Stores a simple Dense Point Cloud object for the FlowEngine interface. More...

#include <StereoPointCloudInterface.h>

Inheritance diagram for FlowEngine::StereoPointCloudInterface:

Public Member Functions
virtual FLE_DLL	~StereoPointCloudInterface ()=default
	Default virtual destructor.

virtual FLE_DLL Index	getPointCount () const =0

virtual FLE_DLL Index	getSeedPointCount () const =0

virtual FLE_DLL Result	getPointPosition (Index idx, Point3 &outPosition) const =0

virtual FLE_DLL Result	getPointNormal (Index idx, Normal &outNormal) const =0

virtual FLE_DLL Result	getPointColor (Index idx, Color &outColor) const =0

virtual FLE_DLL Index	getPointVisibilityCount (Index pointIndex) const =0

virtual FLE_DLL Result	getPointVisibility (Index pointIndex, Index visibilityIndex, CameraInterface &outCamera) const =0

virtual FLE_DLL double	getMeanPointDistance () const =0

virtual FLE_DLL Result	mergeWith (ConstBuffer< StereoPointCloudInterface * > others, bool lastMerge=true)=0

virtual FLE_DLL Result	copyFrom (const StereoPointCloudInterface &inStereoPoints)=0

virtual FLE_DLL Result	reset (Size vertexCount)=0

virtual FLE_DLL Result	reset (ConstBuffer< Point3 > vertexData, ConstBuffer< Color > colorData, ConstBuffer< Normal > normalData)=0

virtual FLE_DLL Result	replaceVisibility (ConstBuffer< CameraInterface * > cameras)=0

virtual FLE_DLL Result	setPointPosition (Index idx, const Point3 &position)=0

virtual FLE_DLL Result	setPointNormal (Index idx, const Normal &normal)=0

virtual FLE_DLL Result	setPointColor (Index idx, const Color &color)=0

virtual FLE_DLL Result	transform (ConstBuffer< double > transform)=0

virtual FLE_DLL Result	initializeSeeds (LogListenerInterface &logListener, Index seedPoints, Buffer< CameraInterface * > bubbleViewCameras)=0

virtual FLE_DLL Result	removePoint (Index index)=0

virtual FLE_DLL Result	removePoints (ConstBuffer< Index > indexes)=0

virtual FLE_DLL Result	copyPointsPositions (Buffer< Point3 > outData) const =0

virtual FLE_DLL Result	saveToPly (ConstStringBuffer filePath, bool saveColors=true, bool saveNormals=true, bool useBinaryEncoding=true) const =0
	Save the point cloud to PLY file.

virtual FLE_DLL Result	loadFromPly (ConstStringBuffer filePath)=0

virtual FLE_DLL Result	decimateByMaxPointCount (int targetPointCount)=0

virtual FLE_DLL Result	decimateByMaxPointCountOctree (unsigned int maxPointCount)=0

virtual FLE_DLL Result	decimateByPointsDistance (double distance)=0

virtual FLE_DLL Result	densificateByMaxPointCount (int targetPointCount)=0

virtual FLE_DLL Result	projectOnRegularGrid (double gridSpacing, double radius, StandardAxis axis)=0

Public Member Functions inherited from FlowEngine::NamedObjectInterface
virtual FLE_DLL	~NamedObjectInterface ()=default
	Default virtual destructor.

virtual FLE_DLL Size	getNameLength () const =0

virtual FLE_DLL Result	getName (StringBuffer outName) const =0

virtual FLE_DLL Result	setName (ConstStringBuffer name)=0

Detailed Description

Stores a simple Dense Point Cloud object for the FlowEngine interface.

Nothing needed in input. Everything will be filled by FlowEngine during MVS Computation.

Constructor & Destructor Documentation

◆ ~StereoPointCloudInterface()

virtual FLE_DLL FlowEngine::StereoPointCloudInterface::~StereoPointCloudInterface ( )

virtualdefault

Default virtual destructor.

Member Function Documentation

◆ copyFrom()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::copyFrom ( const StereoPointCloudInterface & inStereoPoints )

pure virtual

Copy data from another Stereo Point cloud.

Parameters

[in] inStereoPoints the stereo point cloud in input

Returns

One of the following result codes:

Result::Success – if the mesh was successfully copied.
Result::InvalidArgument – If the mesh does not contain a valid object

◆ copyPointsPositions()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::copyPointsPositions ( Buffer< Point3 > outData ) const

pure virtual

Copy all point positions. This function is not available in the free version of the SDK.

Parameters

[in,out] outData a buffer large enough to countain getPointCount() elements of Point3

◆ decimateByMaxPointCount()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::decimateByMaxPointCount ( int targetPointCount )

pure virtual

Decimates the point cloud to reach a certain amount of points.

Parameters

[in] targetPointCount the number of points the point cloud will have after the decimation. If the targetPointCount is >= getPointCount() the function does nothing.

Returns

One of the following result codes:

Result::Success – if this StereoPointCloud has been successfully decimated.
Result::OutOfMemoryError – if the system ran out of memory.
Result::GenericError – if any other error occurred.

◆ decimateByMaxPointCountOctree()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::decimateByMaxPointCountOctree ( unsigned int maxPointCount )

pure virtual

Decimates the point cloud by supplying a maximum point count (using octree)

Parameters

[in] maxPointCount the number of points the point cloud will have after the decimation. If the targetPointCount is >= getPointCount() the function does nothing.

Returns

One of the following result codes:

Result::Success – if this StereoPointCloud has been successfully decimated.
Result::OutOfMemoryError – if the system ran out of memory.
Result::GenericError – if any other error occurred.

◆ decimateByPointsDistance()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::decimateByPointsDistance ( double distance )

pure virtual

Decimates the point cloud by supplying the points maximum distance.

Parameters

[in] distance the maximum distance allowed between points.

Returns

One of the following result codes:

Result::Success – if this StereoPointCloud has been successfully decimated.
Result::OutOfMemoryError – if the system ran out of memory.
Result::GenericError – if any other error occurred.

◆ densificateByMaxPointCount()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::densificateByMaxPointCount ( int targetPointCount )

pure virtual

Densificates the point cloud up to the specified point count

Precondition: the object must have valid visibility

Parameters

[in] targetPointCount the number of points the point cloud will have after the densification. If the targetPointCount is < getPointCount() the function does nothing.

Returns

One of the following result codes:

Result::Success – if this StereoPointCloud has been successfully decimated.
Result::PreconditionNotMet – if this stereo point cloud has not valid visibility information.
Result::OutOfMemoryError – if the system ran out of memory.
Result::GenericError – if any other error occurred.

◆ getMeanPointDistance()

virtual FLE_DLL double FlowEngine::StereoPointCloudInterface::getMeanPointDistance ( ) const

pure virtual

Returns: the mean point distance in the point cloud.

◆ getPointColor()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::getPointColor	(	Index	idx,
		Color &	outColor
	)		const

pure virtual

Returns the color of the point at index idx. This function is not available in the free version of the SDK.

Parameters

[in]	idx	the index of the position to retrieve. Must be in the range [0, getPointCount())
[out]	outColor	the retrieved point color

◆ getPointCount()

virtual FLE_DLL Index FlowEngine::StereoPointCloudInterface::getPointCount ( ) const

pure virtual

Returns: the number of points in this stereo point cloud

◆ getPointNormal()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::getPointNormal	(	Index	idx,
		Normal &	outNormal
	)		const

pure virtual

Returns the position of the point at index idx. This function is not available in the free version of the SDK.

Parameters

[in]	idx	the index of the position to retrieve. Must be in the range [0, getPointCount())
[out]	outNormal	the retrieved point normal

◆ getPointPosition()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::getPointPosition	(	Index	idx,
		Point3 &	outPosition
	)		const

pure virtual

Returns the position of the point at index idx. This function is not available in the free version of the SDK.

Parameters

[in]	idx	the index of the position to retrieve. Must be in the range [0, getPointCount())
[out]	outPosition	the retrieved point position

◆ getPointVisibility()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::getPointVisibility	(	Index	pointIndex,
		Index	visibilityIndex,
		CameraInterface &	outCamera
	)		const

pure virtual

Query visibility information about a point.

Parameters

[in]	pointIndex	the point to query for visibility info. Must be in the range [0, getPointCount())
[in]	visibilityIndex	the index of the visibility entry. Must be in the range [0, getPointVisibilityCount( pointIndex ))
[in,out]	outCamera	the Camera object to fill with the information,

Returns

One of the following result codes:

Result::Success – if outCamera is filled with the visibility information queried.
Result::InvalidArgument –
- if outCamera is not a valid Camera object.
- if pointIndex is not in the valid range.
- if visibilityInfo is not in the valid range.
Result::FeatureNotAvailable – if this method is called by the free version of the SDK.

Note: This function is not available in the free version of the SDK.

◆ getPointVisibilityCount()

virtual FLE_DLL Index FlowEngine::StereoPointCloudInterface::getPointVisibilityCount ( Index pointIndex ) const

pure virtual

Query the number of visibility information present in a point.

Parameters

[in] pointIndex the index of the point to query for visibility count. Must be in the range [0, getPointCount())

Returns: the number of visibility entries for the point at index pointIndex.

◆ getSeedPointCount()

virtual FLE_DLL Index FlowEngine::StereoPointCloudInterface::getSeedPointCount ( ) const

pure virtual

Returns: the number of seed points in this stereo point cloud

◆ initializeSeeds()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::initializeSeeds	(	LogListenerInterface &	logListener,
		Index	seedPoints,
		Buffer< CameraInterface * >	bubbleViewCameras
	)

pure virtual

Initialize an externally imported point cloud and perform the following internal operation: Seed Points setting, points reindexing, duplicate points removal, and hidden bubble view visibility setting (optional).

Parameters

[in]	logListener	log interface for log output
[in]	seedPoints	Number of seeds points. If zero, keeps the existing number (likely all the points)
[in]	bubbleViewCameras	(optional) bubble view camera list. The vector can be empty.

Returns

One of the following result codes:

Result::Success – if the stereo point cloud was initialized successfully.
Result::InvalidArgument – if provided cameras are not bubble view cameras
Result::Error – if an error occurs

◆ loadFromPly()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::loadFromPly ( ConstStringBuffer filePath )

pure virtual

Load the point cloud from a PLY file

Parameters

[in] filePath a string buffer containing the UTF-8 encoded path to the PLY file.

Returns

One of the following result codes:

Result::Success – if this StereoPointCloud has been succesfully loaded from the PLY file.
Result::InvalidArgument –
- if filePath is not a valid string buffer.
Result::FileNotFound – if filePath does not point to an existing file.
Result::GenericIOError – if filePath does not point to a valid PLY file or if there was a generic IO error.
Result::FeatureNotAvailable – when FlowEngine is built with GCC < 5

◆ mergeWith()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::mergeWith	(	ConstBuffer< StereoPointCloudInterface * >	others,
		bool	lastMerge = `true`
	)

pure virtual

Merge this point cloud data with others. All dense point clouds involved in the process must have valid visibility. Other stereo point clouds are left untouched.

Parameters

[in]	others	a buffer of StereoPointCloudInterface
[in]	lastMerge	set to true on the last merge operation to close a merging sequence. Forgetting to set lastMerge to true on the last merge operation will leave the StereoPointCloud to an undefined state.

Returns

One of the following result codes:

Result::Success – if this point cloud has been successfully merged with all others.
Result::InvalidArgument –
- if others is not a valid buffer or contains invalid instances.
- if this point cloud has not valid visibility.
- if any other point cloud has not valid visibility.
Result::OutOfMemoryError – if the system ran out of memory.
Result::GenericError – if any other error occurred. Check the log for more information.

◆ projectOnRegularGrid()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::projectOnRegularGrid	(	double	gridSpacing,
		double	radius,
		StandardAxis	axis
	)

pure virtual

Projects the points on a regular grid,

Parameters

gridSpacing	the length of a grid side. Must be greater than 0.
radius	the neighbor searching limit. Specify 0 for no limit.
axis	the grid up vector.

Returns

One of the following result codes:

Result::Success – if this StereoPointCloud has been successfully projected.
Result::InvalidArgument –
- if gridSpacing is not greater than 0.
Result::OutOfMemoryError – if the system ran out of memory.
Result::GenericError – if any other error occurred.

◆ removePoint()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::removePoint ( Index index )

pure virtual

Removes one point from this stereo point cloud.

Parameters

[in] index the index of the point to be removed. Must be in the range [0, getPointCount()).

Note: This method is not available in the free version of the SDK.

Returns

One of the following result codes:

Result::Success – if the point was removed from this stereo point cloud.
Result::InvalidArgument – if index is not in the valid range.
Result::OutOfMemoryError – if the system reported a bad memory allocation.
Result::GenericError – if an unspecified error occurred.
Result::FeatureNotAvailable – if this method is called by the free version of the SDK.

◆ removePoints()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::removePoints ( ConstBuffer< Index > indexes )

pure virtual

Removes one or more points from this stereo point cloud.

Parameters

[in] indexes a buffer of point indexes to be removed. Each index must be in the range [0, getPointCount()).

Note: This method is not available in the free version of the SDK.

Returns

One of the following result codes:

Result::Success – if all points specified were removed from this stereo point cloud.
Result::InvalidArgument –
- if indexes is not a valid buffer.
- if any index in indexes is not in the valid range.
Result::OutOfMemoryError – if the system reported a bad memory allocation.
Result::GenericError – if an unspecified error occurred.
Result::FeatureNotAvailable – if this method is called by the free version of the SDK.

◆ replaceVisibility()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::replaceVisibility ( ConstBuffer< CameraInterface * > cameras )

pure virtual

Replaces this stereo point cloud visibility.

Parameters

[in] cameras a buffer of Camera(s) that will replace the internal ones. New cameras should match the number, the name and the dimensions of the current ones in this object.

Note

This function is not available in the free version of the SDK.

Returns

One of the following result codes:

Result::Success – if this mesh was reset successfully.
Result::InvalidArgument –
- if cameras is not a valid buffer or its contents do not satisfy the required constraints.
Result::GenericError – if the method failed for any other reason.
Result::FeatureNotAvailable – when called by the free version of the SDK.

◆ reset() [1/2]

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::reset	(	ConstBuffer< Point3 >	vertexData,
		ConstBuffer< Color >	colorData,
		ConstBuffer< Normal >	normalData
	)

pure virtual

Reset this stereo point cloud object. All the properties will be invalidated.

Parameters

[in]	vertexData	a buffer of Point3(s). Must contain at least 3 points.
[in]	colorData	(optional) buffer of Color(s). When not specified or its length differs from vertexData's, points are colored white (255, 255, 255) and can be recomputed with FlowEngineInterface::recomputeVisibility.
[in]	normalData	(optional) buffer of Normal(s). Can be recomputed with FlowEngineInterface::recomputeVisibility.

Note

After this operation, this object will not have valid visibility. You can recompute visibility data using FlowEngineInterface. See FlowEngineInterface::recomputeVisibility.
This function is not available in the free version of the SDK.

Returns

One of the following result codes:

Result::Success – if this mesh was reset successfully.
Result::InvalidArgument –
- if vertexData is not a valid buffer or its length is less than 3.
- if normalData is not a valid buffer or its length is less than 1.
- if colorData is a valid buffer but its length is different from vertexData.
Result::OutOfMemoryError – if the system reported a bad alloc.
Result::GenericError – if the reset failed for any other reason.
Result::FeatureNotAvailable – when called by the free version of the SDK.

◆ reset() [2/2]

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::reset ( Size vertexCount )

pure virtual

Reset the stereo point cloud. All the properties will be invalidated, and you must refill the vector with the manual set functions.

Parameters

[in] vertexCount the number of vertices

Note

After this operation, the object will not have a valid visibility. You can recompute the visibility using FlowEngineInterface.

◆ saveToPly()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::saveToPly	(	ConstStringBuffer	filePath,
		bool	saveColors = `true`,
		bool	saveNormals = `true`,
		bool	useBinaryEncoding = `true`
	)		const

pure virtual

Save the point cloud to PLY file.

◆ setPointColor()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::setPointColor	(	Index	idx,
		const Color &	color
	)

pure virtual

Change the color of a point

Parameters

[in]	idx	the point index. Must be in the range [0, getPointCount())
[in]	color	the new point color

Returns

One of the following result codes:

Result::Success – if the point color was updated successfully.
Result::InvalidArgument – if idx is not in the valid range.

◆ setPointNormal()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::setPointNormal	(	Index	idx,
		const Normal &	normal
	)

pure virtual

Change the normal of a point

Parameters

[in]	idx	the point index. Must be in the range [0, getPointCount())
[in]	normal	the new point normal

Returns

One of the following result codes:

Result::Success – if the point normal was updated successfully.
Result::InvalidArgument – if idx is not in the valid range.

◆ setPointPosition()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::setPointPosition	(	Index	idx,
		const Point3 &	position
	)

pure virtual

Change the position of a point

Parameters

[in]	idx	the point index. Must be in the range [0, getPointCount())
[in]	position	the new point position

Returns

One of the following result codes:

Result::Success – if the point position was updated successfully.
Result::InvalidArgument – if idx is not in the valid range.

◆ transform()

virtual FLE_DLL Result FlowEngine::StereoPointCloudInterface::transform ( ConstBuffer< double > transform )

pure virtual

Transforms every point in the point cloud with a SRT matrix.

Parameters

[in] transform a buffer of doubles representing the 4x4 transform matrix that will be applied to every point.

Returns

One of the following result codes:

Result::Success – if the stereo point cloud was transformed successfully.
Result::InvalidArgument – if transform is not a valid buffer or is not 16 doubles long.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~StereoPointCloudInterface()

Member Function Documentation

◆ copyFrom()

◆ copyPointsPositions()

◆ decimateByMaxPointCount()

◆ decimateByMaxPointCountOctree()

◆ decimateByPointsDistance()

◆ densificateByMaxPointCount()

◆ getMeanPointDistance()

◆ getPointColor()

◆ getPointCount()

◆ getPointNormal()

◆ getPointPosition()

◆ getPointVisibility()

◆ getPointVisibilityCount()

◆ getSeedPointCount()

◆ initializeSeeds()

◆ loadFromPly()

◆ mergeWith()

◆ projectOnRegularGrid()

◆ removePoint()

◆ removePoints()

◆ replaceVisibility()

◆ reset() [1/2]

◆ reset() [2/2]

◆ saveToPly()

◆ setPointColor()

◆ setPointNormal()

◆ setPointPosition()

◆ transform()