IPointCloud Class Reference

The interface of the point cloud object. More...

Public Member Functions
virtual void	Deserialize (const std::uint8_t *pBuffer, const std::size_t size)=0
	Fill this point cloud object from binary data.
virtual void	Deserialize (const std::vector< std::uint8_t > &data)=0
	Fill this point cloud object from binary data.
virtual const std::vector< std::uint16_t > &	GetAmbient () const =0
	Get the background light of points of the current line.
virtual const std::vector< rgb > &	GetColors () const =0
	Get the rgb color values for each point.
virtual const std::vector< float > &	GetConfidence () const =0
	Get the confidence of points of the current line.
virtual const std::vector< float > &	GetDistanceMm () const =0
	Get the measured distance of the points of the current line.
virtual std::uint64_t	GetFrameTimestampUs () const =0
	Get the frame timestamp associated with this dataset.
virtual const ImuData &	GetImuData () const =0
	Get the IMU data of the current line.
virtual std::uint64_t	GetLineTimestampUs () const =0
	Get the line timestamp associated with this dataset.
virtual const MetaData &	GetMetaData () const =0
	Get the metadata of the current line.
virtual std::size_t	GetNrPoints () const =0
	Get the number of points in the current line.
virtual const OnboardProbes &	GetOnboardProbes () const =0
	Get the temperature and humidity of the current line.
virtual const std::vector< float > &	GetReflectivity () const =0
	Get the reflectivity of the points of the current line.
virtual const std::vector< float > &	GetXMm () const =0
	Get the x reconstruction of points of the current line.
virtual const std::vector< float > &	GetYMm () const =0
	Get the y reconstruction of points of the current line.
virtual const std::vector< float > &	GetZMm () const =0
	Get the z reconstruction of points of the current line.
virtual const std::vector< std::uint8_t > &	Serialize ()=0
	Convert this point cloud object into binary data.
virtual void	SetColors (const std::vector< rgb > &colors)=0
	Set the rgb color values for each point.

Detailed Description

The interface of the point cloud object.

Returned by the point cloud callback, each point cloud object represents a single line in the FOV of the sensor.

The point cloud object contains: the (x,y,z) reconstruction of each point, the measured distance from the sensor, the reflectivity and ambient light values, a confidence level for each point, and the metadata.

Member Function Documentation

Deserialize() [1/2]

virtual void Deserialize ( const std::uint8_t * pBuffer, const std::size_t size )

pure virtual

Fill this point cloud object from binary data.

Parameters

[in]	pBuffer	pointer to the start of the binary data.
[in]	size	number of bytes to read from the buffer.

Use this to efficiently load the point cloud from the XenomatiX proprietary format. The opposite of the Serialize() function.

Note

although it is acceptable to provide too many bytes, it is best that size matches exactly the required size. This function will keep an internal copy of the provided data.

Deserialize() [2/2]

virtual void Deserialize ( const std::vector< std::uint8_t > & data )

pure virtual

Fill this point cloud object from binary data.

Parameters

[in]

data

vector of bytes that hold the point cloud information.

Use this to efficiently load the point cloud from the XenomatiX proprietary format. The opposite of the Serialize() function.

Note

although it is acceptable to provide too many bytes, it is best that size matches exactly the required size. This function will keep an internal copy of the provided data.

GetAmbient()

virtual const std::vector< std::uint16_t > & GetAmbient ( ) const

pure virtual

Get the background light of points of the current line.

Returns

const reference to the vector with background light measurements. This vector holds GetNrPoints() elements.

GetColors()

virtual const std::vector< rgb > & GetColors ( ) const

pure virtual

Get the rgb color values for each point.

Returns

Reference to the vector containing rgb values .

If color information is present, the returned vector contains GetNrPoints() elements, each representing the color of a point.

If the point cloud does not contain color information, an empty vector is returned.

GetConfidence()

virtual const std::vector< float > & GetConfidence ( ) const

pure virtual

Get the confidence of points of the current line.

Returns

const reference to the vector confidences (between 0 and 1, where 1 is 100% confidence). This vector holds GetNrPoints() elements.

GetDistanceMm()

virtual const std::vector< float > & GetDistanceMm ( ) const

pure virtual

Get the measured distance of the points of the current line.

Returns

const reference to the vector of radial distances from the sensor in mm. This vector holds GetNrPoints() elements.

GetFrameTimestampUs()

virtual std::uint64_t GetFrameTimestampUs ( ) const

pure virtual

Get the frame timestamp associated with this dataset.

Returns

Frame timestamp expressed in microseconds.

GetImuData()

virtual const ImuData & GetImuData ( ) const

pure virtual

Get the IMU data of the current line.

Returns

const reference to the imuData struct,

See also

ImuData.

Note

ImuData is currently not yet released. Values will always be 0.

GetLineTimestampUs()

virtual std::uint64_t GetLineTimestampUs ( ) const

pure virtual

Get the line timestamp associated with this dataset.

Returns

Line timestamp expressed in microseconds.

GetMetaData()

virtual const MetaData & GetMetaData ( ) const

pure virtual

Get the metadata of the current line.

Returns

const reference to the metadata struct,

See also

MetaData.

GetNrPoints()

virtual std::size_t GetNrPoints ( ) const

pure virtual

Get the number of points in the current line.

Returns

number of points as unsigned integer. e.g. 192. This is the number of elements inside the other vector returns of the pointcloud.

GetOnboardProbes()

virtual const OnboardProbes & GetOnboardProbes ( ) const

pure virtual

Get the temperature and humidity of the current line.

Returns

const reference to the probes struct,

See also

OnboardProbes.

GetReflectivity()

virtual const std::vector< float > & GetReflectivity ( ) const

pure virtual

Get the reflectivity of the points of the current line.

Returns

const reference to the vector reflectivity values. Expressed in % (can exceed 100%). This vector holds GetNrPoints() elements.

GetXMm()

virtual const std::vector< float > & GetXMm ( ) const

pure virtual

Get the x reconstruction of points of the current line.

Returns

const reference to the vector of x coordinates in mm, with the sensor as origin. This vector holds GetNrPoints() elements.

GetYMm()

virtual const std::vector< float > & GetYMm ( ) const

pure virtual

Get the y reconstruction of points of the current line.

Returns

const reference to the vector of y coordinates in mm, with the sensor as origin. This vector holds GetNrPoints() elements.

GetZMm()

virtual const std::vector< float > & GetZMm ( ) const

pure virtual

Get the z reconstruction of points of the current line.

Returns

const reference to the vector of z coordinates in mm, with the sensor as origin. This vector holds GetNrPoints() elements.

Serialize()

virtual const std::vector< std::uint8_t > & Serialize ( )

pure virtual

Convert this point cloud object into binary data.

Returns

vector of bytes that hold the point cloud information

Use this to efficiently store the point cloud in the XenomatiX proprietary format. When dumping to disk, it accustomary to use the .xpc extension.

See also

deserialize() functions to read the information back.

SetColors()

virtual void SetColors ( const std::vector< rgb > & colors )

pure virtual

Set the rgb color values for each point.

Parameters

[in]

colors

rgb values, one per point.

The provided vector should contain GetNrPoints() elements.