Main MRPT website > C++ reference for MRPT 1.5.6
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Types | Protected Member Functions | Static Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
mrpt::opengl::CPointCloud Class Reference

Detailed Description

A cloud of points, all with the same color or each depending on its value along a particular coordinate axis.

This class is just an OpenGL representation of a point cloud. For operating with maps of points, see mrpt::maps::CPointsMap and derived classes.

To load from a points-map, CPointCloud::loadFromPointsMap().

This class uses smart optimizations while rendering to efficiently draw clouds of millions of points, as described in this page: http://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points

See Also
opengl::CPlanarLaserScan, opengl::COpenGLScene, opengl::CPointCloudColoured, mrpt::maps::CPointsMap
mrpt::opengl::CPointCloud
preview_CPointCloud.png

Definition at line 46 of file CPointCloud.h.

#include <mrpt/opengl/CPointCloud.h>

Inheritance diagram for mrpt::opengl::CPointCloud:
Inheritance graph

Public Types

enum  
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
virtual void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
 
void render () const MRPT_OVERRIDE
 Render. More...
 
void render_subset (const bool all, const std::vector< size_t > &idxs, const float render_area_sqpixels) const
 Render a subset of points (required by octree renderer) More...
 
CRenderizableclone () const
 Interface for the stlplus smart pointer class. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Simulation of ray-trace, given a pose. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
size_t octree_get_node_count () const
 Return the number of octree nodes (all of them, including the empty ones) More...
 
size_t octree_get_visible_nodes () const
 Return the number of visible octree nodes in the last render event. More...
 
void octree_mark_as_outdated ()
 Called from the derived class (or the user) to indicate we have/want to rebuild the entire node tree (for example, after modifying the point cloud or any global octree parameter) More...
 
void octree_get_graphics_boundingboxes (mrpt::opengl::CSetOfObjects &gl_bb, const double lines_width=1, const mrpt::utils::TColorf &lines_color=mrpt::utils::TColorf(1, 1, 1), const bool draw_solid_boxes=false) const
 Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes. More...
 
void octree_debug_dump_tree (std::ostream &o) const
 Used for debug only. More...
 
bool loadFromPlyFile (const std::string &filename, CStringList *file_comments=NULL, CStringList *file_obj_info=NULL)
 Loads from a PLY file. More...
 
std::string getLoadPLYErrorString () const
 Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
 
bool saveToPlyFile (const std::string &filename, bool save_in_binary=false, const CStringList &file_comments=CStringList(), const CStringList &file_obj_info=CStringList()) const
 Saves to a PLY file. More...
 
std::string getSavePLYErrorString () const
 Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
 
Read/Write of the list of points to render
size_t size () const
 
void resize (size_t N)
 Set the number of points (with contents undefined) More...
 
void reserve (size_t N)
 Like STL std::vector's reserve. More...
 
void setAllPoints (const std::vector< float > &x, const std::vector< float > &y, const std::vector< float > &z)
 Set the list of (X,Y,Z) point coordinates, all at once, from three vectors with their coordinates. More...
 
void setAllPointsFast (std::vector< float > &x, std::vector< float > &y, std::vector< float > &z)
 Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of the input vectors (via swap) More...
 
const std::vector< float > & getArrayX () const
 Get a const reference to the internal array of X coordinates. More...
 
const std::vector< float > & getArrayY () const
 Get a const reference to the internal array of Y coordinates. More...
 
const std::vector< float > & getArrayZ () const
 Get a const reference to the internal array of Z coordinates. More...
 
void clear ()
 Empty the list of points. More...
 
void insertPoint (float x, float y, float z)
 Adds a new point to the cloud. More...
 
mrpt::math::TPoint3D operator[] (size_t i) const
 Read access to each individual point (checks for "i" in the valid range only in Debug). More...
 
mrpt::math::TPoint3D getPoint (size_t i) const
 Read access to each individual point (checks for "i" in the valid range only in Debug). More...
 
mrpt::math::TPoint3Df getPointf (size_t i) const
 Read access to each individual point (checks for "i" in the valid range only in Debug). More...
 
void setPoint (size_t i, const float x, const float y, const float z)
 Write an individual point (checks for "i" in the valid range only in Debug). More...
 
void setPoint_fast (size_t i, const float x, const float y, const float z)
 Write an individual point (without checking validity of the index). More...
 
template<class POINTSMAP >
void loadFromPointsMap (const POINTSMAP *themap)
 Load the points from any other point map class supported by the adapter mrpt::utils::PointCloudAdapter. More...
 
template<class LISTOFPOINTS >
void loadFromPointsList (LISTOFPOINTS &pointsList)
 Load the points from a list of mrpt::math::TPoint3D. More...
 
size_t getActuallyRendered () const
 Get the number of elements actually rendered in the last render event. More...
 
Modify the appearance of the rendered points
void enableColorFromX (bool v=true)
 
void enableColorFromY (bool v=true)
 
void enableColorFromZ (bool v=true)
 
void setPointSize (float p)
 By default is 1.0. More...
 
float getPointSize () const
 
void enablePointSmooth (bool enable=true)
 
void disablePointSmooth ()
 
bool isPointSmoothEnabled () const
 
void setGradientColors (const mrpt::utils::TColorf &colorMin, const mrpt::utils::TColorf &colorMax)
 Sets the colors used as extremes when colorFromDepth is enabled. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () const
 Returns the name of the object. More...
 
bool isVisible () const
 Is the object visible? More...
 
void setVisibility (bool visible=true)
 Set object visibility (default=true) More...
 
void enableShowName (bool showName=true)
 Enables or disables showing the name of the object as a label when rendering. More...
 
bool isShowNameEnabled () const
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
mrpt::math::TPose3D getPose () const
 Returns the 3D pose of the object as TPose3D. More...
 
const mrpt::poses::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (const mrpt::math::TPoint3D &p)
 Changes the location of the object, keeping untouched the orientation. More...
 
double getPoseX () const
 Translation relative to parent coordinate origin. More...
 
double getPoseY () const
 Translation relative to parent coordinate origin. More...
 
double getPoseZ () const
 Translation relative to parent coordinate origin. More...
 
double getPoseYaw () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPosePitch () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseRoll () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseYawRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPosePitchRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPoseRollRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getColorR () const
 Color components in the range [0,1]. More...
 
double getColorG () const
 Color components in the range [0,1]. More...
 
double getColorB () const
 Color components in the range [0,1]. More...
 
double getColorA () const
 Color components in the range [0,1]. More...
 
uint8_t getColorR_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorG_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorB_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorA_u8 () const
 Color components in the range [0,255]. More...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
virtual CRenderizablesetColorR_u8 (const uint8_t r)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorG_u8 (const uint8_t g)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorB_u8 (const uint8_t b)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorA_u8 (const uint8_t a)
 Color components in the range [0,255]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (float sx, float sy, float sz)
 Scale to apply to the object in each axis (default=1) More...
 
float getScaleX () const
 Get the current scaling factor in one axis. More...
 
float getScaleY () const
 Get the current scaling factor in one axis. More...
 
float getScaleZ () const
 Get the current scaling factor in one axis. More...
 
mrpt::utils::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (double R, double G, double B, double A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...
 
const mrpt::utils::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 
virtual CRenderizablesetColor_u8 (const mrpt::utils::TColor &c)
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Set the color components of this object (R,G,B,Alpha, in the range 0-255) More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within ::render() methods. More...
 
static void renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
 
static int textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCRenderizable
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Types

enum  Axis { colNone =0, colZ, colY, colX }
 

Protected Member Functions

void markAllPointsAsNew ()
 Do needed internal work if all points are new (octree rebuilt,...) More...
 
void writeToStreamRender (utils::CStream &out) const
 
void readFromStreamRender (utils::CStream &in)
 
CPointCloudoctree_derived ()
 
const CPointCloudoctree_derived () const
 
void octree_assure_uptodate () const
 Must be called at children class' render() previously to octree_render() More...
 
void octree_render (const mrpt::opengl::gl_utils::TRenderInfo &ri) const
 Render the entire octree recursively. More...
 
void octree_getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 
PLY Import virtual methods to implement in base classes
virtual void PLY_import_set_vertex_count (const size_t N) MRPT_OVERRIDE
 In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. More...
 
virtual void PLY_import_set_face_count (const size_t N) MRPT_OVERRIDE
 In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...
 
virtual void PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=NULL) MRPT_OVERRIDE
 In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. More...
 
PLY Export virtual methods to implement in base classes
size_t PLY_export_get_vertex_count () const MRPT_OVERRIDE
 In a base class, return the number of vertices. More...
 
size_t PLY_export_get_face_count () const MRPT_OVERRIDE
 In a base class, return the number of faces. More...
 
void PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const MRPT_OVERRIDE
 In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...
 

Static Protected Member Functions

static void checkOpenGLError ()
 Checks glGetError and throws an exception if an error situation is found. More...
 
static unsigned int getNewTextureNumber ()
 Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

enum
mrpt::opengl::CPointCloud::Axis 
m_colorFromDepth
 
std::vector< float > m_xs
 
std::vector< float > m_ys
 
std::vector< float > m_zs
 
float m_pointSize
 By default is 1.0. More...
 
bool m_pointSmooth
 Default: false. More...
 
volatile size_t m_last_rendered_count
 
volatile size_t m_last_rendered_count_ongoing
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More...
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1) More...
 
bool m_visible
 Is the object visible? (default=true) More...
 

Private Member Functions

 CPointCloud ()
 Constructor. More...
 
virtual ~CPointCloud ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 
void internal_render_one_point (size_t i) const
 

Private Attributes

float m_min
 
float m_max
 
float m_max_m_min
 
float m_max_m_min_inv
 Buffer for min/max coords when m_colorFromDepth is true. More...
 
mrpt::utils::TColorf m_col_slop
 
mrpt::utils::TColorf m_col_slop_inv
 Color linear function slope. More...
 
bool m_minmax_valid
 
mrpt::utils::TColorf m_colorFromDepth_min
 
mrpt::utils::TColorf m_colorFromDepth_max
 The colors used to interpolate when m_colorFromDepth is true. More...
 

RTTI stuff

typedef CPointCloudPtr Ptr
 
typedef CPointCloudPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPointCloud
 
static mrpt::utils::TRuntimeClassId classCPointCloud
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPointCloudPtr Create ()
 

Member Typedef Documentation

typedef CPointCloudPtr mrpt::opengl::CPointCloud::ConstPtr

Definition at line 52 of file CPointCloud.h.

typedef CPointCloudPtr mrpt::opengl::CPointCloud::Ptr

A typedef for the associated smart pointer

Definition at line 52 of file CPointCloud.h.

Member Enumeration Documentation

anonymous enum
inherited

Definition at line 63 of file COctreePointRenderer.h.

Enumerator
colNone 
colZ 
colY 
colX 

Definition at line 54 of file CPointCloud.h.

Constructor & Destructor Documentation

CPointCloud::CPointCloud ( )
private

Constructor.

Definition at line 35 of file CPointCloud.cpp.

virtual mrpt::opengl::CPointCloud::~CPointCloud ( )
inlineprivatevirtual

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 236 of file CPointCloud.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloud::_GetBaseClass ( )
staticprotected
void CRenderizable::checkOpenGLError ( )
staticprotectedinherited
void CPointCloud::clear ( )

Empty the list of points.

Definition at line 279 of file CPointCloud.cpp.

CRenderizable* mrpt::opengl::CRenderizable::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 150 of file CRenderizable.h.

static CPointCloudPtr mrpt::opengl::CPointCloud::Create ( )
static
static mrpt::utils::CObject* mrpt::opengl::CPointCloud::CreateObject ( )
static
void mrpt::opengl::CPointCloud::disablePointSmooth ( )
inline

Definition at line 217 of file CPointCloud.h.

virtual mrpt::utils::CObject* mrpt::opengl::CPointCloud::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

void mrpt::opengl::CPointCloud::enableColorFromX ( bool  v = true)
inline

Definition at line 209 of file CPointCloud.h.

References colNone, and colX.

void mrpt::opengl::CPointCloud::enableColorFromY ( bool  v = true)
inline

Definition at line 210 of file CPointCloud.h.

References colNone, and colY.

void mrpt::opengl::CPointCloud::enableColorFromZ ( bool  v = true)
inline

Definition at line 211 of file CPointCloud.h.

References colNone, and colZ.

void mrpt::opengl::CPointCloud::enablePointSmooth ( bool  enable = true)
inline

Definition at line 216 of file CPointCloud.h.

void mrpt::opengl::CRenderizable::enableShowName ( bool  showName = true)
inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 69 of file CRenderizable.h.

size_t mrpt::opengl::CPointCloud::getActuallyRendered ( ) const
inline

Get the number of elements actually rendered in the last render event.

Definition at line 202 of file CPointCloud.h.

const std::vector<float>& mrpt::opengl::CPointCloud::getArrayX ( ) const
inline

Get a const reference to the internal array of X coordinates.

Definition at line 126 of file CPointCloud.h.

const std::vector<float>& mrpt::opengl::CPointCloud::getArrayY ( ) const
inline

Get a const reference to the internal array of Y coordinates.

Definition at line 127 of file CPointCloud.h.

const std::vector<float>& mrpt::opengl::CPointCloud::getArrayZ ( ) const
inline

Get a const reference to the internal array of Z coordinates.

Definition at line 128 of file CPointCloud.h.

virtual void mrpt::opengl::CPointCloud::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
inlinevirtual

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

Implements mrpt::opengl::CRenderizable.

Definition at line 89 of file CPointCloud.h.

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 126 of file CRenderizable.h.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), and mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels().

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 135 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorA ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 102 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorB ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 101 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorG ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorR ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

std::string mrpt::utils::PLY_Importer::getLoadPLYErrorString ( ) const
inlineinherited

Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems.

Definition at line 41 of file PLY_import_export.h.

const std::string& mrpt::opengl::CRenderizable::getName ( ) const
inlineinherited

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

unsigned int CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

Returns the lowest, free texture name.

Definition at line 77 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL().

mrpt::math::TPoint3D mrpt::opengl::CPointCloud::getPoint ( size_t  i) const
inline

Read access to each individual point (checks for "i" in the valid range only in Debug).

Definition at line 144 of file CPointCloud.h.

References ASSERT_BELOW_.

mrpt::math::TPoint3Df mrpt::opengl::CPointCloud::getPointf ( size_t  i) const
inline

Read access to each individual point (checks for "i" in the valid range only in Debug).

Definition at line 152 of file CPointCloud.h.

References ASSERT_BELOW_.

float mrpt::opengl::CPointCloud::getPointSize ( ) const
inline

Definition at line 214 of file CPointCloud.h.

mrpt::math::TPose3D CRenderizable::getPose ( ) const
inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 321 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

double mrpt::opengl::CRenderizable::getPosePitch ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 93 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const
inlineinherited

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 81 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 94 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseX ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseY ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseZ ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloud::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

std::string mrpt::utils::PLY_Exporter::getSavePLYErrorString ( ) const
inlineinherited

Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems.

Definition at line 87 of file PLY_import_export.h.

float mrpt::opengl::CRenderizable::getScaleX ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

float mrpt::opengl::CRenderizable::getScaleY ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 122 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

float mrpt::opengl::CRenderizable::getScaleZ ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 123 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

void CPointCloud::insertPoint ( float  x,
float  y,
float  z 
)

Adds a new point to the cloud.

Definition at line 290 of file CPointCloud.cpp.

void CPointCloud::internal_render_one_point ( size_t  i) const
inlineprivate

Definition at line 139 of file CPointCloud.cpp.

References glColor4f(), glVertex3f(), min, and MRPT_UNUSED_PARAM.

bool mrpt::opengl::CPointCloud::isPointSmoothEnabled ( ) const
inline

Definition at line 218 of file CPointCloud.h.

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See Also
enableShowName

Definition at line 70 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

bool mrpt::opengl::CRenderizable::isVisible ( ) const
inlineinherited

Is the object visible?

See Also
setVisibility

Definition at line 66 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

bool PLY_Importer::loadFromPlyFile ( const std::string filename,
CStringList file_comments = NULL,
CStringList file_obj_info = NULL 
)
inherited

Loads from a PLY file.

Parameters
[in]filenameThe filename to open. It can be either in binary or text format.
[out]file_commentsIf provided (!=NULL) the list of comment strings stored in the file will be returned.
[out]file_obj_infoIf provided (!=NULL) the list of "object info" strings stored in the file will be returned.
Returns
false on any error in the file format or reading it. To obtain more details on the error you can call getLoadPLYErrorString()

Definition at line 1893 of file PLY_import_export.cpp.

References TVertex::b, TVertex::g, TVertex::intensity, ply_close(), ply_get_comments(), ply_get_element(), ply_get_element_description(), ply_get_obj_info(), ply_get_property(), ply_open_for_reading(), TVertex::r, VAL_NOT_SET, version, vert_props, TVertex::x, TVertex::y, and TVertex::z.

template<class LISTOFPOINTS >
void mrpt::opengl::CPointCloud::loadFromPointsList ( LISTOFPOINTS &  pointsList)
inline

Load the points from a list of mrpt::math::TPoint3D.

Definition at line 180 of file CPointCloud.h.

References MRPT_END, and MRPT_START.

template<class POINTSMAP >
void mrpt::opengl::CPointCloud::loadFromPointsMap ( const POINTSMAP *  themap)

Load the points from any other point map class supported by the adapter mrpt::utils::PointCloudAdapter.

Definition at line 296 of file CPointCloud.h.

References ASSERT_.

void CPointCloud::markAllPointsAsNew ( )
protected

Do needed internal work if all points are new (octree rebuilt,...)

Definition at line 328 of file CPointCloud.cpp.

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_assure_uptodate ( ) const
inlineprotectedinherited

Must be called at children class' render() previously to octree_render()

Definition at line 71 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_debug_dump_tree ( std::ostream &  o) const
inlineinherited

Used for debug only.

Definition at line 579 of file COctreePointRenderer.h.

CPointCloud & mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_derived ( )
inlineprotectedinherited

Definition at line 67 of file COctreePointRenderer.h.

const CPointCloud & mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_derived ( ) const
inlineprotectedinherited

Definition at line 68 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_get_graphics_boundingboxes ( mrpt::opengl::CSetOfObjects gl_bb,
const double  lines_width = 1,
const mrpt::utils::TColorf lines_color = mrpt::utils::TColorf(1,1,1),
const bool  draw_solid_boxes = false 
) const
inlineinherited

Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes.

Parameters
[in]draw_solid_boxesIf false, will draw solid boxes of color lines_color. Otherwise, wireframe boxes will be drawn.

Definition at line 556 of file COctreePointRenderer.h.

size_t mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_get_node_count ( ) const
inlineinherited

Return the number of octree nodes (all of them, including the empty ones)

See Also
octree_get_nonempty_node_count

Definition at line 545 of file COctreePointRenderer.h.

size_t mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_get_visible_nodes ( ) const
inlineinherited

Return the number of visible octree nodes in the last render event.

Definition at line 548 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
inlineprotectedinherited

Definition at line 102 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_mark_as_outdated ( )
inlineinherited

Called from the derived class (or the user) to indicate we have/want to rebuild the entire node tree (for example, after modifying the point cloud or any global octree parameter)

Definition at line 551 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_render ( const mrpt::opengl::gl_utils::TRenderInfo ri) const
inlineprotectedinherited

Render the entire octree recursively.

Should be called from children's render() method.

Definition at line 79 of file COctreePointRenderer.h.

void mrpt::opengl::CPointCloud::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 52 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 52 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::operator delete ( void ptr)
throw (
)
inline

Definition at line 52 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 52 of file CPointCloud.h.

static void* mrpt::opengl::CPointCloud::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 52 of file CPointCloud.h.

void* mrpt::opengl::CPointCloud::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 52 of file CPointCloud.h.

void* mrpt::opengl::CPointCloud::operator new ( size_t  size)
inline

Definition at line 52 of file CPointCloud.h.

void* mrpt::opengl::CPointCloud::operator new[] ( size_t  size)
inline

Definition at line 52 of file CPointCloud.h.

mrpt::math::TPoint3D mrpt::opengl::CPointCloud::operator[] ( size_t  i) const
inline

Read access to each individual point (checks for "i" in the valid range only in Debug).

Definition at line 136 of file CPointCloud.h.

References ASSERT_BELOW_.

size_t mrpt::opengl::CPointCloud::PLY_export_get_face_count ( ) const
inlineprotectedvirtual

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

Definition at line 83 of file CPointCloud.h.

void CPointCloud::PLY_export_get_vertex ( const size_t  idx,
mrpt::math::TPoint3Df pt,
bool &  pt_has_color,
mrpt::utils::TColorf pt_color 
) const
protectedvirtual

In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.

Parameters
pt_colorWill be NULL if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Exporter.

Definition at line 358 of file CPointCloud.cpp.

References MRPT_UNUSED_PARAM, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

size_t CPointCloud::PLY_export_get_vertex_count ( ) const
protectedvirtual

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

Definition at line 350 of file CPointCloud.cpp.

virtual void mrpt::opengl::CPointCloud::PLY_import_set_face_count ( const size_t  N)
inlineprotectedvirtual

In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.

Implements mrpt::utils::PLY_Importer.

Definition at line 70 of file CPointCloud.h.

References MRPT_UNUSED_PARAM.

void CPointCloud::PLY_import_set_vertex ( const size_t  idx,
const mrpt::math::TPoint3Df pt,
const mrpt::utils::TColorf pt_color = NULL 
)
protectedvirtual

In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.

Parameters
pt_colorWill be NULL if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Importer.

Definition at line 343 of file CPointCloud.cpp.

References MRPT_UNUSED_PARAM, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

void CPointCloud::PLY_import_set_vertex_count ( const size_t  N)
protectedvirtual

In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.

Implements mrpt::utils::PLY_Importer.

Definition at line 335 of file CPointCloud.cpp.

void CPointCloud::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 221 of file CPointCloud.cpp.

References colNone, colZ, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CRenderizable::readFromStreamRender ( utils::CStream in)
protectedinherited
void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited
void CPointCloud::render ( ) const
virtual
void CPointCloud::render_subset ( const bool  all,
const std::vector< size_t > &  idxs,
const float  render_area_sqpixels 
) const

Render a subset of points (required by octree renderer)

Definition at line 163 of file CPointCloud.cpp.

References MRPT_UNUSED_PARAM, mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL, and mrpt::utils::round().

void CRenderizable::renderTextBitmap ( const char *  str,
void fontStyle 
)
staticinherited

This method is safe for calling from within ::render() methods.

See Also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 351 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::renderTextBitmap().

void CRenderizable::renderTextBitmap ( int  screen_x,
int  screen_y,
const std::string str,
float  color_r = 1,
float  color_g = 1,
float  color_b = 1,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

  • Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
  • The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
    See Also
    renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

Definition at line 286 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), int(), and MRPT_UNUSED_PARAM.

void mrpt::opengl::CPointCloud::reserve ( size_t  N)
inline

Like STL std::vector's reserve.

Definition at line 103 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::resize ( size_t  N)
inline

Set the number of points (with contents undefined)

Definition at line 100 of file CPointCloud.h.

bool PLY_Exporter::saveToPlyFile ( const std::string filename,
bool  save_in_binary = false,
const CStringList file_comments = CStringList(),
const CStringList file_obj_info = CStringList() 
) const
inherited

Saves to a PLY file.

Parameters
[in]filenameThe filename to be saved.
[in]file_commentsIf provided (!=NULL) the list of comment strings stored in the file will be returned.
[in]file_obj_infoIf provided (!=NULL) the list of "object info" strings stored in the file will be returned.
Returns
false on any error writing the file. To obtain more details on the error you can call getSavePLYErrorString()

Definition at line 1993 of file PLY_import_export.cpp.

References mrpt::utils::TColorf::B, face_props, mrpt::utils::TColorf::G, TVertex::intensity, PLY_ASCII, PLY_BINARY_BE, PLY_BINARY_LE, ply_close(), ply_describe_property(), ply_element_count(), ply_header_complete(), ply_open_for_writing(), ply_put_comment(), ply_put_element(), ply_put_element_setup(), ply_put_obj_info(), mrpt::utils::TColorf::R, mrpt::utils::CStringList::size(), version, vert_props, mrpt::math::TPoint3Df::x, TVertex::x, mrpt::math::TPoint3Df::y, TVertex::y, mrpt::math::TPoint3Df::z, and TVertex::z.

void mrpt::opengl::CPointCloud::setAllPoints ( const std::vector< float > &  x,
const std::vector< float > &  y,
const std::vector< float > &  z 
)
inline

Set the list of (X,Y,Z) point coordinates, all at once, from three vectors with their coordinates.

Definition at line 106 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::setAllPointsFast ( std::vector< float > &  x,
std::vector< float > &  y,
std::vector< float > &  z 
)
inline

Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of the input vectors (via swap)

Definition at line 116 of file CPointCloud.h.

References mrpt::utils::clear().

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 127 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

CRenderizable& mrpt::opengl::CRenderizable::setColor ( double  R,
double  G,
double  B,
double  A = 1 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 133 of file CRenderizable.h.

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::utils::TColor c)
virtualinherited
CRenderizable& mrpt::opengl::CRenderizable::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-255)

Returns
a ref to this

Definition at line 140 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColor_u8().

Referenced by mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double  a)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 112 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorA_u8 ( const uint8_t  a)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 117 of file CRenderizable.h.

Referenced by mrpt::opengl::CSetOfObjects::setColorA_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double  b)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 111 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorB_u8 ( const uint8_t  b)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 116 of file CRenderizable.h.

Referenced by mrpt::opengl::CSetOfObjects::setColorB_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double  g)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 110 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorG_u8 ( const uint8_t  g)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 115 of file CRenderizable.h.

Referenced by mrpt::opengl::CSetOfObjects::setColorG_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double  r)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 109 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorR_u8 ( const uint8_t  r)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 114 of file CRenderizable.h.

Referenced by mrpt::opengl::CSetOfObjects::setColorR_u8().

void CPointCloud::setGradientColors ( const mrpt::utils::TColorf colorMin,
const mrpt::utils::TColorf colorMax 
)

Sets the colors used as extremes when colorFromDepth is enabled.

Definition at line 321 of file CPointCloud.cpp.

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( double  x,
double  y,
double  z 
)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 84 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 87 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::opengl::CRenderizable::setName ( const std::string n)
inlineinherited

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

void CPointCloud::setPoint ( size_t  i,
const float  x,
const float  y,
const float  z 
)

Write an individual point (checks for "i" in the valid range only in Debug).

Definition at line 303 of file CPointCloud.cpp.

References ASSERT_BELOW_.

void mrpt::opengl::CPointCloud::setPoint_fast ( size_t  i,
const float  x,
const float  y,
const float  z 
)
inline

Write an individual point (without checking validity of the index).

Definition at line 163 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::setPointSize ( float  p)
inline

By default is 1.0.

Definition at line 213 of file CPointCloud.h.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 285 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 290 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 295 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 300 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 306 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 311 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  s)
inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns
a ref to this

Definition at line 119 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::CText3D().

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  sx,
float  sy,
float  sz 
)
inlineinherited

Scale to apply to the object in each axis (default=1)

Returns
a ref to this

Definition at line 120 of file CRenderizable.h.

void mrpt::opengl::CRenderizable::setVisibility ( bool  visible = true)
inlineinherited

Set object visibility (default=true)

See Also
isVisible

Definition at line 67 of file CRenderizable.h.

size_t mrpt::opengl::CPointCloud::size ( ) const
inline

Definition at line 97 of file CPointCloud.h.

int CRenderizable::textBitmapWidth ( const std::string str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See Also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 359 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::textBitmapWidth().

bool CRenderizable::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
virtualinherited
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CPointCloud::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 193 of file CPointCloud.cpp.

void CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CPointCloud::_init_CPointCloud
staticprotected

Definition at line 52 of file CPointCloud.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CPointCloud::classCPointCloud
static

Definition at line 52 of file CPointCloud.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
staticinherited

Definition at line 46 of file CRenderizable.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloud::classinfo
static

Definition at line 52 of file CPointCloud.h.

mrpt::utils::TColorf mrpt::opengl::CPointCloud::m_col_slop
mutableprivate

Definition at line 239 of file CPointCloud.h.

mrpt::utils::TColorf mrpt::opengl::CPointCloud::m_col_slop_inv
mutableprivate

Color linear function slope.

Definition at line 239 of file CPointCloud.h.

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited
enum mrpt::opengl::CPointCloud::Axis mrpt::opengl::CPointCloud::m_colorFromDepth
protected
mrpt::utils::TColorf mrpt::opengl::CPointCloud::m_colorFromDepth_max
private

The colors used to interpolate when m_colorFromDepth is true.

Definition at line 242 of file CPointCloud.h.

mrpt::utils::TColorf mrpt::opengl::CPointCloud::m_colorFromDepth_min
private

Definition at line 242 of file CPointCloud.h.

volatile size_t mrpt::opengl::CPointCloud::m_last_rendered_count
mutableprotected

Definition at line 59 of file CPointCloud.h.

volatile size_t mrpt::opengl::CPointCloud::m_last_rendered_count_ongoing
mutableprotected

Definition at line 59 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::m_max
mutableprivate

Definition at line 238 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::m_max_m_min
mutableprivate

Definition at line 238 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::m_max_m_min_inv
mutableprivate

Buffer for min/max coords when m_colorFromDepth is true.

Definition at line 238 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::m_min
mutableprivate

Definition at line 238 of file CPointCloud.h.

bool mrpt::opengl::CPointCloud::m_minmax_valid
mutableprivate

Definition at line 240 of file CPointCloud.h.

std::string mrpt::opengl::CRenderizable::m_name
protectedinherited
float mrpt::opengl::CPointCloud::m_pointSize
protected

By default is 1.0.

Definition at line 56 of file CPointCloud.h.

bool mrpt::opengl::CPointCloud::m_pointSmooth
protected

Default: false.

Definition at line 57 of file CPointCloud.h.

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

Scale components to apply to the object (default=1)

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited
bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

std::vector<float> mrpt::opengl::CPointCloud::m_xs
protected

Definition at line 55 of file CPointCloud.h.

std::vector<float> mrpt::opengl::CPointCloud::m_ys
protected

Definition at line 55 of file CPointCloud.h.

std::vector<float> mrpt::opengl::CPointCloud::m_zs
protected

Definition at line 55 of file CPointCloud.h.




Page generated by Doxygen 1.8.6 for MRPT 1.5.6 Git: 4c65e84 Tue Apr 24 08:18:17 2018 +0200 at mar abr 24 08:26:17 CEST 2018