WorldModel maintains a 3D point cloud that can be queried and updated via helper functions. More...

#include </__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h>

Inheritance diagram for pcl::kinfuLS::WorldModel< PointT >:

Public Types
using	Ptr = shared_ptr< WorldModel< PointT > >

using	ConstPtr = shared_ptr< const WorldModel< PointT > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	ConditionAndPtr = typename pcl::ConditionAnd< PointT >::Ptr

using	ConditionOrPtr = typename pcl::ConditionOr< PointT >::Ptr

using	FieldComparisonConstPtr = typename pcl::FieldComparison< PointT >::ConstPtr

using	FieldList = typename pcl::traits::fieldList< PointT >::type

Public Member Functions
	WorldModel ()
	Default constructor for the WorldModel. More...

void	reset ()
	Clear the world. More...

void	addSlice (const PointCloudPtr new_cloud)
	Append a new point cloud (slice) to the world. More...

void	getExistingData (const double previous_origin_x, const double previous_origin_y, const double previous_origin_z, const double offset_x, const double offset_y, const double offset_z, const double volume_x, const double volume_y, const double volume_z, pcl::PointCloud< PointT > &existing_slice)
	Retrieve existing data from the world model, after a shift. More...

void	setSliceAsNans (const double origin_x, const double origin_y, const double origin_z, const double offset_x, const double offset_y, const double offset_z, const int size_x, const int size_y, const int size_z)
	Give nan values to the slice of the world. More...

void	cleanWorldFromNans ()
	Remove points with nan values from the world. More...

PointCloudPtr	getWorld ()
	Returns the world as a point cloud. More...

std::size_t	getWorldSize ()
	Returns the number of points contained in the world. More...

void	getWorldAsCubes (double size, std::vector< PointCloudPtr > &cubes, std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &transforms, double overlap=0.0)
	Returns the world as two vectors of cubes of size "size" (pointclouds) and transforms. More...

Detailed Description

template<typename PointT>
class pcl::kinfuLS::WorldModel< PointT >

WorldModel maintains a 3D point cloud that can be queried and updated via helper functions.

The world is represented as a point cloud.
When new points are added to the world, we replace old ones by the newest ones. This is achieved by setting old points to nan (for speed)

Author: Raphael Favier

Definition at line 62 of file world_model.h.

Member Typedef Documentation

◆ ConditionAndPtr

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::ConditionAndPtr = typename pcl::ConditionAnd<PointT>::Ptr

Definition at line 73 of file world_model.h.

◆ ConditionOrPtr

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::ConditionOrPtr = typename pcl::ConditionOr<PointT>::Ptr

Definition at line 74 of file world_model.h.

◆ ConstPtr

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::ConstPtr = shared_ptr<const WorldModel<PointT> >

Definition at line 67 of file world_model.h.

◆ FieldComparisonConstPtr

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::FieldComparisonConstPtr = typename pcl::FieldComparison<PointT>::ConstPtr

Definition at line 75 of file world_model.h.

◆ FieldList

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::FieldList = typename pcl::traits::fieldList<PointT>::type

Definition at line 77 of file world_model.h.

◆ PointCloud

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 69 of file world_model.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 71 of file world_model.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 70 of file world_model.h.

◆ Ptr

template<typename PointT >

using pcl::kinfuLS::WorldModel< PointT >::Ptr = shared_ptr<WorldModel<PointT> >

Definition at line 66 of file world_model.h.

Constructor & Destructor Documentation

◆ WorldModel()

template<typename PointT >

pcl::kinfuLS::WorldModel< PointT >::WorldModel ( )

inline

Default constructor for the WorldModel.

Definition at line 81 of file world_model.h.

Member Function Documentation

◆ addSlice()

template<typename PointT >

void pcl::kinfuLS::WorldModel< PointT >::addSlice ( const PointCloudPtr new_cloud )

Append a new point cloud (slice) to the world.

Parameters

[in] new_cloud the point cloud to add to the world

Definition at line 47 of file world_model.hpp.

◆ cleanWorldFromNans()

template<typename PointT >

void pcl::kinfuLS::WorldModel< PointT >::cleanWorldFromNans ( )

inline

Remove points with nan values from the world.

Definition at line 137 of file world_model.h.

References pcl::removeNaNFromPointCloud().

◆ getExistingData()

template<typename PointT >

void pcl::kinfuLS::WorldModel< PointT >::getExistingData	(	const double	previous_origin_x,
		const double	previous_origin_y,
		const double	previous_origin_z,
		const double	offset_x,
		const double	offset_y,
		const double	offset_z,
		const double	volume_x,
		const double	volume_y,
		const double	volume_z,
		pcl::PointCloud< PointT > &	existing_slice
	)

Retrieve existing data from the world model, after a shift.

Parameters

[in]	previous_origin_x	global origin of the cube on X axis, before the shift
[in]	previous_origin_y	global origin of the cube on Y axis, before the shift
[in]	previous_origin_z	global origin of the cube on Z axis, before the shift
[in]	offset_x	shift on X, in indices
[in]	offset_y	shift on Y, in indices
[in]	offset_z	shift on Z, in indices
[in]	volume_x	size of the cube, X axis, in indices
[in]	volume_y	size of the cube, Y axis, in indices
[in]	volume_z	size of the cube, Z axis, in indices
[out]	existing_slice	the extracted point cloud representing the slice

Definition at line 63 of file world_model.hpp.

References pcl::Filter< PointT >::filter(), pcl::ComparisonOps::GE, pcl::ComparisonOps::LT, pcl::ConditionalRemoval< PointT >::setCondition(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::ConditionalRemoval< PointT >::setKeepOrganized().

◆ getWorld()

template<typename PointT >

PointCloudPtr pcl::kinfuLS::WorldModel< PointT >::getWorld ( )

inline

Returns the world as a point cloud.

Definition at line 146 of file world_model.h.

◆ getWorldAsCubes()

template<typename PointT >

void pcl::kinfuLS::WorldModel< PointT >::getWorldAsCubes	(	double	size,
		std::vector< PointCloudPtr > &	cubes,
		std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &	transforms,
		double	overlap = `0.0`
	)

Returns the world as two vectors of cubes of size "size" (pointclouds) and transforms.

Parameters

[in]	size	the size of a 3D cube.
[out]	cubes	a vector of point clouds representing each cube (in their original world coordinates).
[out]	transforms	a vector containing the xyz position of each cube in world coordinates.
[in]	overlap	optional overlap (in percent) between each cube (useful to create overlapped meshes).

Definition at line 136 of file world_model.hpp.

References pcl::removeNaNFromPointCloud().

◆ getWorldSize()

template<typename PointT >

std::size_t pcl::kinfuLS::WorldModel< PointT >::getWorldSize ( )

inline

Returns the number of points contained in the world.

Definition at line 153 of file world_model.h.

◆ reset()

template<typename PointT >

void pcl::kinfuLS::WorldModel< PointT >::reset ( )

inline

Clear the world.

Definition at line 89 of file world_model.h.

◆ setSliceAsNans()

template<typename PointT >

void pcl::kinfuLS::WorldModel< PointT >::setSliceAsNans	(	const double	origin_x,
		const double	origin_y,
		const double	origin_z,
		const double	offset_x,
		const double	offset_y,
		const double	offset_z,
		const int	size_x,
		const int	size_y,
		const int	size_z
	)

Give nan values to the slice of the world.

Parameters

[in]	origin_x	global origin of the cube on X axis, before the shift
[in]	origin_y	global origin of the cube on Y axis, before the shift
[in]	origin_z	global origin of the cube on Z axis, before the shift
[in]	offset_x	shift on X, in indices
[in]	offset_y	shift on Y, in indices
[in]	offset_z	shift on Z, in indices
[in]	size_x	size of the cube, X axis, in indices
[in]	size_y	size of the cube, Y axis, in indices
[in]	size_z	size of the cube, Z axis, in indices

Definition at line 275 of file world_model.hpp.

References pcl::Filter< PointT >::filter(), pcl::ComparisonOps::GE, pcl::Filter< PointT >::getRemovedIndices(), pcl::ComparisonOps::LT, pcl::ConditionalRemoval< PointT >::setCondition(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::ConditionalRemoval< PointT >::setKeepOrganized().

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

/__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h
/__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/world_model.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::kinfuLS::WorldModel< PointT >

Member Typedef Documentation

◆ ConditionAndPtr

◆ ConditionOrPtr

◆ ConstPtr

◆ FieldComparisonConstPtr

◆ FieldList

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ WorldModel()

Member Function Documentation

◆ addSlice()

◆ cleanWorldFromNans()

◆ getExistingData()

◆ getWorld()

◆ getWorldAsCubes()

◆ getWorldSize()

◆ reset()

◆ setSliceAsNans()

template<typename PointT>
class pcl::kinfuLS::WorldModel< PointT >