A point cloud with a fast collision detection data structure. More...
#include <CollisionPointCloud.h>
Inheritance diagram for Geometry::CollisionPointCloud:
Public Member Functions | |
| CollisionPointCloud (const Meshing::PointCloud3D &pc) | |
| CollisionPointCloud (const CollisionPointCloud &pc) | |
| void | InitCollisions () |
 Public Member Functions inherited from Meshing::PointCloud3D | |
| void | Clear () |
| bool | LoadPCL (const char *fn) |
| bool | SavePCL (const char *fn) const |
| bool | LoadPCL (istream &in) |
| bool | SavePCL (ostream &out) const |
| void | FromDepthImage (int w, int h, float wfov, float hfov, const std::vector< float > &depths, const std::vector< unsigned int > &rgb, float invalidDepth=0.0) |
| Converts a w x h depth image to a structured point cloud. The camera frame is x right, y down, z forward. More... | |
| void | FromDepthImage (int w, int h, float wfov, float hfov, float depthscale, const std::vector< unsigned short > &depths, const std::vector< unsigned int > &rgb, unsigned short invalidDepth=0) |
| Converts a w x h depth image to a structured point cloud. The camera frame is x right, y down, z forward. More... | |
| void | GetAABB (Vector3 &bmin, Vector3 &bmax) const |
| Returns the bounding box of the point set. | |
| void | Transform (const Matrix4 &mat) |
| Transforms all points and, if present, normals. | |
| bool | IsStructured () const |
| A structured point cloud has settings "width" and "height". Invalid points are marked as (0,0,0) (preferred) or (nan,nan,nan) | |
| int | GetStructuredWidth () const |
| int | GetStructuredHeight () const |
| void | SetStructured (int w, int h) |
| Vector3 | GetOrigin () const |
| void | SetOrigin (const Vector3 &origin) |
| RigidTransform | GetViewpoint () const |
| void | SetViewpoint (const RigidTransform &T) |
| int | PropertyIndex (const string &name) const |
| bool | HasProperty (const string &name) const |
| bool | GetProperty (const string &name, vector< Real > &items) const |
| void | SetProperty (const string &name, const vector< Real > &items) |
| void | RemoveProperty (const string &name) |
| void | GetSubCloud (const Vector3 &bmin, const Vector3 &bmax, PointCloud3D &subcloud) |
| Extracts all points within the bounding box [bmin,bmax]. | |
| void | GetSubCloud (const string &property, Real value, PointCloud3D &subcloud) |
| Extracts all points with the named property = value. | |
| void | GetSubCloud (const string &property, Real minValue, Real maxValue, PointCloud3D &subcloud) |
| Extracts all points with the minValue <= named property <= maxValue. | |
| bool | HasXYZAsProperties () const |
| Some point clouds have properties x, y, and z rather than specifying points. | |
| void | SetXYZAsProperties (bool) |
| Convert to/from x, y, z as properties vs points. | |
| bool | HasNormals () const |
| bool | GetNormals (vector< Vector3 > &normals) const |
| void | SetNormals (const vector< Vector3 > &normals) |
| void | ComputeNormals (Real radius=0) |
| bool | HasColor () const |
| bool | HasOpacity () const |
| bool | HasRGB () const |
| bool | HasRGBA () const |
| bool | UnpackColorChannels (bool alpha=false) |
| Converts rgb or rgba packed color channels to r,g,b / r,g,b,a channels. Removes old channels. | |
| bool | PackColorChannels (const char *fmt="rgba") |
| Converts unpacked color channels into packed channel. fmt is the desired property, either "rgb" or "rgba". Removes old channels. | |
| bool | GetColors (vector< Real > &r, vector< Real > &g, vector< Real > &b, vector< Real > &a) const |
| bool | GetColors (vector< Vector4 > &rgba) const |
| void | SetColors (const vector< Real > &r, const vector< Real > &g, const vector< Real > &b, bool includeAlpha=false) |
| void | SetColors (const vector< Real > &r, const vector< Real > &g, const vector< Real > &b, const vector< Real > &a, bool includeAlpha=true) |
| void | SetColors (const vector< Vector4 > &rgba, bool includeAlpha=true) |
| bool | HasUV () const |
| bool | GetUV (vector< Vector2 > &uvs) const |
| void | SetUV (const vector< Vector2 > &uvs) |
Public Attributes | |
| AABB3D | bblocal |
| The local bounding box of the point cloud. | |
| RigidTransform | currentTransform |
| The transformation of the point cloud in space. | |
| Real | gridResolution |
| default value is 0, which auto-determines from point cloud | |
| GridSubdivision3D | grid |
| shared_ptr< OctreePointSet > | octree |
| Public Attributes inherited from Meshing::PointCloud3D | |
| vector< Vector3 > | points |
| vector< string > | propertyNames |
| vector< Vector > | properties |
| PropertyMap | settings |
Detailed Description
A point cloud with a fast collision detection data structure.
Member Function Documentation
| void Geometry::CollisionPointCloud::InitCollisions | ( | ) |
Sets up the collision detection data structures. This is automatically called during initialization, and needs to be called any time the point cloud changes
References Math::IsFinite().
The documentation for this class was generated from the following files:
- CollisionPointCloud.h
- CollisionPointCloud.cpp
