FusedPointCloud Class Reference

Class representing a fused point cloud and containing the geometric and color data of the scene captured by the spatial mapping module. More...

Types
typedef std::vector< size_t >	chunkList
	Vector of chunks id. More...

Functions
	FusedPointCloud ()
	Default constructor. More...
	~FusedPointCloud ()
	Default destructor. More...
PointCloudChunk &	operator[] (int index)
	Defines the [] operator to directly access the desired chunk. More...
size_t	getNumberOfPoints ()
	Computes the total number of points stored in all chunks. More...
void	updateFromChunkList (chunkList IDs=chunkList())
	Updates vertices and normals from chunk data pointed by the given sl::Mesh::chunkList. More...
bool	save (String filename, MESH_FILE_FORMAT type=MESH_FILE_FORMAT::OBJ, chunkList IDs=chunkList())
	Saves the current sl::FusedPointCloud into a file. More...
bool	load (String filename, bool update_chunk_only=false)
	Loads the fused point cloud from a file. More...
void	clear ()
	Clears all the data. More...

Attributes
std::vector< PointCloudChunk >	chunks
	List of chunks constituting the sl::FusedPointCloud. More...
std::vector< float4 >	vertices
	Vector of vertices. More...
std::vector< float3 >	normals
	Vector of normals. More...

Detailed Description

Class representing a fused point cloud and containing the geometric and color data of the scene captured by the spatial mapping module.

By default the fused point cloud is defined as a set of point cloud chunks.
This way we update only the required data, avoiding a time consuming remapping process every time a small part of the sl::FusedPointCloud cloud is changed.

Member Typedef Documentation

chunkList

typedef std::vector<size_t> chunkList

Vector of chunks id.

Constructor and Destructor

FusedPointCloud()

FusedPointCloud

(

)

Default constructor.

Creates an empty sl::FusedPointCloud.

~FusedPointCloud()

~FusedPointCloud

(

)

Default destructor.

Functions

operator[]()

PointCloudChunk& operator[]

(

int

index

)

Defines the [] operator to directly access the desired chunk.

getNumberOfPoints()

size_t getNumberOfPoints

(

)

Computes the total number of points stored in all chunks.

Returns

The number of points stored in all chunks.

updateFromChunkList()

void updateFromChunkList

(

chunkList

IDs = chunkList()

)

Updates vertices and normals from chunk data pointed by the given sl::Mesh::chunkList.

Parameters

IDs	: Indices of chunks which will be concatenated. Default: (empty).

Note

If the given sl::FusedPointCloud::chunkList is empty, all chunks will be used to update the current sl::FusedPointCloud.

save()

bool save	(	String	filename,
		MESH_FILE_FORMAT	type = MESH_FILE_FORMAT::OBJ,
		chunkList	IDs = chunkList()
	)

Saves the current sl::FusedPointCloud into a file.

Parameters

filename	: Path of the file to store the fused point cloud in.
type	: File extension type. Default: sl::MESH_FILE_FORMAT::OBJ.
IDs	: Set of chunks to be saved. Default: (empty) (all chunks are saved)

Returns

True if the file was successfully saved, otherwise false.

Note

This method operates on the sl::FusedPointCloud not on chunks.

This way you can save different parts of your sl::FusedPointCloud by updating it with updateFromChunkList().

load()

bool load	(	String	filename,
		bool	update_chunk_only = false
	)

Loads the fused point cloud from a file.

Parameters

filename	: Path of the file to load the fused point cloud from.
update_chunk_only	: Whether to only load data in chunks (and not vertices / normals). Default: false.

Returns

True if the mesh was successfully loaded, otherwise false.

Note

Updating a sl::FusedPointCloud is time consuming. Consider using only chunks for better performances.

clear()

void clear

(

)

Clears all the data.

Variables

chunks

std::vector<PointCloudChunk> chunks

List of chunks constituting the sl::FusedPointCloud.

vertices

std::vector<float4> vertices

Vector of vertices.

Vertices are defined by a colored 3D point {x, y, z, rgba}.

normals

std::vector<float3> normals

Vector of normals.

Normals are defined by three components {nx, ny, nz}.