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: http://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points
Definition at line 46 of file CPointCloud.h.
#include <mrpt/opengl/CPointCloud.h>
Public Types | |
enum | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator 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... | |
CRenderizable * | clone () 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 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... | |
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 | |
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::utils::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::utils::TColorf &colorMin, const mrpt::utils::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::math::TPose3D &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::utils::TColorf | getColor () const |
Returns the object color property as a TColorf. More... | |
CRenderizable & | setColor (const mrpt::utils::TColorf &c) |
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::utils::TColor & | getColor_u8 () const |
Returns the object color property as a TColor. More... | |
virtual CRenderizable & | setColor_u8 (const mrpt::utils::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 0-1) More... | |
Static Public Member Functions | |
static void * | operator 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 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 (utils::CStream &out) const |
void | readFromStreamRender (utils::CStream &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 | |
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 | |
enum mrpt::opengl::CPointCloud::Axis | m_colorFromDepth |
std::vector< float > | m_xs |
std::vector< float > | m_ys |
std::vector< float > | m_zs |
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 |
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 Member Functions | |
CPointCloud () | |
Constructor. More... | |
virtual | ~CPointCloud () |
Private, virtual destructor: only can be deleted from smart pointers. More... | |
void | internal_render_one_point (size_t i) const |
Private Attributes | |
float | m_min |
float | m_max |
float | m_max_m_min |
float | m_max_m_min_inv |
Buffer for min/max coords when m_colorFromDepth is true. More... | |
mrpt::utils::TColorf | m_col_slop |
mrpt::utils::TColorf | m_col_slop_inv |
Color linear function slope. More... | |
bool | m_minmax_valid |
mrpt::utils::TColorf | m_colorFromDepth_min |
mrpt::utils::TColorf | m_colorFromDepth_max |
The colors used to interpolate when m_colorFromDepth is true. More... | |
RTTI stuff | |
typedef CPointCloudPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPointCloud |
static mrpt::utils::TRuntimeClassId | classCPointCloud |
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::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CPointCloudPtr | Create () |
typedef CPointCloudPtr mrpt::opengl::CPointCloud::SmartPtr |
A typedef for the associated smart pointer
Definition at line 52 of file CPointCloud.h.
|
inherited |
Definition at line 63 of file COctreePointRenderer.h.
|
protected |
Enumerator | |
---|---|
colNone | |
colZ | |
colY | |
colX |
Definition at line 54 of file CPointCloud.h.
|
private |
Constructor.
|
inlineprivatevirtual |
Private, virtual destructor: only can be deleted from smart pointers.
Definition at line 236 of file CPointCloud.h.
|
staticprotected |
|
staticprotectedinherited |
Checks glGetError and throws an exception if an error situation is found.
void mrpt::opengl::CPointCloud::clear | ( | ) |
Empty the list of points.
|
inlineinherited |
Interface for the stlplus smart pointer class.
Definition at line 148 of file CRenderizable.h.
References mrpt::opengl::gl_utils::checkOpenGLError(), DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE, mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24, OPENGL_IMPEXP, mrpt::opengl::operator<<(), mrpt::opengl::gl_utils::renderTextBitmap(), mrpt::opengl::gl_utils::textBitmapWidth(), and mrpt::math::traceRay().
|
static |
Referenced by mrpt::opengl::graph_tools::graph_visualize().
|
static |
|
inline |
Definition at line 217 of file CPointCloud.h.
|
virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
|
inlineinherited |
|
inline |
Definition at line 209 of file CPointCloud.h.
|
inline |
Definition at line 210 of file CPointCloud.h.
|
inline |
Definition at line 211 of file CPointCloud.h.
|
inline |
Definition at line 216 of file CPointCloud.h.
|
inlineinherited |
Enables or disables showing the name of the object as a label when rendering.
Definition at line 69 of file CRenderizable.h.
|
inline |
Get the number of elements actually rendered in the last render event.
Definition at line 202 of file CPointCloud.h.
|
inline |
Get a const reference to the internal array of X coordinates.
Definition at line 126 of file CPointCloud.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().
|
inline |
Get a const reference to the internal array of Y coordinates.
Definition at line 127 of file CPointCloud.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().
|
inline |
Get a const reference to the internal array of Z coordinates.
Definition at line 128 of file CPointCloud.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().
|
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 89 of file CPointCloud.h.
|
inlineinherited |
Returns the object color property as a TColorf.
Definition at line 124 of file CRenderizable.h.
|
inlineinherited |
Returns the object color property as a TColor.
Definition at line 133 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,1].
Definition at line 100 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,255].
Definition at line 105 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,1].
Definition at line 99 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,255].
Definition at line 104 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,1].
Definition at line 98 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,255].
Definition at line 103 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,1].
Definition at line 97 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,255].
Definition at line 102 of file CRenderizable.h.
|
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.
|
inlineinherited |
Returns the name of the object.
Definition at line 64 of file CRenderizable.h.
|
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).
|
inline |
Read access to each individual point (checks for "i" in the valid range only in Debug).
Definition at line 144 of file CPointCloud.h.
References ASSERT_BELOW_, and mrpt::math::size().
|
inline |
Read access to each individual point (checks for "i" in the valid range only in Debug).
Definition at line 152 of file CPointCloud.h.
References ASSERT_BELOW_, and mrpt::math::size().
|
inline |
Definition at line 214 of file CPointCloud.h.
|
inherited |
Returns the 3D pose of the object as TPose3D.
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 91 of file CRenderizable.h.
References mrpt::mrpt::utils::RAD2DEG().
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 94 of file CRenderizable.h.
|
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 79 of file CRenderizable.h.
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 92 of file CRenderizable.h.
References mrpt::mrpt::utils::RAD2DEG().
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 95 of file CRenderizable.h.
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 87 of file CRenderizable.h.
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 88 of file CRenderizable.h.
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 90 of file CRenderizable.h.
References mrpt::mrpt::utils::RAD2DEG().
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 93 of file CRenderizable.h.
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 89 of file CRenderizable.h.
|
virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::opengl::CRenderizable.
|
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.
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 119 of file CRenderizable.h.
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 120 of file CRenderizable.h.
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 121 of file CRenderizable.h.
void mrpt::opengl::CPointCloud::insertPoint | ( | float | x, |
float | y, | ||
float | z | ||
) |
Adds a new point to the cloud.
|
inlineprivate |
|
inline |
Definition at line 218 of file CPointCloud.h.
References MRPT_OVERRIDE.
|
inlineinherited |
Definition at line 70 of file CRenderizable.h.
|
inlineinherited |
|
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 (!=NULL) the list of comment strings stored in the file will be returned. |
[out] | file_obj_info | If provided (!=NULL) the list of "object info" strings stored in the file will be returned. |
|
inline |
Load the points from a list of mrpt::math::TPoint3D.
Definition at line 180 of file CPointCloud.h.
References 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::utils::PointCloudAdapter.
Definition at line 291 of file CPointCloud.h.
References ASSERT_.
|
protected |
Do needed internal work if all points are new (octree rebuilt,...)
|
inlineprotectedinherited |
Must be called at children class' render() previously to octree_render()
Definition at line 71 of file COctreePointRenderer.h.
|
inlineinherited |
Used for debug only.
Definition at line 577 of file COctreePointRenderer.h.
|
inlineprotectedinherited |
Definition at line 67 of file COctreePointRenderer.h.
|
inlineprotectedinherited |
Definition at line 68 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 554 of file COctreePointRenderer.h.
|
inlineinherited |
Return the number of octree nodes (all of them, including the empty ones)
Definition at line 543 of file COctreePointRenderer.h.
|
inlineinherited |
Return the number of visible octree nodes in the last render event.
Definition at line 546 of file COctreePointRenderer.h.
|
inlineprotectedinherited |
Definition at line 102 of file COctreePointRenderer.h.
|
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 549 of file COctreePointRenderer.h.
|
inlineprotectedinherited |
Render the entire octree recursively.
Should be called from children's render() method.
Definition at line 79 of file COctreePointRenderer.h.
|
inline |
Definition at line 52 of file CPointCloud.h.
|
inline |
Definition at line 52 of file CPointCloud.h.
|
inline |
Definition at line 52 of file CPointCloud.h.
|
inline |
Definition at line 52 of file CPointCloud.h.
|
inlinestatic |
Definition at line 52 of file CPointCloud.h.
|
inline |
Definition at line 52 of file CPointCloud.h.
|
inline |
Definition at line 52 of file CPointCloud.h.
|
inline |
Definition at line 52 of file CPointCloud.h.
|
inline |
Read access to each individual point (checks for "i" in the valid range only in Debug).
Definition at line 136 of file CPointCloud.h.
References ASSERT_BELOW_, and mrpt::math::size().
|
inlineprotectedvirtual |
In a base class, return the number of faces.
Implements mrpt::utils::PLY_Exporter.
Definition at line 83 of file CPointCloud.h.
References MRPT_OVERRIDE.
|
protectedvirtual |
In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.
pt_color | Will be NULL if the loaded file does not provide color info. |
Implements mrpt::utils::PLY_Exporter.
|
protectedvirtual |
In a base class, return the number of vertices.
Implements mrpt::utils::PLY_Exporter.
|
inlineprotectedvirtual |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.
Implements mrpt::utils::PLY_Importer.
Definition at line 70 of file CPointCloud.h.
References MRPT_OVERRIDE, and MRPT_UNUSED_PARAM.
|
protectedvirtual |
In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.
pt_color | Will be NULL if the loaded file does not provide color info. |
Implements mrpt::utils::PLY_Importer.
|
protectedvirtual |
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
Implements mrpt::utils::PLY_Importer.
|
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.
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 error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
|
protectedinherited |
|
staticprotectedinherited |
|
virtual |
Render.
Implements mrpt::opengl::CRenderizable.
void mrpt::opengl::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)
|
staticinherited |
This method is safe for calling from within ::render() methods.
|
staticinherited |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)
|
inline |
Like STL std::vector's reserve.
Definition at line 103 of file CPointCloud.h.
|
inline |
Set the number of points (with contents undefined)
Definition at line 100 of file CPointCloud.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::resize().
|
inherited |
Saves to a PLY file.
[in] | filename | The filename to be saved. |
[in] | file_comments | If provided (!=NULL) the list of comment strings stored in the file will be returned. |
[in] | file_obj_info | If provided (!=NULL) the list of "object info" strings stored in the file will be returned. |
|
inline |
Set the list of (X,Y,Z) point coordinates, all at once, from three vectors with their coordinates.
Definition at line 106 of file CPointCloud.h.
|
inline |
Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of the input vectors (via swap)
Definition at line 116 of file CPointCloud.h.
|
inlineinherited |
c | Changes the default object color |
Definition at line 125 of file CRenderizable.h.
References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.
|
inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 131 of file CRenderizable.h.
|
virtualinherited |
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Referenced by mrpt::opengl::CRenderizableDisplayList::setColor_u8().
|
inlineinherited |
Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 138 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColor_u8().
Referenced by mrpt::opengl::CRenderizable::setColor_u8().
|
inlineinherited |
Color components in the range [0,1].
Definition at line 110 of file CRenderizable.h.
|
inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Definition at line 115 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,1].
Definition at line 109 of file CRenderizable.h.
|
inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Definition at line 114 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,1].
Definition at line 108 of file CRenderizable.h.
|
inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Definition at line 113 of file CRenderizable.h.
|
inlineinherited |
Color components in the range [0,1].
Definition at line 107 of file CRenderizable.h.
|
inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.
Definition at line 112 of file CRenderizable.h.
void mrpt::opengl::CPointCloud::setGradientColors | ( | const mrpt::utils::TColorf & | colorMin, |
const mrpt::utils::TColorf & | colorMax | ||
) |
Sets the colors used as extremes when colorFromDepth is enabled.
|
inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 82 of file CRenderizable.h.
|
inlineinherited |
Changes the location of the object, keeping untouched the orientation.
Definition at line 85 of file CRenderizable.h.
References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
|
inlineinherited |
Changes the name of the object.
Definition at line 63 of file CRenderizable.h.
void mrpt::opengl::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).
|
inline |
Write an individual point (without checking validity of the index).
Definition at line 163 of file CPointCloud.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::setPointXYZ().
|
inline |
By default is 1.0.
Definition at line 213 of file CPointCloud.h.
|
inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
|
inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
|
inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
|
inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
|
inlineinherited |
Scale to apply to the object, in all three axes (default=1)
Definition at line 117 of file CRenderizable.h.
|
inlineinherited |
Scale to apply to the object in each axis (default=1)
Definition at line 118 of file CRenderizable.h.
|
inlineinherited |
Set object visibility (default=true)
Definition at line 67 of file CRenderizable.h.
|
inline |
Definition at line 97 of file CPointCloud.h.
Referenced by mrpt::utils::PointCloudAdapter< mrpt::opengl::CPointCloud >::size().
|
staticinherited |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
|
virtualinherited |
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::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CMesh, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, mrpt::opengl::CEllipsoid, mrpt::opengl::CFrustum, mrpt::opengl::CTexturedPlane, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSphere, mrpt::opengl::CAssimpModel, mrpt::opengl::C3DSScene, mrpt::opengl::CBox, mrpt::opengl::CDisk, mrpt::opengl::CCylinder, and mrpt::opengl::COpenGLStandardObject.
|
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.
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.
References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().
|
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.
out | The output binary stream where object must be dumped. |
getVersion | If 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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
|
protectedinherited |
|
staticprotected |
Definition at line 52 of file CPointCloud.h.
|
staticinherited |
|
static |
Definition at line 52 of file CPointCloud.h.
|
staticinherited |
Definition at line 46 of file CRenderizable.h.
|
staticinherited |
Definition at line 42 of file CSerializable.h.
|
static |
Definition at line 52 of file CPointCloud.h.
|
mutableprivate |
Definition at line 239 of file CPointCloud.h.
|
mutableprivate |
Color linear function slope.
Definition at line 239 of file CPointCloud.h.
|
protectedinherited |
Color components in the range [0,255].
Definition at line 54 of file CRenderizable.h.
|
protected |
|
private |
The colors used to interpolate when m_colorFromDepth is true.
Definition at line 242 of file CPointCloud.h.
|
private |
Definition at line 242 of file CPointCloud.h.
|
mutableprotected |
Definition at line 59 of file CPointCloud.h.
|
mutableprotected |
Definition at line 59 of file CPointCloud.h.
|
mutableprivate |
Definition at line 238 of file CPointCloud.h.
|
mutableprivate |
Definition at line 238 of file CPointCloud.h.
|
mutableprivate |
Buffer for min/max coords when m_colorFromDepth is true.
Definition at line 238 of file CPointCloud.h.
|
mutableprivate |
Definition at line 238 of file CPointCloud.h.
|
mutableprivate |
Definition at line 240 of file CPointCloud.h.
|
protectedinherited |
Definition at line 52 of file CRenderizable.h.
|
protected |
By default is 1.0.
Definition at line 56 of file CPointCloud.h.
|
protected |
Default: false.
Definition at line 57 of file CPointCloud.h.
|
protectedinherited |
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 55 of file CRenderizable.h.
|
protectedinherited |
Definition at line 56 of file CRenderizable.h.
|
protectedinherited |
Definition at line 56 of file CRenderizable.h.
|
protectedinherited |
Scale components to apply to the object (default=1)
Definition at line 56 of file CRenderizable.h.
|
protectedinherited |
Definition at line 53 of file CRenderizable.h.
|
protectedinherited |
Is the object visible? (default=true)
Definition at line 57 of file CRenderizable.h.
|
protected |
Definition at line 55 of file CPointCloud.h.
|
protected |
Definition at line 55 of file CPointCloud.h.
|
protected |
Definition at line 55 of file CPointCloud.h.
Page generated by Doxygen 1.8.13 for MRPT 1.4.0 SVN: at Fri Mar 17 07:27:15 UTC 2017 |