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: https://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points

See also: opengl::COpenGLScene, opengl::CPointCloud

mrpt::opengl::CPointCloudColoured

Definition at line 44 of file CPointCloudColoured.h.

#include <mrpt/opengl/CPointCloudColoured.h>

Inheritance diagram for mrpt::opengl::CPointCloudColoured:

Classes
struct	TPointColour

Public Types
enum

Public Member Functions
	CPointCloudColoured ()
	Constructor. More...

	~CPointCloudColoured () override=default
	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...

void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
	Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...

void	render () const 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...

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...

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::img::TColorf &lines_color=mrpt::img::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, std::vector< std::string > file_comments=nullptr, std::vector< std::string > file_obj_info=nullptr)
	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 std::vector< std::string > &file_comments=std::vector< std::string >(), const std::vector< std::string > &file_obj_info=std::vector< std::string >()) 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 TPointColour &	operator[] (size_t i) const
	Read access to each individual point (checks for "i" in the valid range only in Debug). More...

const TPointColour &	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 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::opengl::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::img::TColormap color_map=mrpt::img::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::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::poses::CPose2D &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::math::TPose2D &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::img::TColorf	getColor () const
	Returns the object color property as a TColorf. More...

CRenderizable &	setColor (const mrpt::img::TColorf &c)
	Changes the default object color. More...

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::img::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...

virtual CRenderizable &	setColor_u8 (const mrpt::img::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 0-255) More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
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...

Protected Member Functions
void	writeToStreamRender (mrpt::serialization::CArchive &out) const

void	readFromStreamRender (mrpt::serialization::CArchive &in)

CPointCloudColoured &	octree_derived ()

const CPointCloudColoured &	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
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

PLY Import virtual methods to implement in base classes
void	PLY_import_set_vertex_count (const size_t N) override
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. More...

void	PLY_import_set_face_count (const size_t N) override
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...

void	PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::img::TColorf *pt_color=nullptr) 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 override
	In a base class, return the number of vertices. More...

size_t	PLY_export_get_face_count () const 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::img::TColorf &pt_color) const override
	In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. 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 {false}

mrpt::img::TColor	m_color
	Color components in the range [0,255]. More...

mrpt::poses::CPose3D	m_pose
	6D pose wrt the parent coordinate reference. More...

float	m_scale_x {1}
	Scale components to apply to the object (default=1) More...

float	m_scale_y {1}

float	m_scale_z {1}

bool	m_visible {true}
	Is the object visible? (default=true) More...

Private Types
using	TListPointColour = std::vector< TPointColour >

using	iterator = TListPointColour::iterator

using	const_iterator = TListPointColour::const_iterator

Private Member Functions
iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

Private Attributes
TListPointColour	m_points

float	m_pointSize {1}
	By default is 1.0. More...

bool	m_pointSmooth {false}
	Default: false. More...

volatile size_t	m_last_rendered_count {0}

volatile size_t	m_last_rendered_count_ongoing {0}

RTTI stuff
using	Ptr = std::shared_ptr< CPointCloudColoured >

using	ConstPtr = std::shared_ptr< const CPointCloudColoured >

using	UniquePtr = std::unique_ptr< CPointCloudColoured >

using	ConstUniquePtr = std::unique_ptr< const CPointCloudColoured >

static mrpt::rtti::CLASSINIT	_init_CPointCloudColoured

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPointCloudColoured"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ const_iterator

using mrpt::opengl::CPointCloudColoured::const_iterator = TListPointColour::const_iterator

private

Definition at line 68 of file CPointCloudColoured.h.

◆ ConstPtr

using mrpt::opengl::CPointCloudColoured::ConstPtr = std::shared_ptr<const CPointCloudColoured >

Definition at line 49 of file CPointCloudColoured.h.

◆ ConstUniquePtr

using mrpt::opengl::CPointCloudColoured::ConstUniquePtr = std::unique_ptr<const CPointCloudColoured >

Definition at line 49 of file CPointCloudColoured.h.

◆ iterator

using mrpt::opengl::CPointCloudColoured::iterator = TListPointColour::iterator

private

Definition at line 67 of file CPointCloudColoured.h.

◆ Ptr

using mrpt::opengl::CPointCloudColoured::Ptr = std::shared_ptr< CPointCloudColoured >

A type for the associated smart pointer

Definition at line 49 of file CPointCloudColoured.h.

◆ TListPointColour

using mrpt::opengl::CPointCloudColoured::TListPointColour = std::vector<TPointColour>

private

Definition at line 64 of file CPointCloudColoured.h.

◆ UniquePtr

using mrpt::opengl::CPointCloudColoured::UniquePtr = std::unique_ptr< CPointCloudColoured >

Definition at line 49 of file CPointCloudColoured.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Definition at line 65 of file COctreePointRenderer.h.

Constructor & Destructor Documentation

◆ CPointCloudColoured()

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

inline

Constructor.

Definition at line 83 of file CPointCloudColoured.h.

◆ ~CPointCloudColoured()

mrpt::opengl::CPointCloudColoured::~CPointCloudColoured ( )

overridedefault

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

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CPointCloudColoured::_GetBaseClass ( )

staticprotected

◆ begin() [1/2]

iterator mrpt::opengl::CPointCloudColoured::begin ( )

inlineprivate

Definition at line 69 of file CPointCloudColoured.h.

References m_points.

◆ begin() [2/2]

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

inlineprivate

Definition at line 70 of file CPointCloudColoured.h.

References m_points.

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotectedinherited

Checks glGetError and throws an exception if an error situation is found.

Definition at line 295 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::checkOpenGLError().

Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), and mrpt::opengl::CPolyhedron::render_dl().

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◆ clear()

void mrpt::opengl::CPointCloudColoured::clear ( )

inline

Erase all the points.

Definition at line 186 of file CPointCloudColoured.h.

References m_points, and markAllPointsAsNew().

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◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::opengl::CPointCloudColoured::Create ( Args &&... args )

inlinestatic

Definition at line 49 of file CPointCloudColoured.h.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CPointsMapXYZI::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), and mrpt::maps::CColouredOctoMap::internal_insertObservation().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::opengl::CPointCloudColoured::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 49 of file CPointCloudColoured.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::opengl::CPointCloudColoured::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::opengl::CPointCloudColoured::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 49 of file CPointCloudColoured.h.

◆ disablePointSmooth()

void mrpt::opengl::CPointCloudColoured::disablePointSmooth ( )

inline

Definition at line 212 of file CPointCloudColoured.h.

References m_pointSmooth.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

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◆ enablePointSmooth()

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

inline

Definition at line 208 of file CPointCloudColoured.h.

References m_pointSmooth.

◆ enableShowName()

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 82 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

◆ end() [1/2]

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

inlineprivate

Definition at line 71 of file CPointCloudColoured.h.

References m_points.

◆ end() [2/2]

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

inlineprivate

Definition at line 72 of file CPointCloudColoured.h.

References m_points.

◆ getActuallyRendered()

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

inline

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

Definition at line 200 of file CPointCloudColoured.h.

References m_last_rendered_count.

◆ getBoundingBox()

void mrpt::opengl::CPointCloudColoured::getBoundingBox	(	mrpt::math::TPoint3D &	bb_min,
		mrpt::math::TPoint3D &	bb_max
	)		const

inlineoverridevirtual

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.

References bb_max, and mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_getBoundingBox().

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◆ getClassName()

static constexpr auto mrpt::opengl::CPointCloudColoured::getClassName ( )

inlinestatic

Definition at line 49 of file CPointCloudColoured.h.

◆ getColor()

mrpt::img::TColorf mrpt::opengl::CRenderizable::getColor ( ) const

inlineinherited

Returns the object color property as a TColorf.

Definition at line 231 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().

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◆ getColor_u8()

const mrpt::img::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const

inlineinherited

Returns the object color property as a TColor.

Definition at line 250 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

◆ getColorA()

double mrpt::opengl::CRenderizable::getColorA ( ) const

inlineinherited

Color components in the range [0,1].

Definition at line 154 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

◆ getColorB()

double mrpt::opengl::CRenderizable::getColorB ( ) const

inlineinherited

Color components in the range [0,1].

Definition at line 152 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

◆ getColorG()

double mrpt::opengl::CRenderizable::getColorG ( ) const

inlineinherited

Color components in the range [0,1].

Definition at line 150 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 158 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

◆ getColorR()

double mrpt::opengl::CRenderizable::getColorR ( ) const

inlineinherited

Color components in the range [0,1].

Definition at line 148 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 156 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

◆ getLoadPLYErrorString()

std::string mrpt::opengl::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 44 of file PLY_import_export.h.

References mrpt::opengl::PLY_Importer::m_ply_import_last_error.

◆ getName()

const std::string& mrpt::opengl::CRenderizable::getName ( ) const

inlineinherited

Returns the name of the object.

Definition at line 67 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getNewTextureNumber()

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 65 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

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◆ getPoint()

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 126 of file CPointCloudColoured.h.

References ASSERT_BELOW_, m_points, and size().

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◆ getPointColor_fast()

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 175 of file CPointCloudColoured.h.

References G, m_points, and R.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::getPointRGBf(), and mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::getPointRGBu8().

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◆ getPointf()

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 136 of file CPointCloudColoured.h.

References ASSERT_BELOW_, m_points, and size().

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◆ getPointSize()

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

inline

Definition at line 207 of file CPointCloudColoured.h.

References m_pointSize.

◆ getPose()

mrpt::math::TPose3D CRenderizable::getPose ( ) const

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 337 of file CRenderizable.cpp.

References mrpt::poses::CPose3D::asTPose(), and mrpt::opengl::CRenderizable::m_pose.

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◆ getPosePitch()

double mrpt::opengl::CRenderizable::getPosePitch ( ) const

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 138 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::RAD2DEG().

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◆ getPosePitchRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 144 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::pitch().

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◆ getPoseRef()

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 108 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getPoseRoll()

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 140 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::roll().

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◆ getPoseRollRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 146 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::roll().

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◆ getPoseX()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 130 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x().

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◆ getPoseY()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 132 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ getPoseYaw()

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 136 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::yaw().

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◆ getPoseYawRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 142 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::yaw().

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◆ getPoseZ()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 134 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CPointCloudColoured::GetRuntimeClassIdStatic ( )

static

◆ getSavePLYErrorString()

std::string mrpt::opengl::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 104 of file PLY_import_export.h.

References mrpt::opengl::PLY_Exporter::m_ply_export_last_error.

◆ getScaleX()

float mrpt::opengl::CRenderizable::getScaleX ( ) const

inlineinherited

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getScaleY()

float mrpt::opengl::CRenderizable::getScaleY ( ) const

inlineinherited

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_y.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getScaleZ()

float mrpt::opengl::CRenderizable::getScaleZ ( ) const

inlineinherited

Get the current scaling factor in one axis.

Definition at line 229 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_z.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ isPointSmoothEnabled()

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

inline

Definition at line 213 of file CPointCloudColoured.h.

References m_pointSmooth.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const

inlineinherited

See also: enableShowName

Definition at line 84 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ isVisible()

bool mrpt::opengl::CRenderizable::isVisible ( ) const

inlineinherited

Is the object visible?

See also: setVisibility

Definition at line 68 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ loadFromPlyFile()

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

inherited

Loads from a PLY file.

Parameters

[in]	filename	The filename to open. It can be either in binary or text format.
[out]	file_comments	If provided (!=nullptr) the list of comment strings stored in the file will be returned.
[out]	file_obj_info	If provided (!=nullptr) 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 1845 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, vert_props, TVertex::x, TVertex::y, and TVertex::z.

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◆ loadFromPointsMap()

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::opengl::PointCloudAdapter.

Definition at line 401 of file CPointCloudColoured.h.

◆ markAllPointsAsNew()

void CPointCloudColoured::markAllPointsAsNew ( )

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

Definition at line 202 of file CPointCloudColoured.cpp.

Referenced by clear(), resize(), and setPoint_fast().

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◆ octree_assure_uptodate()

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

inlineprotectedinherited

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

Definition at line 80 of file COctreePointRenderer.h.

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

◆ octree_debug_dump_tree()

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

inlineinherited

Used for debug only.

Definition at line 751 of file COctreePointRenderer.h.

References mrpt::opengl::COctreePointRenderer< Derived >::m_octree_nodes, and mrpt::opengl::COctreePointRenderer< Derived >::octree_derived().

◆ octree_derived() [1/2]

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

inlineprotectedinherited

Definition at line 72 of file COctreePointRenderer.h.

◆ octree_derived() [2/2]

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

inlineprotectedinherited

Definition at line 73 of file COctreePointRenderer.h.

◆ octree_get_graphics_boundingboxes()

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes	(	mrpt::opengl::CSetOfObjects &	gl_bb,
		const double	lines_width = `1`,
		const mrpt::img::TColorf &	lines_color = `mrpt::img::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_boxes If false, will draw solid boxes of color lines_color. Otherwise, wireframe boxes will be drawn.

Definition at line 728 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().

◆ octree_get_node_count()

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 712 of file COctreePointRenderer.h.

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

◆ octree_get_visible_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 714 of file COctreePointRenderer.h.

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

◆ octree_getBoundingBox()

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

inlineprotectedinherited

Definition at line 114 of file COctreePointRenderer.h.

References bb_max, bb_min, mrpt::opengl::COctreePointRenderer< Derived >::m_octree_nodes, and mrpt::opengl::COctreePointRenderer< Derived >::octree_assure_uptodate().

Referenced by getBoundingBox().

◆ octree_mark_as_outdated()

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 718 of file COctreePointRenderer.h.

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

◆ octree_render()

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_render ( const mrpt::opengl::gl_utils::TRenderInfo & ri ) const

inlineprotectedinherited

Render the entire octree recursively.

Should be called from children's render() method.

Definition at line 89 of file COctreePointRenderer.h.

References mrpt::opengl::COctreePointRenderer< Derived >::m_octree_nodes, mrpt::opengl::COctreePointRenderer< Derived >::m_render_queue, mrpt::opengl::COctreePointRenderer< Derived >::m_visible_octree_nodes, mrpt::opengl::COctreePointRenderer< Derived >::m_visible_octree_nodes_ongoing, mrpt::opengl::COctreePointRenderer< Derived >::octree_derived(), mrpt::opengl::COctreePointRenderer< Derived >::octree_recursive_render(), and mrpt::opengl::COctreePointRenderer< Derived >::OCTREE_ROOT_NODE.

◆ operator[]()

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 116 of file CPointCloudColoured.h.

References ASSERT_BELOW_, m_points, and size().

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◆ PLY_export_get_face_count()

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

inlineoverrideprotectedvirtual

In a base class, return the number of faces.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 254 of file CPointCloudColoured.h.

◆ PLY_export_get_vertex()

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

overrideprotectedvirtual

In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.

Parameters

pt_color Will be nullptr if the loaded file does not provide color info.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 238 of file CPointCloudColoured.cpp.

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

◆ PLY_export_get_vertex_count()

size_t CPointCloudColoured::PLY_export_get_vertex_count ( ) const

overrideprotectedvirtual

In a base class, return the number of vertices.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 228 of file CPointCloudColoured.cpp.

◆ PLY_import_set_face_count()

void mrpt::opengl::CPointCloudColoured::PLY_import_set_face_count ( const size_t N )

inlineoverrideprotectedvirtual

In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.

Implements mrpt::opengl::PLY_Importer.

Definition at line 237 of file CPointCloudColoured.h.

References MRPT_UNUSED_PARAM.

◆ PLY_import_set_vertex()

void CPointCloudColoured::PLY_import_set_vertex	(	const size_t	idx,
		const mrpt::math::TPoint3Df &	pt,
		const mrpt::img::TColorf *	pt_color = `nullptr`
	)

overrideprotectedvirtual

In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.

Parameters

pt_color Will be nullptr if the loaded file does not provide color info.

Implements mrpt::opengl::PLY_Importer.

Definition at line 215 of file CPointCloudColoured.cpp.

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

◆ PLY_import_set_vertex_count()

void CPointCloudColoured::PLY_import_set_vertex_count ( const size_t N )

overrideprotectedvirtual

In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.

Implements mrpt::opengl::PLY_Importer.

Definition at line 205 of file CPointCloudColoured.cpp.

◆ push_back()

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 191 of file CPointCloudColoured.cpp.

References G, and R.

◆ readFromStreamRender()

void CRenderizable::readFromStreamRender ( mrpt::serialization::CArchive & in )

protectedinherited

Definition at line 158 of file CRenderizable.cpp.

Referenced by mrpt::opengl::CRenderizableDisplayList::readFromStreamRender().

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◆ recolorizeByCoordinate()

void CPointCloudColoured::recolorizeByCoordinate	(	const float	coord_min,
		const float	coord_max,
		const int	coord_index = `2`,
		const mrpt::img::TColormap	color_map = `mrpt::img::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 252 of file CPointCloudColoured.cpp.

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

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◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int i )

staticprotectedinherited

Definition at line 93 of file CRenderizable.cpp.

References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.

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◆ render()

void CPointCloudColoured::render ( ) const

overridevirtual

Render.

Implements mrpt::opengl::CRenderizable.

Definition at line 31 of file CPointCloudColoured.cpp.

References mrpt::opengl::gl_utils::checkOpenGLError(), mrpt::opengl::gl_utils::getCurrentRenderingInfo(), GL_BLEND, GL_LIGHTING, GL_ONE_MINUS_SRC_ALPHA, GL_POINT_SMOOTH, GL_POINTS, GL_SRC_ALPHA, glBegin(), glBlendFunc(), glDisable(), glEnable(), glEnd(), and glPointSize().

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◆ render_subset()

void CPointCloudColoured::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)

Definition at line 75 of file CPointCloudColoured.cpp.

References glColor4f(), glVertex3f(), MRPT_UNUSED_PARAM, mrpt::global_settings::OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL(), and mrpt::round().

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◆ renderTextBitmap() [1/2]

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 361 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::renderTextBitmap().

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◆ renderTextBitmap() [2/2]

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 332 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(), and MRPT_UNUSED_PARAM.

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◆ reserve()

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

inline

Like STL std::vector's reserve.

Definition at line 113 of file CPointCloudColoured.h.

References m_points.

◆ resize()

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

inline

Set the number of points, with undefined contents.

Definition at line 106 of file CPointCloudColoured.h.

References m_points, and markAllPointsAsNew().

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::resize().

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◆ saveToPlyFile()

bool PLY_Exporter::saveToPlyFile	(	const std::string &	filename,
		bool	save_in_binary = `false`,
		const std::vector< std::string > &	file_comments = `std::vector<std::string>()`,
		const std::vector< std::string > &	file_obj_info = `std::vector<std::string>()`
	)		const

inherited

Saves to a PLY file.

Parameters

[in]	filename	The filename to be saved.
[in]	file_comments	If provided (!=nullptr) the list of comment strings stored in the file will be returned.
[in]	file_obj_info	If provided (!=nullptr) 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 1946 of file PLY_import_export.cpp.

References mrpt::img::TColorf::B, face_props, mrpt::img::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::img::TColorf::R, vert_props, mrpt::math::TPoint3Df::x, TVertex::x, mrpt::math::TPoint3Df::y, TVertex::y, mrpt::math::TPoint3Df::z, and TVertex::z.

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◆ serializeFrom() [1/2]

void CPointCloudColoured::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

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.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 126 of file CPointCloudColoured.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPointCloudColoured::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 117 of file CPointCloudColoured.cpp.

◆ serializeTo() [1/2]

void CPointCloudColoured::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 118 of file CPointCloudColoured.cpp.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::img::TColorf & c )

inlineinherited

Changes the default object color.

Returns: a ref to this

Definition at line 236 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColor_u8().

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

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◆ setColor() [2/2]

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 244 of file CRenderizable.h.

References G, R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [1/2]

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::img::TColor & c )

virtualinherited

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CRenderizableDisplayList, and mrpt::opengl::CSetOfObjects.

Definition at line 350 of file CRenderizable.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

Referenced by mrpt::opengl::CRenderizable::setColor(), mrpt::opengl::CRenderizableDisplayList::setColor_u8(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

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 256 of file CRenderizable.h.

References G, R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColorA()

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double a )

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 179 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorA_u8().

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◆ setColorA_u8()

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 202 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::CRenderizable::setColorA(), and mrpt::opengl::CSetOfObjects::setColorA_u8().

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◆ setColorB()

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double b )

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 174 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorB_u8().

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◆ setColorB_u8()

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 196 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::CRenderizable::setColorB(), and mrpt::opengl::CSetOfObjects::setColorB_u8().

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◆ setColorG()

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double g )

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 169 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorG_u8().

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◆ setColorG_u8()

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 190 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::CRenderizable::setColorG(), and mrpt::opengl::CSetOfObjects::setColorG_u8().

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◆ setColorR()

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double r )

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 164 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorR_u8().

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◆ setColorR_u8()

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 184 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

Referenced by mrpt::opengl::CRenderizable::setColorR(), and mrpt::opengl::CSetOfObjects::setColorR_u8().

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◆ setLocation() [1/2]

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 111 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setLocation() [2/2]

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 121 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setName()

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

inlineinherited

Changes the name of the object.

Definition at line 65 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

◆ setPoint()

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 178 of file CPointCloudColoured.cpp.

References ASSERT_BELOW_.

◆ setPoint_fast() [1/2]

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 150 of file CPointCloudColoured.h.

References m_points, and markAllPointsAsNew().

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::setPointXYZ(), mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::setPointXYZ_RGBf(), and mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::setPointXYZ_RGBu8().

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◆ setPoint_fast() [2/2]

void mrpt::opengl::CPointCloudColoured::setPoint_fast	(	const size_t	i,
		const float	x,
		const float	y,
		const float	z
	)

inline

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

Definition at line 157 of file CPointCloudColoured.h.

References m_points, and markAllPointsAsNew().

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◆ setPointColor_fast()

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 168 of file CPointCloudColoured.h.

References G, m_points, and R.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::setPointRGBf(), and mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::setPointRGBu8().

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◆ setPointSize()

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

inline

Definition at line 206 of file CPointCloudColoured.h.

References m_pointSize.

◆ setPose() [1/6]

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 303 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

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◆ setPose() [2/6]

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 308 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [3/6]

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 313 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [4/6]

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 318 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [5/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint3D & o )

inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 325 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setPose() [6/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D & o )

inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 331 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setScale() [1/2]

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 210 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ setScale() [2/2]

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 217 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ setVisibility()

void mrpt::opengl::CRenderizable::setVisibility ( bool visible = true )

inlineinherited

Set object visibility (default=true)

See also: isVisible

Definition at line 73 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

◆ size()

size_t mrpt::opengl::CPointCloudColoured::size ( ) const

inline

Return the number of points.

Definition at line 184 of file CPointCloudColoured.h.

References m_points.

Referenced by getPoint(), getPointf(), operator[](), and mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloudColoured >::size().

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◆ textBitmapWidth()

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 370 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::textBitmapWidth().

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◆ traceRay()

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

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::CMesh, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CEllipsoid, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSphere, mrpt::opengl::CDisk, mrpt::opengl::CBox, mrpt::opengl::CTexturedPlane, mrpt::opengl::CAssimpModel, mrpt::opengl::CCylinder, and mrpt::opengl::COpenGLStandardObject.

Definition at line 338 of file CRenderizable.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( mrpt::serialization::CArchive & out ) const

protectedinherited

Definition at line 104 of file CRenderizable.cpp.

Referenced by mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField2D::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), mrpt::opengl::CFrustum::serializeTo(), and mrpt::opengl::CPlanarLaserScan::serializeTo().

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Member Data Documentation

◆ _init_CPointCloudColoured

mrpt::rtti::CLASSINIT mrpt::opengl::CPointCloudColoured::_init_CPointCloudColoured

staticprotected

Definition at line 49 of file CPointCloudColoured.h.

◆ className

constexpr const char* mrpt::opengl::CPointCloudColoured::className = "CPointCloudColoured"

static

Definition at line 49 of file CPointCloudColoured.h.

◆ m_color

mrpt::img::TColor mrpt::opengl::CRenderizable::m_color

protectedinherited

Color components in the range [0,255].

Definition at line 51 of file CRenderizable.h.

◆ m_last_rendered_count

volatile size_t mrpt::opengl::CPointCloudColoured::m_last_rendered_count {0}

mutableprivate

Definition at line 77 of file CPointCloudColoured.h.

Referenced by getActuallyRendered().

◆ m_last_rendered_count_ongoing

volatile size_t mrpt::opengl::CPointCloudColoured::m_last_rendered_count_ongoing {0}

mutableprivate

Definition at line 78 of file CPointCloudColoured.h.

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name

protectedinherited

Definition at line 48 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getName(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setName(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_points

TListPointColour mrpt::opengl::CPointCloudColoured::m_points

private

Definition at line 65 of file CPointCloudColoured.h.

Referenced by begin(), clear(), end(), getPoint(), getPointColor_fast(), getPointf(), operator[](), reserve(), resize(), setPoint_fast(), setPointColor_fast(), and size().

◆ m_pointSize

float mrpt::opengl::CPointCloudColoured::m_pointSize {1}

private

By default is 1.0.

Definition at line 74 of file CPointCloudColoured.h.

Referenced by getPointSize(), and setPointSize().

◆ m_pointSmooth

bool mrpt::opengl::CPointCloudColoured::m_pointSmooth {false}

private

Default: false.

Definition at line 76 of file CPointCloudColoured.h.

Referenced by disablePointSmooth(), enablePointSmooth(), and isPointSmoothEnabled().

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose

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 54 of file CRenderizable.h.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x {1}

protectedinherited

Scale components to apply to the object (default=1)

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleX(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y {1}

protectedinherited

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleY(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z {1}

protectedinherited

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleZ(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name {false}

protectedinherited

Definition at line 49 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::enableShowName(), mrpt::opengl::CRenderizable::isShowNameEnabled(), mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible {true}

protectedinherited

Is the object visible? (default=true)

Definition at line 58 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::isVisible(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setVisibility(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CPointCloudColoured::runtimeClassId

staticprotected

Definition at line 49 of file CPointCloudColoured.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ TListPointColour

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPointCloudColoured()

◆ ~CPointCloudColoured()

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ checkOpenGLError()

◆ clear()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ disablePointSmooth()

◆ duplicateGetSmartPtr()

◆ enablePointSmooth()

◆ enableShowName()

◆ end() [1/2]

◆ end() [2/2]

◆ getActuallyRendered()

◆ getBoundingBox()

◆ getClassName()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getLoadPLYErrorString()

◆ getName()

◆ getNewTextureNumber()

◆ getPoint()

◆ getPointColor_fast()

◆ getPointf()

◆ getPointSize()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSavePLYErrorString()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ isPointSmoothEnabled()