A LineSet contains points and lines joining them and optionally attributes on the points and lines. More...

#include <LineSet.h>

Inheritance diagram for cloudViewer::t::geometry::LineSet:

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Collaboration diagram for cloudViewer::t::geometry::LineSet:

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Public Member Functions
	LineSet (const core::Device &device=core::Device("CPU:0"))
	Construct an empty LineSet on the provided device. More...

	LineSet (const core::Tensor &point_positions, const core::Tensor &line_indices)

virtual	~LineSet () override

LineSet	To (const core::Device &device, bool copy=false) const

LineSet	Clone () const
	Returns copy of the line set on the same device. More...

std::string	ToString () const
	Text description. More...

const TensorMap &	GetPointAttr () const
	Getter for point_attr_ TensorMap. Used in Pybind. More...

TensorMap &	GetPointAttr ()
	Getter for point_attr_ TensorMap. More...

core::Tensor &	GetPointAttr (const std::string &key)

core::Tensor &	GetPointPositions ()

const TensorMap &	GetLineAttr () const
	Getter for line_attr_ TensorMap. Used in Pybind. More...

TensorMap &	GetLineAttr ()
	Getter for line_attr_ TensorMap. More...

core::Tensor &	GetLineAttr (const std::string &key)

core::Tensor &	GetLineIndices ()

core::Tensor &	GetLineColors ()

const core::Tensor &	GetPointAttr (const std::string &key) const

void	RemovePointAttr (const std::string &key)

const core::Tensor &	GetPointPositions () const

const core::Tensor &	GetLineAttr (const std::string &key) const

void	RemoveLineAttr (const std::string &key)

const core::Tensor &	GetLineIndices () const

const core::Tensor &	GetLineColors () const

void	SetPointAttr (const std::string &key, const core::Tensor &value)

void	SetPointPositions (const core::Tensor &value)

void	SetLineAttr (const std::string &key, const core::Tensor &value)

void	SetLineIndices (const core::Tensor &value)
	Set the value of the "indices" attribute in line_attr_. More...

void	SetLineColors (const core::Tensor &value)

bool	HasPointAttr (const std::string &key) const

bool	HasPointPositions () const

bool	HasLineAttr (const std::string &key) const

bool	HasLineIndices () const

bool	HasLineColors () const

LineSet &	Clear () override
	Clear all data in the line set. More...

bool	IsEmpty () const override
	Returns !HasPointPositions(), line indices are ignored. More...

core::Tensor	GetMinBound () const
	Returns the max bound for point coordinates. More...

core::Tensor	GetMaxBound () const
	Returns the max bound for point coordinates. More...

core::Tensor	GetCenter () const
	Returns the center for point coordinates. More...

LineSet &	Transform (const core::Tensor &transformation)
	Transforms the points and lines of the LineSet. More...

LineSet &	Translate (const core::Tensor &translation, bool relative=true)
	Translates the points and lines of the LineSet. More...

LineSet &	Scale (double scale, const core::Tensor &center)
	Scales the points and lines of the LineSet. More...

LineSet &	Rotate (const core::Tensor &R, const core::Tensor &center)
	Rotates the points and lines of the line set. Custom attributes (e.g.: point or line normals) are not transformed. More...

LineSet &	PaintUniformColor (const core::Tensor &color)
	Assigns uniform color to all lines of the LineSet. More...

core::Device	GetDevice () const override
	Returns the device attribute of this LineSet. More...

cloudViewer::geometry::LineSet	ToLegacy () const
	Convert to a legacy CloudViewer LineSet. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const
	Create an axis-aligned bounding box from point attribute "positions". More...

OrientedBoundingBox	GetOrientedBoundingBox () const
	Create an oriented bounding box from point attribute "positions". More...

TriangleMesh	ExtrudeRotation (double angle, const core::Tensor &axis, int resolution=16, double translation=0.0, bool capping=true) const

TriangleMesh	ExtrudeLinear (const core::Tensor &vector, double scale=1.0, bool capping=true) const

Public Member Functions inherited from cloudViewer::t::geometry::Geometry
virtual	~Geometry ()

GeometryType	GetGeometryType () const
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

std::string	GetName () const

void	SetName (const std::string &name)

Public Member Functions inherited from cloudViewer::core::IsDevice
	IsDevice ()=default

virtual	~IsDevice ()=default

bool	IsCPU () const

bool	IsCUDA () const

bool	IsSYCL () const

Public Member Functions inherited from cloudViewer::t::geometry::DrawableGeometry
	DrawableGeometry ()

	~DrawableGeometry ()

bool	HasMaterial () const
	Check if a material has been applied to this Geometry with SetMaterial. More...

visualization::rendering::Material &	GetMaterial ()
	Get material associated with this Geometry. More...

const visualization::rendering::Material &	GetMaterial () const
	Get const reference to material associated with this Geometry. More...

void	SetMaterial (const visualization::rendering::Material &material)
	Set the material properties associate with this Geometry. More...

Static Public Member Functions
static geometry::LineSet	FromLegacy (const cloudViewer::geometry::LineSet &lineset_legacy, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))

static LineSet	CreateCameraVisualization (int view_width_px, int view_height_px, const core::Tensor &intrinsic, const core::Tensor &extrinsic, double scale, const core::Tensor &color={})

Protected Attributes
core::Device	device_ = core::Device("CPU:0")

TensorMap	point_attr_

TensorMap	line_attr_

Additional Inherited Members
Public Types inherited from cloudViewer::t::geometry::Geometry
enum class	GeometryType { Unspecified = 0 , PointCloud = 1 , VoxelGrid = 2 , Octree = 3 , LineSet = 4 , MeshBase = 5 , TriangleMesh = 6 , HalfEdgeTriangleMesh = 7 , Image = 8 , RGBDImage = 9 , TetraMesh = 10 , OrientedBoundingBox = 11 , AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Protected Member Functions inherited from cloudViewer::t::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

A LineSet contains points and lines joining them and optionally attributes on the points and lines.

The LineSet class stores the attribute data in key-value pairs for flexibility, where the key is a string representing the attribute name and value is a Tensor containing the attribute data.

By default, there are two sets of dictionaries: point_attr_ and line_attr_. In most cases, the length of an attribute should be equal to the length of the data corresponding to the primary key. For instance, point_attr_["colors"] should have the same length as point_attr_["positions"].

Although the attributes are all stored in a key-value pair dictionary, the attributes have different levels:

Default attributes {"positions", "indices"}.
- Created by default, required for all LineSets.
- The "positions" tensor must have shape {N,3} while the "indices" tensor must have shape {N,2} and DtypeCode Int.
- The device of "positions" and "indices" must be consistent and they determine the device of the LineSet.
- Usage:
Commonly used attributes: line colors.
- Not created by default.
- The tensor must be of shape {N,3}.
- For all attributes, the device must be consistent with the device of the LineSet.
- Value tensors can have any Dtype.
- Usage:
  - Line colors (stored at line_attr_["colors"])
Custom attributes, e.g. {"labels"}.
- Not created by default. Users can add their own custom attributes.
- For all attributes, the device must be consistent with the device of the LineSet.
- Value tensors can have any Dtype.
- Usage:
  - LineSet::GetPointAttr("labels")
  - LineSet::SetPointAttr("labels", point_labels_tensor)
  - LineSet::HasPointAttr("labels")
  - LineSet::GetLineAttr("labels")
  - LineSet::SetLineAttr("labels", line_labels_tensor)
  - LineSet::HasLineAttr("labels")

Note that {Get|Set|Has}{Point|Line}Attr() functions also work "positions" and "indices".

Definition at line 85 of file LineSet.h.

Constructor & Destructor Documentation

◆ LineSet() [1/2]

cloudViewer::t::geometry::LineSet::LineSet ( const core::Device & device = core::Device("CPU:0") )

Construct an empty LineSet on the provided device.

Definition at line 26 of file LineSet.cpp.

◆ LineSet() [2/2]

cloudViewer::t::geometry::LineSet::LineSet	(	const core::Tensor &	point_positions,
		const core::Tensor &	line_indices
	)

Construct a LineSet from points and lines.

The input tensors will be directly used as the underlying storage of the line set (no memory copy). If the tensor is created in-place from a pre-allocated buffer, the tensor has a fixed size and thus the resulting LineSet will have a fixed size and calling to functions like SynchronizedPushBack will raise an exception.

The resulting LineSet will have the same dtype and device as the tensor. The device for points must be consistent with lines.

Parameters

point_positions	A tensor with element shape {3}.
line_indices	A tensor with element shape {2} and Int DtypeCode.

Definition at line 32 of file LineSet.cpp.

References AssertTensorDevice, and cloudViewer::core::Tensor::GetDevice().

◆ ~LineSet()

virtual cloudViewer::t::geometry::LineSet::~LineSet ( )

inlineoverridevirtual

Definition at line 108 of file LineSet.h.

Member Function Documentation

◆ Clear()

LineSet& cloudViewer::t::geometry::LineSet::Clear ( )

inlineoverridevirtual

Clear all data in the line set.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 280 of file LineSet.h.

References line_attr_, and point_attr_.

◆ Clone()

LineSet cloudViewer::t::geometry::LineSet::Clone ( ) const

inline

Returns copy of the line set on the same device.

Definition at line 118 of file LineSet.h.

References GetDevice(), and To().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ CreateCameraVisualization()

LineSet cloudViewer::t::geometry::LineSet::CreateCameraVisualization	(	int	view_width_px,
		int	view_height_px,
		const core::Tensor &	intrinsic,
		const core::Tensor &	extrinsic,
		double	scale,
		const core::Tensor &	color = `{}`
	)

static

Factory function to create a LineSet from intrinsic and extrinsic matrices.

Parameters

view_width_px	The width of the view, in pixels.
view_height_px	The height of the view, in pixels.
intrinsic	The intrinsic matrix {3,3} shape.
extrinsic	The extrinsic matrix {4,4} shape.
scale	camera scale
color	tensor with float32 dtype and shape {3}. Default is blue.

Definition at line 231 of file LineSet.cpp.

References AssertTensorShape, color, cloudViewer::core::Float32, points, cloudViewer::core::Tensor::Slice(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ ExtrudeLinear()

TriangleMesh cloudViewer::t::geometry::LineSet::ExtrudeLinear	(	const core::Tensor &	vector,
		double	scale = `1.0`,
		bool	capping = `true`
	)		const

Sweeps the line set along a direction vector.

Parameters

vector	The direction vector.
scale	Scalar factor which essentially scales the direction vector.
capping	If true adds caps to the mesh.

Returns: A triangle mesh with the result of the sweep operation.

Definition at line 204 of file LineSet.cpp.

References cloudViewer::t::geometry::vtkutils::ExtrudeLinearTriangleMesh().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ ExtrudeRotation()

TriangleMesh cloudViewer::t::geometry::LineSet::ExtrudeRotation	(	double	angle,
		const core::Tensor &	axis,
		int	resolution = `16`,
		double	translation = `0.0`,
		bool	capping = `true`
	)		const

Sweeps the line set rotationally about an axis.

Parameters

angle	The rotation angle in degree.
axis	The rotation axis.
resolution	The resolution defines the number of intermediate sweeps about the rotation axis.
translation	The translation along the rotation axis.
capping	If true adds caps to the mesh.

Returns: A triangle mesh with the result of the sweep operation.

Definition at line 194 of file LineSet.cpp.

References cloudViewer::t::geometry::vtkutils::ExtrudeRotationTriangleMesh().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ FromLegacy()

geometry::LineSet cloudViewer::t::geometry::LineSet::FromLegacy	(	const cloudViewer::geometry::LineSet &	lineset_legacy,
		core::Dtype	float_dtype = `core::Float32`,
		core::Dtype	int_dtype = `core::Int64`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

static

Create a LineSet from a legacy CloudViewer LineSet.

Parameters

lineset_legacy	Legacy CloudViewer LineSet.
float_dtype	Float32 or Float64, used to store floating point values, e.g. points, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. line indices.
device	The device where the resulting LineSet resides.

Definition at line 133 of file LineSet.cpp.

References cloudViewer::geometry::LineSet::colors_, cloudViewer::core::eigen_converter::EigenVector2iVectorToTensor(), cloudViewer::core::eigen_converter::EigenVector3dVectorToTensor(), cloudViewer::core::Float32, cloudViewer::core::Float64, cloudViewer::geometry::LineSet::HasColors(), cloudViewer::geometry::LineSet::HasLines(), cloudViewer::geometry::LineSet::HasPoints(), cloudViewer::core::Int32, cloudViewer::core::Int64, cloudViewer::geometry::LineSet::lines_, LogError, LogWarning, cloudViewer::geometry::LineSet::points_, SetLineColors(), SetLineIndices(), SetPointPositions(), and cloudViewer::core::Dtype::ToString().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ GetAxisAlignedBoundingBox()

AxisAlignedBoundingBox cloudViewer::t::geometry::LineSet::GetAxisAlignedBoundingBox ( ) const

Create an axis-aligned bounding box from point attribute "positions".

Definition at line 190 of file LineSet.cpp.

References cloudViewer::t::geometry::AxisAlignedBoundingBox::CreateFromPoints(), and GetPointPositions().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ GetCenter()

core::Tensor cloudViewer::t::geometry::LineSet::GetCenter ( ) const

inline

Returns the center for point coordinates.

Definition at line 296 of file LineSet.h.

References GetPointPositions(), and cloudViewer::core::Tensor::Mean().

Referenced by cloudViewer::t::geometry::pybind_lineset(), and Translate().

◆ GetDevice()

core::Device cloudViewer::t::geometry::LineSet::GetDevice ( ) const

inlineoverridevirtual

Returns the device attribute of this LineSet.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 348 of file LineSet.h.

References device_.

Referenced by Clone(), PaintUniformColor(), Scale(), To(), ToString(), and Translate().

◆ GetLineAttr() [1/4]

TensorMap& cloudViewer::t::geometry::LineSet::GetLineAttr ( )

inline

Getter for line_attr_ TensorMap.

Definition at line 145 of file LineSet.h.

References line_attr_.

◆ GetLineAttr() [2/4]

const TensorMap& cloudViewer::t::geometry::LineSet::GetLineAttr ( ) const

inline

Getter for line_attr_ TensorMap. Used in Pybind.

Definition at line 142 of file LineSet.h.

References line_attr_.

Referenced by cloudViewer::t::geometry::vtkutils::CreateLineSetFromVtkPolyData(), cloudViewer::io::rpc::GeometryToMeshData(), GetLineColors(), GetLineIndices(), HasLineAttr(), and cloudViewer::t::geometry::pybind_lineset().

◆ GetLineAttr() [3/4]

core::Tensor& cloudViewer::t::geometry::LineSet::GetLineAttr ( const std::string & key )

inline

Get line attributes in line_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

Definition at line 151 of file LineSet.h.

References line_attr_.

◆ GetLineAttr() [4/4]

const core::Tensor& cloudViewer::t::geometry::LineSet::GetLineAttr ( const std::string & key ) const

inline

Get line attributes in line_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

Definition at line 186 of file LineSet.h.

References line_attr_.

◆ GetLineColors() [1/2]

core::Tensor& cloudViewer::t::geometry::LineSet::GetLineColors ( )

inline

Get the value of the "colors" attribute in line_attr_. Convenience function.

Definition at line 161 of file LineSet.h.

References GetLineAttr().

Referenced by cloudViewer::visualization::rendering::TLineSetBuffersBuilder::TLineSetBuffersBuilder(), and ToLegacy().

◆ GetLineColors() [2/2]

const core::Tensor& cloudViewer::t::geometry::LineSet::GetLineColors ( ) const

inline

Get the value of the "colors" attribute in line_attr_. Convenience function.

Definition at line 204 of file LineSet.h.

References GetLineAttr().

◆ GetLineIndices() [1/2]

core::Tensor& cloudViewer::t::geometry::LineSet::GetLineIndices ( )

inline

Get the value of the "indices" attribute in line_attr_. Convenience function.

Definition at line 157 of file LineSet.h.

References GetLineAttr().

Referenced by HasLineAttr(), PaintUniformColor(), cloudViewer::visualization::rendering::TLineSetBuffersBuilder::TLineSetBuffersBuilder(), ToLegacy(), and ToString().

◆ GetLineIndices() [2/2]

const core::Tensor& cloudViewer::t::geometry::LineSet::GetLineIndices ( ) const

inline

Get the value of the "indices" attribute in line_attr_. Convenience function.

Definition at line 198 of file LineSet.h.

References GetLineAttr().

◆ GetMaxBound()

core::Tensor cloudViewer::t::geometry::LineSet::GetMaxBound ( ) const

inline

Returns the max bound for point coordinates.

Definition at line 293 of file LineSet.h.

References GetPointPositions(), and cloudViewer::core::Tensor::Max().

Referenced by cloudViewer::visualization::rendering::TLineSetBuffersBuilder::ComputeAABB(), and cloudViewer::t::geometry::pybind_lineset().

◆ GetMinBound()

core::Tensor cloudViewer::t::geometry::LineSet::GetMinBound ( ) const

inline

Returns the max bound for point coordinates.

Definition at line 290 of file LineSet.h.

References GetPointPositions(), and cloudViewer::core::Tensor::Min().

Referenced by cloudViewer::visualization::rendering::TLineSetBuffersBuilder::ComputeAABB(), and cloudViewer::t::geometry::pybind_lineset().

◆ GetOrientedBoundingBox()

OrientedBoundingBox cloudViewer::t::geometry::LineSet::GetOrientedBoundingBox ( ) const

Create an oriented bounding box from point attribute "positions".

Definition at line 211 of file LineSet.cpp.

References cloudViewer::t::geometry::OrientedBoundingBox::CreateFromPoints(), and GetPointPositions().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ GetPointAttr() [1/4]

TensorMap& cloudViewer::t::geometry::LineSet::GetPointAttr ( )

inline

Getter for point_attr_ TensorMap.

Definition at line 127 of file LineSet.h.

References point_attr_.

◆ GetPointAttr() [2/4]

const TensorMap& cloudViewer::t::geometry::LineSet::GetPointAttr ( ) const

inline

Getter for point_attr_ TensorMap. Used in Pybind.

Definition at line 124 of file LineSet.h.

References point_attr_.

Referenced by cloudViewer::t::geometry::vtkutils::CreateLineSetFromVtkPolyData(), cloudViewer::io::rpc::GeometryToMeshData(), GetPointPositions(), HasPointAttr(), and cloudViewer::t::geometry::pybind_lineset().

◆ GetPointAttr() [3/4]

core::Tensor& cloudViewer::t::geometry::LineSet::GetPointAttr ( const std::string & key )

inline

Get point attributes in point_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

Definition at line 133 of file LineSet.h.

References point_attr_.

◆ GetPointAttr() [4/4]

const core::Tensor& cloudViewer::t::geometry::LineSet::GetPointAttr ( const std::string & key ) const

inline

Get point attributes. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

Definition at line 166 of file LineSet.h.

References point_attr_.

◆ GetPointPositions() [1/2]

core::Tensor& cloudViewer::t::geometry::LineSet::GetPointPositions ( )

inline

Get the value of the "positions" attribute in point_attr_. Convenience function.

Definition at line 139 of file LineSet.h.

References GetPointAttr().

Referenced by GetAxisAlignedBoundingBox(), GetCenter(), GetMaxBound(), GetMinBound(), GetOrientedBoundingBox(), HasPointAttr(), Rotate(), Scale(), cloudViewer::visualization::rendering::TLineSetBuffersBuilder::TLineSetBuffersBuilder(), ToLegacy(), ToString(), Transform(), and Translate().

◆ GetPointPositions() [2/2]

const core::Tensor& cloudViewer::t::geometry::LineSet::GetPointPositions ( ) const

inline

Get the value of the "positions" attribute in point_attr_. Convenience function.

Definition at line 178 of file LineSet.h.

References GetPointAttr().

◆ HasLineAttr()

bool cloudViewer::t::geometry::LineSet::HasLineAttr ( const std::string & key ) const

inline

Returns true if all of the following are true in line_attr_: 1) attribute key exist 2) attribute's length as "indices"'s length 3) attribute's length > 0

Definition at line 263 of file LineSet.h.

References cloudViewer::t::geometry::TensorMap::Contains(), cloudViewer::core::Tensor::GetLength(), GetLineAttr(), GetLineIndices(), and line_attr_.

Referenced by HasLineColors(), and HasLineIndices().

◆ HasLineColors()

bool cloudViewer::t::geometry::LineSet::HasLineColors ( ) const

inline

Returns true if all of the following are true in line_attr_: 1) attribute "colors" exist 2) attribute "colors"'s length as "indices"'s length 3) attribute "colors"'s length > 0 Convenience function.

Definition at line 277 of file LineSet.h.

References HasLineAttr().

Referenced by cloudViewer::visualization::rendering::TLineSetBuffersBuilder::TLineSetBuffersBuilder(), and ToLegacy().

◆ HasLineIndices()

bool cloudViewer::t::geometry::LineSet::HasLineIndices ( ) const

inline

Check if the "indices" attribute's value in line_attr_ has length > 0. Convenience function.

Definition at line 270 of file LineSet.h.

References HasLineAttr().

Referenced by cloudViewer::visualization::rendering::TLineSetBuffersBuilder::TLineSetBuffersBuilder(), and ToLegacy().

◆ HasPointAttr()

bool cloudViewer::t::geometry::LineSet::HasPointAttr ( const std::string & key ) const

inline

Returns true if all of the following are true in point_attr_: 1) attribute key exist 2) attribute's length as "points"'s length 3) attribute's length > 0

Definition at line 250 of file LineSet.h.

References cloudViewer::t::geometry::TensorMap::Contains(), cloudViewer::core::Tensor::GetLength(), GetPointAttr(), GetPointPositions(), and point_attr_.

Referenced by HasPointPositions().

◆ HasPointPositions()

bool cloudViewer::t::geometry::LineSet::HasPointPositions ( ) const

inline

Check if the "positions" attribute's value in point_attr_ has length > 0. Convenience function.

Definition at line 257 of file LineSet.h.

References HasPointAttr().

Referenced by IsEmpty(), and ToLegacy().

◆ IsEmpty()

bool cloudViewer::t::geometry::LineSet::IsEmpty ( ) const

inlineoverridevirtual

Returns !HasPointPositions(), line indices are ignored.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 287 of file LineSet.h.

References HasPointPositions().

◆ PaintUniformColor()

LineSet & cloudViewer::t::geometry::LineSet::PaintUniformColor ( const core::Tensor & color )

Assigns uniform color to all lines of the LineSet.

Parameters

color RGB color for the LineSet. {3,} shaped Tensor. Floating color values are clipped between 0.0 and 1.0.

Definition at line 215 of file LineSet.cpp.

References cloudViewer::core::Tensor::AsRvalue(), AssertTensorShape, color, cloudViewer::core::Tensor::Empty(), cloudViewer::core::Float32, cloudViewer::core::Float64, GetDevice(), cloudViewer::core::Tensor::GetLength(), GetLineIndices(), and SetLineColors().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ RemoveLineAttr()

void cloudViewer::t::geometry::LineSet::RemoveLineAttr ( const std::string & key )

inline

Removes line attribute by key value. Primary attribute "indices" cannot be removed. Throws warning if attribute key does not exists.

Parameters

key	Attribute name.

Definition at line 194 of file LineSet.h.

References cloudViewer::t::geometry::TensorMap::Erase(), and line_attr_.

◆ RemovePointAttr()

void cloudViewer::t::geometry::LineSet::RemovePointAttr ( const std::string & key )

inline

Removes point attribute by key value. Primary attribute "positions" cannot be removed. Throws warning if attribute key does not exists.

Parameters

key	Attribute name.

Definition at line 174 of file LineSet.h.

References cloudViewer::t::geometry::TensorMap::Erase(), and point_attr_.

◆ Rotate()

LineSet & cloudViewer::t::geometry::LineSet::Rotate	(	const core::Tensor &	R,
		const core::Tensor &	center
	)

Rotates the points and lines of the line set. Custom attributes (e.g.: point or line normals) are not transformed.

Parameters

R	Rotation [Tensor of shape {3,3}].
center	Center [Tensor of shape {3}] about which the LineSet is to be scaled.

Returns: Rotated line set.

Definition at line 126 of file LineSet.cpp.

References AssertTensorShape, GetPointPositions(), and cloudViewer::t::geometry::kernel::transform::RotatePoints().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ Scale()

LineSet & cloudViewer::t::geometry::LineSet::Scale	(	double	scale,
		const core::Tensor &	center
	)

Scales the points and lines of the LineSet.

Parameters

scale	Scale magnitude.
center	Center [Tensor of shape {3}] about which the LineSet is

Returns: Scaled line set.

Definition at line 116 of file LineSet.cpp.

References cloudViewer::core::Tensor::Add_(), AssertTensorShape, GetDevice(), GetPointPositions(), cloudViewer::core::Tensor::Mul_(), cloudViewer::core::Tensor::Sub_(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ SetLineAttr()

void cloudViewer::t::geometry::LineSet::SetLineAttr	(	const std::string &	key,
		const core::Tensor &	value
	)

inline

Set line attributes. If the attribute key already exists, its value will be overwritten, otherwise, the new key will be created.

Parameters

key	Attribute name.
value	A tensor.

Definition at line 228 of file LineSet.h.

References AssertTensorDevice, device_, and line_attr_.

Referenced by SetLineColors(), SetLineIndices(), and To().

◆ SetLineColors()

void cloudViewer::t::geometry::LineSet::SetLineColors ( const core::Tensor & value )

inline

Set the value of the "colors" attribute in line_attr_. This is a convenience function.

Definition at line 241 of file LineSet.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetLineAttr().

Referenced by FromLegacy(), and PaintUniformColor().

◆ SetLineIndices()

void cloudViewer::t::geometry::LineSet::SetLineIndices ( const core::Tensor & value )

inline

Set the value of the "indices" attribute in line_attr_.

Definition at line 234 of file LineSet.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetLineAttr().

Referenced by FromLegacy().

◆ SetPointAttr()

void cloudViewer::t::geometry::LineSet::SetPointAttr	(	const std::string &	key,
		const core::Tensor &	value
	)

inline

Set point attributes. If the attribute key already exists, its value will be overwritten, otherwise, the new key will be created.

Parameters

key	Attribute name.
value	A tensor.

Definition at line 211 of file LineSet.h.

References AssertTensorDevice, device_, and point_attr_.

Referenced by SetPointPositions(), and To().

◆ SetPointPositions()

void cloudViewer::t::geometry::LineSet::SetPointPositions ( const core::Tensor & value )

inline

Set the value of the "positions" attribute in point_attr_. Convenience function.

Definition at line 218 of file LineSet.h.

References AssertTensorShape, cloudViewer::utility::nullopt, and SetPointAttr().

Referenced by FromLegacy().

◆ To()

LineSet cloudViewer::t::geometry::LineSet::To	(	const core::Device &	device,
		bool	copy = `false`
	)		const

Transfer the line set to a specified device.

Parameters

device	The targeted device to convert to.
copy	If true, a new line set is always created; if false, the copy is avoided when the original line set is already on the targeted device.

Definition at line 42 of file LineSet.cpp.

References copy, GetDevice(), line_attr_, point_attr_, SetLineAttr(), and SetPointAttr().

Referenced by Clone(), cloudViewer::t::geometry::pybind_lineset(), and cloudViewer::visualization::rendering::TLineSetBuffersBuilder::TLineSetBuffersBuilder().

◆ ToLegacy()

cloudViewer::geometry::LineSet cloudViewer::t::geometry::LineSet::ToLegacy ( ) const

Convert to a legacy CloudViewer LineSet.

Definition at line 170 of file LineSet.cpp.

References cloudViewer::geometry::LineSet::colors_, GetLineColors(), GetLineIndices(), GetPointPositions(), HasLineColors(), HasLineIndices(), HasPointPositions(), cloudViewer::geometry::LineSet::lines_, cloudViewer::geometry::LineSet::points_, cloudViewer::core::eigen_converter::TensorToEigenVector2iVector(), and cloudViewer::core::eigen_converter::TensorToEigenVector3dVector().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ ToString()

std::string cloudViewer::t::geometry::LineSet::ToString ( ) const

Text description.

Definition at line 56 of file LineSet.cpp.

References format, GetDevice(), GetLineIndices(), GetPointPositions(), line_attr_, and point_attr_.

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ Transform()

LineSet & cloudViewer::t::geometry::LineSet::Transform ( const core::Tensor & transformation )

Transforms the points and lines of the LineSet.

Custom attributes (e.g.: point or line normals) are not transformed.

Transformation matrix is a 4x4 matrix. T (4x4) = [[ R(3x3) t(3x1) ], [ O(1x3) s(1x1) ]] (s = 1 for Transformation without scaling)

It applies the following general transform to each positions and normals. |x'| | R(0,0) R(0,1) R(0,2) t(0)| |x| |y'| = | R(1,0) R(1,1) R(1,2) t(1)| @ |y| |z'| | R(2,0) R(2,1) R(2,2) t(2)| |z| |w'| | O(0,0) O(0,1) O(0,2) s | |1|

[x, y, z] = [x', y', z'] / w'

Parameters

transformation Transformation [Tensor of shape {4,4}].

Returns: Transformed line set.

Definition at line 97 of file LineSet.cpp.

References AssertTensorShape, GetPointPositions(), and cloudViewer::t::geometry::kernel::transform::TransformPoints().

Referenced by cloudViewer::t::geometry::pybind_lineset().

◆ Translate()

LineSet & cloudViewer::t::geometry::LineSet::Translate	(	const core::Tensor &	translation,
		bool	relative = `true`
	)

Translates the points and lines of the LineSet.

Parameters

translation	Translation tensor of shape {3}
relative	If true (default) translates relative to center of LineSet.

Returns: Translated line set.

Definition at line 103 of file LineSet.cpp.

References AssertTensorShape, GetCenter(), GetDevice(), GetPointPositions(), and cloudViewer::core::Tensor::To().

Referenced by cloudViewer::t::geometry::pybind_lineset().

Member Data Documentation

◆ device_

core::Device cloudViewer::t::geometry::LineSet::device_ = core::Device("CPU:0")

protected

Definition at line 412 of file LineSet.h.

Referenced by GetDevice(), SetLineAttr(), and SetPointAttr().

◆ line_attr_

TensorMap cloudViewer::t::geometry::LineSet::line_attr_

protected

Definition at line 414 of file LineSet.h.

Referenced by Clear(), GetLineAttr(), HasLineAttr(), RemoveLineAttr(), SetLineAttr(), To(), and ToString().

◆ point_attr_

TensorMap cloudViewer::t::geometry::LineSet::point_attr_

protected

Definition at line 413 of file LineSet.h.

Referenced by Clear(), GetPointAttr(), HasPointAttr(), RemovePointAttr(), SetPointAttr(), To(), and ToString().

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

/root/ACloudViewer/libs/cloudViewer/t/geometry/LineSet.h
/root/ACloudViewer/libs/cloudViewer/t/geometry/LineSet.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LineSet() [1/2]

◆ LineSet() [2/2]

◆ ~LineSet()

Member Function Documentation

◆ Clear()

◆ Clone()

◆ CreateCameraVisualization()

◆ ExtrudeLinear()

◆ ExtrudeRotation()

◆ FromLegacy()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetDevice()

◆ GetLineAttr() [1/4]

◆ GetLineAttr() [2/4]

◆ GetLineAttr() [3/4]

◆ GetLineAttr() [4/4]

◆ GetLineColors() [1/2]

◆ GetLineColors() [2/2]

◆ GetLineIndices() [1/2]

◆ GetLineIndices() [2/2]

◆ GetMaxBound()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ GetPointAttr() [1/4]

◆ GetPointAttr() [2/4]

◆ GetPointAttr() [3/4]

◆ GetPointAttr() [4/4]

◆ GetPointPositions() [1/2]

◆ GetPointPositions() [2/2]

◆ HasLineAttr()

◆ HasLineColors()

◆ HasLineIndices()

◆ HasPointAttr()

◆ HasPointPositions()

◆ IsEmpty()

◆ PaintUniformColor()

◆ RemoveLineAttr()

◆ RemovePointAttr()

◆ Rotate()

◆ Scale()

◆ SetLineAttr()

◆ SetLineColors()

◆ SetLineIndices()

◆ SetPointAttr()

◆ SetPointPositions()

◆ To()

◆ ToLegacy()

◆ ToString()

◆ Transform()

◆ Translate()

Member Data Documentation

◆ device_

◆ line_attr_

◆ point_attr_