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mrpt::opengl::CPointCloudColoured Class Reference

Detailed Description

A cloud of points, each one with an individual colour (R,G,B).

The alpha component is shared by all the points and is stored in the base member m_color_A.

To load from a points-map, CPointCloudColoured::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::COpenGLScene, opengl::CPointCloud
mrpt::opengl::CPointCloudColoured
preview_CPointCloudColoured.png

Definition at line 42 of file CPointCloudColoured.h.

#include <mrpt/opengl/CPointCloudColoured.h>

Inheritance diagram for mrpt::opengl::CPointCloudColoured:
Inheritance graph

Classes

struct  TPointColour
 

Public Types

enum  
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator 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...
 
CRenderizableclone () const
 Interface for the stlplus smart pointer class. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Simulation of ray-trace, given a pose. More...
 
virtual mxArraywriteToMatlab () 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...
 
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...
 
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
void push_back (float x, float y, float z, float R, float G, float B)
 Inserts a new point into the point cloud. More...
 
void resize (size_t N)
 Set the number of points, with undefined contents. More...
 
void reserve (size_t N)
 Like STL std::vector's reserve. More...
 
const TPointColouroperator[] (size_t i) const
 Read access to each individual point (checks for "i" in the valid range only in Debug). More...
 
const TPointColourgetPoint (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 TPointColour &p)
 Write an individual point (checks for "i" in the valid range only in Debug). More...
 
void setPoint_fast (const size_t i, const TPointColour &p)
 Like setPoint() but does not check for index out of bounds. More...
 
void setPoint_fast (const size_t i, const float x, const float y, const float z)
 Like setPoint() but does not check for index out of bounds. More...
 
void setPointColor_fast (size_t index, float R, float G, float B)
 Like setPointColor but without checking for out-of-index erors. More...
 
void getPointColor_fast (size_t index, float &R, float &G, float &B) const
 Like getPointColor but without checking for out-of-index erors. More...
 
size_t size () const
 Return the number of points. More...
 
void clear ()
 Erase all the points. 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...
 
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 setPointSize (float pointSize)
 
float getPointSize () const
 
void enablePointSmooth (bool enable=true)
 
void disablePointSmooth ()
 
bool isPointSmoothEnabled () const
 
void recolorizeByCoordinate (const float coord_min, const float coord_max, const int coord_index=2, const mrpt::utils::TColormap color_map=mrpt::utils::cmJET)
 Regenerates the color of each point according the one coordinate (coord_index:0,1,2 for X,Y,Z) and the given color map. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () 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
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (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::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (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...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
virtual CRenderizablesetColorR_u8 (const uint8_t r)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorG_u8 (const uint8_t g)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorB_u8 (const uint8_t b)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorA_u8 (const uint8_t a)
 Color components in the range [0,255]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (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...
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (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::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 
virtual CRenderizablesetColor_u8 (const mrpt::utils::TColor &c)
 
CRenderizablesetColor_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...
 

Static Public Member Functions

static voidoperator 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 Member Functions

void writeToStreamRender (utils::CStream &out) const
 
void readFromStreamRender (utils::CStream &in)
 
CPointCloudColouredoctree_derived ()
 
const CPointCloudColouredoctree_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

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 Types

typedef std::vector< TPointColourTListPointColour
 
typedef TListPointColour::iterator iterator
 
typedef
TListPointColour::const_iterator 
const_iterator
 

Private Member Functions

iterator begin ()
 
const_iterator begin () const
 
iterator end ()
 
const_iterator end () const
 
 CPointCloudColoured ()
 Constructor. More...
 
virtual ~CPointCloudColoured ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 
void markAllPointsAsNew ()
 Do needed internal work if all points are new (octree rebuilt,...) More...
 

Private Attributes

TListPointColour m_points
 
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
 

RTTI stuff

typedef CPointCloudColouredPtr Ptr
 
typedef CPointCloudColouredPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPointCloudColoured
 
static mrpt::utils::TRuntimeClassId classCPointCloudColoured
 
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPointCloudColouredPtr Create ()
 

Member Typedef Documentation

typedef TListPointColour::const_iterator mrpt::opengl::CPointCloudColoured::const_iterator
private

Definition at line 63 of file CPointCloudColoured.h.

typedef CPointCloudColouredPtr mrpt::opengl::CPointCloudColoured::ConstPtr

Definition at line 48 of file CPointCloudColoured.h.

typedef TListPointColour::iterator mrpt::opengl::CPointCloudColoured::iterator
private

Definition at line 62 of file CPointCloudColoured.h.

typedef CPointCloudColouredPtr mrpt::opengl::CPointCloudColoured::Ptr

A typedef for the associated smart pointer

Definition at line 48 of file CPointCloudColoured.h.

Definition at line 59 of file CPointCloudColoured.h.

Member Enumeration Documentation

anonymous enum
inherited

Definition at line 63 of file COctreePointRenderer.h.

Constructor & Destructor Documentation

mrpt::opengl::CPointCloudColoured::CPointCloudColoured ( )
inlineprivate

Constructor.

Definition at line 76 of file CPointCloudColoured.h.

virtual mrpt::opengl::CPointCloudColoured::~CPointCloudColoured ( )
inlineprivatevirtual

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 85 of file CPointCloudColoured.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloudColoured::_GetBaseClass ( )
staticprotected
iterator mrpt::opengl::CPointCloudColoured::begin ( )
inlineprivate

Definition at line 64 of file CPointCloudColoured.h.

const_iterator mrpt::opengl::CPointCloudColoured::begin ( ) const
inlineprivate

Definition at line 65 of file CPointCloudColoured.h.

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited
void mrpt::opengl::CPointCloudColoured::clear ( )
inline

Erase all the points.

Definition at line 166 of file CPointCloudColoured.h.

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

Interface for the stlplus smart pointer class.

Definition at line 150 of file CRenderizable.h.

static CPointCloudColouredPtr mrpt::opengl::CPointCloudColoured::Create ( )
static
static mrpt::utils::CObject* mrpt::opengl::CPointCloudColoured::CreateObject ( )
static
void mrpt::opengl::CPointCloudColoured::disablePointSmooth ( )
inline

Definition at line 186 of file CPointCloudColoured.h.

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

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

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::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 140 of file CObject.h.

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

void mrpt::opengl::CPointCloudColoured::enablePointSmooth ( bool  enable = true)
inline

Definition at line 185 of file CPointCloudColoured.h.

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.

iterator mrpt::opengl::CPointCloudColoured::end ( )
inlineprivate

Definition at line 66 of file CPointCloudColoured.h.

const_iterator mrpt::opengl::CPointCloudColoured::end ( ) const
inlineprivate

Definition at line 67 of file CPointCloudColoured.h.

size_t mrpt::opengl::CPointCloudColoured::getActuallyRendered ( ) const
inline

Get the number of elements actually rendered in the last render event.

Definition at line 174 of file CPointCloudColoured.h.

virtual void mrpt::opengl::CPointCloudColoured::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 92 of file CPointCloudColoured.h.

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().

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.

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().

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

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

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().

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

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

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().

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

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

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().

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

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

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.

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().

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().

const TPointColour& mrpt::opengl::CPointCloudColoured::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 118 of file CPointCloudColoured.h.

References ASSERT_BELOW_.

void mrpt::opengl::CPointCloudColoured::getPointColor_fast ( size_t  index,
float &  R,
float &  G,
float &  B 
) const
inline

Like getPointColor but without checking for out-of-index erors.

Definition at line 157 of file CPointCloudColoured.h.

mrpt::math::TPoint3Df mrpt::opengl::CPointCloudColoured::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 126 of file CPointCloudColoured.h.

References ASSERT_BELOW_.

float mrpt::opengl::CPointCloudColoured::getPointSize ( ) const
inline

Definition at line 183 of file CPointCloudColoured.h.

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.

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().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

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().

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().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

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().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloudColoured::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

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.

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().

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().

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().

bool mrpt::opengl::CPointCloudColoured::isPointSmoothEnabled ( ) const
inline

Definition at line 187 of file CPointCloudColoured.h.

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().

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().

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

template<class POINTSMAP >
void mrpt::opengl::CPointCloudColoured::loadFromPointsMap ( const POINTSMAP *  themap)

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

Definition at line 319 of file CPointCloudColoured.h.

void CPointCloudColoured::markAllPointsAsNew ( )
private

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

Definition at line 204 of file CPointCloudColoured.cpp.

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_assure_uptodate ( ) const
inlineprotectedinherited

Must be called at children class' render() previously to octree_render()

Definition at line 71 of file COctreePointRenderer.h.

References mrpt::opengl::COctreePointRenderer< Derived >::internal_octree_assure_uptodate().

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_debug_dump_tree ( std::ostream &  o) const
inlineinherited
CPointCloudColoured & mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_derived ( )
inlineprotectedinherited

Definition at line 67 of file COctreePointRenderer.h.

const CPointCloudColoured & mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_derived ( ) const
inlineprotectedinherited

Definition at line 68 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::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_boxesIf false, will draw solid boxes of color lines_color. Otherwise, wireframe boxes will be drawn.

Definition at line 556 of file COctreePointRenderer.h.

References mrpt::opengl::CSetOfObjects::clear(), mrpt::opengl::CBox::Create(), mrpt::opengl::CSetOfObjects::insert(), mrpt::opengl::COctreePointRenderer< Derived >::m_octree_nodes, and mrpt::opengl::COctreePointRenderer< Derived >::octree_assure_uptodate().

size_t mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::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.

References mrpt::opengl::COctreePointRenderer< Derived >::m_octree_nodes.

size_t mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::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.

References mrpt::opengl::COctreePointRenderer< Derived >::m_visible_octree_nodes.

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
inlineprotectedinherited
void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::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.

References mrpt::opengl::COctreePointRenderer< Derived >::m_octree_has_to_rebuild_all.

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_render ( const mrpt::opengl::gl_utils::TRenderInfo ri) const
inlineprotectedinherited
void mrpt::opengl::CPointCloudColoured::operator delete ( void ptr)
throw (
)
inline

Definition at line 48 of file CPointCloudColoured.h.

void mrpt::opengl::CPointCloudColoured::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 48 of file CPointCloudColoured.h.

void mrpt::opengl::CPointCloudColoured::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 48 of file CPointCloudColoured.h.

void mrpt::opengl::CPointCloudColoured::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 48 of file CPointCloudColoured.h.

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

Definition at line 48 of file CPointCloudColoured.h.

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

Definition at line 48 of file CPointCloudColoured.h.

void* mrpt::opengl::CPointCloudColoured::operator new ( size_t  size)
inline

Definition at line 48 of file CPointCloudColoured.h.

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

Definition at line 48 of file CPointCloudColoured.h.

const TPointColour& mrpt::opengl::CPointCloudColoured::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 110 of file CPointCloudColoured.h.

References ASSERT_BELOW_.

size_t mrpt::opengl::CPointCloudColoured::PLY_export_get_face_count ( ) const
inlineprotectedvirtual

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

Definition at line 217 of file CPointCloudColoured.h.

void CPointCloudColoured::PLY_export_get_vertex ( const size_t  idx,
mrpt::math::TPoint3Df pt,
bool &  pt_has_color,
mrpt::utils::TColorf pt_color 
) const
protectedvirtual
size_t CPointCloudColoured::PLY_export_get_vertex_count ( ) const
protectedvirtual

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

Definition at line 226 of file CPointCloudColoured.cpp.

virtual void mrpt::opengl::CPointCloudColoured::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 205 of file CPointCloudColoured.h.

References MRPT_UNUSED_PARAM.

void CPointCloudColoured::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_colorWill be NULL if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Importer.

Definition at line 218 of file CPointCloudColoured.cpp.

References mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, mrpt::utils::TColorf::R, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

void CPointCloudColoured::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 210 of file CPointCloudColoured.cpp.

void CPointCloudColoured::push_back ( float  x,
float  y,
float  z,
float  R,
float  G,
float  B 
)

Inserts a new point into the point cloud.

Definition at line 194 of file CPointCloudColoured.cpp.

void CPointCloudColoured::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 134 of file CPointCloudColoured.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CRenderizable::readFromStreamRender ( utils::CStream in)
protectedinherited
void CPointCloudColoured::recolorizeByCoordinate ( const float  coord_min,
const float  coord_max,
const int  coord_index = 2,
const mrpt::utils::TColormap  color_map = mrpt::utils::cmJET 
)

Regenerates the color of each point according the one coordinate (coord_index:0,1,2 for X,Y,Z) and the given color map.

Definition at line 250 of file CPointCloudColoured.cpp.

References ASSERT_ABOVEEQ_, ASSERT_BELOW_, mrpt::utils::colormap(), and min.

void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited
void CPointCloudColoured::render ( ) const
virtual
void CPointCloudColoured::render_subset ( const bool  all,
const std::vector< size_t > &  idxs,
const float  render_area_sqpixels 
) const
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().

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(), int(), and MRPT_UNUSED_PARAM.

void mrpt::opengl::CPointCloudColoured::reserve ( size_t  N)
inline

Like STL std::vector's reserve.

Definition at line 107 of file CPointCloudColoured.h.

void mrpt::opengl::CPointCloudColoured::resize ( size_t  N)
inline

Set the number of points, with undefined contents.

Definition at line 104 of file CPointCloudColoured.h.

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]filenameThe filename to be saved.
[in]file_commentsIf provided (!=NULL) the list of comment strings stored in the file will be returned.
[in]file_obj_infoIf 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.

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 127 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

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.

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::utils::TColor c)
virtualinherited
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 mrpt::opengl::CRenderizable::setColor_u8().

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

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.

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().

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.

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().

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.

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().

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.

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().

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.

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.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

void CPointCloudColoured::setPoint ( size_t  i,
const TPointColour p 
)

Write an individual point (checks for "i" in the valid range only in Debug).

Definition at line 182 of file CPointCloudColoured.cpp.

References ASSERT_BELOW_.

void mrpt::opengl::CPointCloudColoured::setPoint_fast ( const size_t  i,
const TPointColour p 
)
inline

Like setPoint() but does not check for index out of bounds.

Definition at line 137 of file CPointCloudColoured.h.

void mrpt::opengl::CPointCloudColoured::setPoint_fast ( const size_t  i,
const float  x,
const float  y,
const float  z 
)
inline
void mrpt::opengl::CPointCloudColoured::setPointColor_fast ( size_t  index,
float  R,
float  G,
float  B 
)
inline

Like setPointColor but without checking for out-of-index erors.

Definition at line 150 of file CPointCloudColoured.h.

References R.

void mrpt::opengl::CPointCloudColoured::setPointSize ( float  pointSize)
inline

Definition at line 182 of file CPointCloudColoured.h.

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.

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.

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.

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.

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
oSet 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().

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
oSet 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().

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().

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.

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_t mrpt::opengl::CPointCloudColoured::size ( ) const
inline

Return the number of points.

Definition at line 164 of file CPointCloudColoured.h.

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().

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

void CPointCloudColoured::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 116 of file CPointCloudColoured.cpp.

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

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CPointCloudColoured::_init_CPointCloudColoured
staticprotected

Definition at line 48 of file CPointCloudColoured.h.

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

Definition at line 128 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CPointCloudColoured::classCPointCloudColoured
static

Definition at line 48 of file CPointCloudColoured.h.

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

Definition at line 46 of file CRenderizable.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloudColoured::classinfo
static

Definition at line 48 of file CPointCloudColoured.h.

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited
volatile size_t mrpt::opengl::CPointCloudColoured::m_last_rendered_count
mutableprivate

Definition at line 72 of file CPointCloudColoured.h.

volatile size_t mrpt::opengl::CPointCloudColoured::m_last_rendered_count_ongoing
mutableprivate

Definition at line 72 of file CPointCloudColoured.h.

std::string mrpt::opengl::CRenderizable::m_name
protectedinherited
TListPointColour mrpt::opengl::CPointCloudColoured::m_points
private

Definition at line 60 of file CPointCloudColoured.h.

float mrpt::opengl::CPointCloudColoured::m_pointSize
private

By default is 1.0.

Definition at line 70 of file CPointCloudColoured.h.

bool mrpt::opengl::CPointCloudColoured::m_pointSmooth
private

Default: false.

Definition at line 71 of file CPointCloudColoured.h.

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited
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().

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited
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().




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