Package org.robwork.sdurw_geometry

Class PointCloudPtr

java.lang.Object

org.robwork.sdurw_geometry.PointCloudPtr

public class PointCloudPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
PointCloudPtr()	Default constructor yielding a NULL-pointer.
PointCloudPtr(long cPtr, boolean cMemoryOwn)
PointCloudPtr(PointCloud ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
PointCloud	__ref__()	Dereferencing operator.
PointCloudCPtr	cptr()
void	delete()
PointCloud	deref()	The pointer stored in the object.
boolean	equals(PointCloud p)
Vector3Df	get(long row, long column)
static long	getCPtr(PointCloudPtr obj)
SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_float_t_t	getData()	returns a char pointer to the image data
Transform3Df	getDataTransform()
PointCloud	getDeref()	Member access operator.
int	getHeight()
TriMeshPtr	getTriMesh()
TriMeshPtr	getTriMesh(boolean forceCopy)
GeometryData.GeometryType	getType()
int	getWidth()	width of the point cloud data.
boolean	isConvex()	test if this geometry data is convex
boolean	isNull()	checks if the pointer is null
boolean	isOrdered()
boolean	isShared()	check if this Ptr has shared ownership or none ownership
PointCloudPtr	loadPCD(java.lang.String filename)	load point cloud from PCD file
void	resize(int w, int h)	set width of point cloud.
void	savePCD(PointCloud cloud, java.lang.String filename)	save point cloud in PCD file format (PCL library format)
void	savePCD(PointCloud cloud, java.lang.String filename, Transform3Df t3d)	save point cloud in PCD file format (PCL library format)
void	set(long row, long column, Vector3Df d)
long	size()	gets the number of points in the point cloud.
java.lang.String	toString(GeometryData.GeometryType type)	format GeometryType to string

Methods inherited from class java.lang.Object

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

Constructor Detail

PointCloudPtr

public PointCloudPtr(long cPtr,
                     boolean cMemoryOwn)

PointCloudPtr

public PointCloudPtr()

Default constructor yielding a NULL-pointer.

PointCloudPtr

public PointCloudPtr(PointCloud ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(PointCloudPtr obj)

delete

public void delete()

deref

public PointCloud deref()

The pointer stored in the object.

__ref__

public PointCloud __ref__()

Dereferencing operator.

getDeref

public PointCloud getDeref()

Member access operator.

equals

public boolean equals(PointCloud p)

isShared

public boolean isShared()

check if this Ptr has shared ownership or none
ownership

Returns:

true if Ptr has shared ownership, false if it has no ownership.

isNull

public boolean isNull()

checks if the pointer is null

Returns:

Returns true if the pointer is null

cptr

public PointCloudCPtr cptr()

getType

public GeometryData.GeometryType getType()

size

public long size()

gets the number of points in the point cloud.

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:

char pointer to the image data

get

public Vector3Df get(long row,
                     long column)

set

public void set(long row,
                long column,
                Vector3Df d)

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()

Returns:

height

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)

getTriMesh

public TriMeshPtr getTriMesh()

getDataTransform

public Transform3Df getDataTransform()

loadPCD

public 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 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 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

isConvex

public boolean isConvex()

test if this geometry data is convex

Returns:

true if convex

toString

public java.lang.String toString(GeometryData.GeometryType type)

format GeometryType to string

Parameters:

type -