CCCoreLib::GenericCloud Class Reference

A generic 3D point cloud interface for data communication between library and client applications. More...

#include <GenericCloud.h>

Inheritance diagram for CCCoreLib::GenericCloud:

Public Types
using	genericPointAction = std::function< void(const CCVector3 &, ScalarType &)>
	Generic function applied to a point (used by foreach)

Public Member Functions
	GenericCloud ()=default
	Default constructor.
virtual	~GenericCloud ()=default
	Default destructor.
virtual unsigned	size () const =0
	Returns the number of points. More...
virtual void	forEach (genericPointAction action)=0
	Fast iteration mechanism. More...
virtual void	getBoundingBox (CCVector3 &bbMin, CCVector3 &bbMax)=0
	Returns the cloud bounding box. More...
virtual unsigned char	testVisibility (const CCVector3 &P) const
	Returns a given point visibility state (relatively to a sensor for instance) More...
virtual void	placeIteratorAtBeginning ()=0
	Sets the cloud iterator at the beginning. More...
virtual const CCVector3 *	getNextPoint ()=0
	Returns the next point (relatively to the global iterator position) More...
virtual bool	enableScalarField ()=0
	Enables the scalar field associated to the cloud. More...
virtual bool	isScalarFieldEnabled () const =0
	Returns true if the scalar field is enabled, false otherwise. More...
virtual void	setPointScalarValue (unsigned pointIndex, ScalarType value)=0
	Sets the ith point associated scalar value. More...
virtual ScalarType	getPointScalarValue (unsigned pointIndex) const =0
	Returns the ith point associated scalar value. More...

Detailed Description

A generic 3D point cloud interface for data communication between library and client applications.

Member Function Documentation

enableScalarField()

virtual bool CCCoreLib::GenericCloud::enableScalarField ( )

pure virtual

Enables the scalar field associated to the cloud.

If the scalar field structure is not yet initialized/allocated, this method gives the signal for its creation. Otherwise, if possible the structure size should be pre-reserved with the same number of elements as the point cloud.

Warning

If the cloud is empty, the scalar field will be empty as well. The scalar field will be reserved with the same capacity as the cloud.

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

forEach()

virtual void CCCoreLib::GenericCloud::forEach ( genericPointAction  action )

pure virtual

Fast iteration mechanism.

Virtual method to apply a function to the whole cloud

Parameters

action

the function to apply (see GenericCloud::genericPointAction)

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

getBoundingBox()

virtual void CCCoreLib::GenericCloud::getBoundingBox ( CCVector3 &  bbMin, CCVector3 &  bbMax  )

pure virtual

Returns the cloud bounding box.

Virtual method to request the cloud bounding box limits

Parameters

bbMin	lower bounding-box limits (Xmin,Ymin,Zmin)
bbMax	higher bounding-box limits (Xmax,Ymax,Zmax)

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

getNextPoint()

virtual const CCVector3 * CCCoreLib::GenericCloud::getNextPoint ( )

pure virtual

Returns the next point (relatively to the global iterator position)

Virtual method to handle the cloud global iterator. Global iterator position should be increased by one each time this method is called. Warning:

• the returned object may not be persistent!
• THIS METHOD MAY NOT BE COMPATIBLE WITH PARALLEL STRATEGIES (see the DgmOctree::executeFunctionForAllCellsAtLevel_MT and DgmOctree::executeFunctionForAllCellsAtStartingLevel_MT methods).

  Returns

  pointer on next point (or 0 if no more)

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

getPointScalarValue()

virtual ScalarType CCCoreLib::GenericCloud::getPointScalarValue ( unsigned  pointIndex ) const

pure virtual

Returns the ith point associated scalar value.

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

isScalarFieldEnabled()

virtual bool CCCoreLib::GenericCloud::isScalarFieldEnabled ( ) const

pure virtual

Returns true if the scalar field is enabled, false otherwise.

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

placeIteratorAtBeginning()

virtual void CCCoreLib::GenericCloud::placeIteratorAtBeginning ( )

pure virtual

Sets the cloud iterator at the beginning.

Virtual method to handle the cloud global iterator

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

setPointScalarValue()

virtual void CCCoreLib::GenericCloud::setPointScalarValue ( unsigned  pointIndex, ScalarType  value  )

pure virtual

Sets the ith point associated scalar value.

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

size()

virtual unsigned CCCoreLib::GenericCloud::size ( ) const

pure virtual

Returns the number of points.

Virtual method to request the cloud size

Returns

the cloud size

Implemented in CCCoreLib::DgmOctreeReferenceCloud, and CCCoreLib::ReferenceCloud.

testVisibility()

virtual unsigned char CCCoreLib::GenericCloud::testVisibility ( const CCVector3 &  P ) const

inlinevirtual

Returns a given point visibility state (relatively to a sensor for instance)

Generic method to request a point visibility (should be overloaded if this functionality is required). The point visibility is such as defined in Daniel Girardeau-Montaut's PhD manuscript (see Chapter 2, section 2-3-3). In this case, a ground based laser sensor model should be used to determine it. This method is called before performing any point-to-cloud comparison. If the result is not POINT_VISIBLE, then the comparison won't be performed and the scalar field value associated to this point will be this visibility value.

Parameters

P	the 3D point to test

Returns

visibility (default: POINT_VISIBLE)

Reimplemented in CCCoreLib::ReferenceCloud.

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

• GenericCloud.h