A data structure for point clouds. More...

#include <easy3d/core/point_cloud.h>

Inheritance diagram for PointCloud:

Classes
class	BaseHandle
	Base class for topology types (internally it is basically an index). More...

class	ModelProperty
	Cloud property of type T. More...

class	Vertex
	This type represents a vertex (internally it is basically an index). More...

class	VertexContainer
	This helper class is a container for iterating through all vertices using C++11 range-based for-loops. More...

class	VertexIterator
	This class iterates linearly over all vertices. More...

class	VertexProperty
	Vertex property of type T. More...

Public Member Functions
Construct, destruct, assignment
	PointCloud ()
	Default constructor.

	~PointCloud () override=default
	Destructor (is virtual, since we inherit from Model).

	PointCloud (const PointCloud &rhs)
	Copy constructor: copies `rhs` to `*this`. Performs a deep copy of all properties.

PointCloud &	operator= (const PointCloud &rhs)
	Assign `rhs` to `*this`. Performs a deep copy of all properties.

PointCloud &	operator+= (const PointCloud &other)
	Merges another point cloud into the current one.

PointCloud &	join (const PointCloud &other)
	Merges another point cloud into the current one.

PointCloud &	assign (const PointCloud &rhs)
	Assign `rhs` to `*this`. Does not copy custom properties.

Add new elements by hand
Vertex	add_vertex (const vec3 &p)
	Add a new vertex with position `p`.

Memory Management
unsigned int	vertices_size () const
	Returns number of (deleted and valid) vertices in the cloud.

unsigned int	n_vertices () const
	Returns number of vertices in the cloud.

void	clear ()
	Clear cloud: remove all vertices.

void	resize (unsigned int nv)
	Resize space for vertices and their currently associated properties.

bool	has_garbage () const
	Are there deleted vertices?

void	collect_garbage ()
	Remove deleted vertices.

void	delete_vertex (Vertex v)
	Deletes the vertex `v` from the cloud.

bool	is_deleted (Vertex v) const
	Returns whether vertex `v` is deleted.

bool	is_valid (Vertex v) const
	Return whether vertex `v` is valid, i.e. the index is stores it within the array bounds.

Property handling
template<class T>
VertexProperty< T >	add_vertex_property (const std::string &name, const T t=T())
	Add a vertex property of type `T` with name `name` and default value `t`.

template<class T>
ModelProperty< T >	add_model_property (const std::string &name, const T t=T())
	Add a vertex property of type `T` with name `name` and default value `t`.

template<class T>
VertexProperty< T >	get_vertex_property (const std::string &name) const
	Get the vertex property named `name` of type `T`.

template<class T>
ModelProperty< T >	get_model_property (const std::string &name) const
	Gets the model property named `name` of type `T`.

template<class T>
VertexProperty< T >	vertex_property (const std::string &name, const T t=T())
	Gets or adds a vertex property of type `T` with name `name`.

template<class T>
ModelProperty< T >	model_property (const std::string &name, const T t=T())
	Gets or adds a model property of type `T` with name `name`.

template<class T>
bool	remove_vertex_property (VertexProperty< T > &p)
	Remove the vertex property `p`.

bool	remove_vertex_property (const std::string &n)
	Remove the vertex property named `n`.

template<class T>
bool	remove_model_property (ModelProperty< T > &p)
	Remove the model property `p`.

bool	remove_model_property (const std::string &n)
	Remove the model property named `n`.

bool	rename_vertex_property (const std::string &old_name, const std::string &new_name)
	Rename a vertex property given its name.

bool	rename_model_property (const std::string &old_name, const std::string &new_name)
	Rename a model property given its name.

const std::type_info &	get_vertex_property_type (const std::string &name) const
	Get the type_info `T` of vertex property `name`.

const std::type_info &	get_model_property_type (const std::string &name) const
	Get the type_info `T` of model property `name`.

std::vector< std::string >	vertex_properties () const
	Returns the names of all vertex properties.

std::vector< std::string >	model_properties () const
	Returns the names of all model properties.

void	property_stats (std::ostream &output) const override
	Prints the names of all properties to an output stream (e.g., std::cout).

Iterators
VertexIterator	vertices_begin () const
	Returns start iterator for vertices.

VertexIterator	vertices_end () const
	Returns end iterator for vertices.

VertexContainer	vertices () const
	Returns vertex container for C++11 range-based for-loops.

Public Member Functions inherited from Model
	Model (const std::string &name="unknown")
	Default constructor. The parameter `name` is optional, but it is useful for handling multiple models with the same viewer.

void	set_name (const std::string &n)
	Sets/Changes the name of a model. Assigning a name to a model is optional, but it is useful for handling multiple models with the same viewer.

const std::string &	name () const
	The name of a model.

const Box3 &	bounding_box (bool recompute=false) const
	The bounding box of the model.

void	invalidate_bounding_box ()
	Invalidates the bounding box of the model. So when bounding_box() is called, the bounding box will be re-computed. This function is typically called when the geometry of a model is changed.

bool	empty () const
	Tests if the model is empty.

void	set_renderer (std::shared_ptr< Renderer > r)
	Sets the renderer of this model.

Renderer *	renderer ()
	Gets the renderer of this model.

const Renderer *	renderer () const
	Gets the constant renderer of this model.

void	set_manipulator (std::shared_ptr< Manipulator > manip)
	Attaches a manipulator to this model.

Manipulator *	manipulator ()
	Gets the manipulator attached to this model.

const Manipulator *	manipulator () const
	Gets the manipulator attached to this model.

Geometry-related Functions
const vec3 &	position (Vertex v) const
	Gets the position of a vertex (read only).

vec3 &	position (Vertex v)
	Gets the position of a vertex.

const std::vector< vec3 > &	points () const override
	Returns the vector of vertex positions (read only).

std::vector< vec3 > &	points () override
	Returns the vector of vertex positions.

Detailed Description

A data structure for point clouds.

This implementation is inspired by Surface_mesh https://opensource.cit-ec.de/projects/surface_mesh

Examples: Tutorial_101_PointCloud/main.cpp, Tutorial_102_PointCloud_Property/main.cpp, Tutorial_103_PointCloud_IO/main.cpp, Tutorial_312_MultiThread/main.cpp, Tutorial_403_PointSelection/main.cpp, Tutorial_404_VirtualScanner/main.cpp, Tutorial_701_Cloud_NormalEstimation/main.cpp, Tutorial_702_Cloud_SurfaceReconstruction/main.cpp, and Tutorial_703_Cloud_PlaneExtraction/main.cpp.

Constructor & Destructor Documentation

◆ PointCloud()

PointCloud ( const PointCloud & rhs )

inline

Copy constructor: copies rhs to *this. Performs a deep copy of all properties.

Parameters

rhs	The other point cloud.

Member Function Documentation

◆ add_model_property()

template<class T>

ModelProperty< T > add_model_property	(	const std::string &	name,
		const T	t = T() )

inline

Add a vertex property of type T with name name and default value t.

Parameters

name	The name of the property.
t	The default value of the property.

Returns: The added vertex property. The operation fails if a property with the same name already exists, since the name has to be unique. In this case, it returns an invalid property. Example:
auto trans = cloud->add_model_property<mat4>("transformation", mat4::identity());

trans[0] = mat4::translation(-x0, -y0, -z0);

easy3d::Mat4< float >::translation
static Mat4< float > translation(const Vec< 3, float > &t)

easy3d::Mat::identity
static Mat< N, M, T > identity()
Returns an identity matrix.
Definition mat.h:697

easy3d::mat4
Mat4< float > mat4
A 4 by 4 matrix of float type.
Definition types.h:67

◆ add_vertex()

PointCloud::Vertex add_vertex ( const vec3 & p )

Add a new vertex with position p.

Parameters

p	The position of the new vertex.

Returns: The added vertex.

Examples: Tutorial_312_MultiThread/main.cpp, and Tutorial_404_VirtualScanner/main.cpp.

◆ add_vertex_property()

template<class T>

VertexProperty< T > add_vertex_property	(	const std::string &	name,
		const T	t = T() )

inline

Add a vertex property of type T with name name and default value t.

Parameters

name	The name of the property.
t	The default value of the property.

Returns: The added vertex property. The operation fails if a property with the same name already exists, since the name has to be unique. In this case, it returns an invalid property.

Examples: Tutorial_312_MultiThread/main.cpp.

◆ assign()

PointCloud & assign ( const PointCloud & rhs )

Assign rhs to *this. Does not copy custom properties.

Parameters

rhs	The other point cloud.

Returns: The assigned point cloud.

◆ collect_garbage()

void collect_garbage ( )

Remove deleted vertices.

See also: delete_vertex(), is_deleted(), and has_garbage().

◆ delete_vertex()

void delete_vertex ( Vertex v )

Deletes the vertex v from the cloud.

Parameters

v	The vertex to delete.

See also: collect_garbage(), is_deleted(), and has_garbage().

◆ get_model_property()

template<class T>

ModelProperty< T > get_model_property ( const std::string & name ) const

inline

Gets the model property named name of type T.

Parameters

name	The name of the property.

Returns: The model property. An invalid ModelProperty will be returned if the property does not exist or if the type does not match. Example:
auto T = cloud->get_model_property<mat4>("transformation");

T[0] = mat4::translation(-x0, -y0, -z0);

◆ get_model_property_type()

const std::type_info & get_model_property_type ( const std::string & name ) const

inline

Get the type_info T of model property name.

Parameters

name	The name of the property.

Returns: The type_info of the property. A typeid(void) is returned if the property does not exist or if the type does not match.

◆ get_vertex_property()

template<class T>

VertexProperty< T > get_vertex_property ( const std::string & name ) const

inline

Get the vertex property named name of type T.

Parameters

name	The name of the property.

Returns: The vertex property. An invalid VertexProperty will be returned if the property does not exist or if the type does not match.

Examples: Tutorial_103_PointCloud_IO/main.cpp, Tutorial_701_Cloud_NormalEstimation/main.cpp, Tutorial_702_Cloud_SurfaceReconstruction/main.cpp, and Tutorial_703_Cloud_PlaneExtraction/main.cpp.

◆ get_vertex_property_type()

const std::type_info & get_vertex_property_type ( const std::string & name ) const

inline

Get the type_info T of vertex property name.

Parameters

name	The name of the property.

Returns: The type_info of the property. A typeid(void) is returned if the property does not exist or if the type does not match.

◆ has_garbage()

bool has_garbage ( ) const

inline

Are there deleted vertices?

Returns: True if there are deleted vertices, false otherwise.

See also: delete_vertex(), is_deleted(), and collect_garbage().

◆ is_deleted()

bool is_deleted ( Vertex v ) const

inline

Returns whether vertex v is deleted.

Parameters

v	The vertex to check.

Returns: True if the vertex is deleted, false otherwise.

See also: collect_garbage(), delete_vertex(), and has_garbage().

◆ is_valid()

bool is_valid ( Vertex v ) const

inline

Return whether vertex v is valid, i.e. the index is stores it within the array bounds.

Parameters

v	The vertex to check.

Returns: True if the vertex is valid, false otherwise.

◆ join()

PointCloud & join ( const PointCloud & other )

Merges another point cloud into the current one.

Shifts the indices of vertices of the other point cloud by number_of_vertices() + number_of_removed_vertices(). Copies entries of all property maps which have the same name in both point clouds. That is, property maps which are only in other are ignored. Also copies elements which are marked as removed, and concatenates the freelists of both point clouds.

Parameters

other The other point cloud to merge.

Returns: The merged point cloud.

◆ model_properties()

std::vector< std::string > model_properties ( ) const

inline

Returns the names of all model properties.

Returns: A vector of names of all model properties.

◆ model_property()

template<class T>

ModelProperty< T > model_property	(	const std::string &	name,
		const T	t = T() )

inline

Gets or adds a model property of type T with name name.

Parameters

name	The name of the property.
t	The default value of the property.

Returns: The model property. If a model property of type T with name name exists, it is returned. otherwise this property is added (with default value t) and then returned.

◆ n_vertices()

unsigned int n_vertices ( ) const

inline

Returns number of vertices in the cloud.

Returns: The number of valid vertices in the cloud.

Examples: Tutorial_101_PointCloud/main.cpp, Tutorial_102_PointCloud_Property/main.cpp, Tutorial_103_PointCloud_IO/main.cpp, and Tutorial_312_MultiThread/main.cpp.

◆ operator+=()

PointCloud & operator+= ( const PointCloud & other )

inline

Merges another point cloud into the current one.

Shifts the indices of vertices of the other point cloud by number_of_vertices() + number_of_removed_vertices(). Copies entries of all property maps which have the same name in both point clouds. That is, property maps which are only in other are ignored. Also copies elements which are marked as removed, and concatenates the freelists of both point clouds.

Parameters

other The other point cloud to merge.

Returns: The merged point cloud.

◆ operator=()

PointCloud & operator= ( const PointCloud & rhs )

Assign rhs to *this. Performs a deep copy of all properties.

Parameters

rhs	The other point cloud.

Returns: The assigned point cloud.

◆ points() [1/2]

const std::vector< vec3 > & points ( ) const

inlineoverridevirtual

Returns the vector of vertex positions (read only).

Returns: A const reference to the vector of vertex positions.

Implements Model.

◆ points() [2/2]

std::vector< vec3 > & points ( )

inlineoverridevirtual

Returns the vector of vertex positions.

Returns: A reference to the vector of vertex positions.

Implements Model.

◆ position() [1/2]

vec3 & position ( Vertex v )

inline

Gets the position of a vertex.

Parameters

v	The vertex to get the position of.

Returns: A reference to the position of the vertex.

◆ position() [2/2]

const vec3 & position ( Vertex v ) const

inline

Gets the position of a vertex (read only).

Parameters

v	The vertex to get the position of.

Returns: A const reference to the position of the vertex.

◆ property_stats()

void property_stats ( std::ostream & output ) const

overridevirtual

Prints the names of all properties to an output stream (e.g., std::cout).

Parameters

output The output stream to print to.

Reimplemented from Model.

◆ remove_model_property() [1/2]

bool remove_model_property ( const std::string & n )

inline

Remove the model property named n.

Parameters

n	The name of the model property to remove.

Returns: True if the property was removed, false otherwise.

◆ remove_model_property() [2/2]

template<class T>

bool remove_model_property ( ModelProperty< T > & p )

inline

Remove the model property p.

Parameters

p	The model property to remove.

Returns: True if the property was removed, false otherwise.

◆ remove_vertex_property() [1/2]

bool remove_vertex_property ( const std::string & n )

inline

Remove the vertex property named n.

Parameters

n	The name of the vertex property to remove.

Returns: True if the property was removed, false otherwise.

◆ remove_vertex_property() [2/2]

template<class T>

bool remove_vertex_property ( VertexProperty< T > & p )

inline

Remove the vertex property p.

Parameters

p	The vertex property to remove.

Returns: True if the property was removed, false otherwise.

◆ rename_model_property()

bool rename_model_property	(	const std::string &	old_name,
		const std::string &	new_name )

inline

Rename a model property given its name.

Parameters

old_name	The old name of the property.
new_name	The new name of the property.

Returns: True if the property was renamed, false otherwise.

◆ rename_vertex_property()

bool rename_vertex_property	(	const std::string &	old_name,
		const std::string &	new_name )

inline

Rename a vertex property given its name.

Parameters

old_name	The old name of the property.
new_name	The new name of the property.

Returns: True if the property was renamed, false otherwise.

◆ resize()

void resize ( unsigned int nv )

inline

Resize space for vertices and their currently associated properties.

Parameters

nv	The new size for the vertices.

◆ vertex_properties()

std::vector< std::string > vertex_properties ( ) const

inline

Returns the names of all vertex properties.

Returns: A vector of names of all vertex properties.

◆ vertex_property()

template<class T>

VertexProperty< T > vertex_property	(	const std::string &	name,
		const T	t = T() )

inline

Gets or adds a vertex property of type T with name name.

Parameters

name	The name of the property.
t	The default value of the property.

Returns: The vertex property. If a vertex property of type T with name name exists, it is returned. otherwise this property is added (with default value t) and then returned.

Examples: Tutorial_312_MultiThread/main.cpp, and Tutorial_403_PointSelection/main.cpp.

◆ vertices()

VertexContainer vertices ( ) const

inline

Returns vertex container for C++11 range-based for-loops.

Returns: The vertex container for range-based for-loops.

Examples: Tutorial_103_PointCloud_IO/main.cpp, and Tutorial_403_PointSelection/main.cpp.

◆ vertices_begin()

VertexIterator vertices_begin ( ) const

inline

Returns start iterator for vertices.

Returns: The start iterator for vertices.

◆ vertices_end()

VertexIterator vertices_end ( ) const

inline

Returns end iterator for vertices.

Returns: The end iterator for vertices.

◆ vertices_size()

unsigned int vertices_size ( ) const

inline

Returns number of (deleted and valid) vertices in the cloud.

Returns: The number of vertices in the cloud.

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

G:/3_code/Easy3D/easy3d/core/point_cloud.h
G:/3_code/Easy3D/easy3d/core/point_cloud.cpp

Classes

Public Member Functions

Geometry-related Functions

Detailed Description

Constructor & Destructor Documentation

◆ PointCloud()

Member Function Documentation

◆ add_model_property()

◆ add_vertex()

◆ add_vertex_property()

◆ assign()

◆ collect_garbage()

◆ delete_vertex()

◆ get_model_property()

◆ get_model_property_type()

◆ get_vertex_property()

◆ get_vertex_property_type()

◆ has_garbage()

◆ is_deleted()

◆ is_valid()

◆ join()

◆ model_properties()

◆ model_property()

◆ n_vertices()

◆ operator+=()

◆ operator=()

◆ points() [1/2]

◆ points() [2/2]

◆ position() [1/2]

◆ position() [2/2]

◆ property_stats()

◆ remove_model_property() [1/2]

◆ remove_model_property() [2/2]

◆ remove_vertex_property() [1/2]

◆ remove_vertex_property() [2/2]

◆ rename_model_property()

◆ rename_vertex_property()

◆ resize()

◆ vertex_properties()

◆ vertex_property()

◆ vertices()

◆ vertices_begin()

◆ vertices_end()

◆ vertices_size()