#include <yarp/sig/PointCloud.h>

Inheritance diagram for yarp::sig::PointCloud< T >:

Public Member Functions
	PointCloud ()
	PointCloud, default constructor.

template<class T1 >
	PointCloud (const PointCloud< T1 > &alt)
	PointCloud, copy constructor.

virtual void	resize (size_t width, size_t height)
	Resize the PointCloud.

virtual void	resize (size_t width)
	Resize the PointCloud.

const char *	getRawData () const override
	Get the pointer to the data.

size_t	wireSizeBytes () const override
	Get the size of the data + the header in terms of number of bytes.

size_t	dataSizeBytes () const override
	Get the size of the data in terms of number of bytes.

size_t	size () const override

T &	operator() (size_t u, size_t v)
	Obtain the point given by the (column, row) coordinates.

const T &	operator() (size_t u, size_t v) const
	Obtain the point given by the (column, row) coordinates (const version).

T &	operator() (size_t i)
	Obtain the point given by the index.

const T &	operator() (size_t i) const
	Obtain the point given by the index (const version).

template<class T1 >
const PointCloud< T > &	operator= (const PointCloud< T1 > &alt)
	Assignment operator.

PointCloud< T > &	operator+= (const PointCloud< T > &rhs)
	Concatenate a point cloud to the current cloud.

const PointCloud< T >	operator+ (const PointCloud< T > &rhs)
	Concatenate a point cloud to another cloud.

void	push_back (const T &pt)
	Insert a new point in the cloud, at the end of the container.

virtual void	clear ()
	Clear the data.

virtual void	fromExternalPC (const char *source, int type, size_t width, size_t height, bool isDense=true)
	Copy the content of an external PointCloud.

template<class T1 >
void	copy (const PointCloud< T1 > &alt)
	Copy operator.

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

bool	write (yarp::os::ConnectionWriter &writer) const override
	Write this object to a network connection.

virtual std::string	toString (int precision=-1, int width=-1) const

yarp::os::Bottle	toBottle () const
	Generate a yarp::os::Bottle filled with the PointCloud data.

bool	fromBottle (const yarp::os::Bottle &bt)
	Populate the PointCloud from a yarp::os::Bottle.

int	getBottleTag () const override

bool	sortDataZ ()
	Rearranges the pointcloud data so that the points are ordered from the nearest to the farthest.

bool	filterDataZ (double minZ=0, double maxZ=std::numeric_limits< double >::infinity())
	Filter out points which are not included in the specified range.

Public Member Functions inherited from yarp::sig::PointCloudBase
virtual	~PointCloudBase ()=default

virtual size_t	height () const

virtual size_t	width () const

virtual int	getPointType () const

yarp::os::Type	getType () const override

virtual bool	isOrganized () const

virtual bool	isDense () const

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::PortWriter
virtual	~PortWriter ()
	Destructor.

virtual void	onCompletion () const
	This is called when the port has finished all writing operations.

virtual void	onCommencement () const
	This is called when the port is about to begin writing operations.

virtual yarp::os::Type	getWriteType () const

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Portable
static bool	copyPortable (const PortWriter &writer, PortReader &reader)
	Copy one portable to another, via writing and reading.

Protected Member Functions inherited from yarp::sig::PointCloudBase
	PointCloudBase ()=default

virtual void	copyFromRawData (const char dst, const char source, std::vector< int > &recipe)

virtual std::vector< int >	getComposition (int type_composite) const

virtual size_t	pointType2Size (int type) const

virtual size_t	getOffset (int type_composite, int type_basic) const

Protected Attributes inherited from yarp::sig::PointCloudBase
yarp::sig::PointCloudNetworkHeader	header

Detailed Description

template<class T>
class yarp::sig::PointCloud< T >

The PointCloud class.

Definition at line 20 of file PointCloud.h.

Constructor & Destructor Documentation

◆ PointCloud() [1/2]

template<class T >

yarp::sig::PointCloud< T >::PointCloud ( )

inline

PointCloud, default constructor.

Definition at line 40 of file PointCloud.h.

◆ PointCloud() [2/2]

template<class T >

template<class T1 >

yarp::sig::PointCloud< T >::PointCloud ( const PointCloud< T1 > & alt )

inline

PointCloud, copy constructor.

Clones the content of another point cloud.

Parameters

alt	the point cloud to clone.

Definition at line 52 of file PointCloud.h.

Member Function Documentation

◆ clear()

template<class T >

void yarp::sig::PointCloud< T >::clear ( )

virtual

Clear the data.

Definition at line 41 of file PointCloud.cpp.

◆ copy()

template<class T >

template<class T1 >

void yarp::sig::PointCloud< T >::copy ( const PointCloud< T1 > & alt )

inline

Copy operator.

clones the content of another point cloud

Parameters

alt	the point cloud to clone

Definition at line 198 of file PointCloud.h.

◆ dataSizeBytes()

template<class T >

size_t yarp::sig::PointCloud< T >::dataSizeBytes ( ) const

inlineoverridevirtual

Get the size of the data in terms of number of bytes.

Returns: the size of the data

Implements yarp::sig::PointCloudBase.

Definition at line 94 of file PointCloud.h.

◆ filterDataZ()

template<class T >

bool yarp::sig::PointCloud< T >::filterDataZ	(	double	minZ = `0`,
		double	maxZ = `std::numeric_limits<double>::infinity()`
	)

Filter out points which are not included in the specified range.

Parameters

[minZ]	minimum distance. Points with z smaller than minZ are removed.
[minZ]	maximum distance. Points with z bugger than maxZ are removed.

Returns: true for success, false otherwise

Definition at line 199 of file PointCloud.cpp.

◆ fromBottle()

template<class T >

bool yarp::sig::PointCloud< T >::fromBottle ( const yarp::os::Bottle & bt )

Populate the PointCloud from a yarp::os::Bottle.

Parameters

[in] bt,the yarp::os::Bottle to read from. It has to be formatted in the same way it is generated by the toBottle() method.

Returns: true for success, false otherwise

Definition at line 157 of file PointCloud.cpp.

◆ fromExternalPC()

template<class T >

void yarp::sig::PointCloud< T >::fromExternalPC	(	const char *	source,
		int	type,
		size_t	width,
		size_t	height,
		bool	isDense = `true`
	)

virtual

Copy the content of an external PointCloud.

Parameters

source,pointer	to the source data.
type,enum	representing the type of the source cloud.
width,width	of the source cloud.
height,height	of the source cloud.
isDense

Definition at line 49 of file PointCloud.cpp.

◆ getBottleTag()

template<class T >

int yarp::sig::PointCloud< T >::getBottleTag ( ) const

overridevirtual

Implements yarp::sig::PointCloudBase.

Definition at line 266 of file PointCloud.cpp.

◆ getRawData()

template<class T >

const char * yarp::sig::PointCloud< T >::getRawData ( ) const

inlineoverridevirtual

Get the pointer to the data.

Returns: the pointer to the data.

Implements yarp::sig::PointCloudBase.

Definition at line 74 of file PointCloud.h.

◆ operator()() [1/4]

template<class T >

T & yarp::sig::PointCloud< T >::operator() ( size_t i )

inline

Obtain the point given by the index.

Parameters

i,index

Definition at line 130 of file PointCloud.h.

◆ operator()() [2/4]

template<class T >

const T & yarp::sig::PointCloud< T >::operator() ( size_t i ) const

inline

Obtain the point given by the index (const version).

Parameters

i,index

Definition at line 139 of file PointCloud.h.

◆ operator()() [3/4]

template<class T >

T & yarp::sig::PointCloud< T >::operator()	(	size_t	u,
		size_t	v
	)

inline

Obtain the point given by the (column, row) coordinates.

Only works on organized clouds (those that have height != 1).

Parameters

u,column	coordinate
v,row	coordinate

Definition at line 110 of file PointCloud.h.

◆ operator()() [4/4]

template<class T >

const T & yarp::sig::PointCloud< T >::operator()	(	size_t	u,
		size_t	v
	)		const

inline

Obtain the point given by the (column, row) coordinates (const version).

Only works on organized clouds (those that have height != 1).

Parameters

u,column	coordinate
v,row	coordinate

Definition at line 121 of file PointCloud.h.

◆ operator+()

template<class T >

const PointCloud< T > yarp::sig::PointCloud< T >::operator+ ( const PointCloud< T > & rhs )

Concatenate a point cloud to another cloud.

Parameters

rhs	the cloud to add to the current cloud

Returns: the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 293 of file PointCloud.cpp.

◆ operator+=()

template<class T >

PointCloud< T > & yarp::sig::PointCloud< T >::operator+= ( const PointCloud< T > & rhs )

Concatenate a point cloud to the current cloud.

Parameters

rhs	the cloud to add to the current cloud

Returns: the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 272 of file PointCloud.cpp.

◆ operator=()

template<class T >

template<class T1 >

const PointCloud< T > & yarp::sig::PointCloud< T >::operator= ( const PointCloud< T1 > & alt )

inline

Assignment operator.

Clones the content of another image.

Parameters

alt	the image to clone

Definition at line 150 of file PointCloud.h.

◆ push_back()

template<class T >

void yarp::sig::PointCloud< T >::push_back ( const T & pt )

Insert a new point in the cloud, at the end of the container.

Note: This breaks the organized structure of the cloud by setting the height to 1.

Parameters

[in] pt the point to insert.

Definition at line 299 of file PointCloud.cpp.

◆ read()

template<class T >

bool yarp::sig::PointCloud< T >::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::sig::PointCloudBase.

Definition at line 63 of file PointCloud.cpp.

◆ resize() [1/2]

template<class T >

void yarp::sig::PointCloud< T >::resize ( size_t width )

virtual

Resize the PointCloud.

Note: This function resizes the point cloud and has the side effect of reducing the height to 1. Thus, by definition, the point cloud becomes unorganized.

Parameters

width.

Definition at line 33 of file PointCloud.cpp.

◆ resize() [2/2]

template<class T >

void yarp::sig::PointCloud< T >::resize	(	size_t	width,
		size_t	height
	)

virtual

Resize the PointCloud.

Parameters

width.
height.

Definition at line 25 of file PointCloud.cpp.

◆ size()

template<class T >

size_t yarp::sig::PointCloud< T >::size ( ) const

inlineoverridevirtual

Returns: the number of points of the PointCloud

Implements yarp::sig::PointCloudBase.

Definition at line 99 of file PointCloud.h.

◆ sortDataZ()

template<class T >

bool yarp::sig::PointCloud< T >::sortDataZ ( )

Rearranges the pointcloud data so that the points are ordered from the nearest to the farthest.

Returns: true for success, false otherwise

Definition at line 182 of file PointCloud.cpp.

◆ toBottle()

template<class T >

yarp::os::Bottle yarp::sig::PointCloud< T >::toBottle ( ) const

Generate a yarp::os::Bottle filled with the PointCloud data.

Returns: the yarp::os::Bottle generated

Definition at line 142 of file PointCloud.cpp.

◆ toString()

template<class T >

std::string yarp::sig::PointCloud< T >::toString	(	int	precision = `-1`,
		int	width = `-1`
	)		const

virtual

Definition at line 119 of file PointCloud.cpp.

◆ wireSizeBytes()

template<class T >

size_t yarp::sig::PointCloud< T >::wireSizeBytes ( ) const

inlineoverridevirtual

Get the size of the data + the header in terms of number of bytes.

Returns: the size of the data sent through the network

Implements yarp::sig::PointCloudBase.

Definition at line 84 of file PointCloud.h.

◆ write()

template<class T >

bool yarp::sig::PointCloud< T >::write ( yarp::os::ConnectionWriter & writer ) const

overridevirtual

Write this object to a network connection.

Override this for your particular class. Be aware that depending on the nature of the connections a port has, and what protocol they use, and how efficient the YARP implementation is, this method may be called once, twice, or many times, as the result of a single call to Port::write

Parameters

writer an interface to the network connection for writing

Returns: true iff the object is successfully written

Implements yarp::sig::PointCloudBase.

Definition at line 112 of file PointCloud.cpp.

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

src/libYARP_sig/src/yarp/sig/PointCloud.h
src/libYARP_sig/src/yarp/sig/PointCloud.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PointCloud() [1/2]

◆ PointCloud() [2/2]

Member Function Documentation

◆ clear()

◆ copy()

◆ dataSizeBytes()

◆ filterDataZ()

◆ fromBottle()

◆ fromExternalPC()

◆ getBottleTag()

◆ getRawData()

◆ operator()() [1/4]

◆ operator()() [2/4]

◆ operator()() [3/4]

◆ operator()() [4/4]

◆ operator+()

◆ operator+=()

◆ operator=()

◆ push_back()

◆ read()

◆ resize() [1/2]

◆ resize() [2/2]

◆ size()

◆ sortDataZ()

◆ toBottle()

◆ toString()

◆ wireSizeBytes()

◆ write()