A 3D point stored in a cloud of points. More...

#include <CloudPoint.h>

Inheritance diagram for SolAR::datastructure::CloudPoint:

Collaboration diagram for SolAR::datastructure::CloudPoint:

Public Member Functions
	CloudPoint (const Point3Df &point, float r=0.0f, float g=0.0f, float b=0.0f, float nx=0.0f, float ny=0.0f, float nz=0.0f, double reproj_error=0.0)
	CloudPoint constructor with a Point3Df. More...

	CloudPoint (float x, float y, float z, float r=0.0f, float g=0.0f, float b=0.0f, float nx=0.0f, float ny=0.0f, float nz=0.0f, double reproj_error=0.0)
	Cloudpoint constructor. More...

	CloudPoint (float x, float y, float z, float r, float g, float b, double reproj_error, const std::map< unsigned int, unsigned int > &visibility)
	Cloudpoint constructor. More...

	CloudPoint (float x, float y, float z, float r, float g, float b, float nx, float ny, float nz, double reproj_error, const std::map< unsigned int, unsigned int > &visibility)
	Cloudpoint constructor. More...

	CloudPoint (float x, float y, float z, float r, float g, float b, double reproj_error, const std::map< unsigned int, unsigned int > &visibility, SRef< DescriptorBuffer > descriptor)
	Cloudpoint constructor. More...

	CloudPoint (float x, float y, float z, float r, float g, float b, float nx, float ny, float nz, double reproj_error, const std::map< unsigned int, unsigned int > &visibility, SRef< DescriptorBuffer > descriptor)
	Cloudpoint constructor. More...

	~CloudPoint ()
	~CloudPoint

const uint32_t &	getId () const
	This method returns the id of the cloud point. More...

void	setId (const uint32_t &id)
	This method sets the id of the cloud point. More...

const SRef< DescriptorBuffer > &	getDescriptor () const
	This method returns the descriptor of the cloud point. More...

void	setDescriptor (const SRef< DescriptorBuffer > &descriptor)
	This method sets the descriptor of the cloud point. More...

void	addNewDescriptor (const DescriptorView &descriptor)
	This method updates the descriptor of the cloud point by taking into account the descriptor of new keyframe. More...

const Vector3f &	getRGB () const
	These methods returns the color components of the CloudPoint. More...

const float &	getR () const
	These methods returns the color components of the CloudPoint. More...

const float &	getG () const

const float &	getB () const

void	setRGB (const Vector3f &rgb)
	This method sets the RGB color of the cloud point. More...

const Vector3f &	getViewDirection () const
	This method returns the view direction of the cloud point. More...

void	setViewDirection (const Vector3f &viewDirection)
	This method sets the view direction of the cloud point. More...

void	addNewViewDirection (const Vector3f &viewDirection)
	This method updates the view direction of the cloud point by taking into account the view direction of new keyframe. More...

void	setReprojError (const double &error)
	This method sets reprojection error of the PointCloud. More...

const double &	getReprojError () const
	This method returns reprojection error of the PointCloud. More...

const std::map< uint32_t, uint32_t > &	getVisibility () const
	return the visibility map of the CloudPoint More...

void	addVisibility (const uint32_t &keyframe_id, const uint32_t &keypoint_id)
	add a keypoint to the visibility map of the CloudPoint More...

bool	removeVisibility (const uint32_t &keyframe_id)
	remove a keypoint to the visibility map of the CloudPoint More...

template<typename Archive >
void	serialize (Archive &ar, ATTRIBUTE(maybe_unused) const unsigned int version)

Public Member Functions inherited from SolAR::datastructure::Point3Df
	Point3Df (float x=0, float y=0, float z=0)

float	getX () const

float	getY () const

float	getZ () const

float	magnitude () const

void	setX (float x)

void	setY (float y)

void	setZ (float z)

Point3Df	operator+ (const Point3Df &a) const

Point3Df	operator- (const Point3Df &a) const

Point3Df	operator* (const float &f) const

Public Member Functions inherited from SolAR::datastructure::PrimitiveInformation
	PrimitiveInformation ()
	PrimitiveInformation constructor.

	~PrimitiveInformation ()=default
	PrimitiveInformation deconstruction.

bool	isValid () const
	This method is to known an element being valid or not. More...

void	setInvalid ()
	This method is to set an element being invalid.

void	updateConfidence (bool isGood)
	This method updates the confident score of the primitive element. More...

float	getConfidence () const
	This method returns the confident score of the primitive element. More...

uint32_t	getUsedTime () const
	This method returns the number of used times of the primitive element. More...

const std::chrono::system_clock::time_point &	getLastUpdateTime () const
	This method returns the last updated time of the primitive element. More...

void	setLastUpdateTime (const std::chrono::system_clock::time_point &updateTime)
	This method updates the last updated time of the primitive element. More...

int	getSemanticId () const
	This method returns the semantic id of the primitive element. More...

void	setSemanticId (const int &semanticId)
	This method sets the semantic id of the primitive element. More...

template<typename Archive >
void	serialize (Archive &ar, ATTRIBUTE(maybe_unused) const unsigned int version)

Friends
class	boost::serialization::access

Detailed Description

A 3D point stored in a cloud of points.

Constructor & Destructor Documentation

◆ CloudPoint() [1/6]

SolAR::datastructure::CloudPoint::CloudPoint	(	const Point3Df &	point,
		float	r = `0.0f`,
		float	g = `0.0f`,
		float	b = `0.0f`,
		float	nx = `0.0f`,
		float	ny = `0.0f`,
		float	nz = `0.0f`,
		double	reproj_error = `0.0`
	)

explicit

CloudPoint constructor with a Point3Df.

Parameters

[in]	point	a Point3Df
[in]	r	(optional): r-channel color value of the cloudpoint.
[in]	g	(optional): g-channel color value of the cloudpoint.
[in]	b	(optional): b-channel color value of the cloudpoint.
[in]	nx	(optional): x-coordinate of the view direction vector of the cloudpoint.
[in]	ny	(optional): y-coordinate of the view direction vector of the cloudpoint.
[in]	nz	(optional): z-coordinate of the view direction vector of the cloudpoint.

◆ CloudPoint() [2/6]

SolAR::datastructure::CloudPoint::CloudPoint	(	float	x,
		float	y,
		float	z,
		float	r = `0.0f`,
		float	g = `0.0f`,
		float	b = `0.0f`,
		float	nx = `0.0f`,
		float	ny = `0.0f`,
		float	nz = `0.0f`,
		double	reproj_error = `0.0`
	)

explicit

Cloudpoint constructor.

Parameters

[in]	x	x-coordinate of the cloudpoint.
[in]	y	y-coordinate of the cloudpoint.
[in]	z	z-coordinate of the cloudpoint.
[in]	r	(optional): r-channel color value of the cloudpoint.
[in]	g	(optional): g-channel color value of the cloudpoint.
[in]	b	(optional): b-channel color value of the cloudpoint.
[in]	nx	(optional): x-coordinate of the view direction vector of the cloudpoint.
[in]	ny	(optional): y-coordinate of the view direction vector of the cloudpoint.
[in]	nz	(optional): z-coordinate of the view direction vector of the cloudpoint.

◆ CloudPoint() [3/6]

SolAR::datastructure::CloudPoint::CloudPoint	(	float	x,
		float	y,
		float	z,
		float	r,
		float	g,
		float	b,
		double	reproj_error,
		const std::map< unsigned int, unsigned int > &	visibility
	)

explicit

Cloudpoint constructor.

Parameters

[in]	x	x-coordinate of the cloudpoint.
[in]	y	y-coordinate of the cloudpoint.
[in]	z	z-coordinate of the cloudpoint.
[in]	r	r-channel color value of the cloudpoint.
[in]	g	g-channel color value of the cloudpoint.
[in]	b	b-channel color value of the cloudpoint.
[in]	visibility	visibility map of the cloudpoint.

◆ CloudPoint() [4/6]

SolAR::datastructure::CloudPoint::CloudPoint	(	float	x,
		float	y,
		float	z,
		float	r,
		float	g,
		float	b,
		float	nx,
		float	ny,
		float	nz,
		double	reproj_error,
		const std::map< unsigned int, unsigned int > &	visibility
	)

explicit

Cloudpoint constructor.

Parameters

[in]	x	x-coordinate of the cloudpoint.
[in]	y	y-coordinate of the cloudpoint.
[in]	z	z-coordinate of the cloudpoint.
[in]	r	r-channel color value of the cloudpoint.
[in]	g	g-channel color value of the cloudpoint.
[in]	b	b-channel color value of the cloudpoint.
[in]	nx	x-coordinate of the view direction vector of the cloudpoint.
[in]	ny	y-coordinate of the view direction vector of the cloudpoint.
[in]	nz	z-coordinate of the view direction vector of the cloudpoint.
[in]	visibility	visibility map of the cloudpoint.

◆ CloudPoint() [5/6]

SolAR::datastructure::CloudPoint::CloudPoint	(	float	x,
		float	y,
		float	z,
		float	r,
		float	g,
		float	b,
		double	reproj_error,
		const std::map< unsigned int, unsigned int > &	visibility,
		SRef< DescriptorBuffer >	descriptor
	)

explicit

Cloudpoint constructor.

Parameters

[in]	x	x-coordinate of the cloudpoint.
[in]	y	y-coordinate of the cloudpoint.
[in]	z	z-coordinate of the cloudpoint.
[in]	r	r-channel color value of the cloudpoint.
[in]	g	g-channel color value of the cloudpoint.
[in]	b	b-channel color value of the cloudpoint.
[in]	visibility	visibility map of the cloudpoint.
[in]	descriptor	descriptor of the cloudpoint.

◆ CloudPoint() [6/6]

SolAR::datastructure::CloudPoint::CloudPoint	(	float	x,
		float	y,
		float	z,
		float	r,
		float	g,
		float	b,
		float	nx,
		float	ny,
		float	nz,
		double	reproj_error,
		const std::map< unsigned int, unsigned int > &	visibility,
		SRef< DescriptorBuffer >	descriptor
	)

explicit

Cloudpoint constructor.

Parameters

[in]	x	x-coordinate of the cloudpoint.
[in]	y	y-coordinate of the cloudpoint.
[in]	z	z-coordinate of the cloudpoint.
[in]	r	r-channel color value of the cloudpoint.
[in]	g	g-channel color value of the cloudpoint.
[in]	b	b-channel color value of the cloudpoint.
[in]	nx	x-coordinate of the view direction vector of the cloudpoint.
[in]	ny	y-coordinate of the view direction vector of the cloudpoint.
[in]	nz	z-coordinate of the view direction vector of the cloudpoint.
[in]	visibility	visibility map of the cloudpoint.
[in]	descriptor	descriptor of the cloudpoint.

Member Function Documentation

◆ addNewDescriptor()

void SolAR::datastructure::CloudPoint::addNewDescriptor ( const DescriptorView & descriptor )

This method updates the descriptor of the cloud point by taking into account the descriptor of new keyframe.

Parameters

[in] descriptor the new descriptor

◆ addNewViewDirection()

void SolAR::datastructure::CloudPoint::addNewViewDirection ( const Vector3f & viewDirection )

This method updates the view direction of the cloud point by taking into account the view direction of new keyframe.

Parameters

[in] viewDirection the new view direction

◆ addVisibility()

void SolAR::datastructure::CloudPoint::addVisibility	(	const uint32_t &	keyframe_id,
		const uint32_t &	keypoint_id
	)

add a keypoint to the visibility map of the CloudPoint

Parameters

[in]	keyframe_id	the id of the keyframe to which the keypoint belong
[in]	keypoint_id	the id of the keypoint of the keyframe

◆ getDescriptor()

const SRef< DescriptorBuffer > & SolAR::datastructure::CloudPoint::getDescriptor ( ) const

This method returns the descriptor of the cloud point.

Returns: the descriptor

◆ getId()

const uint32_t & SolAR::datastructure::CloudPoint::getId ( ) const

This method returns the id of the cloud point.

Returns: the id

◆ getR()

const float & SolAR::datastructure::CloudPoint::getR ( ) const

These methods returns the color components of the CloudPoint.

Returns: the color component of the CloudPoint (Red, Green or Blue)

◆ getReprojError()

const double & SolAR::datastructure::CloudPoint::getReprojError ( ) const

This method returns reprojection error of the PointCloud.

Returns: the reprojection error

◆ getRGB()

const Vector3f & SolAR::datastructure::CloudPoint::getRGB ( ) const

These methods returns the color components of the CloudPoint.

Returns: the RGB color of the CloudPoint

◆ getViewDirection()

const Vector3f & SolAR::datastructure::CloudPoint::getViewDirection ( ) const

This method returns the view direction of the cloud point.

Returns: view direction vector

◆ getVisibility()

const std::map< uint32_t, uint32_t > & SolAR::datastructure::CloudPoint::getVisibility ( ) const

return the visibility map of the CloudPoint

Returns: The visibility, a map where the key corresponds to the id of the keyframe, and the value to the id of the keypoint in this keyframe.

◆ removeVisibility()

bool SolAR::datastructure::CloudPoint::removeVisibility ( const uint32_t & keyframe_id )

remove a keypoint to the visibility map of the CloudPoint

Parameters

[in]	keyframe_id	the id of the keyframe to which the keypoint belong
[in]	keypoint_id	the id of the keypoint of the keyframe

Returns: true if remove successfully

◆ setDescriptor()

void SolAR::datastructure::CloudPoint::setDescriptor ( const SRef< DescriptorBuffer > & descriptor )

This method sets the descriptor of the cloud point.

Parameters

[in] descriptor the descriptor

◆ setId()

void SolAR::datastructure::CloudPoint::setId ( const uint32_t & id )

This method sets the id of the cloud point.

Parameters

[in] id id of cloud point

◆ setReprojError()

void SolAR::datastructure::CloudPoint::setReprojError ( const double & error )

This method sets reprojection error of the PointCloud.

Parameters

[in] error the reprojection error

◆ setRGB()

void SolAR::datastructure::CloudPoint::setRGB ( const Vector3f & rgb )

This method sets the RGB color of the cloud point.

Parameters

[in] rgb rgb color

◆ setViewDirection()

void SolAR::datastructure::CloudPoint::setViewDirection ( const Vector3f & viewDirection )

This method sets the view direction of the cloud point.

Parameters

[in] viewDirection the view direction

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

interfaces/datastructure/CloudPoint.h
src/datastructure/CloudPoint.cpp

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ CloudPoint() [1/6]

◆ CloudPoint() [2/6]

◆ CloudPoint() [3/6]

◆ CloudPoint() [4/6]

◆ CloudPoint() [5/6]

◆ CloudPoint() [6/6]

Member Function Documentation

◆ addNewDescriptor()

◆ addNewViewDirection()

◆ addVisibility()

◆ getDescriptor()

◆ getId()

◆ getR()

◆ getReprojError()

◆ getRGB()

◆ getViewDirection()

◆ getVisibility()

◆ removeVisibility()

◆ setDescriptor()

◆ setId()

◆ setReprojError()

◆ setRGB()

◆ setViewDirection()