class mrpt::viz::CPointCloud

Python API: mrpt.viz.CPointCloud

Overview

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, using octrees.

See also:

opengl::CPlanarLaserScan, mrpt::viz::Scene, mrpt::viz::CPointCloudColoured, mrpt::maps::CPointsMap

#include <mrpt/viz/CPointCloud.h>

class CPointCloud:
    public mrpt::viz::CVisualObject,
    public mrpt::viz::VisualObjectParams_Points,
    public mrpt::viz::PLY_Importer,
    public mrpt::viz::PLY_Exporter
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::viz ::CPointCloud> Ptr;
    typedef std::shared_ptr<const mrpt::viz ::CPointCloud> ConstPtr;
    typedef std::unique_ptr<mrpt::viz ::CPointCloud> UniquePtr;
    typedef std::unique_ptr<const mrpt::viz ::CPointCloud> ConstUniquePtr;

    // fields

    static constexpr const char* className = "mrpt::viz" "::" "CPointCloud";

    // construction

    CPointCloud();

    // methods

    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;
    virtual mrpt::rtti::CObject* clone() const;
    size_t size() const;
    size_t size_unprotected() const;
    void resize(size_t N);
    void reserve(size_t N);

    template <typename T>
    void setAllPoints(
        const std::vector<T>& x,
        const std::vector<T>& y,
        const std::vector<T>& z
        );

    void setAllPoints(const std::vector<mrpt::math::TPoint3D>& pts);
    void setAllPointsFast(std::vector<mrpt::math::TPoint3Df>& pts);
    const std::vector<mrpt::math::TPoint3Df>& getArrayPoints() const;
    void clear();
    bool empty() const;
    void insertPoint(float x, float y, float z);
    void insertPoint(const mrpt::math::TPoint3Df& p);
    void insertPoint(const mrpt::math::TPoint3D& p);
    const mrpt::math::TPoint3Df& operator [] (size_t i) const;
    const mrpt::math::TPoint3Df& getPoint3Df(size_t i) const;
    void setPoint(size_t i, const float x, const float y, const float z);
    void setPoint_fast(size_t i, const float x, const float y, const float z);

    template <class POINTSMAP>
    void loadFromPointsMap(const POINTSMAP* themap);

    template <class LISTOFPOINTS>
    void loadFromPointsList(LISTOFPOINTS& pointsList);

    void enableColorFromX(bool v = true);
    void enableColorFromY(bool v = true);
    void enableColorFromZ(bool v = true);
    void setGradientColors(const mrpt::img::TColorf& colorMin, const mrpt::img::TColorf& colorMax);
    virtual void updateBuffers() const;
    virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CVisualObject> Ptr;
    typedef std::shared_ptr<const CVisualObject> ConstPtr;

    // structs

    struct BuffersVersion;
    struct ChangeCounter;
    struct PoseAndScale;
    struct State;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void setName(const std::string& n);
    std::string getName() const;
    bool isVisible() const;
    void setVisibility(bool visible = true);
    bool castShadows() const;
    void castShadows(bool doCast);
    void enableShowName(bool showName = true);
    bool isShowNameEnabled() const;
    CVisualObject& setPose(const mrpt::poses::CPose3D& o);
    CVisualObject& setPose(const mrpt::poses::CPose2D& o);
    CVisualObject& setPose(const mrpt::math::TPose3D& o);
    CVisualObject& setPose(const mrpt::math::TPose2D& o);
    CVisualObject& setPose(const mrpt::poses::CPoint3D& o);
    CVisualObject& setPose(const mrpt::poses::CPoint2D& o);
    mrpt::math::TPose3D getPose() const;
    PoseAndScale getPoseAndScale() const;
    mrpt::poses::CPose3D getCPose() const;
    CVisualObject& setLocation(double x, double y, double z);
    CVisualObject& setLocation(const mrpt::math::TPoint3D& p);
    mrpt::img::TColorf getColor() const;
    mrpt::img::TColor getColor_u8() const;
    CVisualObject& setColorA(const float a);
    virtual CVisualObject& setColorA_u8(const uint8_t a);
    float materialShininess() const;
    void materialShininess(float shininess);
    float materialSpecularExponent() const;
    void materialSpecularExponent(float exponent);
    mrpt::img::TColorf materialEmissive() const;
    void materialEmissive(const mrpt::img::TColorf& color);
    CVisualObject& setScale(float s);
    CVisualObject& setScale(float sx, float sy, float sz);
    float getScaleX() const;
    float getScaleY() const;
    float getScaleZ() const;
    CVisualObject& setColor(const mrpt::img::TColorf& c);
    CVisualObject& setColor(float R, float G, float B, float A = 1);
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    CVisualObject& setColor_u8(uint8_t R, uint8_t G, uint8_t B, uint8_t A = 255);
    virtual bool cullElegible() const;
    virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const;
    virtual bool isCompositeObject() const;
    virtual const std::deque<std::shared_ptr<CVisualObject>>& getInternalChildren() const;
    void notifyChange() const;
    void notifyTransformChange() const;
    void clearChangedFlag() const;
    void notifyBBoxChange() const;
    bool hasToUpdateBuffers() const;
    uint64_t dataVersion() const;
    uint64_t transformVersion() const;
    bool hasToUpdateBuffersSince(uint64_t sinceVersion) const;
    void updateBuffersIfNeeded() const;
    virtual void updateBuffers() const;
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    auto getBoundingBox() const;
    auto getBoundingBoxLocal() const;
    auto getBoundingBoxLocalf() const;
    virtual mrpt::math::TPoint3Df getLocalRepresentativePoint() const;
    void setLocalRepresentativePoint(const mrpt::math::TPoint3Df& p);
    mrpt::viz::CText& labelObject() const;
    std::shared_ptr<mrpt::viz::CText> labelObjectPtr() const;
    const auto& shaderPointsVertexPointBuffer() const;
    const auto& shaderPointsVertexColorBuffer() const;
    auto& shaderPointsBuffersMutex() const;
    void setPointSize(float p);
    float getPointSize() const;
    void enableVariablePointSize(bool enable = true);
    bool isEnabledVariablePointSize() const;
    void setVariablePointSize_k(float v);
    float getVariablePointSize_k() const;
    void setVariablePointSize_DepthScale(float v);
    float getVariablePointSize_DepthScale() const;

    bool loadFromPlyFile(
        const std::string& filename,
        std::vector<std::string>* file_comments = nullptr,
        std::vector<std::string>* file_obj_info = nullptr
        );

    std::string getLoadPLYErrorString() const;

    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;

    std::string getSavePLYErrorString() const;

Typedefs

typedef std::shared_ptr<mrpt::viz ::CPointCloud> Ptr

A type for the associated smart pointer.

Construction

CPointCloud()

Constructor.

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual mrpt::rtti::CObject* clone() const

Returns a deep copy (clone) of the object, indepently of its class.

size_t size_unprotected() const

Like size(), but without locking the data mutex (internal usage)

void resize(size_t N)

Set the number of points (with contents undefined)

void reserve(size_t N)

Like STL std::vector’s reserve.

template <typename T>
void setAllPoints(
    const std::vector<T>& x,
    const std::vector<T>& y,
    const std::vector<T>& z
    )

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

void setAllPointsFast(std::vector<mrpt::math::TPoint3Df>& pts)

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

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

const std::vector<mrpt::math::TPoint3Df>& getArrayPoints() const

Get a const reference to the internal array of points.

void clear()

Empty the list of points.

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

Adds a new point to the cloud.

const mrpt::math::TPoint3Df& operator [] (size_t i) const

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

const mrpt::math::TPoint3Df& getPoint3Df(size_t i) const

NOTE: This method is intentionally not protected by the shared_mutex, since it’s called in the inner loops of the octree, which acquires the lock once.

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).

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).

template <class POINTSMAP>
void loadFromPointsMap(const POINTSMAP* themap)

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

template <class LISTOFPOINTS>
void loadFromPointsList(LISTOFPOINTS& pointsList)

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

void setGradientColors(const mrpt::img::TColorf& colorMin, const mrpt::img::TColorf& colorMax)

Sets the colors used as extremes when colorFromDepth is enabled.

virtual void updateBuffers() const

Called by the rendering system to update internal geometry buffers.

Derived classes should override this to populate their data buffers (triangles, points, lines) when the object geometry changes.

This is called automatically when hasToUpdateBuffers() returns true, which happens after notifyChange() was called.

The base implementation does nothing; derived classes should override.

Thread safety: implementations should lock the appropriate mutexes when writing to shared buffers.

virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const

Used from Scene::asYAML().

(New in MRPT 2.4.2)