MR::PointCloud Struct Reference

#include <MRMesh/MRPointCloud.h>

Public Member Functions
size_t	calcNumValidPoints () const
	computes the total number of valid points in the cloud
bool	hasNormals () const
	returns true if there is a normal for each point
const VertBitSet &	getVertIds (const VertBitSet *region) const
	if region pointer is not null then converts it in reference, otherwise returns all valid points in the cloud
const AABBTreePoints &	getAABBTree () const
	returns cached aabb-tree for this point cloud, creating it if it did not exist in a thread-safe manner
const AABBTreePoints *	getAABBTreeNotCreate () const
	returns cached aabb-tree for this point cloud, but does not create it if it did not exist
Box3f	getBoundingBox () const
	returns the minimal bounding box containing all valid vertices (implemented via getAABBTree())
Box3f	computeBoundingBox (const AffineXf3f *toWorld=nullptr) const
Box3f	computeBoundingBox (const VertBitSet *region, const AffineXf3f *toWorld=nullptr) const
Vector3f	findCenterFromPoints () const
	computes average position of all valid points
Vector3f	findCenterFromBBox () const
	computes bounding box and returns its center
void	transform (const AffineXf3f &xf, const VertBitSet *region=nullptr)
std::vector< VertId >	getLexicographicalOrder () const
	returns all valid point ids sorted lexicographically by their coordinates (optimal for uniform sampling)
void	addPartByMask (const PointCloud &from, const VertBitSet &fromVerts, const CloudPartMapping &outMap={}, const VertNormals *extNormals=nullptr)
VertId	addPoint (const Vector3f &point)
	appends a point and returns its VertId
VertId	addPoint (const Vector3f &point, const Vector3f &normal)
	appends a point with normal and returns its VertId
void	mirror (const Plane3f &plane)
	reflects the points from a given plane
void	flipOrientation (const VertBitSet *region=nullptr)
	flip orientation (normals) of given points (or all valid points is nullptr)
bool	pack (VertMap *outNew2Old=nullptr)
VertBMap	pack (Reorder reoder)
void	invalidateCaches ()
	Invalidates caches (e.g. aabb-tree) after a change in point cloud.
size_t	heapBytes () const
	returns the amount of memory this object occupies on heap

Public Attributes
VertCoords	points
	coordinates of points
VertNormals	normals
	unit normal directions of points (can be empty if no normals are known)
VertBitSet	validPoints
	only points and normals corresponding to set bits here are valid

Member Function Documentation

addPartByMask()

void MR::PointCloud::addPartByMask	(	const PointCloud &	from,
		const VertBitSet &	fromVerts,
		const CloudPartMapping &	outMap = {},
		const VertNormals *	extNormals = nullptr )

appends points (and normals if it possible) (from) in addition to this points if this obj have normals and from obj has not it then don't do anything

Parameters

extNormals

if given then they will be copied instead of from.normals

addPoint() [1/2]

VertId MR::PointCloud::addPoint

(

const Vector3f &

point

)

appends a point and returns its VertId

addPoint() [2/2]

VertId MR::PointCloud::addPoint	(	const Vector3f &	point,
		const Vector3f &	normal )

appends a point with normal and returns its VertId

calcNumValidPoints()

size_t MR::PointCloud::calcNumValidPoints ( ) const

inlinenodiscard

computes the total number of valid points in the cloud

computeBoundingBox() [1/2]

Box3f MR::PointCloud::computeBoundingBox ( const AffineXf3f * toWorld = nullptr ) const

nodiscard

passes through all valid points and finds the minimal bounding box containing all of them; if toWorld transformation is given then returns minimal bounding box in world space

computeBoundingBox() [2/2]

Box3f MR::PointCloud::computeBoundingBox ( const VertBitSet * region, const AffineXf3f * toWorld = nullptr ) const

nodiscard

passes through all given vertices (or all valid vertices if region == null) and finds the minimal bounding box containing all of them if toWorld transformation is given then returns minimal bounding box in world space

findCenterFromBBox()

Vector3f MR::PointCloud::findCenterFromBBox ( ) const

nodiscard

computes bounding box and returns its center

findCenterFromPoints()

Vector3f MR::PointCloud::findCenterFromPoints ( ) const

nodiscard

computes average position of all valid points

flipOrientation()

void MR::PointCloud::flipOrientation

(

const VertBitSet *

region = nullptr

)

flip orientation (normals) of given points (or all valid points is nullptr)

getAABBTree()

const AABBTreePoints & MR::PointCloud::getAABBTree

(

)

const

returns cached aabb-tree for this point cloud, creating it if it did not exist in a thread-safe manner

getAABBTreeNotCreate()

const AABBTreePoints * MR::PointCloud::getAABBTreeNotCreate ( ) const

inlinenodiscard

returns cached aabb-tree for this point cloud, but does not create it if it did not exist

getBoundingBox()

Box3f MR::PointCloud::getBoundingBox ( ) const

nodiscard

returns the minimal bounding box containing all valid vertices (implemented via getAABBTree())

getLexicographicalOrder()

std::vector< VertId > MR::PointCloud::getLexicographicalOrder ( ) const

nodiscard

returns all valid point ids sorted lexicographically by their coordinates (optimal for uniform sampling)

getVertIds()

const VertBitSet & MR::PointCloud::getVertIds ( const VertBitSet * region ) const

inlinenodiscard

if region pointer is not null then converts it in reference, otherwise returns all valid points in the cloud

if region is given, then region must be a subset of valid points

hasNormals()

bool MR::PointCloud::hasNormals ( ) const

inlinenodiscard

returns true if there is a normal for each point

heapBytes()

size_t MR::PointCloud::heapBytes ( ) const

nodiscard

returns the amount of memory this object occupies on heap

invalidateCaches()

void MR::PointCloud::invalidateCaches ( )

inline

Invalidates caches (e.g. aabb-tree) after a change in point cloud.

mirror()

void MR::PointCloud::mirror

(

const Plane3f &

plane

)

reflects the points from a given plane

pack() [1/2]

VertBMap MR::PointCloud::pack

(

Reorder

reoder

)

tightly packs all arrays eliminating invalid points, reorders valid points according to given strategy;

Returns

points mapping: old -> new

pack() [2/2]

bool MR::PointCloud::pack

(

VertMap *

outNew2Old = nullptr

)

tightly packs all arrays eliminating invalid points, but relative order of valid points is preserved; returns false if the cloud was packed before the call and nothing has been changed; if pack is done optionally returns mappings: new.id -> old.id

transform()

void MR::PointCloud::transform	(	const AffineXf3f &	xf,
		const VertBitSet *	region = nullptr )

applies given transformation to specified points and corresponding transformation to their normals if present; if region is nullptr, all valid points are modified

Member Data Documentation

normals

VertNormals MR::PointCloud::normals

unit normal directions of points (can be empty if no normals are known)

points

VertCoords MR::PointCloud::points

coordinates of points

validPoints

VertBitSet MR::PointCloud::validPoints

only points and normals corresponding to set bits here are valid

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The documentation for this struct was generated from the following file:

• MRMesh/MRPointCloud.h