PCLInfo¶

MLModule¶

genre	`PCLSupport`
author	`Wolf Spindler`
package	`FMEstable/PCL`
dll	`MLPCLSupport`
definition	MLPCLSupport.def
see also	`Info`, `DicomTreeInfo`
inherits from	`PCLModule`
keywords	`points`, `clouds`, `PCL`

Purpose¶

PCLInfo displays information about a connected point cloud or polygon mesh, either for diagnostic or for display purposes. It allows peeking into basic cloud or polygon mesh settings and its point and vertex values. See http://pointclouds.org/documentation/tutorials/basic_structures.php#basic-structures for details about the basic point cloud members, especially about the Width and Height fields, which have two meanings.

Windows¶

Default Panel¶

../../../Projects/MLPCLSupport/Modules/mhelp/Images/Screenshots/PCLInfo._default.png

Input Fields¶

inputPCLObject0¶

name: inputPCLObject0, type: MLBase¶: Connect the point cloud or polygon mesh from which information shall be retrieved.

Parameter Fields¶

Field Index¶

`Average`: `Double`	`Max Num Shown Points`: `Integer`	`Row Step`: `Integer`
`Bounding Box V1`: `Vector3`	`Max Num Shown Vertices`: `Integer`	`Sensor Orientation`: `Vector4`
`Bounding Box V2`: `Vector3`	`Maximum`: `Double`	`Sensor Origin`: `Vector4`
`fields (offset, data type, count, name)`: `String`	`Median`: `Double`	`Seq`: `Integer`
`Frame Id`: `String`	`Minimum`: `Double`	`showIndexIndices`: `Bool`
`Height`: `Integer`	`Num Decimal Places`: `Integer`	`showPointIndices`: `Bool`
`Index Of First Index`: `Integer`	`Number Of Indices`: `Integer`	`showVertexIndices`: `Bool`
`Index Of First Point`: `Integer`	`Number Of Points`: `Integer`	`Stamp`: `Integer`
`Index Of First Vertex`: `Integer`	`Number Of Vertices`: `Integer`	`Status`: `String`
`indexSliderStartMaximum`: `Integer`	`Pcl Object Type`: `String`	`Sum`: `Double`
`Indices`: `String`	`Point Step`: `Integer`	`Sum Absolute`: `Double`
`Is Big Endian`: `Integer`	`Point Structure`: `String`	`vertexSliderStartMaximum`: `Integer`
`Is Dense`: `Bool`	`Points`: `String`	`Vertices`: `String`
`Is Organized`: `Bool`	`Points Print Format`: `String`	`Width`: `Integer`
`Max Num Shown Indices`: `Integer`	`pointSliderStartMaximum`: `Integer`

Visible Fields¶

Status¶

name: status, type: String, persistent: no¶

see PCLModule.status

Pcl Object Type¶

name: pclObjectType, type: String, persistent: no¶: Shows of which type the connected PCL object is.

Number Of Points¶

name: numberOfPoints, type: Integer, persistent: no¶: Displays the number of points in the connected point cloud. It is not a member of the point cloud but the product of the Width and the Height member. See Height and Is Organized for details.

Width¶

name: width, type: Integer, persistent: no¶: The width of the point cloud extent, or, if Height is 1, the total number of points in the point cloud. See Height and Is Organized for details.

Height¶

name: height, type: Integer, persistent: no¶: The height of the point cloud extent (the total number of rows) if the point cloud is organized (if Height is > 1), or, if Height is 1, it denotes that the point cloud is not organized.

Seq¶

name: seq, type: Integer, persistent: no¶: Displays the header.seq member of the point cloud.

Stamp¶

name: stamp, type: Integer, persistent: no¶: Displays the header.stamp member of the point cloud.

Frame Id¶

name: frameId, type: String, persistent: no¶: Displays the header.frame_id member of the point cloud.

Is Organized¶

name: isOrganized, type: Bool, persistent: no¶: Displays whether the point cloud is organized or not. This corresponds with the Height member of the cloud: if Height is > 1 then the cloud is organized, otherwise not. See Height for details.

Is Dense¶

name: isDense, type: Bool, persistent: no¶: Is Dense is true if all values in the point set are finite, that is, all values are not Inf and not NaN.

Sensor Origin¶

name: sensorOrigin, type: Vector4, persistent: no¶: Displays the position of the acquisition sensor of the point set if there was any, it is of type Eigen::Vector4f.

Sensor Orientation¶

name: sensorOrientation, type: Vector4, persistent: no¶: Displays the orientation of the acquisition sensor of the point set if there was any, it is of type Eigen::Quaternionf.

Bounding Box V1¶

name: boundingBoxV1, type: Vector3, persistent: no¶: The first (smaller) corner of the bounding box of the point cloud. If larger than Bounding Box V2 the box is empty or undefined. For surfaces the box is considered empty.

Bounding Box V2¶

name: boundingBoxV2, type: Vector3, persistent: no¶: The second (larger) corner of the bounding box of the point cloud. If smaller than Bounding Box V1 the box is empty or undefined. For surfaces the box is considered empty.

Minimum¶

name: minimum, type: Double, persistent: no¶: The minimum of all replacement values or DBL_MAX if no values or empty point cloud. This value is only calculated for point clouds, not for surfaces.

Maximum¶

name: maximum, type: Double, persistent: no¶: The maximum of all replacement values or -DBL_MAX if no values or empty point cloud. This value is only calculated for point clouds, not for surfaces.

Average¶

name: average, type: Double, persistent: no¶: The average of all intensity replacement values or 0 if no values or empty point cloud. This value is only calculated for point clouds, not for surfaces.

Sum¶

name: sum, type: Double, persistent: no¶: The sum of all intensity replacement values or 0 if no values or empty point cloud. This value is only calculated for point clouds, not for surfaces.

Sum Absolute¶

name: sumAbsolute, type: Double, persistent: no¶: The sum of all absolute values of intensity replacement values or 0 if no values or empty point cloud. This value is only calculated for point clouds, not for surfaces.

Median¶

name: median, type: Double, persistent: no¶: The Number Of Points/2 value after sorting all intensity replacement values or 0 if no values or empty point cloud. This value is only calculated for point clouds, not for surfaces.

Index Of First Point¶

name: indexOfFirstPoint, type: Integer, default: 0, minimum: 0, maximum: :field:`pointSliderStartMaximum`¶: Determines the index of the first point to be shown in Points.

Max Num Shown Points¶

name: maxNumShownPoints, type: Integer, default: 12, minimum: 0¶: Controls the maximum number of displayed points in Points.

Num Decimal Places¶

name: numDecimalPlaces, type: Integer, default: -1¶: The maximum number of digits to be printed after the comma or the full precision of the given field type if -1. The printed value is rounded appropriately.

Points Print Format¶

name: pointsPrintFormat, type: String¶

Only for normal point clouds: If empty then all point fields are printed, otherwise substrings of Points Print Format are replaced with field values from each printed point (or with “” if not available). For example for one point at index 67 $(index):$(x), $(y), $(z): $(ir) prints the point index followed by the point coordinates and the intensity replacement value (such as 67:0.3, 1.7, 5.2: 200.0 or so). Other fields are ignored even if they are available. Substrings to replace are:: $(x) or $(data[0]): x-component of point coordinate

$(y) or $(data[1]): y-component of point coordinate

$(z) or $(data[2]): z-component of point coordinate

$(data[3]): fourth component of point coordinate

$(nx) or $(data_n[0]): x-component of normal

$(ny) or $(data_n[1]): y-component of normal

$(nz) or $(data_n[2]): z-component of normal

$(data_n[3]): fourth component of normal

$(ir): intensity replacement value.

$(curvature): curvature.

$(rgba): rgba as hexadecimal value if available otherwise 0x00000000.

$(intensity): intensity value.

$(label): label as integer.

$(index): The index of the point in the point cloud.

Is Big Endian¶

name: isBigEndian, type: Integer, persistent: no¶: Displays the pcl::uint8_t is_bigendian member value of a PCLPointCloud2 of a possibly connected pcl::PolygonMesh. 0 if no such mesh is connected.

fields (offset, data type, count, name)¶

name: fields, type: String, persistent: no¶: Displays the std::vector<pcl::PCLPointField> fields member value of a PCLPointCloud2 of a possibly connected pcl::PolygonMesh. Empty if no such mesh is connected.

Point Step¶

name: pointStep, type: Integer, persistent: no¶: Displays the pcl::uint32_t point_step member value of a PCLPointCloud2 of a possibly connected pcl::PolygonMesh. 0 if no such mesh is connected.

Row Step¶

name: rowStep, type: Integer, persistent: no¶: Displays the pcl::uint32_t row_step member value of a PCLPointCloud2 of a possibly connected pcl::PolygonMesh. 0 if no such mesh is connected.

Index Of First Vertex¶

name: indexOfFirstVertex, type: Integer, default: 0, minimum: 0, maximum: :field:`vertexSliderStartMaximum`¶: Determines the index of the first vertex to be shown in Vertices.

Max Num Shown Vertices¶

name: maxNumShownVertices, type: Integer, default: 12, minimum: 0¶: Controls the maximum number of displayed vertices in Vertices.

Number Of Vertices¶

name: numberOfVertices, type: Integer, persistent: no¶: Displays the number of vertices of a connected input polygon mesh; for point clouds it will always be 0.

Vertices¶

name: vertices, type: String, persistent: no¶: A text field displaying at most Max Num Shown Vertices starting at Index Of First Vertex of the connected point set. It references points displayed in Points whose meaning is described in fields (offset, data type, count, name).

Index Of First Index¶

name: indexOfFirstIndex, type: Integer, default: 0, minimum: 0, maximum: :field:`indexSliderStartMaximum`¶: Determines the index of the first vertex to be shown in Indices.

Max Num Shown Indices¶

name: maxNumShownIndices, type: Integer, default: 12, minimum: 0¶: Controls the maximum number of displayed vertices in Indices.

Number Of Indices¶

name: numberOfIndices, type: Integer, persistent: no¶: Displays the number of Indices of a connected input point clooud.

Indices¶

name: indices, type: String, persistent: no¶: A text field displaying at most Max Num Shown Indices starting at Index Of First Index of the connected point cloud.

Point Structure¶

name: pointStructure, type: String, persistent: no¶: Displays the member structure of a point of the connected point cloud if the cloud has at least one point. In this way the meaning of the values in Points is easier to understand.

Points¶

name: points, type: String, persistent: no¶: A text field displaying at most Max Num Shown Points starting at Index Of First Point of the connected point set. See Point Structure to understand which meaning the values of the points have. In case of displayed polygon meshes it displays the decoded data section which is coded as described in fields (offset, data type, count, name).

Hidden Fields¶

showPointIndices¶

name: showPointIndices, type: Bool, default: TRUE, deprecated name: showIndexes,showIndices¶: If enabled then the index (followed by a “:”) of each point is shown at the begin of each point in Points.

pointSliderStartMaximum¶

name: pointSliderStartMaximum, type: Integer, default: 0¶

showVertexIndices¶

name: showVertexIndices, type: Bool, default: TRUE, deprecated name: showVertexIndexes¶: If enabled then the index (followed by a “:”) of each vertex is shown at the begin of each vertex in Vertices.

vertexSliderStartMaximum¶

name: vertexSliderStartMaximum, type: Integer, default: 0¶

showIndexIndices¶

name: showIndexIndices, type: Bool, default: TRUE, deprecated name: showIndexIndexes¶

indexSliderStartMaximum¶

name: indexSliderStartMaximum, type: Integer, default: 0¶