cloudViewer.geometry.GenericIndexedCloud#

class cloudViewer.geometry.GenericIndexedCloud#

A generic 3D point cloud with index-based point access.

__init__(*args, **kwargs)#
enable_scalar_field(self)#

Enables the scalar field associated to the cloud.

Returns:

bool

get_bounding_box(self)#

Returns the cloud bounding box.

Returns:

tuple[typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”], typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]]

get_next_point(self)#

Returns the next point (relatively to the global iterator position).

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_point(self, index)#

Returns the ith point(virtual method to request a point with a specific index).

Parameters:

index (SupportsInt) –

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_scalar_value(self, point_index)#

Returns the ith point associated scalar value.

Parameters:

point_index (SupportsInt) –

Returns:

float

has_points(self)#

Returns whether has points.

Returns:

bool

is_scalar_field_enabled(self)#

Returns true if the scalar field is enabled, false otherwise.

Returns:

bool

place_iterator_at_beginning(self)#

Sets the cloud iterator at the beginning.

Returns:

None

set_scalar_value(self, point_index, value)#

Sets the ith point associated scalar value.

Parameters:
Returns:

None

size(self)#

Returns the number of points.

Returns:

int

test_visibility(self, point)#

Returns a given point visibility state (relatively to a sensor for instance).

Parameters:

point (Annotated[numpy.typing.ArrayLike, numpy.float64,) – the 3D point to test, return visibility (default: POINT_VISIBLE)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 notPOINT_VISIBLE, then the comparison won’t be performed and the scalar field value associatedto this point will be this visibility value.

Returns:

int