Package org.robwork.sdurw

Class PointCloud

java.lang.Object

org.robwork.sdurw.GeometryData

org.robwork.sdurw.PointCloud

public class PointCloud
extends GeometryData

A simple point cloud data structure. Points may be ordered or not. An ordered set is
kept as a single array in row major order and with a width and a height. An unordered array
must have height==1 and width equal to the number of points.

Nested Class Summary

Nested classes/interfaces inherited from class org.robwork.sdurw.GeometryData

GeometryData.GeometryType

Constructor Summary

Constructors

Constructor	Description
PointCloud()	constructor
PointCloud(int w, int h)	constructor
PointCloud(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(PointCloud obj)
SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_float_t_t	getData()	returns a char pointer to the image data
Transform3Df	getDataTransform()
int	getHeight()
TriMeshPtr	getTriMesh()	gets a trimesh representation of this geometry data. The trimesh that is returned is by default a copy, which means ownership is transfered to the caller.
TriMeshPtr	getTriMesh(boolean forceCopy)	gets a trimesh representation of this geometry data. The trimesh that is returned is by default a copy, which means ownership is transfered to the caller.
GeometryData.GeometryType	getType()	the type of this primitive
int	getWidth()	width of the point cloud data.
boolean	isOrdered()
static PointCloudPtr	loadPCD(java.lang.String filename)	load point cloud from PCD file
void	resize(int w, int h)	set width of point cloud.
static void	savePCD(PointCloud cloud, java.lang.String filename)	save point cloud in PCD file format (PCL library format)
static void	savePCD(PointCloud cloud, java.lang.String filename, Transform3Df t3d)	save point cloud in PCD file format (PCL library format)
long	size()	gets the number of points in the point cloud.

Methods inherited from class org.robwork.sdurw.GeometryData

getCPtr, isConvex, toString

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PointCloud

public PointCloud(long cPtr,
                  boolean cMemoryOwn)

PointCloud

public PointCloud()

constructor

PointCloud

public PointCloud(int w,
                  int h)

constructor

Parameters:

w - [in]

h - [in]

Method Detail

getCPtr

public static long getCPtr(PointCloud obj)

delete

public void delete()

Overrides:

delete in class GeometryData

getType

public GeometryData.GeometryType getType()

Description copied from class: GeometryData

the type of this primitive

Overrides:

getType in class GeometryData

Returns:

the type of primitive.

size

public long size()

gets the number of points in the point cloud.

Returns:

the number of points.

isOrdered

public boolean isOrdered()

getData

public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_float_t_t getData()

returns a char pointer to the image data

Returns:

const char pointer to the image data

getWidth

public int getWidth()

width of the point cloud data. If the data is unordered then this
will be equal to the number of points.

Returns:

width of data points

getHeight

public int getHeight()

resize

public void resize(int w,
                   int h)

set width of point cloud. Data elements are accessed as [x+y*width].

If the current data array cannot contain the elements then it will be resized to
be able to it.

Parameters:

w - [in] new width

h - [in] new height

getTriMesh

public TriMeshPtr getTriMesh(boolean forceCopy)

Description copied from class: GeometryData

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means
ownership is transfered to the caller.

Overrides:

getTriMesh in class GeometryData

Parameters:

forceCopy - Specifying forceCopy to false will enable copy by reference and
ownership is not necesarilly transfered.
This is more efficient, though pointer is only alive as long as this
GeometryData is alive.

Returns:

TriMesh representation of this GeometryData

getTriMesh

public TriMeshPtr getTriMesh()

Description copied from class: GeometryData

gets a trimesh representation of this geometry data.

The trimesh that is returned is by default a copy, which means
ownership is transfered to the caller.

Overrides:

getTriMesh in class GeometryData

Returns:

TriMesh representation of this GeometryData

getDataTransform

public Transform3Df getDataTransform()

loadPCD

public static PointCloudPtr loadPCD(java.lang.String filename)

load point cloud from PCD file

Parameters:

filename - [in] name of PCD file

Returns:

a point cloud

savePCD

public static void savePCD(PointCloud cloud,
                           java.lang.String filename,
                           Transform3Df t3d)

save point cloud in PCD file format (PCL library format)

Parameters:

cloud - [in] the point cloud to save

filename - [in] the name of the file to save to

t3d - [in] the transformation of the point cloud

savePCD

public static void savePCD(PointCloud cloud,
                           java.lang.String filename)

save point cloud in PCD file format (PCL library format)

Parameters:

cloud - [in] the point cloud to save

filename - [in] the name of the file to save to