class mrpt::viz::CMeshFast

Overview

A planar (XY) grid where each cell has an associated height and, optionally, a texture map.

To make it faster to render, instead of drawing lines and triangles it draws a point at each gridcell. A typical usage example would be an elevation map or a 3D model of a terrain.

See also:

opengl::Scene

#include <mrpt/viz/CMeshFast.h>

class CMeshFast:
    public mrpt::viz::CVisualObject,
    public mrpt::viz::VisualObjectParams_Points
{
public:
    // construction

    CMeshFast(
        bool enableTransparency = false,
        float xMin_p = -1.0f,
        float xMax_p = 1.0f,
        float yMin_p = -1.0f,
        float yMax_p = 1.0f
        );

    // methods

    void setGridLimits(
        float xmin,
        float xmax,
        float ymin,
        float ymax
        );

    void getGridLimits(
        float& xmin,
        float& xmax,
        float& ymin,
        float& ymax
        ) const;

    void enableTransparency(bool v);

    void enableColorFromZ(
        bool v,
        mrpt::img::TColormap colorMap = mrpt::img::cmJET
        );

    void setZ(const mrpt::math::CMatrixDynamic<float>& in_Z);
    void getZ(mrpt::math::CMatrixFloat& out) const;
    float getXMin() const;
    float getXMax() const;
    float getYMin() const;
    float getYMax() const;
    void setXMin(float nxm);
    void setXMax(float nxm);
    void setYMin(float nym);
    void setYMax(float nym);

    void getXBounds(
        float& min,
        float& max
        ) const;

    void getYBounds(
        float& min,
        float& max
        ) const;

    void setXBounds(
        float min,
        float max
        );

    void setYBounds(
        float min,
        float max
        );

    virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const;
    void assignImage(const mrpt::img::CImage& img);
    void assignImageAndZ(const mrpt::img::CImage& img, const mrpt::math::CMatrixDynamic<float>& in_Z);
    void adjustGridToImageAR();
    void setPointSize(float p);
    void enableVariablePointSize(bool enable = true);
    void setVariablePointSize_k(float v);
    void setVariablePointSize_DepthScale(float v);
};

Inherited Members

public:
    // structs

    struct OutdatedState;
    struct State;

    // methods

    const auto& shaderPointsVertexPointBuffer() const;
    const auto& shaderPointsVertexColorBuffer() const;
    auto& shaderPointsBuffersMutex() const;
    float getPointSize() const;
    bool isEnabledVariablePointSize() const;
    float getVariablePointSize_k() const;
    float getVariablePointSize_DepthScale() const;

Construction

CMeshFast(
    bool enableTransparency = false,
    float xMin_p = -1.0f,
    float xMax_p = 1.0f,
    float yMin_p = -1.0f,
    float yMax_p = 1.0f
    )

Constructor.

Methods

void setZ(const mrpt::math::CMatrixDynamic<float>& in_Z)

This method sets the matrix of heights for each position (cell) in the mesh grid.

void getZ(mrpt::math::CMatrixFloat& out) const

Returns a reference to the internal Z matrix, allowing changing it efficiently.

virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const

Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates.

This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.