MRPT
1.9.9
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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: https://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points
Definition at line 43 of file CPointCloud.h.
#include <mrpt/opengl/CPointCloud.h>
Public Types | |
enum | |
Public Member Functions | |
void | getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override |
Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More... | |
void | render () const 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... | |
CPointCloud () | |
Constructor. More... | |
~CPointCloud () override=default | |
Private, virtual destructor: only can be deleted from smart pointers. 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::img::TColorf &lines_color=mrpt::img::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, std::vector< std::string > *file_comments=nullptr, std::vector< std::string > *file_obj_info=nullptr) |
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 std::vector< std::string > &file_comments=std::vector< std::string >(), const std::vector< std::string > &file_obj_info=std::vector< std::string >()) 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::opengl::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::img::TColorf &colorMin, const mrpt::img::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::img::TColorf | getColor () const |
Returns the object color property as a TColorf. More... | |
CRenderizable & | setColor (const mrpt::img::TColorf &c) |
Changes the default object color. More... | |
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::img::TColor & | getColor_u8 () const |
Returns the object color property as a TColor. More... | |
virtual CRenderizable & | setColor_u8 (const mrpt::img::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 for polymorphic hierarchies | |
mrpt::rtti::CObject::Ptr | duplicateGetSmartPtr () const |
Makes a deep copy of the object and returns a smart pointer to it. More... | |
Static Public Member Functions | |
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... | |
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 (mrpt::serialization::CArchive &out) const |
void | readFromStreamRender (mrpt::serialization::CArchive &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 | |
uint8_t | serializeGetVersion () const override |
Must return the current versioning number of the object. More... | |
void | serializeTo (mrpt::serialization::CArchive &out) const override |
Pure virtual method for writing (serializing) to an abstract archive. More... | |
void | serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override |
Pure virtual method for reading (deserializing) from an abstract archive. More... | |
PLY Import virtual methods to implement in base classes | |
void | PLY_import_set_vertex_count (const size_t N) override |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. More... | |
void | PLY_import_set_face_count (const size_t N) override |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More... | |
void | PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::img::TColorf *pt_color=nullptr) 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 override |
In a base class, return the number of vertices. More... | |
size_t | PLY_export_get_face_count () const 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::img::TColorf &pt_color) const override |
In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More... | |
CSerializable virtual methods | |
virtual void | serializeTo (CSchemeArchiveBase &out) const |
Virtual method for writing (serializing) to an abstract schema based archive. More... | |
virtual void | serializeFrom (CSchemeArchiveBase &in) |
Virtual method for reading (deserializing) from an abstract schema based archive. 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 | colNone |
std::vector< float > | m_xs |
std::vector< float > | m_ys |
std::vector< float > | m_zs |
float | m_pointSize {1} |
By default is 1.0. More... | |
bool | m_pointSmooth {false} |
Default: false. More... | |
volatile size_t | m_last_rendered_count {0} |
volatile size_t | m_last_rendered_count_ongoing {0} |
std::string | m_name |
bool | m_show_name {false} |
mrpt::img::TColor | m_color |
Color components in the range [0,255]. More... | |
mrpt::poses::CPose3D | m_pose |
6D pose wrt the parent coordinate reference. More... | |
float | m_scale_x {1} |
Scale components to apply to the object (default=1) More... | |
float | m_scale_y {1} |
float | m_scale_z {1} |
bool | m_visible {true} |
Is the object visible? (default=true) More... | |
Private Member Functions | |
void | internal_render_one_point (size_t i) const |
Private Attributes | |
float | m_min {0} |
Buffer for min/max coords when m_colorFromDepth is true. More... | |
float | m_max {0} |
float | m_max_m_min {0} |
float | m_max_m_min_inv {0} |
mrpt::img::TColorf | m_col_slop |
Color linear function slope. More... | |
mrpt::img::TColorf | m_col_slop_inv |
bool | m_minmax_valid {false} |
mrpt::img::TColorf | m_colorFromDepth_min |
The colors used to interpolate when m_colorFromDepth is true. More... | |
mrpt::img::TColorf | m_colorFromDepth_max |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPointCloud > |
using | ConstPtr = std::shared_ptr< const CPointCloud > |
using | UniquePtr = std::unique_ptr< CPointCloud > |
using | ConstUniquePtr = std::unique_ptr< const CPointCloud > |
static mrpt::rtti::CLASSINIT | _init_CPointCloud |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CPointCloud" |
static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
static constexpr auto | getClassName () |
static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static std::shared_ptr< CObject > | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
template<typename Alloc , typename... Args> | |
static Ptr | CreateAlloc (const Alloc &alloc, Args &&... args) |
template<typename... Args> | |
static UniquePtr | CreateUnique (Args &&... args) |
virtual const mrpt::rtti::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::rtti::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::opengl::CPointCloud::ConstPtr = std::shared_ptr<const CPointCloud > |
Definition at line 48 of file CPointCloud.h.
using mrpt::opengl::CPointCloud::ConstUniquePtr = std::unique_ptr<const CPointCloud > |
Definition at line 48 of file CPointCloud.h.
A type for the associated smart pointer
Definition at line 48 of file CPointCloud.h.
using mrpt::opengl::CPointCloud::UniquePtr = std::unique_ptr< CPointCloud > |
Definition at line 48 of file CPointCloud.h.
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inherited |
Definition at line 65 of file COctreePointRenderer.h.
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protected |
Enumerator | |
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colNone | |
colZ | |
colY | |
colX |
Definition at line 51 of file CPointCloud.h.
CPointCloud::CPointCloud | ( | ) |
Constructor.
Definition at line 53 of file CPointCloud.cpp.
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overridedefault |
Private, virtual destructor: only can be deleted from smart pointers.
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staticprotected |
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staticprotectedinherited |
Checks glGetError and throws an exception if an error situation is found.
Definition at line 295 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::checkOpenGLError().
Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), and mrpt::opengl::CPolyhedron::render_dl().
void CPointCloud::clear | ( | ) |
Empty the list of points.
Definition at line 362 of file CPointCloud.cpp.
Referenced by setAllPointsFast().
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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inlinestatic |
Definition at line 48 of file CPointCloud.h.
Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), and mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().
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inlinestatic |
Definition at line 48 of file CPointCloud.h.
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static |
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inlinestatic |
Definition at line 48 of file CPointCloud.h.
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inline |
Definition at line 275 of file CPointCloud.h.
References m_pointSmooth.
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inlineinherited |
Makes a deep copy of the object and returns a smart pointer to it.
Definition at line 200 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
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inline |
Definition at line 255 of file CPointCloud.h.
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inline |
Definition at line 259 of file CPointCloud.h.
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inline |
Definition at line 263 of file CPointCloud.h.
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inline |
Definition at line 271 of file CPointCloud.h.
References m_pointSmooth.
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inlineinherited |
Enables or disables showing the name of the object as a label when rendering.
Definition at line 82 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_show_name.
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inline |
Get the number of elements actually rendered in the last render event.
Definition at line 250 of file CPointCloud.h.
References m_last_rendered_count.
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inline |
Get a const reference to the internal array of X coordinates.
Definition at line 162 of file CPointCloud.h.
References m_xs.
Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().
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inline |
Get a const reference to the internal array of Y coordinates.
Definition at line 164 of file CPointCloud.h.
References m_ys.
Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().
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inline |
Get a const reference to the internal array of Z coordinates.
Definition at line 166 of file CPointCloud.h.
References m_zs.
Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().
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inlineoverridevirtual |
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 106 of file CPointCloud.h.
References bb_max, and mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_getBoundingBox().
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inlinestatic |
Definition at line 48 of file CPointCloud.h.
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inlineinherited |
Returns the object color property as a TColorf.
Definition at line 231 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().
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inlineinherited |
Returns the object color property as a TColor.
Definition at line 250 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color.
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inlineinherited |
Color components in the range [0,1].
Definition at line 154 of file CRenderizable.h.
References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Color components in the range [0,255].
Definition at line 162 of file CRenderizable.h.
References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.
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inlineinherited |
Color components in the range [0,1].
Definition at line 152 of file CRenderizable.h.
References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Color components in the range [0,255].
Definition at line 160 of file CRenderizable.h.
References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.
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inlineinherited |
Color components in the range [0,1].
Definition at line 150 of file CRenderizable.h.
References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Color components in the range [0,255].
Definition at line 158 of file CRenderizable.h.
References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.
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inlineinherited |
Color components in the range [0,1].
Definition at line 148 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
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inlineinherited |
Color components in the range [0,255].
Definition at line 156 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.
|
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 44 of file PLY_import_export.h.
References mrpt::opengl::PLY_Importer::m_ply_import_last_error.
|
inlineinherited |
Returns the name of the object.
Definition at line 67 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_name.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
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 65 of file CRenderizable.cpp.
References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.
|
inline |
Read access to each individual point (checks for "i" in the valid range only in Debug).
Definition at line 185 of file CPointCloud.h.
References ASSERT_BELOW_, m_xs, m_ys, m_zs, and size().
|
inline |
Read access to each individual point (checks for "i" in the valid range only in Debug).
Definition at line 195 of file CPointCloud.h.
References ASSERT_BELOW_, m_xs, m_ys, m_zs, and size().
|
inline |
Definition at line 270 of file CPointCloud.h.
References m_pointSize.
|
inherited |
Returns the 3D pose of the object as TPose3D.
Definition at line 337 of file CRenderizable.cpp.
References mrpt::poses::CPose3D::asTPose(), and mrpt::opengl::CRenderizable::m_pose.
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 138 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::RAD2DEG().
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 144 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::pitch().
|
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 108 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 140 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::roll().
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 146 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::roll().
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 130 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x().
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 132 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 136 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::yaw().
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 142 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::yaw().
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 134 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose.
|
overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::opengl::CRenderizable.
|
static |
|
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 104 of file PLY_import_export.h.
References mrpt::opengl::PLY_Exporter::m_ply_export_last_error.
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 225 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_x.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 227 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_y.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 229 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_z.
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 373 of file CPointCloud.cpp.
|
inlineprivate |
Definition at line 151 of file CPointCloud.cpp.
References glColor4f(), glVertex3f(), min, and MRPT_UNUSED_PARAM.
|
inline |
Definition at line 276 of file CPointCloud.h.
References m_pointSmooth.
|
inlineinherited |
Definition at line 84 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_show_name.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
inlineinherited |
Is the object visible?
Definition at line 68 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_visible.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
|
inherited |
Loads from a PLY file.
[in] | filename | The filename to open. It can be either in binary or text format. |
[out] | file_comments | If provided (!=nullptr) the list of comment strings stored in the file will be returned. |
[out] | file_obj_info | If provided (!=nullptr) the list of "object info" strings stored in the file will be returned. |
Definition at line 1845 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, vert_props, TVertex::x, TVertex::y, and TVertex::z.
|
inline |
Load the points from a list of mrpt::math::TPoint3D.
Definition at line 227 of file CPointCloud.h.
References m_xs, m_ys, m_zs, markAllPointsAsNew(), MRPT_END, and MRPT_START.
void mrpt::opengl::CPointCloud::loadFromPointsMap | ( | const POINTSMAP * | themap | ) |
Load the points from any other point map class supported by the adapter mrpt::opengl::PointCloudAdapter.
Definition at line 364 of file CPointCloud.h.
References ASSERT_.
|
protected |
Do needed internal work if all points are new (octree rebuilt,...)
Definition at line 416 of file CPointCloud.cpp.
Referenced by loadFromPointsList(), resize(), setAllPoints(), setAllPointsFast(), and setPoint_fast().
|
inlineprotectedinherited |
Must be called at children class' render() previously to octree_render()
Definition at line 80 of file COctreePointRenderer.h.
|
inlineinherited |
Used for debug only.
Definition at line 751 of file COctreePointRenderer.h.
|
inlineprotectedinherited |
Definition at line 72 of file COctreePointRenderer.h.
|
inlineprotectedinherited |
Definition at line 73 of file COctreePointRenderer.h.
|
inlineinherited |
Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes.
[in] | draw_solid_boxes | If false, will draw solid boxes of color lines_color. Otherwise, wireframe boxes will be drawn. |
Definition at line 728 of file COctreePointRenderer.h.
|
inlineinherited |
Return the number of octree nodes (all of them, including the empty ones)
Definition at line 712 of file COctreePointRenderer.h.
|
inlineinherited |
Return the number of visible octree nodes in the last render event.
Definition at line 714 of file COctreePointRenderer.h.
|
inlineprotectedinherited |
Definition at line 114 of file COctreePointRenderer.h.
Referenced by getBoundingBox().
|
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 718 of file COctreePointRenderer.h.
|
inlineprotectedinherited |
Render the entire octree recursively.
Should be called from children's render() method.
Definition at line 89 of file COctreePointRenderer.h.
|
inline |
Read access to each individual point (checks for "i" in the valid range only in Debug).
Definition at line 175 of file CPointCloud.h.
References ASSERT_BELOW_, m_xs, m_ys, m_zs, and size().
|
inlineoverrideprotectedvirtual |
In a base class, return the number of faces.
Implements mrpt::opengl::PLY_Exporter.
Definition at line 97 of file CPointCloud.h.
|
overrideprotectedvirtual |
In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.
pt_color | Will be nullptr if the loaded file does not provide color info. |
Implements mrpt::opengl::PLY_Exporter.
Definition at line 449 of file CPointCloud.cpp.
References MRPT_UNUSED_PARAM, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.
|
overrideprotectedvirtual |
In a base class, return the number of vertices.
Implements mrpt::opengl::PLY_Exporter.
Definition at line 443 of file CPointCloud.cpp.
|
inlineoverrideprotectedvirtual |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.
Implements mrpt::opengl::PLY_Importer.
Definition at line 79 of file CPointCloud.h.
References MRPT_UNUSED_PARAM.
|
overrideprotectedvirtual |
In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.
pt_color | Will be nullptr if the loaded file does not provide color info. |
Implements mrpt::opengl::PLY_Importer.
Definition at line 434 of file CPointCloud.cpp.
References MRPT_UNUSED_PARAM, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.
|
overrideprotectedvirtual |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
Implements mrpt::opengl::PLY_Importer.
Definition at line 424 of file CPointCloud.cpp.
|
protectedinherited |
Definition at line 158 of file CRenderizable.cpp.
References mrpt::img::TColor::A, mrpt::img::TColorf::A, mrpt::img::TColor::B, mrpt::img::TColorf::B, mrpt::DEG2RAD(), mrpt::img::TColor::G, mrpt::img::TColorf::G, mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizable::m_name, mrpt::opengl::CRenderizable::m_pose, mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, mrpt::opengl::CRenderizable::m_scale_z, mrpt::opengl::CRenderizable::m_show_name, mrpt::opengl::CRenderizable::m_visible, mrpt::obs::gnss::pitch, mrpt::img::TColor::R, mrpt::img::TColorf::R, mrpt::obs::gnss::roll, mrpt::poses::CPose3D::setYawPitchRoll(), THROW_EXCEPTION_FMT, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
Referenced by mrpt::opengl::CRenderizableDisplayList::readFromStreamRender().
|
staticprotectedinherited |
Definition at line 93 of file CRenderizable.cpp.
References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.
|
overridevirtual |
Render.
Implements mrpt::opengl::CRenderizable.
Definition at line 67 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().
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 177 of file CPointCloud.cpp.
References MRPT_UNUSED_PARAM, OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL_value, and mrpt::round().
This method is safe for calling from within ::render() methods.
Definition at line 361 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::renderTextBitmap().
|
staticinherited |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)
Definition at line 332 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.
|
inline |
Like STL std::vector's reserve.
Definition at line 128 of file CPointCloud.h.
|
inline |
Set the number of points (with contents undefined)
Definition at line 118 of file CPointCloud.h.
References m_minmax_valid, m_xs, m_ys, m_zs, and markAllPointsAsNew().
Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::resize().
|
inherited |
Saves to a PLY file.
[in] | filename | The filename to be saved. |
[in] | file_comments | If provided (!=nullptr) the list of comment strings stored in the file will be returned. |
[in] | file_obj_info | If provided (!=nullptr) the list of "object info" strings stored in the file will be returned. |
Definition at line 1946 of file PLY_import_export.cpp.
References mrpt::img::TColorf::B, face_props, mrpt::img::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::img::TColorf::R, vert_props, mrpt::math::TPoint3Df::x, TVertex::x, mrpt::math::TPoint3Df::y, TVertex::y, mrpt::math::TPoint3Df::z, and TVertex::z.
|
overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
.
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. |
std::exception | On any I/O error |
currently below is being left to what is being set by the default constructor i.e.,CPointCloud::colNone
Implements mrpt::serialization::CSerializable.
Definition at line 233 of file CPointCloud.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and SCHEMA_DESERIALIZE_DATATYPE_VERSION.
|
inlineprotectedvirtualinherited |
Virtual method for reading (deserializing) from an abstract schema based archive.
Definition at line 74 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
|
overrideprotectedvirtual |
Must return the current versioning number of the object.
Start in zero for new classes, and increments each time there is a change in the stored format.
Implements mrpt::serialization::CSerializable.
Definition at line 278 of file CPointCloud.cpp.
|
overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;
.
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 207 of file CPointCloud.cpp.
References SCHEMA_SERIALIZE_DATATYPE_VERSION.
|
inlineprotectedvirtualinherited |
Virtual method for writing (serializing) to an abstract schema based archive.
Definition at line 64 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
|
inline |
Set the list of (X,Y,Z) point coordinates, all at once, from three vectors with their coordinates.
Definition at line 137 of file CPointCloud.h.
References m_minmax_valid, m_xs, m_ys, m_zs, and markAllPointsAsNew().
|
inline |
Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of the input vectors (via swap)
Definition at line 150 of file CPointCloud.h.
References clear(), m_minmax_valid, m_ys, m_zs, and markAllPointsAsNew().
|
inlineinherited |
Changes the default object color.
Definition at line 236 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColor_u8().
Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().
|
inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 244 of file CRenderizable.h.
References G, R, and mrpt::opengl::CRenderizable::setColor_u8().
|
virtualinherited |
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CRenderizableDisplayList, and mrpt::opengl::CSetOfObjects.
Definition at line 350 of file CRenderizable.cpp.
References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.
Referenced by mrpt::opengl::CRenderizable::setColor(), mrpt::opengl::CRenderizableDisplayList::setColor_u8(), and mrpt::opengl::CRenderizable::setColor_u8().
|
inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-255)
Definition at line 256 of file CRenderizable.h.
References G, R, and mrpt::opengl::CRenderizable::setColor_u8().
|
inlineinherited |
Color components in the range [0,1].
Definition at line 179 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorA_u8().
|
inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Definition at line 202 of file CRenderizable.h.
References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::CRenderizable::setColorA(), and mrpt::opengl::CSetOfObjects::setColorA_u8().
|
inlineinherited |
Color components in the range [0,1].
Definition at line 174 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorB_u8().
|
inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Definition at line 196 of file CRenderizable.h.
References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::CRenderizable::setColorB(), and mrpt::opengl::CSetOfObjects::setColorB_u8().
|
inlineinherited |
Color components in the range [0,1].
Definition at line 169 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorG_u8().
|
inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Definition at line 190 of file CRenderizable.h.
References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::CRenderizable::setColorG(), and mrpt::opengl::CSetOfObjects::setColorG_u8().
|
inlineinherited |
Color components in the range [0,1].
Definition at line 164 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorR_u8().
|
inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Definition at line 184 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.
Referenced by mrpt::opengl::CRenderizable::setColorR(), and mrpt::opengl::CSetOfObjects::setColorR_u8().
void CPointCloud::setGradientColors | ( | const mrpt::img::TColorf & | colorMin, |
const mrpt::img::TColorf & | colorMax | ||
) |
Sets the colors used as extremes when colorFromDepth is enabled.
Definition at line 408 of file CPointCloud.cpp.
|
inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 111 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
|
inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 121 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
|
inlineinherited |
Changes the name of the object.
Definition at line 65 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_name.
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 388 of file CPointCloud.cpp.
References ASSERT_BELOW_.
|
inline |
Write an individual point (without checking validity of the index).
Definition at line 208 of file CPointCloud.h.
References m_minmax_valid, m_xs, m_ys, m_zs, and markAllPointsAsNew().
Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::setPointXYZ().
|
inline |
|
inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Definition at line 303 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().
|
inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Definition at line 308 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
|
inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
Definition at line 313 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
|
inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
Definition at line 318 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
|
inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Set the 3D pose from a mrpt::poses::CPose3D object.
Definition at line 325 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
|
inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Set the 3D pose from a mrpt::poses::CPose3D object.
Definition at line 331 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
|
inlineinherited |
Scale to apply to the object, in all three axes (default=1)
Definition at line 210 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.
|
inlineinherited |
Scale to apply to the object in each axis (default=1)
Definition at line 217 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.
|
inlineinherited |
Set object visibility (default=true)
Definition at line 73 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_visible.
|
inline |
Definition at line 116 of file CPointCloud.h.
References m_xs.
Referenced by getPoint(), getPointf(), operator[](), and mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::size().
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Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
Definition at line 370 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::textBitmapWidth().
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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::CMesh, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CEllipsoid, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSphere, mrpt::opengl::CDisk, mrpt::opengl::CBox, mrpt::opengl::CTexturedPlane, mrpt::opengl::CAssimpModel, mrpt::opengl::CCylinder, and mrpt::opengl::COpenGLStandardObject.
Definition at line 338 of file CRenderizable.cpp.
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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.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 90 of file CSerializable.h.
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Definition at line 104 of file CRenderizable.cpp.
References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizable::m_name, mrpt::opengl::CRenderizable::m_pose, mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, mrpt::opengl::CRenderizable::m_scale_z, mrpt::opengl::CRenderizable::m_show_name, mrpt::opengl::CRenderizable::m_visible, mrpt::poses::CPose3D::pitch(), mrpt::img::TColor::R, mrpt::poses::CPose3D::roll(), mrpt::serialization::CArchive::WriteBuffer(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().
Referenced by mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField2D::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), mrpt::opengl::CFrustum::serializeTo(), and mrpt::opengl::CPlanarLaserScan::serializeTo().
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Definition at line 48 of file CPointCloud.h.
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Definition at line 48 of file CPointCloud.h.
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Referenced by enableColorFromX(), enableColorFromY(), and enableColorFromZ().
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Color linear function slope.
Definition at line 301 of file CPointCloud.h.
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mutableprivate |
Definition at line 301 of file CPointCloud.h.
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Color components in the range [0,255].
Definition at line 51 of file CRenderizable.h.
Referenced by mrpt::opengl::CMeshFast::CMeshFast(), mrpt::opengl::CVectorField2D::CVectorField2D(), mrpt::opengl::CVectorField3D::CVectorField3D(), mrpt::opengl::CRenderizable::getColor(), mrpt::opengl::CRenderizable::getColor_u8(), mrpt::opengl::CRenderizable::getColorA(), mrpt::opengl::CRenderizable::getColorA_u8(), mrpt::opengl::CRenderizable::getColorB(), mrpt::opengl::CRenderizable::getColorB_u8(), mrpt::opengl::CRenderizable::getColorG(), mrpt::opengl::CRenderizable::getColorG_u8(), mrpt::opengl::CRenderizable::getColorR(), mrpt::opengl::CRenderizable::getColorR_u8(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CPolyhedron::render_dl(), mrpt::opengl::CRenderizable::setColor_u8(), mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), mrpt::opengl::CRenderizable::setColorA_u8(), mrpt::opengl::CRenderizableDisplayList::setColorB_u8(), mrpt::opengl::CRenderizable::setColorB_u8(), mrpt::opengl::CRenderizableDisplayList::setColorG_u8(), mrpt::opengl::CRenderizable::setColorG_u8(), mrpt::opengl::CRenderizableDisplayList::setColorR_u8(), mrpt::opengl::CRenderizable::setColorR_u8(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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Definition at line 305 of file CPointCloud.h.
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The colors used to interpolate when m_colorFromDepth is true.
Definition at line 305 of file CPointCloud.h.
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mutableprotected |
Definition at line 64 of file CPointCloud.h.
Referenced by getActuallyRendered().
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mutableprotected |
Definition at line 65 of file CPointCloud.h.
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mutableprivate |
Definition at line 299 of file CPointCloud.h.
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mutableprivate |
Definition at line 299 of file CPointCloud.h.
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mutableprivate |
Definition at line 299 of file CPointCloud.h.
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mutableprivate |
Buffer for min/max coords when m_colorFromDepth is true.
Definition at line 299 of file CPointCloud.h.
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mutableprivate |
Definition at line 302 of file CPointCloud.h.
Referenced by resize(), setAllPoints(), setAllPointsFast(), and setPoint_fast().
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Definition at line 48 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getName(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setName(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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By default is 1.0.
Definition at line 60 of file CPointCloud.h.
Referenced by getPointSize(), and setPointSize().
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Default: false.
Definition at line 62 of file CPointCloud.h.
Referenced by disablePointSmooth(), enablePointSmooth(), and isPointSmoothEnabled().
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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 54 of file CRenderizable.h.
Referenced by mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CBox::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPolyhedron::getBoundingBox(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField2D::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CRenderizable::getPose(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPosePitchRad(), mrpt::opengl::CRenderizable::getPoseRef(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseRollRad(), mrpt::opengl::CRenderizable::getPoseX(), mrpt::opengl::CRenderizable::getPoseY(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CRenderizable::getPoseYawRad(), mrpt::opengl::CRenderizable::getPoseZ(), mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CRenderizable::setPose(), mrpt::opengl::CPolyhedron::traceRay(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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Scale components to apply to the object (default=1)
Definition at line 56 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getScaleX(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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Definition at line 56 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getScaleY(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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Definition at line 56 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getScaleZ(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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Definition at line 49 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::enableShowName(), mrpt::opengl::CRenderizable::isShowNameEnabled(), mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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Is the object visible? (default=true)
Definition at line 58 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::isVisible(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setVisibility(), and mrpt::opengl::CRenderizable::writeToStreamRender().
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Definition at line 58 of file CPointCloud.h.
Referenced by getArrayX(), getPoint(), getPointf(), loadFromPointsList(), operator[](), reserve(), resize(), setAllPoints(), setPoint_fast(), and size().
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Definition at line 58 of file CPointCloud.h.
Referenced by getArrayY(), getPoint(), getPointf(), loadFromPointsList(), operator[](), reserve(), resize(), setAllPoints(), setAllPointsFast(), and setPoint_fast().
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Definition at line 58 of file CPointCloud.h.
Referenced by getArrayZ(), getPoint(), getPointf(), loadFromPointsList(), operator[](), reserve(), resize(), setAllPoints(), setAllPointsFast(), and setPoint_fast().
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Definition at line 48 of file CPointCloud.h.
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