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