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

Definition at line 46 of file CPointCloud.h.

#include <mrpt/opengl/CPointCloud.h>

Inheritance diagram for mrpt::opengl::CPointCloud:

Public Types
enum

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator 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...

CRenderizable *	clone () const
	Interface for the smart pointer class. More...

virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose. More...

virtual mxArray *	writeToMatlab () 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...

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::string &	getName () 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

CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPose2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose2D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

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

CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation. More...

CRenderizable &	setLocation (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...

CRenderizable &	setColorR (const double r)
	Color components in the range [0,1]. More...

CRenderizable &	setColorG (const double g)
	Color components in the range [0,1]. More...

CRenderizable &	setColorB (const double b)
	Color components in the range [0,1]. More...

CRenderizable &	setColorA (const double a)
	Color components in the range [0,1]. More...

virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255]. More...

CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1) More...

CRenderizable &	setScale (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...

CRenderizable &	setColor (const mrpt::utils::TColorf &c)

CRenderizable &	setColor (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::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...

virtual CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c)

CRenderizable &	setColor_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...

RTTI classes and functions
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...

Static Public Member Functions
static void *	operator 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)

CPointCloud &	octree_derived ()

const CPointCloud &	octree_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::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CPointCloudPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 52 of file CPointCloud.h.

◆ Ptr

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

anonymous enum

inherited

Definition at line 63 of file COctreePointRenderer.h.

◆ Axis

enum mrpt::opengl::CPointCloud::Axis

protected

Enumerator
colNone
colZ
colY
colX

Definition at line 54 of file CPointCloud.h.

Constructor & Destructor Documentation

◆ CPointCloud()

CPointCloud::CPointCloud ( )

private

Constructor.

Definition at line 35 of file CPointCloud.cpp.

◆ ~CPointCloud()

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

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloud::_GetBaseClass ( )

staticprotected

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotectedinherited

Checks glGetError and throws an exception if an error situation is found.

Definition at line 277 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CGridPlaneXY::render_dl(), mrpt::opengl::CGridPlaneXZ::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ clear()

void CPointCloud::clear ( )

Empty the list of points.

Definition at line 279 of file CPointCloud.cpp.

◆ clone()

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

inlineinherited

Interface for the smart pointer class.

Definition at line 150 of file CRenderizable.h.

◆ Create()

static CPointCloudPtr mrpt::opengl::CPointCloud::Create ( )

static

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawNodePoints(), mrpt::maps::CBeacon::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::opengl::graph_tools::graph_visualize(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), and mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

◆ CreateObject()

static mrpt::utils::CObject* mrpt::opengl::CPointCloud::CreateObject ( )

static

◆ disablePointSmooth()

void mrpt::opengl::CPointCloud::disablePointSmooth ( )

inline

Definition at line 217 of file CPointCloud.h.

◆ duplicate()

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

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ enableColorFromX()

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

inline

Definition at line 209 of file CPointCloud.h.

References colNone, and colX.

◆ enableColorFromY()

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

inline

Definition at line 210 of file CPointCloud.h.

References colNone, and colY.

◆ enableColorFromZ()

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

inline

Definition at line 211 of file CPointCloud.h.

References colNone, and colZ.

◆ enablePointSmooth()

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

inline

Definition at line 216 of file CPointCloud.h.

◆ enableShowName()

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.

◆ getActuallyRendered()

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.

◆ getArrayX()

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.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().

◆ getArrayY()

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.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().

◆ getArrayZ()

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.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().

◆ getBoundingBox()

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.

◆ getColor()

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().

◆ getColor_u8()

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.

◆ getColorA()

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().

◆ getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

◆ getColorB()

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().

◆ getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

◆ getColorG()

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().

◆ getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

◆ getColorR()

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().

◆ getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

◆ getLoadPLYErrorString()

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.

◆ getName()

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().

◆ getNewTextureNumber()

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().

◆ getPoint()

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_.

◆ getPointf()

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_.

◆ getPointSize()

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

inline

Definition at line 214 of file CPointCloud.h.

◆ getPose()

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.

◆ getPosePitch()

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().

◆ getPosePitchRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

◆ getPoseRef()

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().

◆ getPoseRoll()

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().

◆ getPoseRollRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

◆ getPoseX()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

◆ getPoseY()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

◆ getPoseYaw()

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().

◆ getPoseYawRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

◆ getPoseZ()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

◆ GetRuntimeClass()

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.

◆ getSavePLYErrorString()

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.

◆ getScaleX()

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().

◆ getScaleY()

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().

◆ getScaleZ()

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().

◆ insertPoint()

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

Adds a new point to the cloud.

Definition at line 290 of file CPointCloud.cpp.

◆ internal_render_one_point()

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.

◆ isPointSmoothEnabled()

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

inline

Definition at line 218 of file CPointCloud.h.

◆ isShowNameEnabled()

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().

◆ isVisible()

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().

◆ loadFromPlyFile()

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]	filename	The filename to open. It can be either in binary or text format.
[out]	file_comments	If provided (!=NULL) the list of comment strings stored in the file will be returned.
[out]	file_obj_info	If 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.

◆ loadFromPointsList()

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.

◆ loadFromPointsMap()

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_.

◆ markAllPointsAsNew()

void CPointCloud::markAllPointsAsNew ( )

protected

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

Definition at line 328 of file CPointCloud.cpp.

◆ octree_assure_uptodate()

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.

◆ octree_debug_dump_tree()

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.

◆ octree_derived() [1/2]

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

inlineprotectedinherited

Definition at line 67 of file COctreePointRenderer.h.

◆ octree_derived() [2/2]

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

inlineprotectedinherited

Definition at line 68 of file COctreePointRenderer.h.

◆ octree_get_graphics_boundingboxes()

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_boxes If false, will draw solid boxes of color lines_color. Otherwise, wireframe boxes will be drawn.

Definition at line 556 of file COctreePointRenderer.h.

◆ octree_get_node_count()

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.

◆ octree_get_visible_nodes()

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.

◆ octree_getBoundingBox()

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.

◆ octree_mark_as_outdated()

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.

◆ octree_render()

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.

◆ operator delete() [1/3]

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

inline

Definition at line 52 of file CPointCloud.h.

◆ operator delete() [2/3]

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

inline

Definition at line 52 of file CPointCloud.h.

◆ operator delete() [3/3]

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

inline

Definition at line 52 of file CPointCloud.h.

◆ operator delete[]()

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

inline

Definition at line 52 of file CPointCloud.h.

◆ operator new() [1/3]

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

inlinestatic

Definition at line 52 of file CPointCloud.h.

◆ operator new() [2/3]

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

inline

Definition at line 52 of file CPointCloud.h.

◆ operator new() [3/3]

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

inline

Definition at line 52 of file CPointCloud.h.

◆ operator new[]()

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

inline

Definition at line 52 of file CPointCloud.h.

◆ operator[]()

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_.

◆ PLY_export_get_face_count()

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.

◆ PLY_export_get_vertex()

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_color Will 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.

◆ PLY_export_get_vertex_count()

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.

◆ PLY_import_set_face_count()

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.

◆ PLY_import_set_vertex()

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_color Will 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.

◆ PLY_import_set_vertex_count()

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.

◆ readFromStream()

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

in	The input binary stream where the object data must read from.
version	The 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::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 221 of file CPointCloud.cpp.

References colNone, colZ, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ readFromStreamRender()

void CRenderizable::readFromStreamRender ( utils::CStream & in )

protectedinherited

Definition at line 161 of file CRenderizable.cpp.

Referenced by mrpt::opengl::CRenderizableDisplayList::readFromStreamRender().

◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int i )

staticprotectedinherited

Definition at line 102 of file CRenderizable.cpp.

References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.

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

◆ render()

void CPointCloud::render ( ) const

virtual

Render.

Implements mrpt::opengl::CRenderizable.

Definition at line 56 of file CPointCloud.cpp.

References ASSERT_, mrpt::opengl::gl_utils::checkOpenGLError(), colY, colZ, mrpt::opengl::gl_utils::getCurrentRenderingInfo(), GL_BLEND, GL_LIGHTING, GL_ONE_MINUS_SRC_ALPHA, GL_POINT_SMOOTH, GL_POINTS, GL_SRC_ALPHA, glBegin(), glBlendFunc(), glColor4ub(), glDisable(), glEnable(), glEnd(), glPointSize(), and mrpt::math::minimum_maximum().

◆ render_subset()

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().

◆ renderTextBitmap() [1/2]

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().

◆ renderTextBitmap() [2/2]

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(), and MRPT_UNUSED_PARAM.

◆ reserve()

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

inline

Like STL std::vector's reserve.

Definition at line 103 of file CPointCloud.h.

◆ resize()

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.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::resize().

◆ saveToPlyFile()

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]	filename	The filename to be saved.
[in]	file_comments	If provided (!=NULL) the list of comment strings stored in the file will be returned.
[in]	file_obj_info	If 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.

◆ setAllPoints()

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.

◆ setAllPointsFast()

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().

◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf & c )

inlineinherited

Parameters

c	Changes the default object color

Returns: a ref to this

Definition at line 127 of file CRenderizable.h.

◆ setColor() [2/2]

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.

References R.

◆ setColor_u8() [1/2]

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::utils::TColor & c )

virtualinherited

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

Definition at line 339 of file CRenderizable.cpp.

References mrpt::utils::TColor::A, mrpt::utils::TColor::B, mrpt::utils::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::utils::TColor::R.

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

◆ setColor_u8() [2/2]

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 R, and mrpt::opengl::CRenderizable::setColor_u8().

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

◆ setColorA()

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.

◆ setColorA_u8()

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().

◆ setColorB()

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.

◆ setColorB_u8()

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().

◆ setColorG()

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.

◆ setColorG_u8()

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().

◆ setColorR()

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.

◆ setColorR_u8()

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().

◆ setGradientColors()

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.

◆ setLocation() [1/2]

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.

◆ setLocation() [2/2]

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.

◆ setName()

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

inlineinherited

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

◆ setPoint()

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_.

◆ setPoint_fast()

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.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::setPointXYZ().

◆ setPointSize()

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

inline

By default is 1.0.

Definition at line 213 of file CPointCloud.h.

◆ setPose() [1/6]

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.

◆ setPose() [2/6]

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.

◆ setPose() [3/6]

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.

◆ setPose() [4/6]

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.

◆ setPose() [5/6]

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

o	Set 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().

◆ setPose() [6/6]

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

o	Set 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().

◆ setScale() [1/2]

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().

◆ setScale() [2/2]

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.

◆ setVisibility()

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()

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

inline

Definition at line 97 of file CPointCloud.h.

Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::size().

◆ textBitmapWidth()

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().

◆ traceRay()

bool CRenderizable::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const

virtualinherited

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned

Reimplemented in mrpt::opengl::CPolyhedron, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CMesh, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSetOfObjects, mrpt::opengl::CEllipsoid, mrpt::opengl::CFrustum, mrpt::opengl::CTexturedPlane, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSphere, mrpt::opengl::C3DSScene, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::opengl::CDisk, mrpt::opengl::CCylinder, and mrpt::opengl::COpenGLStandardObject.

Definition at line 329 of file CRenderizable.cpp.

References MRPT_UNUSED_PARAM.

◆ writeToMatlab()

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.

◆ writeToStream()

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

out	The output binary stream where object must be dumped.
getVersion	If 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::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 193 of file CPointCloud.cpp.

References version.

◆ writeToStreamRender()

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

protectedinherited

Definition at line 112 of file CRenderizable.cpp.

Referenced by mrpt::opengl::CSimpleLine::writeToStream(), mrpt::opengl::CTexturedPlane::writeToStream(), mrpt::opengl::CSetOfLines::writeToStream(), mrpt::opengl::CGridPlaneXY::writeToStream(), mrpt::opengl::CGridPlaneXZ::writeToStream(), mrpt::opengl::CVectorField2D::writeToStream(), mrpt::opengl::CBox::writeToStream(), mrpt::opengl::CText3D::writeToStream(), mrpt::opengl::CVectorField3D::writeToStream(), and mrpt::opengl::CFrustum::writeToStream().

Member Data Documentation

◆ _init_CPointCloud

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

staticprotected

Definition at line 52 of file CPointCloud.h.

◆ classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

◆ classCPointCloud

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

static

Definition at line 52 of file CPointCloud.h.

◆ classCRenderizable

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

staticinherited

Definition at line 46 of file CRenderizable.h.

◆ classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

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

static

Definition at line 52 of file CPointCloud.h.

◆ m_col_slop

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

mutableprivate

Definition at line 239 of file CPointCloud.h.

◆ m_col_slop_inv

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

mutableprivate

Color linear function slope.

Definition at line 239 of file CPointCloud.h.

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color

protectedinherited

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

Referenced by mrpt::opengl::CMesh3D::CMesh3D(), mrpt::opengl::CVectorField2D::CVectorField2D(), mrpt::opengl::CVectorField3D::CVectorField3D(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CText3D::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), mrpt::opengl::CRenderizable::setColor_u8(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_colorFromDepth

enum mrpt::opengl::CPointCloud::Axis mrpt::opengl::CPointCloud::m_colorFromDepth

protected

◆ m_colorFromDepth_max

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.

◆ m_colorFromDepth_min

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

private

Definition at line 242 of file CPointCloud.h.

◆ m_last_rendered_count

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

mutableprotected

Definition at line 59 of file CPointCloud.h.

◆ m_last_rendered_count_ongoing

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

mutableprotected

Definition at line 59 of file CPointCloud.h.

◆ m_max

float mrpt::opengl::CPointCloud::m_max

mutableprivate

Definition at line 238 of file CPointCloud.h.

◆ m_max_m_min

float mrpt::opengl::CPointCloud::m_max_m_min

mutableprivate

Definition at line 238 of file CPointCloud.h.

◆ m_max_m_min_inv

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.

◆ m_min

float mrpt::opengl::CPointCloud::m_min

mutableprivate

Definition at line 238 of file CPointCloud.h.

◆ m_minmax_valid

bool mrpt::opengl::CPointCloud::m_minmax_valid

mutableprivate

Definition at line 240 of file CPointCloud.h.

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name

protectedinherited

Definition at line 52 of file CRenderizable.h.

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

◆ m_pointSize

float mrpt::opengl::CPointCloud::m_pointSize

protected

By default is 1.0.

Definition at line 56 of file CPointCloud.h.

◆ m_pointSmooth

bool mrpt::opengl::CPointCloud::m_pointSmooth

protected

Default: false.

Definition at line 57 of file CPointCloud.h.

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose

protectedinherited

6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

Definition at line 55 of file CRenderizable.h.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x

protectedinherited

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y

protectedinherited

Definition at line 56 of file CRenderizable.h.

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

◆ m_scale_z

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().

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name

protectedinherited

Definition at line 53 of file CRenderizable.h.

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

◆ m_visible

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().

◆ m_xs

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

protected

Definition at line 55 of file CPointCloud.h.

◆ m_ys

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

protected

Definition at line 55 of file CPointCloud.h.

◆ m_zs

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

protected

Definition at line 55 of file CPointCloud.h.

Detailed Description

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

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Member Enumeration Documentation

◆ anonymous enum

◆ Axis

Constructor & Destructor Documentation

◆ CPointCloud()

◆ ~CPointCloud()

Member Function Documentation

◆ _GetBaseClass()

◆ checkOpenGLError()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ disablePointSmooth()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ enableColorFromX()

◆ enableColorFromY()

◆ enableColorFromZ()

◆ enablePointSmooth()

◆ enableShowName()

◆ getActuallyRendered()

◆ getArrayX()

◆ getArrayY()

◆ getArrayZ()

◆ getBoundingBox()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getLoadPLYErrorString()

◆ getName()

◆ getNewTextureNumber()

◆ getPoint()

◆ getPointf()

◆ getPointSize()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ getSavePLYErrorString()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ insertPoint()

◆ internal_render_one_point()

◆ isPointSmoothEnabled()

◆ isShowNameEnabled()

◆ isVisible()

◆ loadFromPlyFile()

◆ loadFromPointsList()