ポイントクラウドデータ

pointcloud [クラス]


  :super   cascaded-coords 

  :slots 		 parray carray narray curvature pcolor psize awidth asize box height width view-coords drawnormalmode transparent tcarray

$\begin{emtabbing} {\bf :init} \it\&rest args \&key \= ((:points mat)) \\lq [metho... ... \> (fill) \\ \> (arrow-width 2.0) \\ \> (arrow-size 0.0) \rm \end{emtabbing}$

: Create point cloud object

:size-change &optional wd ht [メソッド]

: change width and height, this method does not change points data

:points &optional pts wd ht [メソッド]

: replace points, pts should be list of points or n $\times$ matrix

:colors &optional cls [メソッド]

: replace colors, cls should be list of points or n $\times$ matrix

:normals &optional nmls [メソッド]

: replace normals by, nmls should be list of points or n $\times$ 3 matrix

:point-list &optional (remove-nan) [メソッド]

: return list of points

:color-list [メソッド]

: return list of colors

:normal-list [メソッド]

: return list of normals

:centroid [メソッド]

: retrun centroid of this point cloud

:append point-list &key (create t) [メソッド]

: append point cloud list to this point cloud.

if :create is true, return appended point cloud and original point cloud does not change.

$\begin{emtabbing} {\bf :filter} \it\&rest args \&key \= create \\lq [method]\\ \> \&allow-other-keys \rm \end{emtabbing}$

: this method can take the same keywords with :filter-with-indices method.

if :create is true, return filtered point cloud and original point cloud does not change.

$\begin{emtabbing} {\bf :filter-with-indices} \it idx-lst \&key \= (create) \\lq [method]\\ \> (negative) \rm \end{emtabbing}$

: filter point cloud with list of index (points which are indicated by indices will remain).

if :create is true, return filtered point cloud and original point cloud does not change.

if :negative is true, points which are indicated by indices will be removed.

$\begin{emtabbing} {\bf :filtered-indices} \it\&key \= key \\lq [method]\\ \> cke... ...key \\ \> pcnkey \\ \> negative \\ \> \&allow-other-keys \rm \end{emtabbing}$

: create list of index where filter function retrun true.

key, ckey, nkey are filter function for points, colors, normals. They are expected to take one argument and return t or nil.

pckey, pnkey are filter function for points and colors, points and normals. They are expected to take two arguments and return t or nil.

pcnkey is filter function for points, colors and normals. It is expected to take three arguments and return t or nil.

$\begin{emtabbing} {\bf :step} \it step \&key \= (fixsize) \\lq [method]\\ \> (create) \rm \end{emtabbing}$

: downsample points with step

:copy-from pc [メソッド]

: update object by pc

:transform-points coords &key (create) [メソッド]

: transform points and normals with coords.

if :create is true, return transformed point cloud and original point cloud does not change.

:convert-to-world &key (create) [メソッド]

: transform points and normals with self coords. points data should be the same as displayed

:reset-box [メソッド]

:box [メソッド]

:vertices [メソッド]

:size [メソッド]

:width [メソッド]

:height [メソッド]

:view-coords &optional vc [メソッド]

:curvatures &optional curv [メソッド]

:curvature-list [メソッド]

:set-color col &optional (_transparent) [メソッド]

:point-color &optional pc [メソッド]

:point-size &optional ps [メソッド]

:axis-length &optional al [メソッド]

:axis-width &optional aw [メソッド]

:clear-color [メソッド]

:clear-normal [メソッド]

:nfilter &rest args [メソッド]

:viewangle-inlier &key (min-z 0.0) (hangle 44.0) (vangle 35.0) [メソッド]

:image-position-inlier &key (ipkey) (height 144) (width 176) (cy (/ (float (- height 1)) 2)) (cx (/ (float (- width 1)) 2)) negative [メソッド]

:image-circle-filter dist &key (height 144) (width 176) (cy (/ (float (- height 1)) 2)) (cx (/ (float (- width 1)) 2)) create negative [メソッド]

:step-inlier step offx offy [メソッド]

:generate-color-histogram-hs &key (h-step 9) (s-step 7) (hlimits (cons 360.0 0.0)) (vlimits (cons 1.0 0.15)) (slimits (cons 1.0 0.25)) (rotate-hue) (color-scale 255.0) (sizelimits 1) [メソッド]

:set-offset cds &key (create) [メソッド]

:drawnormalmode &optional mode [メソッド]

:transparent &optional trs [メソッド]

:draw vwer [メソッド]

make-random-pointcloud &key (num 1000) (with-color) (with-normal) (scale 100.0) [関数]

2016-04-05