud
	~GenericIndexedCloud () override=default
	Default destructor. More...

Public Member Functions inherited from cloudViewer::GenericCloud
	GenericCloud ()=default
	Default constructor. More...

virtual	~GenericCloud ()=default
	Default destructor. More...

virtual bool	hasPoints () const

Static Public Member Functions
static ccPointCloud *	From (const cloudViewer::GenericIndexedCloud cloud, const ccGenericPointCloud sourceCloud=nullptr)
	Creates a new point cloud object from a GenericIndexedCloud. More...

static ccPointCloud *	From (cloudViewer::GenericCloud cloud, const ccGenericPointCloud sourceCloud=nullptr)
	Creates a new point cloud object from a GenericCloud. More...

static ccPointCloud *	From (const ccPointCloud *sourceCloud, const std::vector< size_t > &indices, bool invert=false)
	Function to select points from `input` ccPointCloud into `output` ccPointCloud. More...

static std::vector< Eigen::Matrix3d >	EstimatePerPointCovariances (const ccPointCloud &input, const cloudViewer::geometry::KDTreeSearchParam &search_param=cloudViewer::geometry::KDTreeSearchParamKNN())
	Static function to compute the covariance matrix for each point of a point cloud. Doesn't change the input PointCloud, just outputs the covariance matrices. More...

static std::shared_ptr< ccPointCloud >	CreateFromDepthImage (const cloudViewer::geometry::Image &depth, const cloudViewer::camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic=Eigen::Matrix4d::Identity(), double depth_scale=1000.0, double depth_trunc=1000.0, int stride=1, bool project_valid_depth_only=true)
	Factory function to create a pointcloud from a depth image and a camera model. More...

static std::shared_ptr< ccPointCloud >	CreateFromRGBDImage (const cloudViewer::geometry::RGBDImage &image, const cloudViewer::camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic=Eigen::Matrix4d::Identity(), bool project_valid_depth_only=true)
	Factory function to create a pointcloud from an RGB-D image and a camera model. More...

Static Public Member Functions inherited from ccHObject
static ccHObject *	New (CV_CLASS_ENUM objectType, const char *name=nullptr)
	Static factory. More...

static ccHObject *	New (const QString &pluginId, const QString &classId, const char *name=nullptr)
	Static factory (version to be used by external plugin factories) More...

static Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points)
	Compute min bound of a list points. More...

static Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points)
	Compute max bound of a list points. More...

static Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points)
	Computer center of a list of points. More...

static void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, std::size_t size, const Eigen::Vector3d &color)
	Resizes the colors vector and paints a uniform color. More...

static void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points)
	Transforms all points with the transformation matrix. More...

static void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals)
	Transforms the normals with the transformation matrix. More...

static void	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances)
	Transforms all covariance matrices with the transformation. More...

static void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative)
	Apply translation to the geometry coordinates. More...

static void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Scale the coordinates of all points by the scaling factor `scale`. More...

static void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Rotate all points with the rotation matrix `R`. More...

static void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals)
	Rotate all normals with the rotation matrix `R`. More...

static void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances)
	Rotate all covariance matrices with the rotation matrix `R`. More...

static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

static Eigen::Matrix3d	GetRotationMatrixFromEulerAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from Euler angle. More...

Static Public Member Functions inherited from ccObject
static unsigned	GetCurrentDBVersion ()
	Returns current database version. More...

static void	SetUniqueIDGenerator (ccUniqueIDGenerator::Shared generator)
	Sets the unique ID generator. More...

static ccUniqueIDGenerator::Shared	GetUniqueIDGenerator ()
	Returns the unique ID generator. More...

static unsigned	GetNextUniqueID ()
	Returns a new unassigned unique ID. More...

static unsigned	GetLastUniqueID ()
	Returns last assigned unique ID. More...

static CV_CLASS_ENUM	ReadClassIDFromFile (QFile &in, short dataVersion)
	Helper: reads out class ID from a binary stream. More...

Static Public Member Functions inherited from ccSerializableObject
static bool	WriteError ()
	Sends a custom error message (write error) and returns 'false'. More...

static bool	ReadError ()
	Sends a custom error message (read error) and returns 'false'. More...

static bool	MemoryError ()
	Sends a custom error message (not enough memory) and returns 'false'. More...

static bool	CorruptError ()
	Sends a custom error message (corrupted file) and returns 'false'. More...

Public Attributes
std::vector< Eigen::Matrix3d >	covariances_
	Covariance Matrix for each point. More...

Protected Member Functions
void	drawMeOnly (CC_DRAW_CONTEXT &context) override
	Draws the entity only (not its children) More...

void	applyGLTransformation (const ccGLMatrix &trans) override
	Applies a GL transformation to the entity. More...

bool	toFile_MeOnly (QFile &out, short dataVersion) const override
	Save own object data. More...

short	minimumFileVersion_MeOnly () const override

bool	fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads own object data. More...

void	notifyGeometryUpdate () override

void	swapPoints (unsigned firstIndex, unsigned secondIndex) override

virtual void	removePoints (size_t index) override

void	releaseVBOs ()
	Release VBOs. More...

Protected Member Functions inherited from cloudViewer::PointCloudTpl< ccGenericPointCloud >
CCVector3 *	point (unsigned index)
	Returns non const access to a given point. More...

const CCVector3 *	point (unsigned index) const
	Returns const access to a given point. More...

Protected Member Functions inherited from ccShiftedObject
bool	saveShiftInfoToFile (QFile &out) const
	Serialization helper (output) More...

bool	loadShiftInfoFromFile (QFile &in)
	Serialization helper (input) More...

Protected Member Functions inherited from ccHObject
virtual void	setParent (ccHObject *anObject)
	Sets parent object. More...

virtual void	drawNameIn3D ()
	Draws the entity name in 3D. More...

virtual void	onDeletionOf (const ccHObject *obj)
	This method is called when another object is deleted. More...

virtual void	onUpdateOf (ccHObject *obj)
	This method is called when another object (geometry) is updated. More...

Protected Member Functions inherited from ccObject
virtual bool	getFlagState (CV_OBJECT_FLAG flag) const
	Returns flag state. More...

virtual void	setFlagState (CV_OBJECT_FLAG flag, bool state)
	Sets flag state. More...

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Reimplemented from ccSerializableObject::fromFile. More...

Protected Attributes
ColorsTableType *	m_rgbColors
	Colors. More...

NormsIndexesTableType *	m_normals
	Normals (compressed) More...

bool	m_sfColorScaleDisplayed

ccScalarField *	m_currentDisplayedScalarField
	Currently displayed scalar field. More...

int	m_currentDisplayedScalarFieldIndex
	Currently displayed scalar field index. More...

std::vector< Grid::Shared >	m_grids
	Associated grid structure. More...

bool	m_visibilityCheckEnabled
	Whether visibility check is available or not (during comparison) More...

vboSet	m_vboManager
	Set of VBOs attached to this cloud. More...

ccPointCloudLOD *	m_lod
	L.O.D. structure. More...

FWFDescriptorSet	m_fwfDescriptors
	General waveform descriptors. More...

std::vector< ccWaveform >	m_fwfWaveforms
	Per-point waveform accessors. More...

SharedFWFDataContainer	m_fwfData
	Waveforms raw data storage. More...

Protected Attributes inherited from cloudViewer::PointCloudTpl< ccGenericPointCloud >
std::vector< CCVector3 >	m_points
	3D Points database More...

BoundingBox	m_bbox
	Bounding-box. More...

unsigned	m_currentPointIndex
	'Iterator' on the points db More...

std::vector< ScalarField * >	m_scalarFields
	Associated scalar fields. More...

int	m_currentInScalarFieldIndex
	Index of current scalar field used for input. More...

int	m_currentOutScalarFieldIndex
	Index of current scalar field used for output. More...

Protected Attributes inherited from ccGenericPointCloud
VisibilityTableType	m_pointsVisibility
	Per-point visibility table. More...

unsigned char	m_pointSize
	Point size (won't be applied if 0) More...

Protected Attributes inherited from ccShiftedObject
CCVector3d	m_globalShift
	Global shift (typically applied at loading time) More...

double	m_globalScale
	Global scale (typically applied at loading time) More...

Protected Attributes inherited from ccHObject
ccHObject *	m_parent
	Parent. More...

Container	m_children
	Children. More...

SelectionBehavior	m_selectionBehavior
	Selection behavior. More...

std::map< ccHObject *, int >	m_dependencies
	Dependencies map. More...

ccGLMatrix	m_glTransHistory
	Cumulative GL transformation. More...

bool	m_isDeleting
	Flag to safely handle dependencies when the object is being deleted. More...

Protected Attributes inherited from ccObject
QString	m_name
	Object name. More...

QString	m_baseName

QString	m_filePath

bool	m_removeFlag

unsigned	m_flags
	Object flags. More...

QVariantMap	m_metaData
	Associated meta-data. More...

Protected Attributes inherited from ccDrawableObject
bool	m_fixedId

bool	m_modelRedraw

bool	m_forceRedraw

float	m_opacity

bool	m_visible
	Specifies whether the object is visible or not. More...

bool	m_selected
	Specifies whether the object is selected or not. More...

bool	m_lockedVisibility
	Specifies whether the visibility can be changed by user or not. More...

bool	m_colorsDisplayed
	Specifies whether colors should be displayed. More...

bool	m_normalsDisplayed
	Specifies whether normals should be displayed. More...

bool	m_sfDisplayed
	Specifies whether scalar field should be displayed. More...

ecvColor::Rgb	m_tempColor
	Temporary (unique) color. More...

bool	m_colorIsOverridden
	Temporary (unique) color activation state. More...

ccGLMatrix	m_glTrans
	Current GL transformation. More...

bool	m_glTransEnabled
	Current GL transformation activation state. More...

bool	m_showNameIn3D
	Whether name is displayed in 3D or not. More...

CCVector3d	m_nameIn3DPos
	Last 2D position of the '3D' name. More...

ccClipPlaneSet	m_clipPlanes
	Active clipping planes (used for display only) More...

std::vector< DisplayState::Shared >	m_displayStateStack
	The stack of pushed display states. More...

Detailed Description

A 3D cloud and its associated features (color, normals, scalar fields, etc.)

A point cloud can have multiple features:

colors (RGB)
normals (compressed)
scalar fields
an octree strucutre
per-point visibility information (to hide/display subsets of points)
other children objects (meshes, calibrated pictures, etc.)

Definition at line 146 of file ecvPointCloud.h.

Member Typedef Documentation

◆ BaseClass

using ccPointCloud::BaseClass = cloudViewer::PointCloudTpl<ccGenericPointCloud>

Base class (shortcut)

Definition at line 150 of file ecvPointCloud.h.

◆ FWFDataContainer

using ccPointCloud::FWFDataContainer = std::vector<uint8_t>

Waveform data container.

Definition at line 506 of file ecvPointCloud.h.

◆ FWFDescriptorSet

using ccPointCloud::FWFDescriptorSet = QMap<uint8_t, WaveformDescriptor>

Waveform descriptors set.

Definition at line 503 of file ecvPointCloud.h.

◆ SharedFWFDataContainer

using ccPointCloud::SharedFWFDataContainer = QSharedPointer<const FWFDataContainer>

Definition at line 507 of file ecvPointCloud.h.

Member Enumeration Documentation

◆ CLONE_WARNINGS

enum ccPointCloud::CLONE_WARNINGS

Warnings for the partialClone method (bit flags)

Enumerator
WRN_OUT_OF_MEM_FOR_COLORS
WRN_OUT_OF_MEM_FOR_NORMALS
WRN_OUT_OF_MEM_FOR_SFS
WRN_OUT_OF_MEM_FOR_FWF

Definition at line 208 of file ecvPointCloud.h.

◆ RGB_FILTER_TYPES

enum ccPointCloud::RGB_FILTER_TYPES

RGB filter types.

Enumerator
NONE
BILATERAL
GAUSSIAN
MEAN
MEDIAN

Definition at line 790 of file ecvPointCloud.h.

◆ UnrollMode

enum ccPointCloud::UnrollMode

Enumerator
CYLINDER
CONE
STRAIGHTENED_CONE
STRAIGHTENED_CONE2

Definition at line 864 of file ecvPointCloud.h.

Constructor & Destructor Documentation

◆ ccPointCloud() [1/3]

ccPointCloud::ccPointCloud	(	QString	name = `QString()`	)
throw	(
	)

Default constructor.

Creates an empty cloud without any feature. Each of them shoud be specifically instantiated/created (once the points have been added to this cloud, at least partially).

Parameters

name	cloud name (optional)

◆ ccPointCloud() [2/3]

ccPointCloud::ccPointCloud ( const ccPointCloud & cloud )

◆ ccPointCloud() [3/3]

ccPointCloud::ccPointCloud	(	const std::vector< Eigen::Vector3d > &	points,
		const std::string &	name = `"cloud"`
	)

◆ ~ccPointCloud()

ccPointCloud::~ccPointCloud ( )

override

Default destructor.

Member Function Documentation

◆ addColorRampInfo()

void ccPointCloud::addColorRampInfo ( CC_DRAW_CONTEXT & context )

Adds associated SF color ramp info to current GL context.

◆ addEigenColor()

void ccPointCloud::addEigenColor ( const Eigen::Vector3d & color )

Referenced by cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractTriangleMesh(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractTriangleMesh(), cloudViewer::io::ReadModelUsingAssimp(), cloudViewer::io::ReadPointCloudFromXYZRGB(), and cloudViewer::io::ReadTriangleMeshFromOBJ().

◆ addEigenColors()

void ccPointCloud::addEigenColors ( const std::vector< Eigen::Vector3d > & colors )

Referenced by cloudViewer::geometry::pybind_pointcloud(), and cloudViewer::t::geometry::PointCloud::ToLegacy().

◆ addEigenNorm()

void ccPointCloud::addEigenNorm ( const Eigen::Vector3d & N )

Referenced by cloudViewer::io::ReadModelUsingAssimp(), cloudViewer::io::ReadPointCloudFromXYZN(), and cloudViewer::io::ReadTriangleMeshFromGLTF().

◆ addEigenNorms()

void ccPointCloud::addEigenNorms ( const std::vector< Eigen::Vector3d > & normals )

Referenced by cloudViewer::geometry::pybind_pointcloud(), and cloudViewer::t::geometry::PointCloud::ToLegacy().

◆ addGreyColor()

void ccPointCloud::addGreyColor ( ColorCompType g )

inline

Pushes a grey color on stack (shortcut)

Shortcut: color is converted to RGB(g, g, g)

Parameters

g	grey component

Definition at line 722 of file ecvPointCloud.h.

Referenced by SoiFilter::loadFile(), and cloudViewer::geometry::pybind_pointcloud().

◆ addGrid()

bool ccPointCloud::addGrid ( Grid::Shared grid )

inline

Adds an associated grid.

Definition at line 449 of file ecvPointCloud.h.

◆ addNorm()

void ccPointCloud::addNorm ( const CCVector3 & N )

Pushes a normal vector on stack (shortcut)

Parameters

N	normal vector

Referenced by MeshWrapper< Real >::addNormal(), define_ccPointCloud(), ccCompass::estimateStructureNormals(), FromFbxMesh(), LoadCloud(), RDBFilter::loadFile(), LoadScan(), and cloudViewer::visualization::MessageProcessor::ProcessMessage().

◆ addNormAtIndex()

void ccPointCloud::addNormAtIndex	(	const PointCoordinateType *	N,
		unsigned	index
	)

Adds a normal vector to the one at a specific index.

The resulting sum is automatically normalized and compressed.

Parameters

N	normal vector to add (size: 3)
index	normal index to modify

◆ addNormIndex()

void ccPointCloud::addNormIndex ( CompressedNormType index )

Pushes a compressed normal vector.

Parameters

index compressed normal vector

◆ addNorms() [1/2]

void ccPointCloud::addNorms ( const std::vector< CCVector3 > & Ns )

◆ addNorms() [2/2]

void ccPointCloud::addNorms ( const std::vector< CompressedNormType > & idxes )

◆ addRGBColor() [1/2]

void ccPointCloud::addRGBColor	(	ColorCompType	r,
		ColorCompType	g,
		ColorCompType	b
	)

inline

Pushes an RGB color on stack (shortcut)

Parameters

r	red component
g	green component
b	blue component

Definition at line 714 of file ecvPointCloud.h.

◆ addRGBColor() [2/2]

void ccPointCloud::addRGBColor ( const ecvColor::Rgb & C )

Pushes an RGB color on stack.

Parameters

C RGB color

Referenced by MeshWrapper< Real >::addColor(), contourPoly(), contourPoly2(), FromFbxMesh(), getMortarMaps(), LasScalarFieldLoader::handleRGBValue(), LoadCloud(), CSVMatrixFilter::loadFile(), LASFWFFilter::loadFile(), LASFilter::loadFile(), RDBFilter::loadFile(), LoadScan(), cloudViewer::io::ReadTriangleMeshFromGLTF(), rotY(), and qCanupoTools::TrainClassifier().

◆ addRGBColors()

void ccPointCloud::addRGBColors ( const std::vector< ecvColor::Rgb > & colors )

◆ addScalarField() [1/2]

int ccPointCloud::addScalarField ( ccScalarField * sf )

Adds an existing scalar field to this cloud.

Warning: the cloud takes ownership of it!

Parameters

sf	existing scalar field

Returns: index of added scalar field (or -1 if an error occurred)

◆ addScalarField() [2/2]

int ccPointCloud::addScalarField ( const char * uniqueName )

overridevirtual

Creates a new scalar field and registers it.

Warnings:

the name must be unique (the method will fail if a SF with the same name already exists)
this method DOES resize the scalar field to match the current cloud size
Parameters

uniqueName scalar field name (must be unique)

Returns
index of this new scalar field (or -1 if an error occurred)

Reimplemented from cloudViewer::PointCloudTpl< ccGenericPointCloud >.

Referenced by LasCloudChunk::addLasFieldsToCloud(), ccScalarFieldArithmeticsDlg::Apply(), ccLibAlgorithms::ApplyCCLibAlgorithm(), ccTrace::buildCurvatureCost(), ccTrace::buildGradientCost(), masc::Classifier::classify(), qCanupoProcess::Classify(), qM3C2Process::Compute(), qVoxFallProcess::Compute(), ccComparisonDlg::computeApproxDistances(), ccComparisonDlg::computeDistances(), ccLibAlgorithms::ComputeGeomCharacteristic(), DistanceMapGenerationTool::ComputeRadialDist(), ccRasterizeTool::convertGridToCloud(), DistanceMapGenerationTool::ConvertMapToCloud(), ccEntityAction::convertNormalsTo(), ccCropTool::Crop(), qPCV::doAction(), qPoissonRecon::doAction(), ccCompass::estimateP21(), masc::Classifier::evaluate(), GrainsAsEllipsoids::exportResultsAsCloud(), qFacets::extractFacets(), TreeIso::Final_seg_pcd(), ccRasterizeTool::generateHillshade(), getMortarMaps(), ccRegistrationTools::ICP(), ccEntityAction::importToSF(), TreeIso::Init_seg_pcd(), TreeIso::Intermediate_seg_pcd(), LoadCloud(), LASFWFFilter::loadFile(), RDBFilter::loadFile(), LoadScan(), ccTrace::optimizePath(), masc::Feature::PrepareSF(), CommandExtractCCs::process(), CommandStatTest::process(), PCVCommand::Process(), cloudViewer::geometry::pybind_pointcloud(), ccEntityAction::rgbGaussianFilter(), ccEntityAction::sfAddIdField(), ccEntityAction::sfGaussianFilter(), and ccEntityAction::statisticalTest().

◆ append()

const ccPointCloud& ccPointCloud::append	(	ccPointCloud *	cloud,
		unsigned	pointCountBefore,
		bool	ignoreChildren = `false`
	)

Appends a cloud to this one.

Same as the += operator with pointCountBefore == size()

Parameters

cloud	cloud to be added
pointCountBefore	the number of points previously contained in this cloud
ignoreChildren	whether to copy input cloud's children or not

Returns: the resulting point cloud

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ applyFilterToRGB()

bool ccPointCloud::applyFilterToRGB	(	PointCoordinateType	sigma,
		PointCoordinateType	sigmaSF,
		RgbFilterOptions	filterParams,
		cloudViewer::GenericProgressCallback *	progressCb = `nullptr`
	)

Applies a spatial Gaussian filter on RGB colors.

The "amplitude" of the Gaussian filter must be specified (sigma). As 99% of the Gaussian distribution is between -3*sigma and +3*sigma around the mean value, this filter will only look for neighbors within a sphere of radius 3*sigma. One can also use the filter as a Bilateral filter. In this case the weights are computed considering the difference of the neighbors SF values with the current point SF value (also following a Gaussian distribution). Warning: this method assumes the output scalar field is set.

Parameters

sigma	filter variance
sigmaSF	if strictly positive, the variance for the Bilateral filter
filterParams	filter options
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Returns: success

Referenced by ccEntityAction::rgbGaussianFilter().

◆ applyGLTransformation()

void ccPointCloud::applyGLTransformation ( const ccGLMatrix & trans )

overrideprotectedvirtual

Applies a GL transformation to the entity.

this = rotMat*(this-rotCenter)+(rotCenter+trans)

Parameters

trans a ccGLMatrix structure

Reimplemented from ccHObject.

◆ applyRigidTransformation()

virtual void ccPointCloud::applyRigidTransformation ( const ccGLMatrix & trans )

overridevirtual

Applies a rigid transformation (rotation + translation)

Implements ccGenericPointCloud.

◆ clear()

void ccPointCloud::clear ( )

overridevirtual

Clears the entity from all its points and features.

Display parameters are also reseted to their default values.

Reimplemented from ccGenericPointCloud.

Reimplemented in ccSymbolCloud.

Referenced by ccGraphicalSegmentationTool::addPointToPolyline(), ccSymbolCloud::clear(), ccGraphicalSegmentationTool::closePolyLine(), ccGraphicalSegmentationTool::closeRectangle(), ccTopologyRelation::constructGraphic(), ccGraphicalSegmentationTool::doActionUseExistingPolyline(), ccCompass::estimateP21(), ccContourExtractor::ExtractConcaveHull2D(), ccGraphicalSegmentationTool::pauseSegmentationMode(), cloudViewer::io::ReadPointCloudFromPLY(), cloudViewer::io::ReadPointCloudFromPTS(), cloudViewer::io::ReadPointCloudFromXYZ(), cloudViewer::io::ReadPointCloudFromXYZN(), cloudViewer::io::ReadPointCloudFromXYZRGB(), cloudViewer::io::ReadPointCloudInMemoryFromXYZ(), qCanupo2DViewDialog::resetBoundary(), cloudViewer::benchmarks::TestKDTreeLine0::setup(), ccGraphicalSegmentationTool::start(), and qCanupoTools::TrainClassifier().

◆ clearFWFData()

void ccPointCloud::clearFWFData ( )

Clears all associated FWF data.

◆ clearLOD()

void ccPointCloud::clearLOD ( )

Clears the LOD structure.

◆ clone()

ccGenericPointCloud* ccPointCloud::clone	(	ccGenericPointCloud *	destCloud = `nullptr`,
		bool	ignoreChildren = `false`
	)

overridevirtual

Clones this entity.

All the main features of the entity are cloned, except from the octree and the points visibility information.

Parameters

destCloud	destination cloud can be provided here (must be of the exact same type as the cloned cloud!)
ignoreChildren	[optional] whether to ignore the cloud's children or not (in which case they will be cloned as well)

Returns: a copy of this entity

Implements ccGenericPointCloud.

◆ cloneThis()

ccPointCloud* ccPointCloud::cloneThis	(	ccPointCloud *	destCloud = `nullptr`,
		bool	ignoreChildren = `false`
	)

Clones this entity.

All the main features of the entity are cloned, except from the octree and the points visibility information.

Parameters

destCloud	[optional] the destination cloud can be provided here
ignoreChildren	[optional] whether to ignore the cloud's children or not (in which case they will be cloned as well)

Returns: a copy of this entity

Referenced by ComputeKmeansClustering(), cloudViewer::geometry::pybind_pointcloud(), and cloudViewer::geometry::pybind_trianglemesh().

◆ ClusterDBSCAN()

std::vector<int> ccPointCloud::ClusterDBSCAN	(	double	eps,
		size_t	min_points,
		bool	print_progress = `false`
	)		const

Cluster ccPointCloud using the DBSCAN algorithm Ester et al., "A Density-Based Algorithm for Discovering Clusters in Large Spatial Databases with Noise", 1996.

Returns a list of point labels, -1 indicates noise according to the algorithm.

Parameters

eps	Density parameter that is used to find neighbouring points.
min_points	Minimum number of points to form a cluster.
print_progress	If `true` the progress is visualized in the console.

Referenced by ccEntityAction::DBScanCluster(), and cloudViewer::geometry::pybind_pointcloud().

◆ colorize()

bool ccPointCloud::colorize	(	float	r,
		float	g,
		float	b
	)

Multiplies all color components of all points by coefficients.

If the cloud has no color, all points are considered white and the color array is automatically allocated.

Parameters

r	red component
g	green component
b	blue component

Returns: success

Referenced by define_ccPointCloud(), cloudViewer::geometry::pybind_pointcloud(), and ccEntityAction::setColor().

◆ colorsHaveChanged()

void ccPointCloud::colorsHaveChanged ( )

inline

Notify a modification of color / scalar field display parameters or contents

Definition at line 276 of file ecvPointCloud.h.

Referenced by TreeIso::Final_seg_pcd(), TreeIso::Init_seg_pcd(), TreeIso::Intermediate_seg_pcd(), ccColorFromScalarDlg::onApply(), and cloudViewer::geometry::pybind_pointcloud().

◆ compressFWFData()

bool ccPointCloud::compressFWFData ( )

Compresses the associated FWF data container.

As the container is shared, the compressed version will be potentially added to the memory resulting in a decrease of the available memory...

Referenced by LASFWFFilter::saveToFile().

◆ ComputeConvexHull()

std::tuple<std::shared_ptr<ccMesh>, std::vector<size_t> > ccPointCloud::ComputeConvexHull ( ) const

Function that computes the convex hull of the point cloud using qhull.

Referenced by ccEntityAction::ConvexHull(), and cloudViewer::geometry::pybind_pointcloud().

◆ computeCPSet()

QSharedPointer<cloudViewer::ReferenceCloud> ccPointCloud::computeCPSet	(	ccGenericPointCloud &	otherCloud,
		cloudViewer::GenericProgressCallback *	progressCb = `nullptr`,
		unsigned char	octreeLevel = `0`
	)

Computes the closest point of this cloud relatively to another cloud.

The output (reference) clouds will have as many points as this cloud (with the indexes pointing on the closest point in the other cloud)

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ computeFWFAmplitude()

bool ccPointCloud::computeFWFAmplitude	(	double &	minVal,
		double &	maxVal,
		ecvProgressDialog *	pDlg = `nullptr`
	)		const

Computes the maximum amplitude of all associated waveforms.

Referenced by ccWaveDialog::ccWaveDialog().

◆ computeGravityCenter()

CCVector3 ccPointCloud::computeGravityCenter ( )

Returns the cloud gravity center.

Returns: gravity center

Referenced by ccPointPairRegistrationDlg::callHornRegistration(), and cloudViewer::geometry::pybind_pointcloud().

◆ ComputeMahalanobisDistance()

std::vector<double> ccPointCloud::ComputeMahalanobisDistance ( ) const

Function to compute the Mahalanobis distance for points in an input point cloud.

See: https://en.wikipedia.org/wiki/Mahalanobis_distance

Referenced by convert(), and cloudViewer::geometry::pybind_pointcloud().

◆ ComputeNearestNeighborDistance()

std::vector<double> ccPointCloud::ComputeNearestNeighborDistance ( ) const

Function to compute the distance from a point to its nearest neighbor in the input point cloud

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ computeNormalsWithGrids()

bool ccPointCloud::computeNormalsWithGrids	(	double	minTriangleAngle_deg = `1.0`,
		ecvProgressDialog *	pDlg = `nullptr`
	)

Compute the normals with the associated grid structure(s)

Can also orient the normals in the same run.

Referenced by define_ccPointCloud().

◆ computeNormalsWithOctree()

bool ccPointCloud::computeNormalsWithOctree	(	CV_LOCAL_MODEL_TYPES	model,
		ccNormalVectors::Orientation	preferredOrientation,
		PointCoordinateType	defaultRadius,
		ecvProgressDialog *	pDlg = `nullptr`
	)

Compute the normals by approximating the local surface around each point.

Referenced by define_ccPointCloud(), and CommandOctreeNormal::process().

◆ ComputePointCloudDistance()

std::vector<double> ccPointCloud::ComputePointCloudDistance ( const ccPointCloud & target )

Function to compute the point to point distances between point clouds.

For each point in the source point cloud, compute the distance to the target point cloud.

Parameters

target The target point cloud.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ ComputeResolution()

double ccPointCloud::ComputeResolution ( ) const

Referenced by ccEntityAction::DBScanCluster(), cloudViewer::geometry::pybind_pointcloud(), and ccEntityAction::VoxelSampling().

◆ convertCurrentScalarFieldToColors()

bool ccPointCloud::convertCurrentScalarFieldToColors ( bool mixWithExistingColor = false )

Converts current scalar field (values & display parameters) to RGB colors

Returns: success

Referenced by CommandSFConvertToRGB::process(), CommandVolume25D::process(), and cloudViewer::geometry::pybind_pointcloud().

◆ convertNormalToDipDirSFs()

bool ccPointCloud::convertNormalToDipDirSFs	(	ccScalarField *	dipSF,
		ccScalarField *	dipDirSF
	)

Converts normals to two scalar fields: 'dip' and 'dip direction'.

One input scalar field may be empty if the corresponding value is not required

Parameters

[out]	dipSF	dip values
[out]	dipDirSF	dip direction values

Returns: success

Referenced by ccEntityAction::convertNormalsTo(), and cloudViewer::geometry::pybind_pointcloud().

◆ convertNormalToRGB()

bool ccPointCloud::convertNormalToRGB ( )

Converts normals to RGB colors.

See ccNormalVectors::ConvertNormalToRGB

Returns: success

Referenced by ccEntityAction::convertNormalsTo(), and cloudViewer::geometry::pybind_pointcloud().

◆ convertRGBToGreyScale()

bool ccPointCloud::convertRGBToGreyScale ( )

Converts RGB to grey scale colors.

Returns: success

Referenced by cloudViewer::geometry::pybind_pointcloud(), and ccEntityAction::rgbToGreyScale().

◆ CreateFromDepthImage()

static std::shared_ptr<ccPointCloud> ccPointCloud::CreateFromDepthImage	(	const cloudViewer::geometry::Image &	depth,
		const cloudViewer::camera::PinholeCameraIntrinsic &	intrinsic,
		const Eigen::Matrix4d &	extrinsic = `Eigen::Matrix4d::Identity()`,
		double	depth_scale = `1000.0`,
		double	depth_trunc = `1000.0`,
		int	stride = `1`,
		bool	project_valid_depth_only = `true`
	)

static

Factory function to create a pointcloud from a depth image and a camera model.

Given depth value d at (u, v) image coordinate, the corresponding 3d point is: z = d / depth_scale
x = (u - cx) * z / fx
y = (v - cy) * z / fy

Parameters

depth	The input depth image can be either a float image, or a uint16_t image.
intrinsic	Intrinsic parameters of the camera.
extrinsic	Extrinsic parameters of the camera.
depth_scale	The depth is scaled by 1 / `depth_scale`.
depth_trunc	Truncated at `depth_trunc` distance.
stride	Sampling factor to support coarse point cloud extraction.

\Return An empty pointcloud if the conversion fails. If

Parameters

project_valid_depth_only is true, return point cloud, which doesn't have nan point. If the value is false, return point cloud, which has a point for each pixel, whereas invalid depth results in NaN points.

Referenced by cloudViewer::pipelines::integration::ScalableTSDFVolume::Integrate(), main(), and cloudViewer::geometry::pybind_pointcloud().

◆ CreateFromRGBDImage()

static std::shared_ptr<ccPointCloud> ccPointCloud::CreateFromRGBDImage	(	const cloudViewer::geometry::RGBDImage &	image,
		const cloudViewer::camera::PinholeCameraIntrinsic &	intrinsic,
		const Eigen::Matrix4d &	extrinsic = `Eigen::Matrix4d::Identity()`,
		bool	project_valid_depth_only = `true`
	)

static

Factory function to create a pointcloud from an RGB-D image and a camera model.

Given depth value d at (u, v) image coordinate, the corresponding 3d point is: z = d / depth_scale
x = (u - cx) * z / fx
y = (v - cy) * z / fy

Parameters

image	The input image.
intrinsic	Intrinsic parameters of the camera.
extrinsic	Extrinsic parameters of the camera.

\Return An empty pointcloud if the conversion fails. If

Parameters

project_valid_depth_only is true, return point cloud, which doesn't have nan point. If the value is false, return point cloud, which has a point for each pixel, whereas invalid depth results in NaN points.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ CreateFromVoxelGrid()

std::shared_ptr<ccPointCloud> ccPointCloud::CreateFromVoxelGrid ( const cloudViewer::geometry::VoxelGrid & voxel_grid )

Function to create a PointCloud from a VoxelGrid.

It transforms the voxel centers to 3D points using the original point cloud coordinate (with respect to the center of the voxel grid).

Parameters

voxel_grid The input VoxelGrid.

◆ createNewCloudFromVisibilitySelection()

ccGenericPointCloud* ccPointCloud::createNewCloudFromVisibilitySelection	(	bool	removeSelectedPoints = `false`,
		VisibilityTableType *	visTable = `nullptr`,
		std::vector< int > *	newIndexesOfRemainingPoints = `nullptr`,
		bool	silent = `false`,
		cloudViewer::ReferenceCloud *	selection = `nullptr`
	)

overridevirtual

Warning: if removeSelectedPoints is true, any attached octree will be deleted, as well as the visibility table.

Implements ccGenericPointCloud.

Referenced by StereogramDialog::exportCurrentSelection().

◆ Crop() [1/2]

std::shared_ptr<ccPointCloud> ccPointCloud::Crop ( const ccBBox & bbox ) const

Function to crop ccPointCloud into output ccPointCloud.

All points with coordinates outside the bounding box bbox are clipped.

Parameters

bbox	ccBBox to crop points.

Referenced by convert(), cloudViewer::t::geometry::LegacyCropByAxisAlignedBox(), cloudViewer::t::geometry::LegacyCropByOrientedBox(), and cloudViewer::geometry::pybind_pointcloud().

◆ crop() [1/2]

cloudViewer::ReferenceCloud* ccPointCloud::crop	(	const ccBBox &	box,
		bool	inside = `true`
	)

overridevirtual

Crops the cloud inside (or outside) a bounding box.

Warning: Always returns a selection (potentially empty) if successful.

Parameters

box	cropping box
inside	whether selected points are inside or outside the box

Returns: points falling inside (or outside) as a selection

Implements ccGenericPointCloud.

Referenced by ccCropTool::Crop().

◆ Crop() [2/2]

std::shared_ptr<ccPointCloud> ccPointCloud::Crop ( const ecvOrientedBBox & bbox ) const

Function to crop ccPointCloud into output ccPointCloud.

All points with coordinates outside the bounding box bbox are clipped.

Parameters

bbox	OrientedBoundingBox to crop points.

◆ crop() [2/2]

cloudViewer::ReferenceCloud* ccPointCloud::crop ( const ecvOrientedBBox & bbox )

overridevirtual

Implements ccGenericPointCloud.

◆ crop2D()

cloudViewer::ReferenceCloud* ccPointCloud::crop2D	(	const ccPolyline *	poly,
		unsigned char	orthoDim,
		bool	inside = `true`
	)

Crops the cloud inside (or outside) a 2D polyline.

Warning: Always returns a selection (potentially empty) if successful.

Parameters

poly	croping polyline
orthoDim	dimension orthogonal to the plane in which the segmentation should occur (X=0, Y=1, Z=2)
inside	whether selected points are inside or outside the polyline

Returns: points falling inside (or outside) as a selection

Referenced by define_ccPointCloud(), and cloudViewer::geometry::pybind_pointcloud().

◆ deleteAllScalarFields()

void ccPointCloud::deleteAllScalarFields ( )

overridevirtual

Deletes all scalar fields associated to this cloud.

Reimplemented from cloudViewer::PointCloudTpl< ccGenericPointCloud >.

Referenced by ccCropTool::Crop(), and cloudViewer::geometry::pybind_pointcloud().

◆ deleteScalarField()

void ccPointCloud::deleteScalarField ( int index )

overridevirtual

Deletes a specific scalar field.

WARNING: this operation may modify the scalar fields order (especially if the deleted SF is not the last one). However current IN & OUT scalar fields will stay up-to-date (while their index may change).

Parameters

index index of scalar field to be deleted

Reimplemented from cloudViewer::PointCloudTpl< ccGenericPointCloud >.

Referenced by ccScalarFieldArithmeticsDlg::Apply(), ccComparisonDlg::applyAndExit(), ccLibAlgorithms::ApplyCCLibAlgorithm(), ccTrace::buildCurvatureCost(), ccTrace::buildGradientCost(), ccComparisonDlg::cancelAndExit(), masc::Classifier::classify(), qCanupoProcess::Classify(), ccComparisonDlg::computeApproxDistances(), ccComparisonDlg::computeDistances(), ccLibAlgorithms::ComputeGeomCharacteristic(), ccEntityAction::convertNormalsTo(), ccMeasurementDevice::deleteScalarFieldFromCloud(), qPCV::doAction(), masc::Classifier::evaluate(), qFacets::extractFacets(), ccRegistrationTools::ICP(), CommandExtractCCs::process(), PCVCommand::Process(), cloudViewer::geometry::pybind_pointcloud(), SFCollector::releaseSFs(), RemoveScalarField(), and CommandRemoveSF::removeSF().

◆ drawMeOnly()

void ccPointCloud::drawMeOnly ( CC_DRAW_CONTEXT & context )

overrideprotectedvirtual

Draws the entity only (not its children)

Reimplemented from ccHObject.

Reimplemented in ccSymbolCloud, and ccSNECloud.

Referenced by ccSNECloud::drawMeOnly().

◆ enableVisibilityCheck()

void ccPointCloud::enableVisibilityCheck ( bool state )

inline

Sets whether visibility check is enabled or not (e.g. during distances computation) See ccPointCloud::testVisibility.

Definition at line 618 of file ecvPointCloud.h.

Referenced by ccComparisonDlg::computeDistances().

◆ enhanceRGBWithIntensitySF()

bool ccPointCloud::enhanceRGBWithIntensitySF	(	int	sfIdx,
		bool	useCustomIntensityRange = `false`,
		double	minI = `0.0`,
		double	maxI = `1.0`
	)

Enhances the RGB colors with the current scalar field (assuming it's intensities)

Referenced by ccEntityAction::enhanceRGBWithIntensities(), and cloudViewer::geometry::pybind_pointcloud().

◆ EstimateCovariances()

void ccPointCloud::EstimateCovariances ( const cloudViewer::geometry::KDTreeSearchParam & search_param = cloudViewer::geometry::KDTreeSearchParamKNN() )

Function to compute the covariance matrix for each point of a point cloud.

Parameters

search_param The KDTree search parameters for neighborhood search.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ EstimateNormals()

bool ccPointCloud::EstimateNormals	(	const cloudViewer::geometry::KDTreeSearchParam &	search_param = `cloudViewer::geometry::KDTreeSearchParamKNN()`,
		bool	fast_normal_computation = `true`
	)

Function to compute the normals of a point cloud.

Normals are oriented with respect to the input point cloud if normals exist.

Parameters

search_param	The KDTree search parameters for neighborhood search.
fast_normal_computation	If true, the normal estiamtion uses a non-iterative method to extract the eigenvector from the covariance matrix. This is faster, but is not as numerical stable.

Referenced by convert(), and cloudViewer::geometry::pybind_pointcloud().

◆ EstimatePerPointCovariances()

static std::vector<Eigen::Matrix3d> ccPointCloud::EstimatePerPointCovariances	(	const ccPointCloud &	input,
		const cloudViewer::geometry::KDTreeSearchParam &	search_param = `cloudViewer::geometry::KDTreeSearchParamKNN()`
	)

static

Static function to compute the covariance matrix for each point of a point cloud. Doesn't change the input PointCloud, just outputs the covariance matrices.

Parameters

input	PointCloud to use for covariance computation
search_param	The KDTree search parameters for neighborhood search.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ exportCoordToSF()

bool ccPointCloud::exportCoordToSF ( bool exportDims[3] )

Exports the specified coordinate dimension(s) to scalar field(s)

Referenced by ccEntityAction::exportCoordToSF(), CommandCoordToSF::process(), and cloudViewer::geometry::pybind_pointcloud().

◆ exportNormalToSF()

bool ccPointCloud::exportNormalToSF ( bool exportDims[3] )

Exports the specified normal dimension(s) to scalar field(s)

Referenced by ccEntityAction::exportNormalToSF().

◆ FarthestPointDownSample()

std::shared_ptr<ccPointCloud> ccPointCloud::FarthestPointDownSample	(	const size_t	num_samples,
		const size_t	start_index = `0`
	)		const

Function to downsample input pointcloud into output pointcloud with a set of points has farthest distance.

The sample is performed by selecting the farthest point from previous selected points iteratively, starting from start_index.

Parameters

num_samples	Number of points to be sampled.
start_index	Index to start downsampling from.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ filterPointsByScalarValue() [1/2]

ccPointCloud* ccPointCloud::filterPointsByScalarValue	(	ScalarType	minVal,
		ScalarType	maxVal,
		bool	outside = `false`
	)

Filters out points whose scalar values falls into an interval.

Threshold values should be expressed relatively to the current displayed scalar field.

Parameters

minVal	minimum value
maxVal	maximum value
outside	whether to select the points inside or outside of the specified interval

Returns: resulting cloud (remaining points)

Referenced by ecvFilterByLabelDlg::apply(), and cloudViewer::geometry::pybind_pointcloud().

◆ filterPointsByScalarValue() [2/2]

ccPointCloud* ccPointCloud::filterPointsByScalarValue	(	std::vector< ScalarType >	values,
		bool	outside = `false`
	)

Filters out points whose scalar values falls into an interval.

Threshold values should be expressed relatively to the current displayed scalar field.

Parameters

values	filter scalar values
outside	whether to select the points inside or outside of the specified interval

Returns: resulting cloud (remaining points)

◆ From() [1/3]

static ccPointCloud* ccPointCloud::From	(	cloudViewer::GenericCloud *	cloud,
		const ccGenericPointCloud *	sourceCloud = `nullptr`
	)

static

Creates a new point cloud object from a GenericCloud.

"GenericCloud" is a very simple and light interface from cloudViewer. It is meant to give access to points coordinates of any cloud (on the condition it implements the GenericCloud interface of course). See cloudViewer documentation for more information about GenericClouds. As the GenericCloud interface is very simple, only points are imported. Note: throws an 'int' exception in case of error (see CTOR_ERRORS)

Parameters

cloud	a GenericCloud structure
sourceCloud	cloud from which main parameters will be imported (optional)

◆ From() [2/3]

static ccPointCloud* ccPointCloud::From	(	const ccPointCloud *	sourceCloud,
		const std::vector< size_t > &	indices,
		bool	invert = `false`
	)

static

Function to select points from input ccPointCloud into output ccPointCloud.

Points with indices in

Parameters

indices	are selected.
sourceCloud.
indices	Indices of points to be selected.
invert	Set to `True` to invert the selection of indices.

◆ From() [3/3]

static ccPointCloud* ccPointCloud::From	(	const cloudViewer::GenericIndexedCloud *	cloud,
		const ccGenericPointCloud *	sourceCloud = `nullptr`
	)

static

Creates a new point cloud object from a GenericIndexedCloud.

"GenericIndexedCloud" is an extension of GenericCloud (from cloudViewer) which provides a const random accessor to points. See cloudViewer documentation for more information about GenericIndexedCloud. As the GenericIndexedCloud interface is very simple, only points are imported. Note: throws an 'int' exception in case of error (see CTOR_ERRORS)

Parameters

cloud	a GenericIndexedCloud structure
sourceCloud	cloud from which main parameters will be imported (optional)

Referenced by ccCropTool::Crop(), cloudViewer::geometry::pybind_pointcloud(), and ccEntityAction::RansacSegmentation().

◆ fromFile_MeOnly()

bool ccPointCloud::fromFile_MeOnly	(	QFile &	in,
		short	dataVersion,
		int	flags,
		LoadedIDMap &	oldToNewIDMap
	)

overrideprotectedvirtual

Loads own object data.

Called by 'fromFile' (recursive scheme) To be overloaded (but still called ;) by subclass.

Parameters

in	input file
dataVersion	file version
flags	deserialization flags (see ccSerializableObject::DeserializationFlags)
oldToNewIDMap	map to link old IDs with new IDs

Reimplemented from ccGenericPointCloud.

◆ fwfData() [1/2]

SharedFWFDataContainer& ccPointCloud::fwfData ( )

inline

Gives access to the associated FWF data container.

Definition at line 525 of file ecvPointCloud.h.

Referenced by ccPropertiesTreeDelegate::fillWithPointCloud(), LasWaveformLoader::LasWaveformLoader(), LASFWFFilter::loadFile(), and LASFWFFilter::saveToFile().

◆ fwfData() [2/2]

const SharedFWFDataContainer& ccPointCloud::fwfData ( ) const

inline

Gives access to the associated FWF data container (const version)

Definition at line 527 of file ecvPointCloud.h.

◆ fwfDescriptors() [1/2]

FWFDescriptorSet& ccPointCloud::fwfDescriptors ( )

inline

Gives access to the FWF descriptors.

Definition at line 510 of file ecvPointCloud.h.

Referenced by ccPropertiesTreeDelegate::fillWithPointCloud(), LASFWFFilter::loadFile(), LasWaveformLoader::loadWaveform(), and LASFWFFilter::saveToFile().

◆ fwfDescriptors() [2/2]

const FWFDescriptorSet& ccPointCloud::fwfDescriptors ( ) const

inline

Gives access to the FWF descriptors (const version)

Definition at line 512 of file ecvPointCloud.h.

◆ GetAxisAlignedBoundingBox()

virtual ccBBox ccPointCloud::GetAxisAlignedBoundingBox ( ) const

overridevirtual

Returns an axis-aligned bounding box of the geometry.

Reimplemented from ccHObject.

Referenced by cloudViewer::visualization::rendering::PointCloudBuffersBuilder::ComputeAABB().

◆ GetCenter()

virtual Eigen::Vector3d ccPointCloud::GetCenter ( ) const

inlineoverridevirtual

Returns the center of the geometry coordinates.

Reimplemented from ccHObject.

Definition at line 970 of file ecvPointCloud.h.

References Vector3Tpl< PointCoordinateType >::fromArrayContainer().

◆ getClassID()

CV_CLASS_ENUM ccPointCloud::getClassID ( ) const

inlineoverridevirtual

Returns class ID.

Reimplemented from ccHObject.

Definition at line 167 of file ecvPointCloud.h.

References CV_TYPES::POINT_CLOUD.

◆ getCurrentDisplayedScalarField()

ccScalarField* ccPointCloud::getCurrentDisplayedScalarField ( ) const

Returns the currently displayed scalar (or 0 if none)

Referenced by ccRasterizeTool::activeLayerChanged(), ccRasterizeTool::addNewContour(), ccColorFromScalarDlg::ccColorFromScalarDlg(), qCanupoProcess::Classify(), MLSSmoothingUpsampling::compute(), ccEntityAction::computeStatParams(), define_ccPointCloud(), qSRA::doProjectCloudDistsInGrid(), qCanupoPlugin::doTrainAction(), ccDBRoot::editLabelScalarValue(), DistanceMapGenerationDlg::exportMapAsCloud(), ccPropertiesTreeDelegate::fillSFWithPointCloud(), ccRasterizeTool::generateContours(), ccRasterizeTool::generateImage(), ccTrace::getSegmentCostScalar(), ccTrace::getSegmentCostScalarInv(), ccRegistrationTools::ICP(), E57Filter::loadFile(), cloudViewer::geometry::pybind_pointcloud(), qCanupoClassifDialog::qCanupoClassifDialog(), RefinePointClassif(), ccEntityAction::rgbGaussianFilter(), ccColorScaleEditorDialog::saveCurrentScale(), ccPropertiesTreeDelegate::setEditorData(), ecvFilterByLabelDlg::setInputEntity(), ccEntityAction::sfConvertToRandomRGB(), ccEntityAction::sfConvertToRGB(), ccEntityAction::sfGaussianFilter(), ccEntityAction::sfRename(), ccEntityAction::sfSetAsCoord(), ccComparisonDlg::showHisto(), ecvFilterByLabelDlg::start(), ccEntityAction::statisticalTest(), and ccColorFromScalarDlg::~ccColorFromScalarDlg().

◆ getCurrentDisplayedScalarFieldIndex()

int ccPointCloud::getCurrentDisplayedScalarFieldIndex ( ) const

Returns the currently displayed scalar field index (or -1 if none)

Referenced by ecvFilterByLabelDlg::apply(), ccLibAlgorithms::ApplyCCLibAlgorithm(), ccColorFromScalarDlg::ccColorFromScalarDlg(), define_ccPointCloud(), ccComparisonDlg::prepareEntitiesForComparison(), CommandSFConvertToRGB::process(), CommandCanupoClassif::process(), ccEntityAction::processMeshSF(), cloudViewer::geometry::pybind_pointcloud(), CommandRemoveSF::removeSF(), ccEntityAction::rgbGaussianFilter(), SaveScan(), ccPropertiesTreeDelegate::setEditorData(), ccEntityAction::sfGaussianFilter(), and ccEntityAction::statisticalTest().

◆ getDrawingParameters()

void ccPointCloud::getDrawingParameters ( glDrawParams & params ) const

overridevirtual

Returns main OpenGL parameters for this entity.

These parameters are deduced from the visibility states of its different features (points, normals, etc.).

Parameters

params a glDrawParams structure

Reimplemented from ccDrawableObject.

Referenced by ccSymbolCloud::drawMeOnly().

◆ getEigenColor()

Eigen::Vector3d ccPointCloud::getEigenColor ( size_t index ) const

Referenced by cloudViewer::visualization::rendering::PointCloudBuffersBuilder::ConstructBuffers(), cloudViewer::geometry::pybind_pointcloud(), cloudViewer::io::WritePointCloudToPLY(), cloudViewer::io::WritePointCloudToPTS(), and cloudViewer::io::WritePointCloudToXYZRGB().

◆ getEigenColors()

std::vector<Eigen::Vector3d> ccPointCloud::getEigenColors ( ) const

Referenced by cloudViewer::t::geometry::PointCloud::FromLegacy(), and cloudViewer::geometry::pybind_pointcloud().

◆ getEigenNormal()

Eigen::Vector3d ccPointCloud::getEigenNormal ( size_t index ) const

Referenced by cloudViewer::pipelines::registration::CorrespondenceCheckerBasedOnNormal::Check(), cloudViewer::pipelines::registration::TransformationEstimationForColoredICP::ComputeRMSE(), cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::ComputeRMSE(), cloudViewer::pipelines::registration::TransformationEstimationForColoredICP::ComputeTransformation(), cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::ComputeTransformation(), cloudViewer::visualization::rendering::PointCloudBuffersBuilder::ConstructBuffers(), cloudViewer::geometry::pybind_pointcloud(), cloudViewer::io::WritePointCloudToPLY(), and cloudViewer::io::WritePointCloudToXYZN().

◆ getEigenNormals()

std::vector<Eigen::Vector3d> ccPointCloud::getEigenNormals ( ) const

Referenced by cloudViewer::t::geometry::PointCloud::FromLegacy(), and cloudViewer::geometry::pybind_pointcloud().

◆ GetMaxBound()

virtual Eigen::Vector3d ccPointCloud::GetMaxBound ( ) const

inlineoverridevirtual

Returns max bounds for geometry coordinates.

Reimplemented from ccHObject.

Definition at line 967 of file ecvPointCloud.h.

References Vector3Tpl< PointCoordinateType >::fromArrayContainer().

◆ GetMinBound()

virtual Eigen::Vector3d ccPointCloud::GetMinBound ( ) const

inlineoverridevirtual

Returns min bounds for geometry coordinates.

Reimplemented from ccHObject.

Definition at line 963 of file ecvPointCloud.h.

References Vector3Tpl< PointCoordinateType >::fromArrayContainer().

◆ getNormal()

const CCVector3* ccPointCloud::getNormal ( unsigned index ) const

overridevirtual

If per-point normals are available, returns the one at a specific index.

Warning: If overriden, this method should return a valid normal for all points

Reimplemented from cloudViewer::GenericIndexedCloud.

◆ getNorms() [1/2]

std::vector<CompressedNormType> ccPointCloud::getNorms ( ) const

◆ getNorms() [2/2]

void ccPointCloud::getNorms ( std::vector< CompressedNormType > & idxes ) const

◆ GetOrientedBoundingBox()

virtual ecvOrientedBBox ccPointCloud::GetOrientedBoundingBox ( ) const

overridevirtual

Reimplemented from ccHObject.

◆ getPointColor()

const ecvColor::Rgb& ccPointCloud::getPointColor ( unsigned pointIndex ) const

overridevirtual

Returns color corresponding to a given point.

WARNING: color array must be enabled! (see ccDrawableObject::hasColors)

Implements ccGenericPointCloud.

Referenced by ccTrace::buildGradientCost(), ComputeAverageColor(), ComputeKmeansClustering(), cloudViewer::pipelines::registration::TransformationEstimationForColoredICP::ComputeRMSE(), cloudViewer::pipelines::registration::TransformationEstimationForColoredICP::ComputeTransformation(), contourPoly(), contourPoly2(), ccSymbolCloud::drawMeOnly(), PointCloudWrapper< Real >::getColor(), GetKeyCluster(), getMortarMaps(), ccTrace::getSegmentCostDark(), ccTrace::getSegmentCostGrad(), ccTrace::getSegmentCostRGB(), ccCloudLayersHelper::mouseMove(), ccTrace::optimizeSegment(), ColorScalarFieldWrapper::pointValue(), rotY(), LasSaver::saveNextPoint(), SaveScan(), ccCloudLayersHelper::saveState(), MAFilter::saveToFile(), LASFWFFilter::saveToFile(), and ccCloudLayersHelper::setVisible().

◆ getPointColorPtr()

ecvColor::Rgb& ccPointCloud::getPointColorPtr ( size_t pointIndex )

Referenced by cloudViewer::ModelViewerWidget::SelectObject().

◆ getPointColors()

const ColorsTableType& ccPointCloud::getPointColors ( ) const

inline

Definition at line 577 of file ecvPointCloud.h.

Referenced by cloudViewer::io::rpc::SetPointCloud(), and cloudViewer::io::rpc::SetTriangleMesh().

◆ getPointDisplayedDistance()

ScalarType ccPointCloud::getPointDisplayedDistance ( unsigned pointIndex ) const

overridevirtual

Returns scalar value associated to a given point.

The returned value is taken from the current displayed scalar field WARNING: scalar field must be enabled! (see ccDrawableObject::hasDisplayedScalarField)

Implements ccGenericPointCloud.

◆ getPointNormal()

const CCVector3& ccPointCloud::getPointNormal ( unsigned pointIndex ) const

overridevirtual

Returns normal corresponding to a given point.

WARNING: normals array must be enabled! (see ccDrawableObject::hasNormals)

Implements ccGenericPointCloud.

Referenced by ccSNECloud::drawMeOnly(), ccCompass::estimateStrain(), ccCompass::estimateStructureNormals(), PointCloudWrapper< Real >::getNormal(), ccTrace::getPointNormal(), StereogramWidget::init(), NormDipAndDipDirFieldWrapper::pointValue(), SaveScan(), and StereogramDialog::updateFacetsFilter().

◆ getPointNormalIndex()

const CompressedNormType& ccPointCloud::getPointNormalIndex ( unsigned pointIndex ) const

overridevirtual

Returns compressed normal corresponding to a given point.

WARNING: normals array must be enabled! (see ccDrawableObject::hasNormals)

Implements ccGenericPointCloud.

Referenced by ccTrace::fitPlane().

◆ getPointNormalPtr()

CCVector3& ccPointCloud::getPointNormalPtr ( size_t pointIndex ) const

◆ getPointNormals()

std::vector<CCVector3> ccPointCloud::getPointNormals ( ) const

◆ getPointNormalsPtr()

std::vector<CCVector3*> ccPointCloud::getPointNormalsPtr ( ) const

Referenced by cloudViewer::io::rpc::SetPointCloud(), and cloudViewer::io::rpc::SetTriangleMesh().

◆ getPointScalarValueColor()

const ecvColor::Rgb* ccPointCloud::getPointScalarValueColor ( unsigned pointIndex ) const

overridevirtual

Returns color corresponding to a given point associated scalar value.

The returned value depends on the current scalar field display parameters. It may even be 0 if the value shouldn't be displayed. WARNING: scalar field must be enabled! (see ccDrawableObject::hasDisplayedScalarField)

Implements ccGenericPointCloud.

◆ getScalarValueColor()

const ecvColor::Rgb* ccPointCloud::getScalarValueColor ( ScalarType d ) const

overridevirtual

Returns color corresponding to a given scalar value.

The returned value depends on the current scalar field display parameters. It may even be 0 if the value shouldn't be displayed. WARNING: scalar field must be enabled! (see ccDrawableObject::hasDisplayedScalarField)

Implements ccGenericPointCloud.

◆ getUniqueIDForDisplay()

unsigned ccPointCloud::getUniqueIDForDisplay ( ) const

overridevirtual

Returns object unqiue ID used for display.

Reimplemented from ccHObject.

◆ grid() [1/2]

Grid::Shared& ccPointCloud::grid ( size_t gridIndex )

inline

Returns an associated grid.

Definition at line 443 of file ecvPointCloud.h.

Referenced by ccPropertiesTreeDelegate::fillWithPointCloud().

◆ grid() [2/2]

const Grid::Shared& ccPointCloud::grid ( size_t gridIndex ) const

inline

Returns an associated grid (const verson)

Definition at line 445 of file ecvPointCloud.h.

◆ gridCount()

size_t ccPointCloud::gridCount ( ) const

inline

Returns the number of associated grids.

Definition at line 441 of file ecvPointCloud.h.

Referenced by ccEntityAction::computeNormals(), ccPropertiesTreeDelegate::fillWithPointCloud(), and ccDBRoot::getSelectedEntities().

◆ hasColors()

bool ccPointCloud::hasColors ( ) const

overridevirtual

Returns whether colors are enabled or not.

Reimplemented from ccDrawableObject.

Referenced by ccRasterizeTool::activeLayerChanged(), MeshWrapper< Real >::addColor(), LasCloudChunk::addLasFieldsToCloud(), ecvPoissonReconDlg::adjustParams(), ccCloudLayersHelper::ccCloudLayersHelper(), ccEntityAction::changeColorLevels(), masc::PointFeature::checkValidity(), GeneralFilters::compute(), cloudViewer::pipelines::registration::TransformationEstimationForColoredICP::ComputeTransformation(), cloudViewer::visualization::rendering::PointCloudBuffersBuilder::ConstructBuffers(), qPoissonRecon::doAction(), ccEntityAction::enhanceRGBWithIntensities(), cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractTriangleMesh(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractTriangleMesh(), cloudViewer::t::geometry::PointCloud::FromLegacy(), ccDBRoot::gatherRecursiveInformation(), PointCloudWrapper< Real >::getColor(), ccTrace::getSegmentCost(), LasScalarFieldLoader::handleRGBValue(), LasSaveDialog::handleSelectedPointFormatChange(), LasCloudChunk::hasColors(), PointCloudWrapper< Real >::hasColors(), BasePclModule::hasSelectedRGB(), ColorScalarFieldWrapper::isValid(), LasSaver::LasSaver(), DRCFilter::loadFile(), LASFilter::loadFile(), ccColorFromScalarDlg::onApply(), MinimumCutSegmentation::openInputDialog(), RegionGrowingSegmentation::openInputDialog(), ccTrace::optimizeSegment(), cloudViewer::pipelines::registration::RegistrationColoredICP(), ccEntityAction::rgbGaussianFilter(), ccEntityAction::rgbToGreyScale(), LasSaver::saveNextPoint(), SaveScan(), PcdFilter::saveToFile(), LASFWFFilter::saveToFile(), LasDetails::SelectBestVersion(), cloudViewer::io::rpc::SetPointCloud(), ccEntityAction::sfFromColor(), ecvPoissonReconDlg::start(), cloudViewer::io::WritePointCloudToPLY(), cloudViewer::io::WritePointCloudToPTS(), and cloudViewer::io::WritePointCloudToXYZRGB().

◆ HasCovariances()

bool ccPointCloud::HasCovariances ( ) const

inline

Returns 'true' if the point cloud contains per-point covariance matrix.

Definition at line 988 of file ecvPointCloud.h.

Referenced by cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::ComputeTransformation(), and cloudViewer::geometry::pybind_pointcloud().

◆ hasDisplayedScalarField()

bool ccPointCloud::hasDisplayedScalarField ( ) const

overridevirtual

Returns whether an active scalar field is available or not.

Reimplemented from ccDrawableObject.

Referenced by LasCloudChunk::addLasFieldsToCloud(), ccTrace::getSegmentCost(), and ccEntityAction::rgbGaussianFilter().

◆ hasFWF()

bool ccPointCloud::hasFWF ( ) const

Returns whether the cloud has associated Full WaveForm data.

Referenced by ccPropertiesTreeDelegate::fillWithPointCloud(), LasSaveDialog::handleSelectedPointFormatChange(), ccWaveWidget::init(), LasSaver::LasSaver(), LASFWFFilter::saveToFile(), and LasDetails::SelectBestVersion().

◆ hasNormals()

bool ccPointCloud::hasNormals ( ) const

overridevirtual

Returns whether normals are enabled or not.

Reimplemented from ccDrawableObject.

Referenced by MeshWrapper< Real >::addNormal(), cloudViewer::pipelines::registration::CorrespondenceCheckerBasedOnNormal::Check(), masc::PointFeature::checkValidity(), NormalEstimation::compute(), ProjectionFilter::compute(), GreedyTriangulation::compute(), MarchingCubeReconstruction::compute(), PoissonReconstruction::compute(), FastGlobalRegistrationFilter::compute(), qM3C2Process::Compute(), cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::ComputeRMSE(), cloudViewer::pipelines::registration::TransformationEstimationForColoredICP::ComputeTransformation(), cloudViewer::pipelines::registration::TransformationEstimationPointToPlane::ComputeTransformation(), cloudViewer::visualization::rendering::PointCloudBuffersBuilder::ConstructBuffers(), convert(), ccEntityAction::convertNormalsTo(), qFacets::createFacets(), qPoissonRecon::doAction(), ccEntityAction::exportNormalToSF(), qFacets::extractFacets(), ccTrace::fitPlane(), cloudViewer::t::geometry::PointCloud::FromLegacy(), ccDBRoot::gatherRecursiveInformation(), PointCloudWrapper< Real >::getNormal(), qM3C2Dialog::getNormalsComputationMode(), FastGlobalRegistrationFilter::getParametersFromDialog(), ccTrace::getPointNormal(), PointCloudWrapper< Real >::hasNormals(), StereogramWidget::init(), ccEntityAction::invertNormals(), NormDipAndDipDirFieldWrapper::isValid(), DRCFilter::loadFile(), ccEntityAction::orientNormalsFM(), ccEntityAction::orientNormalsMST(), CommandOctreeNormal::process(), CommandInvertNormal::process(), CommandConvertNormalsToDipAndDipDir::process(), CommandConvertNormalsToSFs::process(), CommandOrientNormalsMST::process(), cloudViewer::visualization::MessageProcessor::ProcessMessage(), cloudViewer::pipelines::registration::RegistrationColoredICP(), cloudViewer::pipelines::registration::RegistrationICP(), masc::PointFeature::retrieveField(), SaveScan(), PcdFilter::saveToFile(), cloudViewer::io::rpc::SetPointCloud(), StereogramDialog::updateFacetsFilter(), qM3C2Dialog::updateNormalComboBox(), cloudViewer::io::WritePointCloudToPLY(), and cloudViewer::io::WritePointCloudToXYZN().

◆ hasScalarFields()

bool ccPointCloud::hasScalarFields ( ) const

overridevirtual

Returns whether one or more scalar fields are instantiated.

WARNING: doesn't mean a scalar field is currently displayed (see ccDrawableObject::hasDisplayedScalarField).

Reimplemented from ccDrawableObject.

Referenced by ccScalarFieldArithmeticsDlg::Apply(), GeneralFilters::compute(), ccVolumeCalcTool::convertGridToCloud(), ccVolumeCalcTool::ConvertGridToCloud(), qCloudLayers::doAction(), ccEntityAction::enhanceRGBWithIntensities(), GetScalarFieldIndex(), ccCloudLayersHelper::getScalarFields(), BasePclModule::hasSelectedScalarField(), ccEntityAction::interpolateSFs(), MinimumCutSegmentation::openInputDialog(), RegionGrowingSegmentation::openInputDialog(), CommandRasterize::process(), CommandVolume25D::process(), SimpleBinFilter::saveToFile(), and qM3C2Dialog::setupPrecisionMapsTab().

◆ hasSensor()

bool ccPointCloud::hasSensor ( ) const

Returns whether the mesh as an associated sensor or not.

Referenced by ccComparisonDlg::ccComparisonDlg(), ccEntityAction::computeNormals(), and cloudViewer::geometry::pybind_pointcloud().

◆ HiddenPointRemoval()

std::tuple<std::shared_ptr<ccMesh>, std::vector<size_t> > ccPointCloud::HiddenPointRemoval	(	const Eigen::Vector3d &	camera_location,
		const double	radius
	)		const

This is an implementation of the Hidden Point Removal operator described in Katz et. al. 'Direct Visibility of Point Sets', 2007.

Additional information about the choice of radius for noisy point clouds can be found in Mehra et. al. 'Visibility of Noisy Point Cloud Data', 2010.

Parameters

camera_location	All points not visible from that location will be removed.
radius	The radius of the sperical projection.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ hidePointsByScalarValue() [1/2]

void ccPointCloud::hidePointsByScalarValue	(	ScalarType	minVal,
		ScalarType	maxVal
	)

Hides points whose scalar values falls into an interval.

Values are taken from the current OUTPUT scalar field.

Parameters

minVal	minimum value (below, points are hidden)
maxVal	maximum value (above, points are hidden)

Referenced by ecvFilterByLabelDlg::apply(), and cloudViewer::geometry::pybind_pointcloud().

◆ hidePointsByScalarValue() [2/2]

void ccPointCloud::hidePointsByScalarValue ( std::vector< ScalarType > values )

Hides points whose scalar values falls into an interval.

Values are taken from the current OUTPUT scalar field.

Parameters

values scalar values (equal, points are hidden)

◆ initLOD()

bool ccPointCloud::initLOD ( )

Intializes the LOD structure.

Returns: success

◆ interpolateColorsFrom()

bool ccPointCloud::interpolateColorsFrom	(	ccGenericPointCloud *	cloud,
		cloudViewer::GenericProgressCallback *	progressCb = `nullptr`,
		unsigned char	octreeLevel = `0`
	)

Interpolate colors from another cloud (nearest neighbor only)

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ invalidateBoundingBox()

void ccPointCloud::invalidateBoundingBox ( )

overridevirtual

Invalidates bounding box.

Bounding box will be recomputed next time a request is made to 'getBoundingBox'.

Reimplemented from cloudViewer::PointCloudTpl< ccGenericPointCloud >.

Referenced by qM3C2Process::Compute(), ccGraphicalSegmentationTool::doExportSegmentationPolyline(), ccRasterizeTool::exportContourLines(), cloudViewer::geometry::pybind_pointcloud(), ccPointPairRegistrationDlg::removeAlignedPoint(), ccPointPairRegistrationDlg::removeRefPoint(), and ccEntityAction::sfSetAsCoord().

◆ invertNormals()

void ccPointCloud::invertNormals ( )

Inverts normals (if any)

Referenced by ccEntityAction::invertNormals(), CommandInvertNormal::process(), and cloudViewer::geometry::pybind_pointcloud().

◆ IsEmpty()

virtual bool ccPointCloud::IsEmpty ( ) const

inlineoverridevirtual

Reimplemented from ccHObject.

Definition at line 961 of file ecvPointCloud.h.

Referenced by cloudViewer::geometry::pybind_pointcloud(), and cloudViewer::io::WritePointCloudToPLY().

◆ minimumFileVersion_MeOnly()

short ccPointCloud::minimumFileVersion_MeOnly ( ) const

overrideprotectedvirtual

Returns the minimum file version required to save this instance's own data To be overloaded (but still called ;) by subclass. Used internally by minimumFileVersion() to compute the overall minimum.

Reimplemented from ccGenericPointCloud.

◆ NormalizeNormals()

ccPointCloud& ccPointCloud::NormalizeNormals ( )

Normalize point normals to length 1.`.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ normals()

NormsIndexesTableType* ccPointCloud::normals ( ) const

inline

Returns pointer on compressed normals indexes table.

Definition at line 917 of file ecvPointCloud.h.

Referenced by qM3C2Process::Compute().

◆ normalsAvailable()

bool ccPointCloud::normalsAvailable ( ) const

inlineoverridevirtual

Returns whether normals are available.

Reimplemented from cloudViewer::GenericIndexedCloud.

Definition at line 566 of file ecvPointCloud.h.

◆ normalsHaveChanged()

void ccPointCloud::normalsHaveChanged ( )

inline

Notify a modification of normals display parameters or contents.

Definition at line 280 of file ecvPointCloud.h.

Referenced by ccCompass::estimateStructureNormals(), and cloudViewer::geometry::pybind_pointcloud().

◆ notifyGeometryUpdate()

void ccPointCloud::notifyGeometryUpdate ( )

overrideprotectedvirtual

Notifies all dependent entities that the geometry of this entity has changed

Reimplemented from ccHObject.

◆ operator+()

ccPointCloud ccPointCloud::operator+ ( const ccPointCloud & cloud ) const

inline

Definition at line 252 of file ecvPointCloud.h.

◆ operator+=() [1/2]

const ccPointCloud& ccPointCloud::operator+= ( ccPointCloud * )

◆ operator+=() [2/2]

const ccPointCloud& ccPointCloud::operator+= ( const ccPointCloud & cloud )

◆ operator=()

ccPointCloud& ccPointCloud::operator= ( const ccPointCloud & cloud )

Fuses another 3D entity with this one.

All the main features of the given entity are added, except from the octree and the points visibility information. Those features are deleted on this cloud.

◆ OrientNormalsConsistentTangentPlane()

void ccPointCloud::OrientNormalsConsistentTangentPlane ( size_t k )

Function to consistently orient estimated normals based on consistent tangent planes as described in Hoppe et al., "Surface Reconstruction from Unorganized Points", 1992.

Parameters

k	k nearest neighbour for graph reconstruction for normal propagation.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ OrientNormalsToAlignWithDirection()

bool ccPointCloud::OrientNormalsToAlignWithDirection ( const Eigen::Vector3d & orientation_reference = Eigen::Vector3d(0.0, 0.0, 1.0) )

Function to orient the normals of a point cloud.

Parameters

orientation_reference Normals are oriented with respect to orientation_reference.

Referenced by convert(), and cloudViewer::geometry::pybind_pointcloud().

◆ OrientNormalsTowardsCameraLocation()

bool ccPointCloud::OrientNormalsTowardsCameraLocation ( const Eigen::Vector3d & camera_location = Eigen::Vector3d::Zero() )

Function to orient the normals of a point cloud.

Parameters

camera_location Normals are oriented with towards the camera_location.

Referenced by convert(), and cloudViewer::geometry::pybind_pointcloud().

◆ orientNormalsTowardViewPoint()

bool ccPointCloud::orientNormalsTowardViewPoint	(	CCVector3 &	VP,
		ecvProgressDialog *	pDlg = `nullptr`
	)

Normals are forced to point to O.

Referenced by define_ccPointCloud().

◆ orientNormalsWithFM()

bool ccPointCloud::orientNormalsWithFM	(	unsigned char	level,
		ecvProgressDialog *	pDlg = `nullptr`
	)

Orient normals with Fast Marching.

Referenced by define_ccPointCloud(), and ccEntityAction::orientNormalsFM().

◆ orientNormalsWithGrids()

bool ccPointCloud::orientNormalsWithGrids ( ecvProgressDialog * pDlg = nullptr )

Orient the normals with the associated grid structure(s)

◆ orientNormalsWithMST()

bool ccPointCloud::orientNormalsWithMST	(	unsigned	kNN = `6`,
		ecvProgressDialog *	pDlg = `nullptr`
	)

Orient the normals with a Minimum Spanning Tree.

Referenced by define_ccPointCloud(), ccEntityAction::orientNormalsMST(), and CommandOrientNormalsMST::process().

◆ PaintUniformColor()

ccPointCloud& ccPointCloud::PaintUniformColor ( const Eigen::Vector3d & color )

Assigns each vertex in the ccMesh the same color.

Parameters

color RGB colors of vertices.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ partialClone()

ccPointCloud* ccPointCloud::partialClone	(	const cloudViewer::ReferenceCloud *	selection,
		int *	warnings = `nullptr`,
		bool	withChildEntities = `true`
	)		const

Creates a new point cloud object from a ReferenceCloud (selection)

"Reference clouds" are a set of indexes referring to a real point cloud. See CClib documentation for more information about ReferenceClouds. Warning: the ReferenceCloud structure must refer to this cloud.

Parameters

[in]	selection	a ReferenceCloud structure (pointing to source)
[out]	warnings	[optional] to determine if warnings (CTOR_ERRORS) occurred during the duplication process
[in]	withChildEntities	whether child entities should be transferred as well (see ccHObjectCaster::CloneChildren)

Referenced by qFacets::createFacets(), ccCropTool::Crop(), qCSF::doAction(), qCanupoPlugin::doClassifyAction(), GrainsAsEllipsoids::fitEllipsoidToGrain(), G3Point::G3PointAction::getBorders(), getMortarMaps(), KNNRegions(), masc::CorePoints::prepare(), CommandSubsample::process(), CommandExtractCCs::process(), CommandSORFilter::process(), CommandCPS::process(), CommandCSF::process(), cloudViewer::geometry::pybind_pointcloud(), and GrainsAsEllipsoids::updateMeshAndLineSet().

◆ pointsHaveChanged()

void ccPointCloud::pointsHaveChanged ( )

inline

Notify a modification of points display parameters or contents.

Definition at line 284 of file ecvPointCloud.h.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ RandomDownSample()

std::shared_ptr<ccPointCloud> ccPointCloud::RandomDownSample ( double sampling_ratio ) const

Function to downsample input pointcloud into output pointcloud randomly.

The sample is performed by randomly selecting the index of the points in the pointcloud.

Parameters

sampling_ratio Sampling ratio, the ratio of sample to total number of points in the pointcloud.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ refreshBB()

void ccPointCloud::refreshBB ( )

inlineoverridevirtual

Forces bounding-box update.

Implements ccGenericPointCloud.

Definition at line 603 of file ecvPointCloud.h.

Referenced by DistanceMapGenerationTool::ConvertCloudToConical(), and DistanceMapGenerationTool::ConvertCloudToCylindrical().

◆ releaseVBOs()

void ccPointCloud::releaseVBOs ( )

protected

Release VBOs.

◆ removeGrids()

void ccPointCloud::removeGrids ( )

inline

Remove all associated grids.

Definition at line 458 of file ecvPointCloud.h.

◆ RemoveNonFinitePoints()

ccPointCloud& ccPointCloud::RemoveNonFinitePoints	(	bool	remove_nan = `true`,
		bool	remove_infinite = `true`
	)

Remove all points fromt he point cloud that have a nan entry, or infinite entries.

Also removes the corresponding normals and color entries.

Parameters

remove_nan	Remove NaN values from the ccPointCloud.
remove_infinite	Remove infinite values from the ccPointCloud.

Referenced by cloudViewer::geometry::pybind_pointcloud(), and cloudViewer::io::ReadPointCloud().

◆ removePoints()

virtual void ccPointCloud::removePoints ( size_t index )

overrideprotectedvirtual

Implements ccGenericPointCloud.

◆ RemoveRadiusOutliers()

std::tuple<std::shared_ptr<ccPointCloud>, std::vector<size_t> > ccPointCloud::RemoveRadiusOutliers	(	size_t	nb_points,
		double	search_radius
	)		const

Function to remove points that have less than nb_points in a sphere of a given radius.

Parameters

nb_points	Number of points within the radius.
search_radius	Radius of the sphere.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ RemoveStatisticalOutliers()

std::tuple<std::shared_ptr<ccPointCloud>, std::vector<size_t> > ccPointCloud::RemoveStatisticalOutliers	(	size_t	nb_neighbors,
		double	std_ratio
	)		const

Function to remove points that are further away from their nb_neighbor neighbors in average.

Parameters

nb_neighbors	Number of neighbors around the target point.
std_ratio	Standard deviation ratio.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ removeVisiblePoints()

bool ccPointCloud::removeVisiblePoints	(	VisibilityTableType *	visTable = `nullptr`,
		std::vector< int > *	newIndexes = `nullptr`
	)

overridevirtual

Removes all the 'visible' points (as defined by the visibility array)

Parameters

visTable	visibility table (optional, otherwise the cloud's default one will be used)
newIndexes	optional: stores the new indexes of the points (either an index >= 0 if kept, or -1 if not). Must be initially empty or have the same size as the original cloud.

Returns: success

Implements ccGenericPointCloud.

◆ reserve()

bool ccPointCloud::reserve ( unsigned numberOfPoints )

overridevirtual

Reserves memory for all the active features.

This method is meant to be called before increasing the cloud population. Only the already allocated features will be re-reserved.

Returns: true if ok, false if there's not enough memory

Reimplemented from cloudViewer::PointCloudTpl< ccGenericPointCloud >.

Reimplemented in ccSymbolCloud.

Referenced by ccPointPairRegistrationDlg::addAlignedPoint(), qCanupo2DViewDialog::addOrSelectPoint(), ccGraphicalSegmentationTool::addPointToPolyline(), ccPointPairRegistrationDlg::addReferencePoint(), ccTracePolylineTool::ccTracePolylineTool(), MeshWrapper< Real >::checkVertexCapacity(), qVoxFallProcess::Compute(), ccEntityAction::computeNormals(), ccTopologyRelation::constructGraphic(), DistanceMapGenerationTool::ConvertConicalMapToMesh(), DistanceMapGenerationTool::ConvertMapToCloud(), DistanceMapGenerationTool::ConvertProfileToMesh(), ccGraphicalSegmentationTool::doActionUseExistingPolyline(), ccCompass::estimateP21(), ccCompass::estimateStructureNormals(), ccPointListPickingDlg::exportToNewCloud(), ccPointListPickingDlg::exportToNewPolyline(), ccContourExtractor::ExtractConcaveHull2D(), ccContourExtractor::ExtractFlatContour(), FromFbxMesh(), ccRasterizeTool::generateContours(), GetConeProfile(), FastGlobalRegistrationFilter::getParametersFromDialog(), STEPFilter::importStepFile(), ProfileLoader::Load(), LoadCloud(), CSVMatrixFilter::loadFile(), SalomeHydroFilter::loadFile(), SinusxFilter::loadFile(), LASFWFFilter::loadFile(), RDBFilter::loadFile(), LoadScan(), ccTracePolylineTool::onItemPicked(), masc::ContextBasedFeature::prepare(), CommandCrop2D::process(), cloudViewer::geometry::pybind_pointcloud(), ccSymbolCloud::reserve(), qCanupo2DViewDialog::resetBoundary(), DistanceMapGenerationDlg::toggleOverlayGrid(), Cloth::toMesh(), qCanupoTools::TrainClassifier(), and GrainsAsEllipsoids::updateMeshAndLineSet().

◆ reserveTheFWFTable()

bool ccPointCloud::reserveTheFWFTable ( )

Reserves the FWF table.

◆ reserveTheNormsTable()

bool ccPointCloud::reserveTheNormsTable ( )

Reserves memory to store the compressed normals.

Before adding normals to the cloud (with addNorm()) be sure to reserve the necessary amount of memory with this method. This method reserves memory for as many normals as the number of points in the cloud (effectively stored or reserved).

Returns: true if ok, false if there's not enough memory

Referenced by MeshWrapper< Real >::addNormal(), define_ccPointCloud(), ccCompass::estimateStructureNormals(), FromFbxMesh(), LoadCloud(), RDBFilter::loadFile(), LoadScan(), cloudViewer::visualization::MessageProcessor::ProcessMessage(), cloudViewer::geometry::pybind_pointcloud(), cloudViewer::io::ReadModelUsingAssimp(), cloudViewer::io::ReadPointCloudFromPLY(), and cloudViewer::t::geometry::PointCloud::ToLegacy().

◆ reserveThePointsTable()

bool ccPointCloud::reserveThePointsTable ( unsigned _numberOfPoints )

Reserves memory to store the points coordinates.

Before adding points to the cloud (with addPoint()) be sure to reserve the necessary amount of memory with this method. If the number of new elements is smaller than the actual one, nothing will happen.

Parameters

_numberOfPoints number of points to reserve the memory for

Returns: true if ok, false if there's not enough memory

Referenced by contourPoly(), contourPoly2(), define_ccPointCloud(), ccMeasurementDevice::fitPlaneToPoints(), cloudViewer::t::geometry::FromLegacyPointCloud(), getDensity(), getMortarMaps(), SoiFilter::loadFile(), DistanceMapGenerationDlg::loadOverlaySymbols(), cloudViewer::visualization::MessageProcessor::ProcessMessage(), cloudViewer::geometry::pybind_pointcloud(), cloudViewer::io::ReadModelUsingAssimp(), cloudViewer::io::ReadTriangleMeshFromOBJ(), LasCloudChunk::reserveSize(), rotY(), and cloudViewer::t::geometry::PointCloud::ToLegacy().

◆ reserveTheRGBTable()

bool ccPointCloud::reserveTheRGBTable ( )

Reserves memory to store the RGB colors.

Before adding colors to the cloud (with addRGBColor()) be sure to reserve the necessary amount of memory with this method. This method reserves memory for as many colors as the number of points in the cloud (effectively stored or reserved).

Returns: true if ok, false if there's not enough memory

Referenced by MeshWrapper< Real >::addColor(), contourPoly(), contourPoly2(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractTriangleMesh(), FromFbxMesh(), cloudViewer::t::geometry::FromLegacyPointCloud(), getMortarMaps(), LasScalarFieldLoader::handleRGBValue(), LoadCloud(), CSVMatrixFilter::loadFile(), SoiFilter::loadFile(), LASFWFFilter::loadFile(), LASFilter::loadFile(), RDBFilter::loadFile(), LoadScan(), cloudViewer::geometry::pybind_pointcloud(), cloudViewer::io::ReadModelUsingAssimp(), cloudViewer::io::ReadTriangleMeshFromOBJ(), rotY(), cloudViewer::t::geometry::PointCloud::ToLegacy(), and qCanupoTools::TrainClassifier().

◆ resize()

bool ccPointCloud::resize ( unsigned numberOfPoints )

overridevirtual

Resizes all the active features arrays.

This method is meant to be called after having increased the cloud population (if the final number of inserted point is lower than the reserved size). Otherwise, it fills all new elements with blank values.

Returns: true if ok, false if there's not enough memory

Reimplemented from cloudViewer::PointCloudTpl< ccGenericPointCloud >.

Reimplemented in ccSymbolCloud.

Referenced by ccPointPairRegistrationDlg::clear(), qM3C2Process::Compute(), ComputeKmeansClustering(), DistanceMapGenerationTool::ConvertMapToCloud(), cloudViewer::t::geometry::FromLegacyPointCloud(), SinusxFilter::loadFile(), LASFilter::loadFile(), LoadScan(), cloudViewer::geometry::pybind_pointcloud(), cloudViewer::io::ReadPointCloudFromPLY(), cloudViewer::io::ReadPointCloudFromPTS(), cloudViewer::io::ReadTriangleMeshFromPLY(), ccPointPairRegistrationDlg::removeAlignedPoint(), ccPointPairRegistrationDlg::removeRefPoint(), ccSymbolCloud::resize(), ccPointPairRegistrationDlg::unstackAligned(), ccPointPairRegistrationDlg::unstackRef(), GrainsAsEllipsoids::updateMeshAndLineSet(), and ccGraphicalSegmentationTool::updatePolyLine().

◆ resizeTheFWFTable()

bool ccPointCloud::resizeTheFWFTable ( )

Resizes the FWF table.

◆ resizeTheNormsTable()

bool ccPointCloud::resizeTheNormsTable ( )

Resizes the compressed normals array.

If possible, the normals array is resized to fit exactly the number of points in the cloud (effictively stored or reserved). If the new size is inferior to the actual one, the last elements will be deleted. Otherwise, the array is filled with blank elements. WARNING: don't try to "add" any element on a resized array...

Returns: true if ok, false if there's not enough memory

Referenced by qM3C2Process::Compute(), define_ccPointCloud(), qHoughNormals::doAction(), cloudViewer::io::ReadTriangleMeshFromOBJ(), and cloudViewer::io::ReadTriangleMeshFromPLY().

◆ resizeTheRGBTable()

bool ccPointCloud::resizeTheRGBTable ( bool fillWithWhite = false )

Resizes the RGB colors array.

If possible, the colors array is resized to fit exactly the number of points in the cloud (effectively stored or reserved). If the new size is inferior to the actual one, the last elements will be deleted. Otherwise, the array is filled with zeros (default behavior) or "white" colors (is fillWithWhite). WARNING: don't try to "add" any element on a resized array...

Parameters

fillWithWhite whether to fill new array elements with zeros (false) or white color (true)

Returns: true if ok, false if there's not enough memory

Referenced by ccCloudLayersHelper::ccCloudLayersHelper(), ccCropTool::Crop(), GrainsAsEllipsoids::exportResultsAsCloud(), ccColorFromScalarDlg::onApply(), cloudViewer::geometry::pybind_pointcloud(), cloudViewer::io::ReadPointCloudFromPLY(), cloudViewer::io::ReadPointCloudFromPTS(), cloudViewer::io::ReadTriangleMeshFromPLY(), cloudViewer::pipelines::color_map::SetGeometryColorAverage(), ccEntityAction::sfConvertToRandomRGB(), and GrainsAsEllipsoids::updateMeshAndLineSet().

◆ rgbColors()

ColorsTableType* ccPointCloud::rgbColors ( ) const

inline

Returns pointer on RGB colors table.

Definition at line 914 of file ecvPointCloud.h.

Referenced by ccCloudLayersHelper::ccCloudLayersHelper(), and ccCloudLayersHelper::~ccCloudLayersHelper().

◆ Rotate()

virtual ccPointCloud& ccPointCloud::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix $R$ , and center $c$ , a given point $p$ is transformed according to $R (p - c) + c$ .

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Reimplemented from ccHObject.

◆ Scale()

virtual ccPointCloud& ccPointCloud::Scale	(	const double	s,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply scaling to the geometry coordinates. Given a scaling factor $s$ , and center $c$ , a given point $p$ is transformed according to $s (p - c) + c$ .

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	Scale center that is used to resize the geometry.

Reimplemented from ccHObject.

◆ scale()

virtual void ccPointCloud::scale	(	PointCoordinateType	fx,
		PointCoordinateType	fy,
		PointCoordinateType	fz,
		CCVector3	center = `CCVector3(0, 0, 0)`
	)

overridevirtual

Multiplies all coordinates by constant factors (one per dimension)

WARNING: attached octree may be deleted.

Parameters

fx	multiplication factor along the X dimension
fy	multiplication factor along the Y dimension
fz	multiplication factor along the Z dimension
center	scaling center (0,0,0) by default

Implements ccGenericPointCloud.

Referenced by getMortarMaps().

◆ SegmentPlane()

std::tuple<Eigen::Vector4d, std::vector<size_t> > ccPointCloud::SegmentPlane	(	const double	distance_threshold = `0.01`,
		const int	ransac_n = `3`,
		const int	num_iterations = `100`
	)		const

Segment ccPointCloud plane using the RANSAC algorithm.

Parameters

distance_threshold	Max distance a point can be from the plane model, and still be considered an inlier.
ransac_n	Number of initial points to be considered inliers in each iteration.
num_iterations	Number of iterations.

Returns: Returns the plane model ax + by + cz + d = 0 and the indices of the plane inliers.

Referenced by cloudViewer::geometry::pybind_pointcloud(), and ccEntityAction::RansacSegmentation().

◆ SelectByIndex()

std::shared_ptr<ccPointCloud> ccPointCloud::SelectByIndex	(	const std::vector< size_t > &	indices,
		bool	invert = `false`
	)		const

Function to select points from input ccPointCloud into output ccPointCloud.

Points with indices in

Parameters

indices	are selected.
indices	Indices of points to be selected.
invert	Set to `True` to invert the selection of indices.

Referenced by convert(), cloudViewer::t::geometry::LegacySelectByIndex(), and cloudViewer::geometry::pybind_pointcloud().

◆ setCoordFromSF()

bool ccPointCloud::setCoordFromSF	(	bool	importDims[3],
		cloudViewer::ScalarField *	sf,
		PointCoordinateType	defaultValueForNaN
	)

Sets coordinate(s) from a scalar field.

Referenced by ccEntityAction::sfSetAsCoord().

◆ setCurrentDisplayedScalarField()

void ccPointCloud::setCurrentDisplayedScalarField ( int index )

Sets the currently displayed scalar field.

Warning: this scalar field will automatically be set as the OUTPUT one!

Referenced by ccRasterizeTool::activeLayerChanged(), LasCloudChunk::addLasFieldsToCloud(), ccScalarFieldArithmeticsDlg::Apply(), ccComparisonDlg::applyAndExit(), ccLibAlgorithms::ApplyCCLibAlgorithm(), ccComparisonDlg::cancelAndExit(), ccColorFromScalarDlg::ccColorFromScalarDlg(), masc::Classifier::classify(), qCanupoProcess::Classify(), qM3C2Process::Compute(), qVoxFallProcess::Compute(), ccComparisonDlg::computeApproxDistances(), ccComparisonDlg::computeDistances(), ccLibAlgorithms::ComputeGeomCharacteristic(), DistanceMapGenerationTool::ComputeRadialDist(), ccVolumeCalcTool::convertGridToCloud(), ccVolumeCalcTool::ConvertGridToCloud(), ccRasterizeTool::convertGridToCloud(), DistanceMapGenerationTool::ConvertMapToCloud(), ccEntityAction::convertNormalsTo(), ccMeasurementDevice::createScalarFieldForCloud(), ccCropTool::Crop(), define_ccPointCloud(), qPCV::doAction(), qPoissonRecon::doAction(), ccCompass::estimateStructureNormals(), masc::Classifier::evaluate(), qFacets::extractFacets(), TreeIso::Final_seg_pcd(), ccRasterizeTool::generateHillshade(), getMortarMaps(), ccEntityAction::importToSF(), TreeIso::Init_seg_pcd(), TreeIso::Intermediate_seg_pcd(), ccEntityAction::interpolateSFs(), ccCloudLayersHelper::keepCurrentSFVisible(), LoadCloud(), LASFWFFilter::loadFile(), RDBFilter::loadFile(), LoadScan(), CommandSFConvertToRGB::process(), CommandStatTest::process(), CommandICP::process(), CommandRasterize::process(), PCVCommand::Process(), cloudViewer::geometry::pybind_pointcloud(), CommandRemoveSF::removeSF(), ccEntityAction::rgbGaussianFilter(), ccEntityAction::sfAddIdField(), ccEntityAction::sfGaussianFilter(), and ccEntityAction::statisticalTest().

◆ setEigenColor()

void ccPointCloud::setEigenColor	(	size_t	index,
		const Eigen::Vector3d &	color
	)

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ setEigenColors()

void ccPointCloud::setEigenColors ( const std::vector< Eigen::Vector3d > & colors )

◆ setEigenNormal()

void ccPointCloud::setEigenNormal	(	size_t	index,
		const Eigen::Vector3d &	normal
	)

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ setEigenNormals()

void ccPointCloud::setEigenNormals ( const std::vector< Eigen::Vector3d > & normals )

◆ setNormsTable()

void ccPointCloud::setNormsTable ( NormsIndexesTableType * norms )

Sets the (compressed) normals table.

Referenced by qM3C2Process::Compute().

◆ setPointColor() [1/3]

void ccPointCloud::setPointColor	(	size_t	pointIndex,
		const ecvColor::Rgb &	col
	)

Sets a particular point color.

WARNING: colors must be enabled.

Referenced by ccCloudLayersHelper::apply(), ComputeKmeansClustering(), ccCropTool::Crop(), GrainsAsEllipsoids::exportResultsAsCloud(), LASFWFFilter::loadFile(), LASFilter::loadFile(), ccCloudLayersHelper::mouseMove(), ccCloudLayersHelper::moveItem(), ccColorFromScalarDlg::onApply(), ccColorLevelsDlg::onApply(), cloudViewer::io::ReadPointCloudFromPTS(), ccCloudLayersHelper::restoreState(), ccCloudLayersHelper::setVisible(), ccEntityAction::sfConvertToRandomRGB(), and GrainsAsEllipsoids::updateMeshAndLineSet().

◆ setPointColor() [2/3]

void ccPointCloud::setPointColor	(	size_t	pointIndex,
		const ecvColor::Rgba &	col
	)

◆ setPointColor() [3/3]

void ccPointCloud::setPointColor	(	size_t	pointIndex,
		const Eigen::Vector3d &	col
	)

◆ setPointNormal()

void ccPointCloud::setPointNormal	(	size_t	pointIndex,
		const CCVector3 &	N
	)

Sets a particular point normal (shortcut)

WARNING: normals must be enabled. Normal is automatically compressed before storage.

Referenced by ComputeM3C2DistForPoint(), define_ccPointCloud(), qHoughNormals::doAction(), ccCompass::estimateStructureNormals(), and cloudViewer::io::ReadTriangleMeshFromOBJ().

◆ setPointNormalIndex()

void ccPointCloud::setPointNormalIndex	(	size_t	pointIndex,
		CompressedNormType	norm
	)

Sets a particular point compressed normal.

WARNING: normals must be enabled.

Referenced by qM3C2Process::Compute().

◆ setPointNormals()

void ccPointCloud::setPointNormals ( const std::vector< CCVector3 > & normals )

◆ setRGBColor() [1/2]

bool ccPointCloud::setRGBColor	(	ColorCompType	r,
		ColorCompType	g,
		ColorCompType	b
	)

inline

Set a unique color for the whole cloud (shortcut)

Color array is automatically allocated if necessary.

Parameters

r	red component
g	green component
b	blue component

Returns: success

Definition at line 778 of file ecvPointCloud.h.

Referenced by ccCloudLayersHelper::apply(), ExtractSIFT::compute(), GeneralFilters::compute(), ProjectionFilter::compute(), CorrespondenceMatching::compute(), TemplateAlignment::compute(), and ccEntityAction::setColor().

◆ setRGBColor() [2/2]

bool ccPointCloud::setRGBColor ( const ecvColor::Rgb & col )

Set a unique color for the whole cloud.

Color array is automatically allocated if necessary.

Parameters

col	RGB color (size: 3)

Returns: success

◆ setRGBColorByBanding()

bool ccPointCloud::setRGBColorByBanding	(	unsigned char	dim,
		double	freq
	)

Assigns color to points by 'banding'.

Banding is performed along the specified dimension Color array is automatically allocated if necessary.

Parameters

dim	banding dimension (0:X, 1:Y, 2:Z)
freq	banding frequency

Returns: success

Referenced by CommandColorBanding::process(), cloudViewer::geometry::pybind_pointcloud(), and ccEntityAction::setColorGradient().

◆ setRGBColorByHeight()

bool ccPointCloud::setRGBColorByHeight	(	unsigned char	heightDim,
		ccColorScale::Shared	colorScale
	)

Assigns color to points proportionnaly to their 'height'.

Height is defined wrt to the specified dimension (heightDim). Color array is automatically allocated if necessary.

Parameters

heightDim	ramp dimension (0:X, 1:Y, 2:Z)
colorScale	color scale to use

Returns: success

Referenced by ccEntityAction::setColorGradient().

◆ setRGBColorWithCurrentScalarField()

bool ccPointCloud::setRGBColorWithCurrentScalarField ( bool mixWithExistingColor = false )

Sets RGB colors with current scalar field (values & parameters)

Returns: success

Referenced by cloudViewer::geometry::pybind_pointcloud(), and ccEntityAction::sfConvertToRGB().

◆ sfColorScaleShown()

bool ccPointCloud::sfColorScaleShown ( ) const

Returns whether color scale should be displayed or not.

Referenced by define_ccPointCloud(), ccPropertiesTreeDelegate::fillSFWithPointCloud(), and cloudViewer::geometry::pybind_pointcloud().

◆ showSFColorsScale()

void ccPointCloud::showSFColorsScale ( bool state )

Sets whether color scale should be displayed or not.

Referenced by ccVolumeCalcTool::convertGridToCloud(), ccVolumeCalcTool::ConvertGridToCloud(), ccMeasurementDevice::createScalarFieldForCloud(), define_ccPointCloud(), and cloudViewer::geometry::pybind_pointcloud().

◆ shrinkToFit()

void ccPointCloud::shrinkToFit ( )

inline

Removes unused capacity.

Definition at line 357 of file ecvPointCloud.h.

References size.

Referenced by define_ccPointCloud(), ccCompass::estimateStructureNormals(), cloudViewer::pipelines::integration::ScalableTSDFVolume::ExtractTriangleMesh(), cloudViewer::pipelines::integration::UniformTSDFVolume::ExtractTriangleMesh(), STEPFilter::importStepFile(), SalomeHydroFilter::loadFile(), DRCFilter::loadFile(), DistanceMapGenerationDlg::loadOverlaySymbols(), main(), cloudViewer::geometry::pybind_pointcloud(), and cloudViewer::io::ReadModelUsingAssimp().

◆ swapPoints()

void ccPointCloud::swapPoints	(	unsigned	firstIndex,
		unsigned	secondIndex
	)

overrideprotectedvirtual

Warning: Doesn't handle scan grids!

Reimplemented from cloudViewer::PointCloudTpl< ccGenericPointCloud >.

◆ testVisibility()

unsigned char ccPointCloud::testVisibility ( const CCVector3 & P ) const

overridevirtual

Returns a given point visibility state (relatively to a sensor for instance) Generic method to request a point visibility (should be overloaded if this functionality is required). The point visibility is such as defined in Daniel Girardeau-Montaut's PhD manuscript (see Chapter 2, section 2-3-3). In this case, a ground based laser sensor model should be used to determine it. This method is called before performing any point-to-cloud comparison. If the result is not POINT_VISIBLE, then the comparison won't be performed and the scalar field value associated to this point will be this visibility value.

Parameters

P	the 3D point to test

Returns: visibility (default: POINT_VISIBLE)

Reimplemented from cloudViewer::GenericCloud.

◆ toFile_MeOnly()

bool ccPointCloud::toFile_MeOnly	(	QFile &	out,
		short	dataVersion
	)		const

overrideprotectedvirtual

Save own object data.

Called by 'toFile' (recursive scheme) To be overloaded (but still called ;) by subclass.

Parameters

out	output file
dataVersion	target file version for compatibility control

Reimplemented from ccGenericPointCloud.

◆ Transform()

virtual ccPointCloud& ccPointCloud::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

Apply transformation (4x4 matrix) to the geometry coordinates.

Reimplemented from ccHObject.

Referenced by cloudViewer::pipelines::registration::EvaluateRegistration(), cloudViewer::pipelines::registration::GetInformationMatrixFromPointClouds(), cloudViewer::t::geometry::LegacyTransform(), cloudViewer::pipelines::registration::OptimizePairwiseRegistration(), cloudViewer::pipelines::registration::RegistrationICP(), and cloudViewer::pipelines::registration::RegistrationRANSACBasedOnCorrespondence().

◆ Translate() [1/2]

ccPointCloud& ccPointCloud::Translate ( const CCVector3 & T )

inline

Definition at line 979 of file ecvPointCloud.h.

References Vector3Tpl< double >::fromArray().

◆ Translate() [2/2]

virtual ccPointCloud& ccPointCloud::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
relative	If `true`, the `translation` is directly applied to the geometry. Otherwise, the geometry center is moved to the `translation`.

Reimplemented from ccHObject.

Referenced by getMortarMaps().

◆ triangulateGrid()

ccMesh* ccPointCloud::triangulateGrid	(	const Grid &	grid,
		double	minTriangleAngle_deg = `0.0`
	)		const

Meshes a scan grid.

Warning: The mesh vertices will be this cloud instance!

◆ unalloactePoints()

void ccPointCloud::unalloactePoints ( )

Erases the cloud points.

Prefer ccPointCloud::clear by default.

Warning: DANGEROUS

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ unallocateColors()

void ccPointCloud::unallocateColors ( )

Erases the cloud colors.

Referenced by ccCropTool::Crop(), qPoissonRecon::doAction(), cloudViewer::geometry::pybind_pointcloud(), cloudViewer::pipelines::color_map::SetGeometryColorAverage(), ecvPoissonReconDlg::start(), and ccCloudLayersHelper::~ccCloudLayersHelper().

◆ unallocateNorms()

void ccPointCloud::unallocateNorms ( )

Erases the cloud normals.

Referenced by NormalEstimation::compute(), CommandClearNormals::process(), cloudViewer::geometry::pybind_pointcloud(), and cloudViewer::io::ReadTriangleMeshFromOBJ().

◆ UniformDownSample()

std::shared_ptr<ccPointCloud> ccPointCloud::UniformDownSample ( size_t every_k_points ) const

Function to downsample input ccPointCloud into output ccPointCloud uniformly.

The sample is performed in the order of the points with the 0-th point always chosen, not at random.

Parameters

every_k_points Sample rate, the selected point indices are [0, k, 2k].

Referenced by convert(), and cloudViewer::geometry::pybind_pointcloud().

◆ unroll()

ccPointCloud* ccPointCloud::unroll	(	UnrollMode	mode,
		UnrollBaseParams *	params,
		bool	exportDeviationSF = `false`,
		double	startAngle_deg = `0.0`,
		double	stopAngle_deg = `360.0`,
		cloudViewer::GenericProgressCallback *	progressCb = `nullptr`
	)		const

Unrolls the cloud and its normals on a cylinder or a cone.

This method is redundant with the "developCloudOnCylinder" method of CCLib, apart that it can also handle the cloud normals.

Parameters

mode	unrolling mode
params	unrolling parameters (must match the unrolling mode)
exportDeviationSF	to export the deviation fro the ideal cone as a scalar field
startAngle_deg	start angle (in degrees) - 0 corresponds to +X (east)
stopAngle_deg	stop angle (in degrees)
progressCb	for progress notification

Returns: the unrolled point cloud

◆ VoxelDownSample()

std::shared_ptr<ccPointCloud> ccPointCloud::VoxelDownSample ( double voxel_size )

Function to downsample input ccPointCloud into output ccPointCloud with a voxel.

Normals and colors are averaged if they exist.

Parameters

voxel_size Defines the resolution of the voxel grid, smaller value leads to denser output point cloud.

Referenced by convert(), cloudViewer::visualization::VisualizerWithEditing::KeyPressCallback(), cloudViewer::t::geometry::LegacyEstimateNormals(), cloudViewer::t::geometry::LegacyRemoveRadiusOutliers(), cloudViewer::t::geometry::LegacyRemoveStatisticalOutliers(), cloudViewer::pipelines::registration::LoadPointCloud(), and cloudViewer::geometry::pybind_pointcloud().

◆ VoxelDownSampleAndTrace()

std::tuple<std::shared_ptr<ccPointCloud>, Eigen::MatrixXi, std::vector<std::vector<int> > > ccPointCloud::VoxelDownSampleAndTrace	(	double	voxel_size,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound,
		bool	approximate_class = `false`
	)		const

Function to downsample using geometry.ccPointCloud.VoxelDownSample.

Also records point cloud index before downsampling.

Parameters

voxel_size	Voxel size to downsample into.
min_bound	Minimum coordinate of voxel boundaries
max_bound	Maximum coordinate of voxel boundaries
approximate_class	Whether to approximate.

Referenced by cloudViewer::geometry::pybind_pointcloud().

◆ waveformProxy()

ccWaveformProxy ccPointCloud::waveformProxy ( unsigned index ) const

Returns a proxy on a given waveform.

Referenced by ccWaveWidget::init(), ccWaveDialog::onExportWaveAsCSV(), and LASFWFFilter::saveToFile().

◆ waveforms() [1/2]

std::vector<ccWaveform>& ccPointCloud::waveforms ( )

inline

Gives access to the associated FWF data.

Definition at line 515 of file ecvPointCloud.h.

Referenced by ccPropertiesTreeDelegate::fillWithPointCloud(), LasWaveformSaver::handlePoint(), LasWaveformLoader::LasWaveformLoader(), LASFWFFilter::loadFile(), LasWaveformLoader::loadWaveform(), and ccWaveDialog::onExportWaveAsCSV().

◆ waveforms() [2/2]

const std::vector<ccWaveform>& ccPointCloud::waveforms ( ) const

inline

Gives access to the associated FWF data (const version)

Definition at line 517 of file ecvPointCloud.h.

Member Data Documentation

◆ covariances_

std::vector<Eigen::Matrix3d> ccPointCloud::covariances_

Covariance Matrix for each point.

Definition at line 1316 of file ecvPointCloud.h.

Referenced by cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::ComputeRMSE(), cloudViewer::pipelines::registration::TransformationEstimationForGeneralizedICP::ComputeTransformation(), and cloudViewer::geometry::pybind_pointcloud().

◆ m_currentDisplayedScalarField

ccScalarField* ccPointCloud::m_currentDisplayedScalarField

protected

Currently displayed scalar field.

Definition at line 1348 of file ecvPointCloud.h.

Referenced by ccSNECloud::drawMeOnly().

◆ m_currentDisplayedScalarFieldIndex

int ccPointCloud::m_currentDisplayedScalarFieldIndex

protected

Currently displayed scalar field index.

Definition at line 1350 of file ecvPointCloud.h.

◆ m_fwfData

SharedFWFDataContainer ccPointCloud::m_fwfData

protected

Waveforms raw data storage.

Definition at line 1439 of file ecvPointCloud.h.

◆ m_fwfDescriptors

FWFDescriptorSet ccPointCloud::m_fwfDescriptors

protected

General waveform descriptors.

Definition at line 1433 of file ecvPointCloud.h.

◆ m_fwfWaveforms

std::vector<ccWaveform> ccPointCloud::m_fwfWaveforms

protected

Per-point waveform accessors.

Definition at line 1436 of file ecvPointCloud.h.

◆ m_grids

std::vector<Grid::Shared> ccPointCloud::m_grids

protected

Associated grid structure.

Definition at line 1353 of file ecvPointCloud.h.

◆ m_lod

ccPointCloudLOD* ccPointCloud::m_lod

protected

L.O.D. structure.

Definition at line 1429 of file ecvPointCloud.h.

◆ m_normals

NormsIndexesTableType* ccPointCloud::m_normals

protected

Normals (compressed)

Definition at line 1341 of file ecvPointCloud.h.

◆ m_rgbColors

ColorsTableType* ccPointCloud::m_rgbColors

protected

Colors.

Definition at line 1338 of file ecvPointCloud.h.

◆ m_sfColorScaleDisplayed

bool ccPointCloud::m_sfColorScaleDisplayed

protected

Specifies whether current scalar field color scale should be displayed or not

Definition at line 1345 of file ecvPointCloud.h.

◆ m_vboManager

vboSet ccPointCloud::m_vboManager

protected

Set of VBOs attached to this cloud.

Definition at line 1416 of file ecvPointCloud.h.

◆ m_visibilityCheckEnabled

bool ccPointCloud::m_visibilityCheckEnabled

protected

Whether visibility check is available or not (during comparison)

See ccPointCloud::testVisibility

Definition at line 1358 of file ecvPointCloud.h.

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

/root/ACloudViewer/libs/CV_db/include/ecvPointCloud.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ BaseClass

◆ FWFDataContainer

◆ FWFDescriptorSet

◆ SharedFWFDataContainer

Member Enumeration Documentation

◆ CLONE_WARNINGS

◆ RGB_FILTER_TYPES

◆ UnrollMode

Constructor & Destructor Documentation

◆ ccPointCloud() [1/3]

◆ ccPointCloud() [2/3]

◆ ccPointCloud() [3/3]

◆ ~ccPointCloud()

Member Function Documentation

◆ addColorRampInfo()

◆ addEigenColor()

◆ addEigenColors()

◆ addEigenNorm()

◆ addEigenNorms()

◆ addGreyColor()

◆ addGrid()

◆ addNorm()

◆ addNormAtIndex()

◆ addNormIndex()

◆ addNorms() [1/2]

◆ addNorms() [2/2]

◆ addRGBColor() [1/2]

◆ addRGBColor() [2/2]

◆ addRGBColors()

◆ addScalarField() [1/2]

◆ addScalarField() [2/2]

◆ append()

◆ applyFilterToRGB()

◆ applyGLTransformation()

◆ applyRigidTransformation()

◆ clear()

◆ clearFWFData()

◆ clearLOD()

◆ clone()

◆ cloneThis()

◆ ClusterDBSCAN()

◆ colorize()

◆ colorsHaveChanged()

◆ compressFWFData()

◆ ComputeConvexHull()

◆ computeCPSet()

◆ computeFWFAmplitude()

◆ computeGravityCenter()

◆ ComputeMahalanobisDistance()

◆ ComputeNearestNeighborDistance()

◆ computeNormalsWithGrids()

◆ computeNormalsWithOctree()

◆ ComputePointCloudDistance()

◆ ComputeResolution()

◆ convertCurrentScalarFieldToColors()

◆ convertNormalToDipDirSFs()

◆ convertNormalToRGB()

◆ convertRGBToGreyScale()

◆ CreateFromDepthImage()

◆ CreateFromRGBDImage()

◆ CreateFromVoxelGrid()

◆ createNewCloudFromVisibilitySelection()

◆ Crop() [1/2]

◆ crop() [1/2]

◆ Crop() [2/2]

◆ crop() [2/2]

◆ crop2D()

◆ deleteAllScalarFields()

◆ deleteScalarField()

◆ drawMeOnly()

◆ enableVisibilityCheck()