A 3D cloud composed of multiple cloud points. This class provides a point cloud. More...

#include <PointCloud.h>

Inheritance diagram for SolAR::datastructure::PointCloud:

Collaboration diagram for SolAR::datastructure::PointCloud:

Public Member Functions
	PointCloud ()
	PointCloud constructor.

	PointCloud (const PointCloud &other)

PointCloud &	operator= (const PointCloud &other)

	~PointCloud ()=default
	~PointCloud

FrameworkReturnCode	addPoint (const SRef< SolAR::datastructure::CloudPoint > point)
	This method allow to add a 3D point to the point cloud. More...

FrameworkReturnCode	addPoints (const std::vector< SRef< SolAR::datastructure::CloudPoint > > &points)
	This method allow to add a vector of 3D points to the point cloud. More...

FrameworkReturnCode	addPoint (const SolAR::datastructure::CloudPoint &point)
	This method allow to add a 3D point to the point cloud. More...

FrameworkReturnCode	addPoints (const std::vector< SolAR::datastructure::CloudPoint > &points)
	This method allow to add a vector of 3D points to the point cloud. More...

FrameworkReturnCode	getPoint (const uint32_t id, SRef< SolAR::datastructure::CloudPoint > &point) const
	This method allows to get a 3D point stored in the point cloud by its id. More...

FrameworkReturnCode	getPoints (const std::vector< uint32_t > &ids, std::vector< SRef< SolAR::datastructure::CloudPoint > > &points) const
	This method allows to get a set of 3D points stored in the point cloud by their ids. More...

FrameworkReturnCode	getAllPoints (std::vector< SRef< SolAR::datastructure::CloudPoint > > &points) const
	This method allows to get all 3D points stored in the point cloud. More...

FrameworkReturnCode	suppressPoint (const uint32_t id)
	This method allow to suppress a point stored in the point cloud by its id. More...

FrameworkReturnCode	suppressPoints (const std::vector< uint32_t > &ids)
	This method allow to suppress a vector of points stored in the point cloud by their ids. More...

bool	isExistPoint (const uint32_t id) const
	This method allows to know if a point is already stored in the component. More...

int	getNbPoints () const
	This method allows to get the number of points stored in the point cloud. More...

SolAR::datastructure::DescriptorType	getDescriptorType () const
	This method allows to get the descriptor type used to extract descriptor for each cloud point. More...

FrameworkReturnCode	setDescriptorType (const SolAR::datastructure::DescriptorType &type)
	This method allows to set the descriptor type used to extract descriptor for each cloud point. More...

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

Public Member Functions inherited from SolAR::datastructure::Lockable
	Lockable ()=default
	LockableCollection constructor.

std::unique_lock< std::mutex >	acquireLock ()
	This method returns the point cloud. More...

void	lock ()

void	unlock ()

bool	tryLock ()

Friends
class	boost::serialization::access

Detailed Description

A 3D cloud composed of multiple cloud points. This class provides a point cloud.

Member Function Documentation

◆ addPoint() [1/2]

FrameworkReturnCode SolAR::datastructure::PointCloud::addPoint ( const SolAR::datastructure::CloudPoint & point )

This method allow to add a 3D point to the point cloud.

Parameters

[in] point the 3D point to add to the persistent point cloud

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ addPoint() [2/2]

FrameworkReturnCode SolAR::datastructure::PointCloud::addPoint ( const SRef< SolAR::datastructure::CloudPoint > point )

This method allow to add a 3D point to the point cloud.

Parameters

[in] point the 3D point to add to the persistent point cloud

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ addPoints() [1/2]

FrameworkReturnCode SolAR::datastructure::PointCloud::addPoints ( const std::vector< SolAR::datastructure::CloudPoint > & points )

This method allow to add a vector of 3D points to the point cloud.

Parameters

[in] a vector of the 3D points to add to the persistent point cloud

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ addPoints() [2/2]

FrameworkReturnCode SolAR::datastructure::PointCloud::addPoints ( const std::vector< SRef< SolAR::datastructure::CloudPoint > > & points )

This method allow to add a vector of 3D points to the point cloud.

Parameters

[in] a vector of the 3D points to add to the persistent point cloud

Returns: FrameworkReturnCode::SUCCESS if the addition succeed, else FrameworkReturnCode::_ERROR.

◆ getAllPoints()

FrameworkReturnCode SolAR::datastructure::PointCloud::getAllPoints ( std::vector< SRef< SolAR::datastructure::CloudPoint > > & points ) const

This method allows to get all 3D points stored in the point cloud.

Parameters

[out] the set of 3D point stored in the point cloud

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR.

◆ getDescriptorType()

DescriptorType SolAR::datastructure::PointCloud::getDescriptorType ( ) const

This method allows to get the descriptor type used to extract descriptor for each cloud point.

Returns: Descriptor type

◆ getNbPoints()

int SolAR::datastructure::PointCloud::getNbPoints ( ) const

This method allows to get the number of points stored in the point cloud.

Returns: The number of points

◆ getPoint()

FrameworkReturnCode SolAR::datastructure::PointCloud::getPoint	(	const uint32_t	id,
		SRef< SolAR::datastructure::CloudPoint > &	point
	)		const

This method allows to get a 3D point stored in the point cloud by its id.

Parameters

[in]	id	of the point to get
[out]	a	3D point stored in the point cloud

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR.

◆ getPoints()

FrameworkReturnCode SolAR::datastructure::PointCloud::getPoints	(	const std::vector< uint32_t > &	ids,
		std::vector< SRef< SolAR::datastructure::CloudPoint > > &	points
	)		const

This method allows to get a set of 3D points stored in the point cloud by their ids.

Parameters

[in]	a	vector of ids of the points to get
[out]	a	vector of 3D points stored in the point cloud

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR.

◆ isExistPoint()

bool SolAR::datastructure::PointCloud::isExistPoint ( const uint32_t id ) const

This method allows to know if a point is already stored in the component.

Parameters

[in] Id of this point

Returns: true if exist, else false

◆ setDescriptorType()

FrameworkReturnCode SolAR::datastructure::PointCloud::setDescriptorType ( const SolAR::datastructure::DescriptorType & type )

This method allows to set the descriptor type used to extract descriptor for each cloud point.

Parameters

[in] type the descriptor type

Returns: FrameworkReturnCode::SUCCESS if succeed, else FrameworkReturnCode::_ERROR.

◆ suppressPoint()

FrameworkReturnCode SolAR::datastructure::PointCloud::suppressPoint ( const uint32_t id )

This method allow to suppress a point stored in the point cloud by its id.

Parameters

[in] id of the point to suppress

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

◆ suppressPoints()

FrameworkReturnCode SolAR::datastructure::PointCloud::suppressPoints ( const std::vector< uint32_t > & ids )

This method allow to suppress a vector of points stored in the point cloud by their ids.

Parameters

[in] ids the vector of ids of the point to suppress

Returns: FrameworkReturnCode::SUCCESS if the suppression succeed, else FrameworkReturnCode::_ERROR.

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

interfaces/datastructure/PointCloud.h
src/datastructure/PointCloud.cpp

Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ addPoint() [1/2]

◆ addPoint() [2/2]

◆ addPoints() [1/2]

◆ addPoints() [2/2]

◆ getAllPoints()

◆ getDescriptorType()

◆ getNbPoints()

◆ getPoint()

◆ getPoints()

◆ isExistPoint()

◆ setDescriptorType()

◆ suppressPoint()

◆ suppressPoints()