FusedPointCloud Class Reference

A fused point cloud contains both geometric and color data of the scene captured by spatial mapping. More...

Types
typedef std::vector< size_t >	chunkList

Functions
	FusedPointCloud ()
	Default constructor which creates an empty FusedPointCloud. More...
	~FusedPointCloud ()
	FusedPointCloud destructor. More...
PointCloudChunk &	operator[] (int index)
	Defines the [] operator to directly access the desired chunk. More...
size_t	getNumberOfPoints ()
	Computes the total number of triangles stored in all chunks. More...
void	updateFromChunkList (chunkList IDs=chunkList())
	Updates vertices / normals / colors from chunk data pointed by the given chunkList. More...
bool	save (String filename, MESH_FILE_FORMAT type=MESH_FILE_FORMAT::OBJ, chunkList IDs=chunkList())
	Saves the current fused point cloud 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
std::vector< float4 >	vertices
std::vector< float3 >	normals

Detailed Description

A fused point cloud contains both geometric and color data of the scene captured by spatial mapping.

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 fused point cloud is changed.

Member Typedef Documentation

chunkList

typedef std::vector<size_t> chunkList

Constructor and Destructor

FusedPointCloud()

FusedPointCloud

(

)

Default constructor which creates an empty FusedPointCloud.

~FusedPointCloud()

~FusedPointCloud

(

)

FusedPointCloud 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 triangles stored in all chunks.

Returns

The number of points stored in all chunks.

updateFromChunkList()

void updateFromChunkList

(

chunkList

IDs = chunkList()

)

Updates vertices / normals / colors from chunk data pointed by the given chunkList.

Parameters

IDs	: the indices of chunks which will be concatenated. default : (empty).

Note

If the given chunkList is empty, all chunks will be used.

save()

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

Saves the current fused point cloud into a file.

Parameters

filename	: the path and filename of the mesh.
type	: defines the file type (extension). default : MESH_FILE_FORMAT::OBJ.
IDs	: (by default empty) Specifies a set of chunks to be saved, if none provided all chunks are saved. default : (empty).

Returns

True if the file was successfully saved, false otherwise.

Note

Only MESH_FILE_FORMAT::OBJ supports texture data.

This function operates on the fused point cloud not on the chunks. This way you can save different parts of your fused point cloud (update with updateFromChunkList).

load()

bool load	(	String	filename,
		bool	update_chunk_only = false
	)

Loads the fused point cloud from a file.

Parameters

filename	: the path and filename of the fused point cloud (do not forget the extension).
update_chunk_only	: if set to false the fused point cloud data (vertices/normals) are updated otherwise only the chunk data is updated. default : false.

Returns

True if the loading was successful, false otherwise.

Note

Updating the fused point cloud is time consuming, consider using only chunks for better performances.

clear()

void clear

(

)

Clears all the data.

Variables

chunks

std::vector<PointCloudChunk> chunks

contains the list of chunks

vertices

std::vector<float4> vertices

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

normals

std::vector<float3> normals

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