PointCloud Class Reference

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...
struct	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 Geometry_representation)
	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. 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.
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 cloud. 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 cloud.
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 More...
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. fails if a property named name exists already, since the name has to be unique. in this case it returns an invalid property
template<class T >
ModelProperty< T >	add_model_property (const std::string &name, const T t=T())
	Adds a model property of type T with name name and default value t. More...
template<class T >
VertexProperty< T >	get_vertex_property (const std::string &name) const
	get the vertex property named name of type T. returns an invalid VertexProperty if the property does not exist or if the type does not match.
template<class T >
ModelProperty< T >	get_model_property (const std::string &name) const
	Gets the model property named name of type T. More...
template<class T >
VertexProperty< T >	vertex_property (const std::string &name, const T t=T())
	if a vertex property of type T with name name exists, it is returned. otherwise this property is added (with default value t)
template<class T >
ModelProperty< T >	model_property (const std::string &name, const T t=T())
	if a model property of type T with name name exists, it is returned. otherwise this property is added (with default value t)
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. returns an typeid(void) if the property does not exist or if the type does not match.
const std::type_info &	get_model_property_type (const std::string &name) const
	get the type_info T of model property name. returns an typeid(void) if the property does not exist or if the type does not match.
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) More...
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. More...
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.
virtual std::vector< vec3 > &	points ()=0
	The vertices of the model. More...
virtual const std::vector< vec3 > &	points () const =0
	The vertices of the model. More...
bool	empty () const
	Tests if the model is empty.
virtual void	property_stats (std::ostream &output) const
	Prints the names of all properties to an output stream (e.g., std::cout). More...
void	set_renderer (Renderer *r)
	Sets the renderer of this model. More...
Renderer *	renderer ()
	Gets the renderer of this model.
const Renderer *	renderer () const
	Gets the constant renderer of this model.
void	set_manipulator (Manipulator *manip)
	Attaches a manipulator to this model. More...
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
	position of a vertex (read only)
vec3 &	position (Vertex v)
	position of a vertex
const std::vector< vec3 > &	points () const override
	vector of vertex positions (read only) More...
std::vector< vec3 > &	points () override
	vector of vertex positions More...

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, Tutorial_102_PointCloud_Property, Tutorial_103_PointCloud_IO, Tutorial_312_MultiThread, Tutorial_403_PointSelection, Tutorial_404_VirtualScanner, Tutorial_701_Cloud_NormalEstimation, Tutorial_702_Cloud_SurfaceReconstruction, and Tutorial_703_Cloud_PlaneExtraction.

Member Function Documentation

add_model_property()

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

inline

Adds a model property of type T with name name and default value t.

Fails if a property named name exists already, 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);

get_model_property()

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

inline

Gets the model property named name of type T.

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);

is_deleted()

bool is_deleted ( Vertex  v ) const

inline

returns whether vertex v is deleted

See also

collect_garbage()

points() [1/2]

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

inlineoverridevirtual

vector of vertex positions (read only)

Implements Model.

points() [2/2]

std::vector< vec3 > & points ( )

inlineoverridevirtual

vector of vertex positions

Implements Model.

property_stats()

void property_stats ( std::ostream &  output ) const

overridevirtual

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

Reimplemented from Model.

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

• /Users/lnan/Documents/Projects/Easy3D/easy3d/core/point_cloud.h
• /Users/lnan/Documents/Projects/Easy3D/easy3d/core/point_cloud.cpp