Introduction

A PTK_PointCloud is used store a collection of 3D points. It is independent of source of the points and does not store sensor-specific metadata. It does, however, provide access to the tag metadata field on each point which allows for up to 32 application- or algorithm-specific tags to be created. Points within a point cloud are identified uniquely by integers, which are used for reading points and their tags. The identifying integers are assigned sequentially as points are added to a point cloud.

Collaboration diagram for PTK Point Cloud:

Data Structures
struct	PTK_PointCloudConfig
	Definition of vector meta data. More...

Functions
uint32_t	PTK_PointCloud_getSize (const PTK_PointCloudConfig *cfg)
	Compute how much memory is required to store a complete PTK_PointCloud struct matching the given configuration. More...

PTK_PointCloud *	PTK_PointCloud_init (uint8_t memPtr, const PTK_PointCloudConfig cfg)
	Initialize an externally allocated piece of memory to be a valid PTK_PointCloud. More...

void	PTK_PointCloud_clear (PTK_PointCloud *pc)
	Clear a PTK_PointCloud by setting used point count to zero.. More...

uint32_t	PTK_PointCloud_hasSpace (const PTK_PointCloud *pc, uint32_t points)
	Check if the given point cloud has enough space to accomodate the addition of points additional PTK_Points. More...

uint32_t	PTK_PointCloud_add (PTK_PointCloud pc, const PTK_Point xyzw)
	Add a copy of the given point to the point cloud, if there is room. More...

uint32_t	PTK_PointCloud_addv (PTK_PointCloud pc, const PTK_Point xyzw, uint32_t numPoints)
	Add a copy of each of the points in the array pv to the given point cloud, if there is enough space. If not, no points are copied. The IDs of the copied points are sequential after the first one, so only the first ID is returned. More...

uint32_t	PTK_PointCloud_getPointCount (const PTK_PointCloud *pc)
	This returns the total number of points that have been added since PTK_PointCloud_clear() was last called. More...

uint32_t	PTK_PointCloud_getPoint (const PTK_PointCloud pc, uint32_t id, PTK_Point dst)
	This copies a PTK_Point out of the point cloud into another (user-supplied) memory location. More...

static PTK_Point *	PTK_PointCloud_refPoint (PTK_PointCloud *pc, uint32_t id)
	This gets a direct pointer to a specific PTK_Point within the point cloud. More...

const PTK_Point *	PTK_PointCloud_crefPoint (const PTK_PointCloud *pc, uint32_t id)
	This gets an immutable pointer to a specific PTK_Point within the point cloud. More...

void	PTK_PointCloud_tag (PTK_PointCloud *pc, uint32_t id, uint32_t tag)
	This sets tag bits for the point with the given identifier. More...

void	PTK_PointCloud_untag (PTK_PointCloud *pc, uint32_t id, uint32_t tag)
	This removes tag bits for the point at the given identifier. More...

uint32_t	PTK_PointCloud_isTagged (const PTK_PointCloud *pc, uint32_t id, uint32_t tag)
	This checks if all of the bits set in tag are also set in the tag for the specified PTK_Point. Note that the point in question may have additional tag bits set, but it may not be missing any. More...

uint32_t	PTK_PointCloud_readTag (const PTK_PointCloud *pc, uint32_t id)
	This reads the tag for a given point identifier in the given point cloud. More...

static void	PTK_PointCloud_copyMetaData (PTK_PointCloud dst, const PTK_PointCloud src)
	Copy metadata from src to dst. More...

uint32_t	PTK_PointCloud_copy (PTK_PointCloud dst, const PTK_PointCloud src)
	Copy points from src to dst, appending points so long as space remains in the dst cloud. More...

void	PTK_PointCloud_transform (PTK_PointCloud dst, PTK_PointCloud src, const PTK_RigidTransform *M)
	Each point in src is transformed by M and then written to the same location in dst. The tag bits are also propagated to dst, and the total number of points present in dst is updated accordingly. src and dst may point to the same PTK_PointCloud. In practice, it is most common for dst to be empty first or to have src= dst. The return value indicates the number of successfully transformed and copied points, which may be important if transforming and appending onto a non-empty cloud for detecting space limitations. More...

void	PTK_PointCloud_scale (PTK_PointCloud dst, PTK_PointCloud src, float scale)
	Each point in src is scaled by scale and then written with the same id in dst. The tag bits are also propagated to dst. src and dst may point to the same PTK_PointCloud. In practice, it is most common for dst to be empty first, or to have src = dst. The return value indicates how many points were scaled and appended to dst, which may be important if appending to a non-empty point cloud for detectin space limitations. More...

void	PTK_PointCloud_getMinMax (const PTK_PointCloud pc, const PTK_Point basis, float minVal, float maxVal, uint32_t minId, uint32_t maxId)
	Find PTK_Points with the minimum and maximum PTK Vector dot4 value computed with the given basis. If you are using tag bits rather than a fourth coordinate, be sure to set basis.meta.w to 0. More...

uint32_t	PTK_PointCloud_ransacPlane (const PTK_PointCloud pc, const uint32_t __restrict ids, uint32_t N, float tol, uint32_t iters, float nd, uint32_t __restrict foundInliers)

Function Documentation

◆ PTK_PointCloud_getSize()

uint32_t PTK_PointCloud_getSize ( const PTK_PointCloudConfig * cfg )

Compute how much memory is required to store a complete PTK_PointCloud struct matching the given configuration.

Parameters

[in] cfg Configuration structure defining the point cloud.

Returns: Amount of memory required, in bytes.

◆ PTK_PointCloud_init()

PTK_PointCloud* PTK_PointCloud_init	(	uint8_t *	memPtr,
		const PTK_PointCloudConfig *	cfg
	)

Initialize an externally allocated piece of memory to be a valid PTK_PointCloud.

Parameters

[out]	memPtr	Externally allocated memory of at least PTK_PointCloud_getSize() bytes.
[in]	cfg	Configuration structure to initialize from.

Returns: Pointer to newly initialized PTK_PointCloud instance.

◆ PTK_PointCloud_clear()

void PTK_PointCloud_clear ( PTK_PointCloud * pc )

Clear a PTK_PointCloud by setting used point count to zero..

Parameters

[out] pc Point cloud to modify.

◆ PTK_PointCloud_hasSpace()

uint32_t PTK_PointCloud_hasSpace	(	const PTK_PointCloud *	pc,
		uint32_t	points
	)

Check if the given point cloud has enough space to accomodate the addition of points additional PTK_Points.

Parameters

[out]	pc	The point cloud to check.
[in]	points	The number of points to check for.

Returns

1 if there is enough room
0, otherwise

◆ PTK_PointCloud_add()

uint32_t PTK_PointCloud_add	(	PTK_PointCloud *	pc,
		const PTK_Point *	xyzw
	)

Add a copy of the given point to the point cloud, if there is room.

Parameters

[in]	pc	Add to this point cloud.
[in]	xyzw	Point to add.

Returns

1 if there is enough room
PTK_POINTCLOUD_INVALID_POINT, otherwise

◆ PTK_PointCloud_addv()

uint32_t PTK_PointCloud_addv	(	PTK_PointCloud *	pc,
		const PTK_Point *	xyzw,
		uint32_t	numPoints
	)

Add a copy of each of the points in the array pv to the given point cloud, if there is enough space. If not, no points are copied. The IDs of the copied points are sequential after the first one, so only the first ID is returned.

Parameters

[out]	pc	Add points to this point cloud.
[in]	xyzw	Pointer to several points in a contiguous block of memory.
[in]	numPoints	The number of points to add.

Returns

The ID of the first point added (all IDs are sequential), if successful
- PTK_POINTCLOUD_INVALID_POINT, otherwise

◆ PTK_PointCloud_getPointCount()

uint32_t PTK_PointCloud_getPointCount ( const PTK_PointCloud * pc )

This returns the total number of points that have been added since PTK_PointCloud_clear() was last called.

Parameters

[in] pc Read from this point cloud.

Returns: Total number of points that have been added.

◆ PTK_PointCloud_getPoint()

uint32_t PTK_PointCloud_getPoint	(	const PTK_PointCloud *	pc,
		uint32_t	id,
		PTK_Point *	dst
	)

This copies a PTK_Point out of the point cloud into another (user-supplied) memory location.

Parameters

[out]	pc	Read from this point cloud.
[in]	id	Read point with the given identifier.
[out]	dst	Copy the point here.

Returns

1 if a point was read
0 otherwise

◆ PTK_PointCloud_refPoint()

static PTK_Point* PTK_PointCloud_refPoint	(	PTK_PointCloud *	pc,
		uint32_t	id
	)

inlinestatic

This gets a direct pointer to a specific PTK_Point within the point cloud.

Parameters

[in]	pc	Get point from this cloud.
[in]	id	Read point with the given identifier.

Returns

Direct pointer to the PTK_Point requested, if id is valid
NULL, otherwise

◆ PTK_PointCloud_crefPoint()

const PTK_Point* PTK_PointCloud_crefPoint	(	const PTK_PointCloud *	pc,
		uint32_t	id
	)

This gets an immutable pointer to a specific PTK_Point within the point cloud.

Parameters

[in]	pc	Get point from this cloud.
[in]	id	Read point with the given identifier.

Returns

Direct pointer to the PTK_Point requested, if id is valid
NULL, otherwise

◆ PTK_PointCloud_tag()

void PTK_PointCloud_tag	(	PTK_PointCloud *	pc,
		uint32_t	id,
		uint32_t	tag
	)

This sets tag bits for the point with the given identifier.

Parameters

[in,out]	pc	Modify a point in this cloud.
[in]	id	Tag the point with this identifier.
[in]	tag	Apply these tag bits.

◆ PTK_PointCloud_untag()

void PTK_PointCloud_untag	(	PTK_PointCloud *	pc,
		uint32_t	id,
		uint32_t	tag
	)

This removes tag bits for the point at the given identifier.

Parameters

[in]	pc	Modify a point in this cloud.
[in]	id	Untag the point with this identifier.
[in]	tag	Remove these tag bits

◆ PTK_PointCloud_isTagged()

uint32_t PTK_PointCloud_isTagged	(	const PTK_PointCloud *	pc,
		uint32_t	id,
		uint32_t	tag
	)

This checks if all of the bits set in tag are also set in the tag for the specified PTK_Point. Note that the point in question may have additional tag bits set, but it may not be missing any.

Parameters

[out]	pc	Check tag bits for a point in this cloud.
[in]	id	Check the point with this identifier.
[in]	tag	Check for these tag bits.

Returns

1 if of the given tag bits are set
0 otherwise

◆ PTK_PointCloud_readTag()

uint32_t PTK_PointCloud_readTag	(	const PTK_PointCloud *	pc,
		uint32_t	id
	)

This reads the tag for a given point identifier in the given point cloud.

Parameters

[in]	pc	Read tag bits for a point in this cloud.
[in]	id	Read tag bits for a point with this identifier.

Returns

The complete 32-bit tag for the specified point identifier, if id is in valid range.
0, otherwise

◆ PTK_PointCloud_copyMetaData()

static void PTK_PointCloud_copyMetaData	(	PTK_PointCloud *	dst,
		const PTK_PointCloud *	src
	)

inlinestatic

Copy metadata from src to dst.

Parameters

[out]	dst	Copy metadata to this cloud.
[in]	src	Copy metadata from this cloud.

◆ PTK_PointCloud_copy()

uint32_t PTK_PointCloud_copy	(	PTK_PointCloud *	dst,
		const PTK_PointCloud *	src
	)

Copy points from src to dst, appending points so long as space remains in the dst cloud.

Parameters

[out]	dst	Copy points to this cloud.
[in]	src	Copy points from this cloud.

Returns: Total number of points copied from src to dst.

◆ PTK_PointCloud_transform()

void PTK_PointCloud_transform	(	PTK_PointCloud *	dst,
		PTK_PointCloud *	src,
		const PTK_RigidTransform *	M
	)

Each point in src is transformed by M and then written to the same location in dst. The tag bits are also propagated to dst, and the total number of points present in dst is updated accordingly. src and dst may point to the same PTK_PointCloud. In practice, it is most common for dst to be empty first or to have src= dst. The return value indicates the number of successfully transformed and copied points, which may be important if transforming and appending onto a non-empty cloud for detecting space limitations.

Parameters

[out]	dst	Transformed points to be written here.
[out]	src	Source cloud to be transformed.
[in]	M	Rigid transformation to apply.

◆ PTK_PointCloud_scale()

void PTK_PointCloud_scale	(	PTK_PointCloud *	dst,
		PTK_PointCloud *	src,
		float	scale
	)

Each point in src is scaled by scale and then written with the same id in dst. The tag bits are also propagated to dst. src and dst may point to the same PTK_PointCloud. In practice, it is most common for dst to be empty first, or to have src = dst. The return value indicates how many points were scaled and appended to dst, which may be important if appending to a non-empty point cloud for detectin space limitations.

Parameters

[out]	dst	Scaled points written here.
[out]	src	Cloud to be scaled.
[in]	scale	Scale factor.

◆ PTK_PointCloud_getMinMax()

void PTK_PointCloud_getMinMax	(	const PTK_PointCloud *	pc,
		const PTK_Point *	basis,
		float *	minVal,
		float *	maxVal,
		uint32_t *	minId,
		uint32_t *	maxId
	)

Find PTK_Points with the minimum and maximum PTK Vector dot4 value computed with the given basis. If you are using tag bits rather than a fourth coordinate, be sure to set basis.meta.w to 0.

Parameters

[in]	pc	Cloud to operate on.
[in]	basis	Basis vector for inner product metric.
[out]	minVal	Minimum value written here.
[out]	maxVal	Maximum value written here.
[out]	minId	Minimum id written here.
[out]	maxId	Maximum id written here.

◆ PTK_PointCloud_ransacPlane()

uint32_t PTK_PointCloud_ransacPlane	(	const PTK_PointCloud *	pc,
		const uint32_t *__restrict	ids,
		uint32_t	N,
		float	tol,
		uint32_t	iters,
		float *	nd,
		uint32_t *__restrict	foundInliers
	)

Parameters

[in]	pc
[in]	ids
[in]	N
[in]	tol
[in]	iters
[out]	nd
[out]	foundInliers

Returns

Introduction

Data Structures

Functions

Function Documentation

◆ PTK_PointCloud_getSize()

◆ PTK_PointCloud_init()

◆ PTK_PointCloud_clear()

◆ PTK_PointCloud_hasSpace()

◆ PTK_PointCloud_add()

◆ PTK_PointCloud_addv()

◆ PTK_PointCloud_getPointCount()

◆ PTK_PointCloud_getPoint()

◆ PTK_PointCloud_refPoint()

◆ PTK_PointCloud_crefPoint()

◆ PTK_PointCloud_tag()

◆ PTK_PointCloud_untag()

◆ PTK_PointCloud_isTagged()

◆ PTK_PointCloud_readTag()

◆ PTK_PointCloud_copyMetaData()

◆ PTK_PointCloud_copy()

◆ PTK_PointCloud_transform()

◆ PTK_PointCloud_scale()

◆ PTK_PointCloud_getMinMax()

◆ PTK_PointCloud_ransacPlane()