Data Structures

Geometry

Output types from scan integration and mesh/union generation.

struct PointCloud

Non-organized point cloud.

Subclassed by phoim::Scan

Public Functions

inline bool Export(const std::string &file_path) const

Save point cloud to a file.

Note

Supported output file extensions: .ply.

Parameters:: file_path – Full directory including filename and file extension.
Returns:: Return true if the point cloud was successfully exported, false otherwise.

struct Mesh

Non-organized point cloud with faces.

Public Functions

inline bool Export(const std::string &file_path) const

Save mesh to a file.

Note

Supported output file extensions: .stl, .fbx, .ply.

Parameters:: file_path – Full directory including filename and file extension.
Returns:: Return true if the mesh was successfully exported, false otherwise.

struct Scan : public phoim::PointCloud : Organized point cloud with defined resolution (3D scan). The ordering of points is row-major.

Cropping Volumes

Spatial filters passed to SetCroppingVolume and GetMesh.

class CroppingVolume

Abstract class for cropping volumes. It provides the interface for cropping operations on scene. Concrete implementations of cropping volumes are derived from this class, they can be found below this class. Currently supported implementations are Axis-Aligned Bounding Box (AABB) and Sphere. Adding additional types of cropping volumes is not supported.

Subclassed by phoim::CroppingAabb, phoim::CroppingSphere

class CroppingAabb : public phoim::CroppingVolume : Axis-Aligned Bounding Box.

class CroppingSphere : public phoim::CroppingVolume : Shpere.

Scan Batches

Used with AddScanBatch for coupled multi-device scanning.

struct ScanFromBatch

One scan in a batch of scans. Contains all needed information for AddScanBatch function.

Public Members

DeviceId device_id: ID of the device from which the scan originates.

pho::api::PFrame frame: Scan data.

glm::mat4 transformation = INVALID_MATRIX : Complete transformation from camera space of this device to the mesh space. It should consist of relative transformation from camera space of this device to the batch space and optionally also to the mesh space (e.g. robot transformation). In case no robot transformations are available, enter the relative transformation just in the first batch of scans and use INVALID_MATRIX in the following batches and make sure that tracking is enabled.

using phoim::ScanBatch = std::vector<ScanFromBatch>: A series of scans where each scan is obtained from one device from the corresponding device batch simultaneously. These scans are tracked together, resulting in only one transformation for all of them (defined in the space of the first scan).