dockware-core/ai.dockware.core.scanning.pointclouds

Package-level declarations

Types

data class Bounds(val minX: Float, val maxX: Float, val minY: Float, val maxY: Float, val minZ: Float, val maxZ: Float)

Lightweight point cloud processing utilities used to crop the scanned object before exporting a PLY file. The implementation mirrors the prototype.

data class FrameDebugValues(val cameraPosition: Point3, val planes: List<Plane>, val cameraSpaceToFrameSpace: Matrix4x4, val frameSpaceToWorldSpace: Matrix4x4, val cameraSpaceToWorldSpace: Matrix4x4, val orientationDegrees: Float, val timestamp: Long, val lightEstimatePixelIntensity: Float, val lightEstimateColorCorrection: List<Float>, val featurePoints: List<FeaturePoint>)

@Serializable

Column-major matrix order. Substitution for ARCore's Pose class.

@Serializable

data class Plane(val center: Point3, val normal: Point3, val extent: Point3)

data class Point2(val x: Float, val y: Float)

@Serializable

data class Point3(val x: Float, val y: Float, val z: Float)

data class PointCloudBox(val center: Point3 = Point3(), val size: Point3 = Point3(), val eulerAngles: Point3 = Point3())

A class to store 3D box data including a rotation and determine if a point lies within it.

data class PointCloudFrame(val cameraPosition: Point3, val planes: List<Plane> = emptyList(), val points: List<PointCloudVertex>, val cameraSpaceToWorldSpace: Matrix4x4, val cameraSpaceToFrameSpace: Matrix4x4, val frameSpaceToWorldSpace: Matrix4x4, val orientationDegrees: Float, val timestamp: Long = Clock.System.now().epochSeconds, val lightEstimatePixelIntensity: Float, val lightEstimateColorCorrection: List<Float>, val featurePoints: Map<Int, FeaturePoint>)

@Serializable

data class PointCloudVertex(val x: Float, val y: Float, val z: Float, val r: Float = 1.0f, val g: Float = 1.0f, val b: Float = 1.0f, val a: Float = 1.0f)

fun Pose.relativeDifference(pose: Pose): Pose