simInsertPointsIntoPointCloud

Inserts points into a point cloud

C++ synopsis

int simInsertPointsIntoPointCloud(int pointCloudHandle, int options, const double* pts, int ptCnt, const unsigned char* color, void* optionalValues)

Arguments

• pointCloudHandle: the handle of the point cloud
• options: bit-coded:
  • bit0 set (1): specified points are relative to the point cloud reference frame, otherwise they are relative to the world reference frame
  • bit1 set (2): the color array contains one RGB triple per point. Otherwise it contains a single RGB triple
• pts: a pointer to the point positions specified as x/y/z coordinates
• ptCnt: the number of point coordinates contained in pts
• color: a pointer to one or several RGB triplets, specifying the red, green and blue color components (0-255). Can be nullptr.
• optionalValues: can be used to specify additional parameters, or set to nullptr for default parameter values:
  • ((int*)optionalValues)[0]: an integer value that is bit coded. Each bit indicates which additional parameter will be taken into account:
  • ((float*)optionalValues)[1]: duplicateTolerance: a minimum distance tolerance value that is used to avoid duplicate points. To have this parameter taken into account, set bit0 to 1 in ((int*)optionalValues)[0]. Point insertion is slower when the duplicate tolerance is > then 0.0

Return

• -1 if operation was not successful, otherwise the total number of points in the point cloud