Point cloud class.
Macros:
Enumerations:
None.
Typedefs:
None.
Struct CapyPointCloudLink :
Struct CapyPointCloudLink's properties:
Indices of the linked points
Weight of the link
Struct CapyPointCloudLink's methods:
None.
Struct CapyPointCloud :
Struct CapyPointCloud's properties:
Dimension of a point in the cloud.
Number of points in the cloud.
Points
Number of links in the cloud.
Arrays of links between points
Mean vector
Standard deviation vector
Covariance matrix
Pearson correlation matrix
Principal components (one component per column, ordered from the most significant)
Eigen values of the principal components
Range of values in each dimension
Struct CapyPointCloud's methods:
Destructor
Get the Bezier approximating the point cloud.
Input argument(s):
nbIn: the number of dimension from the first dimension of a point treated as inputs of the Bezier (the remaining ones being treated as the output).
order: the Bezier order.
Output and side effect(s):
Return a new CapyBezier which takes the first 'nbIn' values of a point as input and return as output the approximation of the remaining values of that point. Return NULL if the Bezier couldn't be created.
Exception(s):
May raise CapyExc_MallocFailed.
Update the mean vector
Output and side effect(s):
that->mean is updated.
Update the stdDev vector
Output and side effect(s):
that->mean and that->stdDev is updated.
Update the covariance matrix
Output and side effect(s):
that->covariance and that->mean are updated.
Update the pearson correlation matrix
Output and side effect(s):
that->pearsonCorrelation, that->stdDev, that->covariance and that->mean are updated.
Update the principal components
Output and side effect(s):
that->principalComponent, that eigenValue, that->covariance and that->mean are updated.
Update the ranges
Output and side effect(s):
that->range is updated.
Get an estimate of the minimum sum of weights along paths linking two points (cf CapyPathFinder) Inputs: iPointFrom: the start node of the path iPointTo: the end node of the path
Output and side effect(s):
Return the estimate, which must be less or equal to the actual minimum sum of weights.
Struct CapyPointCloudNearestNeighbourRes :
Struct CapyPointCloudNearestNeighbourRes's properties:
Index of the point in the point cloud
Distance to the query
Counter for the number of point tested (for performance evaluation)
Struct CapyPointCloudNearestNeighbourRes's methods:
Destructor
Struct CapyPointCloudNearestNeighbour :
Struct CapyPointCloudNearestNeighbour's properties:
Reference to the poin cloud
BTree representing the point cloud
Reference point for distance calculation
Struct CapyPointCloudNearestNeighbour's methods:
Destructor
Query the nearest point in the point cloud
Input argument(s):
query: the query point
iInitPoint: index of the point in the point cloud used for initialisation
Output and side effect(s):
Return the index of the nearest point in the point cloud and its distance to the query.
Functions:
Create a CapyPointCloud.
Input argument(s):
dim: the dimension of a point in the cloud
Output and side effect(s):
Return a CapyPointCloud
Exception(s):
May raise CapyExc_MallocFailed.
Allocate memory for a new CapyPointCloud and create it
Input argument(s):
dim: the dimension of a point in the cloud
Output and side effect(s):
Return a CapyPointCloud
Exception(s):
May raise CapyExc_MallocFailed.
Free the memory used by a CapyPointCloud* and reset '*that' to NULL
Input argument(s):
that: a pointer to the CapyPointCloud to free
Create a CapyPointCloudCloudNearestNeighbour.
Input argument(s):
pointCloud: the point cloud
nbMaxElem: max number of elements in the underlying BTree
origin: reference point for distance calculation
Output and side effect(s):
Return a CapyPointCloudCloudNearestNeighbour
Exception(s):
May raise CapyExc_MallocFailed.
Allocate memory for a new CapyPointCloudCloudNearestNeighbour and create it
Input argument(s):
pointCloud: the point cloud
nbMaxElem: max number of elements in the underlying BTree
origin: reference point for distance calculation
Output and side effect(s):
Return a CapyPointCloudCloudNearestNeighbour
Exception(s):
May raise CapyExc_MallocFailed.
Free the memory used by a CapyPointCloudNearestNeighbour* and reset '*that' to NULL
Input argument(s):
that: a pointer to the CapyPointCloudNearestNeighbour to free