A point cloud. More...

#include <PointMatcher.h>

Classes
struct	InvalidField
	An exception thrown when one tries to access features or descriptors unexisting or of wrong dimensions. More...
struct	Label
	The name for a certain number of dim. More...
struct	Labels
	A vector of Label. More...
Public Types
typedef const Eigen::Block < const Matrix >	ConstView
	A view on a const feature or const descriptor.
typedef Matrix::Index	Index
	An index to a row or a column.
typedef Eigen::Block< Matrix >	View
	A view on a feature or descriptor.
Public Member Functions
void	addDescriptor (const std::string &name, const Matrix &newDescriptor)
	Add a descriptor by name, remove first if already exists.
void	addFeature (const std::string &name, const Matrix &newFeature)
	Add a feature by name, remove first if already exists. The 'pad' field will stay at the end for homogeneous transformation.
void	allocateDescriptor (const std::string &name, const unsigned dim)
	Makes sure a descriptor of a given name exists, if present, check its dimensions.
void	allocateDescriptors (const Labels &newLabels)
	Make sure a vector of descriptors of given names exist.
void	allocateFeature (const std::string &name, const unsigned dim)
	Makes sure a feature of a given name exists, if present, check its dimensions.
void	allocateFeatures (const Labels &newLabels)
	Make sure a vector of features of given names exist.
void	assertDescriptorConsistency () const
	Assert if descriptors are not consistent with features.
void	concatenate (const DataPoints &dp)
	Add an other point cloud after the current one.
void	conservativeResize (Index pointCount)
	Resize the cloud to pointCount points, conserving existing ones.
DataPoints	createSimilarEmpty () const
	Create an empty DataPoints of similar dimensions and labels, both for features and descriptors.
DataPoints	createSimilarEmpty (Index pointCount) const
	Create an empty DataPoints with pointCount points of similar dimensions and labels, both for features and descriptors.
	DataPoints ()
	Construct an empty point cloud.
	DataPoints (const Labels &featureLabels, const Labels &descriptorLabels, const size_t pointCount)
	Construct a point cloud from existing descriptions.
	DataPoints (const Matrix &features, const Labels &featureLabels)
	Construct a point cloud from existing features without any descriptor.
	DataPoints (const Matrix &features, const Labels &featureLabels, const Matrix &descriptors, const Labels &descriptorLabels)
	Construct a point cloud from existing features and descriptors.
bool	descriptorExists (const std::string &name) const
	Look if a descriptor with a given name exist.
bool	descriptorExists (const std::string &name, const unsigned dim) const
	Look if a descriptor with a given name and dimension exist.
bool	featureExists (const std::string &name) const
	Look if a feature with a given name exist.
bool	featureExists (const std::string &name, const unsigned dim) const
	Look if a feature with a given name and dimension exist.
Matrix	getDescriptorCopyByName (const std::string &name) const
	Get descriptor by name, return a matrix containing a copy of the requested descriptor.
unsigned	getDescriptorDim () const
	Return the total number of descriptors.
unsigned	getDescriptorDimension (const std::string &name) const
	Return the dimension of a descriptor with a given name. Return 0 if the name is not found.
ConstView	getDescriptorRowViewByName (const std::string &name, const unsigned row) const
	Get a const view on a descriptor row by name and number, throw an exception if it does not exist.
View	getDescriptorRowViewByName (const std::string &name, const unsigned row)
	Get a view on a descriptor by row name and number, throw an exception if it does not exist.
unsigned	getDescriptorStartingRow (const std::string &name) const
	Return the starting row of a descriptor with a given name. Return 0 if the name is not found.
ConstView	getDescriptorViewByName (const std::string &name) const
	Get a const view on a descriptor by name, throw an exception if it does not exist.
View	getDescriptorViewByName (const std::string &name)
	Get a view on a descriptor by name, throw an exception if it does not exist.
unsigned	getEuclideanDim () const
	Return the dimension of the point cloud.
Matrix	getFeatureCopyByName (const std::string &name) const
	Get feature by name, return a matrix containing a copy of the requested feature.
unsigned	getFeatureDimension (const std::string &name) const
	Return the dimension of a feature with a given name. Return 0 if the name is not found.
ConstView	getFeatureRowViewByName (const std::string &name, const unsigned row) const
	Get a const view on a feature row by name and number, throw an exception if it does not exist.
View	getFeatureRowViewByName (const std::string &name, const unsigned row)
	Get a view on a feature by row name and number, throw an exception if it does not exist.
unsigned	getFeatureStartingRow (const std::string &name) const
	Return the starting row of a feature with a given name. Return 0 if the name is not found.
ConstView	getFeatureViewByName (const std::string &name) const
	Get a const view on a feature by name, throw an exception if it does not exist.
View	getFeatureViewByName (const std::string &name)
	Get a view on a feature by name, throw an exception if it does not exist.
unsigned	getHomogeneousDim () const
	Return the dimension of the point cloud in homogeneous coordinates (one more than Euclidean dimension)
unsigned	getNbGroupedDescriptors () const
	Return the number of grouped descriptors (e.g., normals can have 3 components but would count as only one)
unsigned	getNbPoints () const
	Return the number of points contained in the point cloud.
bool	operator== (const DataPoints &that) const
	Return whether two point-clouds are identical (same data and same labels)
void	removeDescriptor (const std::string &name)
	Remove a descriptor by name, the whole matrix will be copied.
void	removeFeature (const std::string &name)
	Remove a feature by name, the whole matrix will be copied.
void	save (const std::string &fileName) const
	Save a point cloud to a file, determine format from extension.
void	setColFrom (Index thisCol, const DataPoints &that, Index thatCol)
	Set column thisCol equal to column thatCol of that, copy features and descriptors if any. Assumes sizes are similar.
Static Public Member Functions
static DataPoints	load (const std::string &fileName)
	Load a point cloud from a file, determine format from extension.
Public Attributes
Labels	descriptorLabels
	labels of descriptors
Matrix	descriptors
	descriptors of points in the cloud, might be empty
Labels	featureLabels
	labels of features
Matrix	features
	features of points in the cloud
Private Member Functions
void	addField (const std::string &name, const Matrix &newField, Labels &labels, Matrix &data) const
	Add a descriptor or feature by name, remove first if already exists.
void	allocateField (const std::string &name, const unsigned dim, Labels &labels, Matrix &data) const
	Make sure a field of a given name exists, if present, check its dimensions.
void	allocateFields (const Labels &newLabels, Labels &labels, Matrix &data) const
	Make sure a vector of fields of given names exist.
bool	fieldExists (const std::string &name, const unsigned dim, const Labels &labels) const
	Look if a descriptor or a feature with a given name and dimension exist.
ConstView	getConstViewByName (const std::string &name, const Labels &labels, const Matrix &data, const int viewRow=-1) const
unsigned	getFieldDimension (const std::string &name, const Labels &labels) const
	Return the dimension of a feature or a descriptor with a given name. Return 0 if the name is not found.
unsigned	getFieldStartingRow (const std::string &name, const Labels &labels) const
	Return the starting row of a feature or a descriptor with a given name. Return 0 if the name is not found.
View	getViewByName (const std::string &name, const Labels &labels, Matrix &data, const int viewRow=-1) const
void	removeField (const std::string &name, Labels &labels, Matrix &data) const
	Remove a descriptor or feature by name, no copy is done.

Detailed Description

template<typename T>
struct PointMatcher< T >::DataPoints

A point cloud.

For every point, it has features and, optionally, descriptors. Features are typically the coordinates of the point in the space. Descriptors contain information attached to the point, such as its color, its normal vector, etc. In both features and descriptors, every point can have multiple channels. Every channel has a dimension and a name. For instance, a typical 3D cloud might have the channels x, y, z, w of dimension 1 as features (using homogeneous coordinates), and the channel normal of size 3 as descriptor. There are no sub-channels, such as normal.x, for the sake of simplicity. Moreover, the position of the points is in homogeneous coordinates because they need both translation and rotation, while the normals need only rotation. All channels contain scalar values of type ScalarType.

Definition at line 202 of file PointMatcher.h.

Member Typedef Documentation

template<typename T>

typedef const Eigen::Block<const Matrix> PointMatcher< T >::DataPoints::ConstView

A view on a const feature or const descriptor.

Definition at line 207 of file PointMatcher.h.

template<typename T>

typedef Matrix::Index PointMatcher< T >::DataPoints::Index

An index to a row or a column.

Definition at line 209 of file PointMatcher.h.

template<typename T>

typedef Eigen::Block<Matrix> PointMatcher< T >::DataPoints::View

A view on a feature or descriptor.

Definition at line 205 of file PointMatcher.h.

Constructor & Destructor Documentation

template<typename T >

PointMatcher< T >::DataPoints::DataPoints ( )

Construct an empty point cloud.

Definition at line 97 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints::DataPoints	(	const Labels &	featureLabels,
		const Labels &	descriptorLabels,
		const size_t	pointCount
	)

Construct a point cloud from existing descriptions.

Definition at line 102 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints::DataPoints	(	const Matrix &	features,
		const Labels &	featureLabels
	)

Construct a point cloud from existing features without any descriptor.

Definition at line 113 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints::DataPoints	(	const Matrix &	features,
		const Labels &	featureLabels,
		const Matrix &	descriptors,
		const Labels &	descriptorLabels
	)

Construct a point cloud from existing features and descriptors.

Definition at line 120 of file pointmatcher/DataPoints.cpp.

Member Function Documentation

template<typename T >

void PointMatcher< T >::DataPoints::addDescriptor	(	const std::string &	name,
		const Matrix &	newDescriptor
	)

Add a descriptor by name, remove first if already exists.

Definition at line 439 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::addFeature	(	const std::string &	name,
		const Matrix &	newFeature
	)

Add a feature by name, remove first if already exists. The 'pad' field will stay at the end for homogeneous transformation.

Definition at line 346 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::addField	(	const std::string &	name,
		const Matrix &	newField,
		Labels &	labels,
		Matrix &	data
	)		const `[private]`

Add a descriptor or feature by name, remove first if already exists.

Definition at line 613 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::allocateDescriptor	(	const std::string &	name,
		const unsigned	dim
	)

Makes sure a descriptor of a given name exists, if present, check its dimensions.

Definition at line 425 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::allocateDescriptors ( const Labels & newLabels )

Make sure a vector of descriptors of given names exist.

Definition at line 432 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::allocateFeature	(	const std::string &	name,
		const unsigned	dim
	)

Makes sure a feature of a given name exists, if present, check its dimensions.

Definition at line 332 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::allocateFeatures ( const Labels & newLabels )

Make sure a vector of features of given names exist.

Definition at line 339 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::allocateField	(	const std::string &	name,
		const unsigned	dim,
		Labels &	labels,
		Matrix &	data
	)		const `[private]`

Make sure a field of a given name exists, if present, check its dimensions.

Definition at line 548 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::allocateFields	(	const Labels &	newLabels,
		Labels &	labels,
		Matrix &	data
	)		const `[private]`

Make sure a vector of fields of given names exist.

Definition at line 572 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::assertDescriptorConsistency ( ) const

Assert if descriptors are not consistent with features.

Definition at line 517 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::concatenate ( const DataPoints & dp )

Add an other point cloud after the current one.

Definition at line 188 of file pointmatcher/DataPoints.cpp.

template<typename T >

void PointMatcher< T >::DataPoints::conservativeResize ( Index pointCount )

Resize the cloud to pointCount points, conserving existing ones.

Definition at line 271 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints PointMatcher< T >::DataPoints::createSimilarEmpty ( ) const

Create an empty DataPoints of similar dimensions and labels, both for features and descriptors.

Definition at line 280 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints PointMatcher< T >::DataPoints::createSimilarEmpty ( Index pointCount ) const

Create an empty DataPoints with pointCount points of similar dimensions and labels, both for features and descriptors.

Definition at line 302 of file pointmatcher/DataPoints.cpp.

template<typename T >

bool PointMatcher< T >::DataPoints::descriptorExists ( const std::string & name ) const

Look if a descriptor with a given name exist.

Definition at line 489 of file pointmatcher/DataPoints.cpp.

template<typename T >

bool PointMatcher< T >::DataPoints::descriptorExists	(	const std::string &	name,
		const unsigned	dim
	)		const

Look if a descriptor with a given name and dimension exist.

Definition at line 496 of file pointmatcher/DataPoints.cpp.

template<typename T >

bool PointMatcher< T >::DataPoints::featureExists ( const std::string & name ) const

Look if a feature with a given name exist.

Definition at line 397 of file pointmatcher/DataPoints.cpp.

template<typename T >

bool PointMatcher< T >::DataPoints::featureExists	(	const std::string &	name,
		const unsigned	dim
	)		const

Look if a feature with a given name and dimension exist.

Definition at line 404 of file pointmatcher/DataPoints.cpp.

template<typename T >

bool PointMatcher< T >::DataPoints::fieldExists	(	const std::string &	name,
		const unsigned	dim,
		const Labels &	labels
	)		const `[private]`

Look if a descriptor or a feature with a given name and dimension exist.

Definition at line 756 of file pointmatcher/DataPoints.cpp.

template<typename T >

const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getConstViewByName	(	const std::string &	name,
		const Labels &	labels,
		const Matrix &	data,
		const int	viewRow = `-1`
	)		const `[private]`

Get a const view on a matrix by name, throw an exception if it does not exist. If viewRow is given, only return this row, otherwise return the full view

Definition at line 705 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::Matrix PointMatcher< T >::DataPoints::getDescriptorCopyByName ( const std::string & name ) const

Get descriptor by name, return a matrix containing a copy of the requested descriptor.

Definition at line 454 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getDescriptorDim ( ) const

Return the total number of descriptors.

Definition at line 157 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getDescriptorDimension ( const std::string & name ) const

Return the dimension of a descriptor with a given name. Return 0 if the name is not found.

Definition at line 503 of file pointmatcher/DataPoints.cpp.

template<typename T >

const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getDescriptorRowViewByName	(	const std::string &	name,
		const unsigned	row
	)		const

Get a const view on a descriptor row by name and number, throw an exception if it does not exist.

Definition at line 475 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getDescriptorRowViewByName	(	const std::string &	name,
		const unsigned	row
	)

Get a view on a descriptor by row name and number, throw an exception if it does not exist.

Definition at line 482 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getDescriptorStartingRow ( const std::string & name ) const

Return the starting row of a descriptor with a given name. Return 0 if the name is not found.

Definition at line 510 of file pointmatcher/DataPoints.cpp.

template<typename T >

const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getDescriptorViewByName ( const std::string & name ) const

Get a const view on a descriptor by name, throw an exception if it does not exist.

Definition at line 461 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getDescriptorViewByName ( const std::string & name )

Get a view on a descriptor by name, throw an exception if it does not exist.

Definition at line 468 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getEuclideanDim ( ) const

Return the dimension of the point cloud.

Definition at line 136 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::Matrix PointMatcher< T >::DataPoints::getFeatureCopyByName ( const std::string & name ) const

Get feature by name, return a matrix containing a copy of the requested feature.

Definition at line 362 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getFeatureDimension ( const std::string & name ) const

Return the dimension of a feature with a given name. Return 0 if the name is not found.

Definition at line 411 of file pointmatcher/DataPoints.cpp.

template<typename T >

const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getFeatureRowViewByName	(	const std::string &	name,
		const unsigned	row
	)		const

Get a const view on a feature row by name and number, throw an exception if it does not exist.

Definition at line 383 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getFeatureRowViewByName	(	const std::string &	name,
		const unsigned	row
	)

Get a view on a feature by row name and number, throw an exception if it does not exist.

Definition at line 390 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getFeatureStartingRow ( const std::string & name ) const

Return the starting row of a feature with a given name. Return 0 if the name is not found.

Definition at line 418 of file pointmatcher/DataPoints.cpp.

template<typename T >

const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getFeatureViewByName ( const std::string & name ) const

Get a const view on a feature by name, throw an exception if it does not exist.

Definition at line 369 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getFeatureViewByName ( const std::string & name )

Get a view on a feature by name, throw an exception if it does not exist.

Definition at line 376 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getFieldDimension	(	const std::string &	name,
		const Labels &	labels
	)		const `[private]`

Return the dimension of a feature or a descriptor with a given name. Return 0 if the name is not found.

Definition at line 774 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getFieldStartingRow	(	const std::string &	name,
		const Labels &	labels
	)		const `[private]`

Return the starting row of a feature or a descriptor with a given name. Return 0 if the name is not found.

Definition at line 787 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getHomogeneousDim ( ) const

Return the dimension of the point cloud in homogeneous coordinates (one more than Euclidean dimension)

Definition at line 143 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getNbGroupedDescriptors ( ) const

Return the number of grouped descriptors (e.g., normals can have 3 components but would count as only one)

Definition at line 150 of file pointmatcher/DataPoints.cpp.

template<typename T >

unsigned PointMatcher< T >::DataPoints::getNbPoints ( ) const

Return the number of points contained in the point cloud.

Definition at line 129 of file pointmatcher/DataPoints.cpp.

template<typename T >

PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getViewByName	(	const std::string &	name,
		const Labels &	labels,
		Matrix &	data,
		const int	viewRow = `-1`
	)		const `[private]`