FusedPointCloud Class Reference

A fused point cloud contains both geometric and color data of the scene captured by spatial mapping. More...

Functions
def	chunks (self)
	contains the list of chunks
def	__getitem__ (self, x)
	gets a chunk from the list
def	vertices (self)
	Vertices are defined by colored 3D points {x, y, z, rgba}. More...
def	normals (self)
	Normals are defined by three components, {nx, ny, nz}. More...
def	save (self, str filename, typeMesh=MESH_FILE_FORMAT.OBJ, id=[])
	Saves the current fused point cloud into a file. More...
def	load (self, str filename, update_chunk_only=True)
	Loads the fused point cloud from a file. More...
def	clear (self)
	Clears all the data.
def	update_from_chunklist (self, id=[])
	Updates vertices / normals / colors from chunks' data pointed by the given chunk list. More...
def	get_number_of_points (self)
	Computes the total number of triangles stored in all chunks. More...

Detailed Description

A fused point cloud contains both geometric and color data of the scene captured by spatial mapping.

By default the fused point cloud is defined as a set of point cloud chunks, this way we update only the required data, avoiding a time consuming remapping process every time a small part of the fused point cloud is changed.

Functions

vertices()

def vertices

(

self

)

Vertices are defined by colored 3D points {x, y, z, rgba}.

The information is stored in a numpy array.

normals()

def normals

(

self

)

Normals are defined by three components, {nx, ny, nz}.

Normals are defined for each vertices. The information is stored in a numpy array.

save()

def save	(		self,
		str	filename,
			typeMesh = MESH_FILE_FORMAT.OBJ,
			id = []
	)

Saves the current fused point cloud into a file.

Parameters

filename	: the path and filename of the mesh.
typeMesh	: defines the file type (extension). default : MESH_FILE_FORMAT.OBJ.
id	: Specifies a set of chunks to be saved, if none provided all chunks are saved. default : (empty).

Returns

True if the file was successfully saved, false otherwise.

Note

Only MESH_FILE_FORMAT.OBJ support textures data.

This function operates on the fused point cloud not on the chunks. This way you can save different parts of your fused point cloud (update with update_from_chunklist).

load()

def load	(		self,
		str	filename,
			update_chunk_only = True
	)

Loads the fused point cloud from a file.

Parameters

filename	: the path and filename of the fused point cloud (do not forget the extension).
update_chunk_only	: if set to false the fused point cloud data (vertices/normals) are updated otherwise only the chunk data is updated. default : true.

Returns

True if the loading was successful, false otherwise.

Note

Updating the fused point cloud is time consuming, consider using only chunks for better performances.

update_from_chunklist()

def update_from_chunklist	(		self,
			id = []
	)

Updates vertices / normals / colors from chunks' data pointed by the given chunk list.

Parameters

id	: the indices of chunks which will be concatenated. default : (empty).

Note

If the given chunkList is empty, all chunks will be used.

get_number_of_points()

def get_number_of_points

(

self

)

Computes the total number of triangles stored in all chunks.

Returns

The number of points stored in all chunks.