struct mrpt::obs::PointCloudRecoloringParameters

Overview

Parameters for recolorize3Dpc(), or part of VisualizationParameters if using obs_to_viz()

#include <mrpt/obs/customizable_obs_viz.h>

struct PointCloudRecoloringParameters
{
    // fields

    std::string colorizeByField = "z";
    bool invertColorMapping = false;
    mrpt::img::TColormap colorMap = mrpt::img::cmJET;
    std::optional<float> colorMapMinCoord;
    std::optional<float> colorMapMaxCoord;

    // construction

    PointCloudRecoloringParameters();

    // methods

    void save_to_ini_file(
        mrpt::config::CConfigFileBase& cfg,
        const std::string& section = "ParametersView3DPoints"
        ) const;

    void load_from_ini_file(
        const mrpt::config::CConfigFileBase& cfg,
        const std::string& section = "ParametersView3DPoints"
        );
};

Fields

std::string colorizeByField = "z"

Any of the field names of a mrpt::maps::CPointsMap, like.

x, y, z, intensity, ring, t, ambient, etc.
rgb for {color_r,color_g,color_b} (uint8_t, in range 0-255)
rgbf for {color_rf,color_gf,color_bf} (float, in range 0-1)

bool invertColorMapping = false

Whether to invert the colormap.

mrpt::img::TColormap colorMap = mrpt::img::cmJET

The color map to use:

std::optional<float> colorMapMinCoord

If provided, this will be used as the coordinate for the lowest end of the color map.

If not set, it will be dynamically computed from the data.

std::optional<float> colorMapMaxCoord

If provided, this will be used as the coordinate for the highest end of the color map.

If not set, it will be dynamically computed from the data.