mrpt::opengl::CPointCloud Class Reference

Detailed Description

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

See also

opengl::CPlanarLaserScan, opengl::COpenGLScene, opengl::CPointCloudColoured, mrpt::maps::CPointsMap

mrpt::opengl::CPointCloud

Definition at line 44 of file CPointCloud.h.

#include <mrpt/opengl/CPointCloud.h>

Inheritance diagram for mrpt::opengl::CPointCloud:

Public Types
enum

Public Member Functions
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	onUpdateBuffers_Points () override
	Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. 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...
	CPointCloud ()
	Constructor. More...
	~CPointCloud () override=default
	Private, virtual destructor: only can be deleted from smart pointers. More...
virtual shader_list_t	requiredShaders () const override
	Returns the ID of the OpenGL shader program required to render this class. More...
void	render (const RenderContext &rc) const override
	Implements the rendering of 3D objects in each class derived from CRenderizable. More...
void	renderUpdateBuffers () const override
	Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc. More...
void	setPointSize (float p)
	By default is 1.0. More...
float	getPointSize () const
void	enableVariablePointSize (bool enable=true)
	Enable/disable variable eye distance-dependent point size (default=true) More...
bool	isEnabledVariablePointSize () const
void	setVariablePointSize_k (float v)
	see CRenderizableShaderPoints for a discussion of this parameter. More...
float	getVariablePointSize_k () const
void	setVariablePointSize_DepthScale (float v)
	see CRenderizableShaderPoints for a discussion of this parameter. More...
float	getVariablePointSize_DepthScale () const
void	freeOpenGLResources () override
	Free opengl buffers. More...
virtual void	enqueForRenderRecursive ([[maybe_unused]] const mrpt::opengl::TRenderMatrices &state, [[maybe_unused]] RenderQueue &rq) const
	Process all children objects recursively, if the object is a container. More...
void	updateBuffers () const
	Calls renderUpdateBuffers() and clear the flag that is set with notifyChange() More...
void	notifyChange () const
	Call to enable calling renderUpdateBuffers() before the next render() rendering iteration. More...
bool	hasToUpdateBuffers () const
	Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering. More...
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose. More...
virtual mrpt::math::TPoint3Df	getLocalRepresentativePoint () const
	Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0]) More...
void	setLocalRepresentativePoint (const mrpt::math::TPoint3Df &p)
	See getLocalRepresentativePoint() More...
mrpt::opengl::CText &	labelObject () const
	Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object. More...
virtual void	initializeTextures () const
	Initializes all textures (loads them into opengl memory). 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 float 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
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...
template<typename T >
void	setAllPoints (const std::vector< T > &x, const std::vector< T > &y, const std::vector< T > &z)
	Set the list of (X,Y,Z) point coordinates, all at once, from three vectors with their coordinates. More...
void	setAllPoints (const std::vector< mrpt::math::TPoint3D > &pts)
void	setAllPointsFast (std::vector< mrpt::math::TPoint3Df > &pts)
	Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of the input vectors (via swap) More...
const std::vector< mrpt::math::TPoint3Df > &	getArrayPoints () const
	Get a const reference to the internal array of points. 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...
const mrpt::math::TPoint3Df &	operator[] (size_t i) const
	Read access to each individual point (checks for "i" in the valid range only in Debug). More...
const mrpt::math::TPoint3Df &	getPoint3Df (size_t i) const
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::opengl::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	enablePointSmooth (bool enable=true)
void	disablePointSmooth ()
bool	isPointSmoothEnabled () const
void	setGradientColors (const mrpt::img::TColorf &colorMin, const mrpt::img::TColorf &colorMax)
	Sets the colors used as extremes when colorFromDepth is enabled. More...
Raw access to point shader buffer data
const auto &	shaderPointsVertexPointBuffer () const
const auto &	shaderPointsVertexColorBuffer () const
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...
float	getColorR () const
	Color components in the range [0,1]. More...
float	getColorG () const
	Color components in the range [0,1]. More...
float	getColorB () const
	Color components in the range [0,1]. More...
float	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 float r)
	Color components in the range [0,1]. More...
CRenderizable &	setColorG (const float g)
	Color components in the range [0,1]. More...
CRenderizable &	setColorB (const float b)
	Color components in the range [0,1]. More...
CRenderizable &	setColorA (const float 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 (float R, float G, float B, float 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...

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	params_serialize (mrpt::serialization::CArchive &out) const
void	params_deserialize (mrpt::serialization::CArchive &in)
void	writeToStreamRender (mrpt::serialization::CArchive &out) const
void	readFromStreamRender (mrpt::serialization::CArchive &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::TRenderMatrices &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 ([[maybe_unused]] 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...
PLY Import virtual methods to implement in base classes
virtual void	PLY_import_set_face_count (const size_t N)=0
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...

Protected Attributes
Axis	m_colorFromDepth = CPointCloud::colNone
std::vector< mrpt::math::TPoint3Df > &	m_points
	Actually, an alias for the base class shader container of points. More...
bool	m_pointSmooth = false
	Default: false. More...
size_t	m_last_rendered_count {0}
size_t	m_last_rendered_count_ongoing {0}
std::vector< mrpt::math::TPoint3Df >	m_vertex_buffer_data
std::vector< mrpt::img::TColor >	m_color_buffer_data
float	m_pointSize = 1.0f
bool	m_variablePointSize = true
float	m_variablePointSize_K = 0.1f
float	m_variablePointSize_DepthScale = 0.1f
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...
bool	m_outdatedBuffers = true
mrpt::math::TPoint3Df	m_representativePoint {0, 0, 0}
std::shared_ptr< mrpt::opengl::CText >	m_label_obj
	Optional pointer to a mrpt::opengl::CText. More...

Private Member Functions
void	internal_render_one_point (size_t i) const

Private Attributes
float	m_min {0}
	Buffer for min/max coords when m_colorFromDepth is true. More...
float	m_max {0}
float	m_max_m_min {0}
float	m_max_m_min_inv {0}
mrpt::img::TColorf	m_col_slop
	Color linear function slope. More...
mrpt::img::TColorf	m_col_slop_inv
bool	m_minmax_valid {false}
mrpt::img::TColorf	m_colorFromDepth_min = {0, 0, 0}
	The colors used to interpolate when m_colorFromDepth is true. More...
mrpt::img::TColorf	m_colorFromDepth_max = {0, 0, 1}

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::opengl ::CPointCloud >
using	ConstPtr = std::shared_ptr< const mrpt::opengl ::CPointCloud >
using	UniquePtr = std::unique_ptr< mrpt::opengl ::CPointCloud >
using	ConstUniquePtr = std::unique_ptr< const mrpt::opengl ::CPointCloud >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::opengl" "::" "CPointCloud"
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

ConstPtr

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

Definition at line 49 of file CPointCloud.h.

ConstUniquePtr

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

Definition at line 49 of file CPointCloud.h.

Ptr

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

A type for the associated smart pointer

Definition at line 49 of file CPointCloud.h.

UniquePtr

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

Definition at line 49 of file CPointCloud.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

inherited

Definition at line 66 of file COctreePointRenderer.h.

Axis

enum mrpt::opengl::CPointCloud::Axis

protected

Enumerator
colNone
colZ
colY
colX

Definition at line 52 of file CPointCloud.h.

Constructor & Destructor Documentation

CPointCloud()

CPointCloud::CPointCloud

(

)

Constructor.

Definition at line 50 of file CPointCloud.cpp.

~CPointCloud()

mrpt::opengl::CPointCloud::~CPointCloud ( )

overridedefault

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

Member Function Documentation

_GetBaseClass()

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

staticprotected

clear()

void CPointCloud::clear

(

)

Empty the list of points.

Definition at line 354 of file CPointCloud.cpp.

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

Referenced by setAllPointsFast().

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clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CPointCloud::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::CPointCloud::Create ( Args &&...  args )

inlinestatic

Definition at line 49 of file CPointCloud.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), and mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree().

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CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 49 of file CPointCloud.h.

CreateObject()

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

static

CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 49 of file CPointCloud.h.

disablePointSmooth()

void mrpt::opengl::CPointCloud::disablePointSmooth ( )

inline

Definition at line 253 of file CPointCloud.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 204 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::insert().

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enableColorFromX()

void mrpt::opengl::CPointCloud::enableColorFromX ( bool  v = true )

inline

Definition at line 232 of file CPointCloud.h.

References colNone, colX, m_colorFromDepth, and mrpt::opengl::CRenderizable::notifyChange().

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enableColorFromY()

void mrpt::opengl::CPointCloud::enableColorFromY ( bool  v = true )

inline

Definition at line 237 of file CPointCloud.h.

References colNone, colY, m_colorFromDepth, and mrpt::opengl::CRenderizable::notifyChange().

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enableColorFromZ()

void mrpt::opengl::CPointCloud::enableColorFromZ ( bool  v = true )

inline

Definition at line 242 of file CPointCloud.h.

References colNone, colZ, m_colorFromDepth, and mrpt::opengl::CRenderizable::notifyChange().

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enablePointSmooth()

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

inline

Definition at line 248 of file CPointCloud.h.

References m_pointSmooth, and mrpt::opengl::CRenderizable::notifyChange().

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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 90 of file CRenderizable.h.

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

enableVariablePointSize()

void mrpt::opengl::CRenderizableShaderPoints::enableVariablePointSize ( bool  enable = true )

inlineinherited

Enable/disable variable eye distance-dependent point size (default=true)

Definition at line 63 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize.

enqueForRenderRecursive()

virtual void mrpt::opengl::CRenderizable::enqueForRenderRecursive ( [[maybe_unused] ] const mrpt::opengl::TRenderMatrices &  state, [[maybe_unused] ] RenderQueue &  rq  ) const

inlinevirtualinherited

Process all children objects recursively, if the object is a container.

Definition at line 285 of file CRenderizable.h.

Referenced by mrpt::opengl::enqueForRendering().

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freeOpenGLResources()

void mrpt::opengl::CRenderizableShaderPoints::freeOpenGLResources ( )

inlineoverridevirtualinherited

Free opengl buffers.

Implements mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CVectorField3D, mrpt::opengl::CVectorField2D, and mrpt::opengl::CSetOfLines.

Definition at line 86 of file CRenderizableShaderPoints.h.

References mrpt::opengl::COpenGLVertexArrayObject::destroy(), mrpt::opengl::COpenGLBuffer::destroy(), mrpt::opengl::CRenderizableShaderPoints::m_colorBuffer, mrpt::opengl::CRenderizableShaderPoints::m_vao, and mrpt::opengl::CRenderizableShaderPoints::m_vertexBuffer.

Referenced by mrpt::opengl::CSetOfLines::freeOpenGLResources(), mrpt::opengl::CMesh3D::freeOpenGLResources(), mrpt::opengl::CVectorField2D::freeOpenGLResources(), mrpt::opengl::CAssimpModel::freeOpenGLResources(), mrpt::opengl::CPlanarLaserScan::freeOpenGLResources(), mrpt::opengl::CVectorField3D::freeOpenGLResources(), and mrpt::opengl::COctoMapVoxels::freeOpenGLResources().

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getActuallyRendered()

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

inline

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

Definition at line 227 of file CPointCloud.h.

References m_last_rendered_count.

getArrayPoints()

const std::vector<mrpt::math::TPoint3Df>& mrpt::opengl::CPointCloud::getArrayPoints ( ) const

inline

Get a const reference to the internal array of points.

Definition at line 161 of file CPointCloud.h.

References m_points.

getBoundingBox()

void mrpt::opengl::CPointCloud::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 108 of file CPointCloud.h.

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

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getClassName()

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

inlinestatic

Definition at line 49 of file CPointCloud.h.

getColor()

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

inlineinherited

Returns the object color property as a TColorf.

Definition at line 229 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 248 of file CRenderizable.h.

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

getColorA()

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

inlineinherited

Color components in the range [0,1].

Definition at line 164 of file CRenderizable.h.

References mrpt::img::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 172 of file CRenderizable.h.

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

getColorB()

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

inlineinherited

Color components in the range [0,1].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 170 of file CRenderizable.h.

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

getColorG()

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

inlineinherited

Color components in the range [0,1].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 168 of file CRenderizable.h.

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

getColorR()

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

inlineinherited

Color components in the range [0,1].

Definition at line 158 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, mrpt::img::TColor::R, and mrpt::u8tof().

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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 166 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.

getLocalRepresentativePoint()

virtual mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::getLocalRepresentativePoint ( ) const

inlinevirtualinherited

Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0])

Reimplemented in mrpt::opengl::CPlanarLaserScan.

Definition at line 341 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_representativePoint.

Referenced by mrpt::opengl::enqueForRendering().

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getName()

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

inlineinherited

Returns the name of the object.

Definition at line 75 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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getPoint3Df()

const mrpt::math::TPoint3Df& mrpt::opengl::CPointCloud::getPoint3Df ( size_t  i ) const

inline

Definition at line 182 of file CPointCloud.h.

References m_points.

getPointSize()

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

inlineinherited

Definition at line 59 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_pointSize.

getPose()

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

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 223 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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getPosePitch()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 148 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 154 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 117 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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getPoseRoll()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 150 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 156 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 140 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 142 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 146 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 152 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 144 of file CRenderizable.h.

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

GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableShaderPoints.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CPointCloud::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 223 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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getScaleY()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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getScaleZ()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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getVariablePointSize_DepthScale()

float mrpt::opengl::CRenderizableShaderPoints::getVariablePointSize_DepthScale ( ) const

inlineinherited

Definition at line 80 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale.

getVariablePointSize_k()

float mrpt::opengl::CRenderizableShaderPoints::getVariablePointSize_k ( ) const

inlineinherited

Definition at line 73 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K.

hasToUpdateBuffers()

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

inlineinherited

Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering.

Definition at line 324 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers.

Referenced by mrpt::opengl::enqueForRendering().

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initializeTextures()

virtual void mrpt::opengl::CRenderizable::initializeTextures ( ) const

inlinevirtualinherited

Initializes all textures (loads them into opengl memory).

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableShaderTexturedTriangles.

Definition at line 362 of file CRenderizable.h.

insertPoint()

void CPointCloud::insertPoint	(	float	x,
		float	y,
		float	z
	)

Adds a new point to the cloud.

Definition at line 361 of file CPointCloud.cpp.

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

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internal_render_one_point()

void CPointCloud::internal_render_one_point ( size_t  i ) const

inlineprivate

Definition at line 154 of file CPointCloud.cpp.

isEnabledVariablePointSize()

bool mrpt::opengl::CRenderizableShaderPoints::isEnabledVariablePointSize ( ) const

inlineinherited

Definition at line 67 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize.

isPointSmoothEnabled()

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

inline

Definition at line 254 of file CPointCloud.h.

References m_pointSmooth.

isShowNameEnabled()

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

inlineinherited

See also

enableShowName

Definition at line 92 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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isVisible()

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

inlineinherited

Is the object visible?

See also

setVisibility

Definition at line 76 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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labelObject()

CText & CRenderizable::labelObject ( ) const

inherited

Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object.

See also

enableShowName()

Definition at line 238 of file CRenderizable.cpp.

References mrpt::opengl::CText::setString().

Referenced by mrpt::opengl::enqueForRendering().

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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 1844 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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loadFromPointsList()

template<class LISTOFPOINTS >

void mrpt::opengl::CPointCloud::loadFromPointsList ( LISTOFPOINTS &  pointsList )

inline

Load the points from a list of mrpt::math::TPoint3D.

Definition at line 209 of file CPointCloud.h.

References m_points, markAllPointsAsNew(), MRPT_END, MRPT_START, and mrpt::opengl::CRenderizable::notifyChange().

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loadFromPointsMap()

template<class POINTSMAP >

void mrpt::opengl::CPointCloud::loadFromPointsMap

(

const POINTSMAP *

themap

)

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

Definition at line 343 of file CPointCloud.h.

References ASSERT_, and mrpt::opengl::CRenderizable::notifyChange().

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markAllPointsAsNew()

void CPointCloud::markAllPointsAsNew ( )

protected

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

Definition at line 400 of file CPointCloud.cpp.

Referenced by loadFromPointsList(), resize(), setAllPoints(), setAllPointsFast(), and setPoint_fast().

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notifyChange()

void mrpt::opengl::CRenderizable::notifyChange ( ) const

inlineinherited

Call to enable calling renderUpdateBuffers() before the next render() rendering iteration.

Definition at line 315 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers.

Referenced by mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CRenderizableShaderTexturedTriangles::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), mrpt::opengl::CPlanarLaserScan::clear(), mrpt::opengl::CVectorField3D::clear(), clear(), mrpt::opengl::CPointCloudColoured::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::CRenderizableShaderWireFrame::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), enableColorFromX(), enableColorFromY(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::CMesh::enableColorFromZ(), enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::enableDrawSolid3D(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), enablePointSmooth(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), insertPoint(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), loadFromPointsList(), mrpt::opengl::CPointCloudColoured::loadFromPointsMap(), loadFromPointsMap(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::CPointCloudColoured::push_back(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CPointCloudColoured::resize(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CSimpleLine::serializeFrom(), mrpt::opengl::CTexturedPlane::serializeFrom(), mrpt::opengl::CSetOfTriangles::serializeFrom(), mrpt::opengl::CArrow::serializeFrom(), mrpt::opengl::CSphere::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CAxis::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CDisk::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CColorBar::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CMeshFast::serializeFrom(), mrpt::opengl::CMesh::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CText3D::serializeFrom(), mrpt::opengl::CAssimpModel::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CPointCloudColoured::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), mrpt::opengl::COctoMapVoxels::serializeFrom(), setAllPoints(), setAllPointsFast(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::CText::setFont(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CRenderizableShaderWireFrame::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CPointCloudColoured::setPoint(), setPoint(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CArrow::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CText::setString(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CAxis::setTickMarksLength(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::opengl::CSetOfLines::setVerticesPointSize(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setxMax(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setxMin(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setyMax(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::CMesh::setyMin(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::CMesh::setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CSetOfTriangles::updatePolygons(), mrpt::opengl::CMesh::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

octree_assure_uptodate()

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

inlineprotectedinherited

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

Definition at line 81 of file COctreePointRenderer.h.

octree_debug_dump_tree()

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

inlineinherited

Used for debug only.

Definition at line 752 of file COctreePointRenderer.h.

octree_derived() [1/2]

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

inlineprotectedinherited

Definition at line 73 of file COctreePointRenderer.h.

octree_derived() [2/2]

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

inlineprotectedinherited

Definition at line 74 of file COctreePointRenderer.h.

octree_get_graphics_boundingboxes()

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_get_graphics_boundingboxes ( mrpt::opengl::CSetOfObjects &  gl_bb, const float  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 729 of file COctreePointRenderer.h.

octree_get_node_count()

size_t mrpt::opengl::COctreePointRenderer< CPointCloud >::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 713 of file COctreePointRenderer.h.

octree_get_visible_nodes()

size_t mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_get_visible_nodes ( ) const

inlineinherited

Return the number of visible octree nodes in the last render event.

Definition at line 715 of file COctreePointRenderer.h.

octree_getBoundingBox()

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

inlineprotectedinherited

Definition at line 115 of file COctreePointRenderer.h.

Referenced by getBoundingBox().

octree_mark_as_outdated()

void mrpt::opengl::COctreePointRenderer< CPointCloud >::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 719 of file COctreePointRenderer.h.

octree_render()

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_render ( const mrpt::opengl::TRenderMatrices &  ri ) const

inlineprotectedinherited

Render the entire octree recursively.

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

Definition at line 90 of file COctreePointRenderer.h.

onUpdateBuffers_Points()

void CPointCloud::onUpdateBuffers_Points ( )

overridevirtual

Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields.

Implements mrpt::opengl::CRenderizableShaderPoints.

Definition at line 52 of file CPointCloud.cpp.

References ASSERTMSG_, colY, colZ, mrpt::f2u8(), and mrpt::opengl::CRenderizableShaderPoints::m_color_buffer_data.

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operator[]()

const mrpt::math::TPoint3Df& mrpt::opengl::CPointCloud::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 174 of file CPointCloud.h.

References ASSERT_BELOW_, m_points, and size().

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params_deserialize()

void CRenderizableShaderPoints::params_deserialize ( mrpt::serialization::CArchive &  in )

protectedinherited

Definition at line 115 of file CRenderizableShaderPoints.cpp.

References mrpt::opengl::CRenderizableShaderPoints::m_pointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::serialization::CArchive::ReadAs().

Referenced by mrpt::opengl::CSetOfLines::serializeFrom(), and mrpt::opengl::CPointCloudColoured::serializeFrom().

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params_serialize()

void CRenderizableShaderPoints::params_serialize ( mrpt::serialization::CArchive &  out ) const

protectedinherited

Definition at line 108 of file CRenderizableShaderPoints.cpp.

References mrpt::opengl::CRenderizableShaderPoints::m_pointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K, and out.

Referenced by mrpt::opengl::CSetOfLines::serializeTo(), and mrpt::opengl::CPointCloudColoured::serializeTo().

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PLY_export_get_face_count()

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

inlineoverrideprotectedvirtual

In a base class, return the number of faces.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 99 of file CPointCloud.h.

PLY_export_get_vertex()

void CPointCloud::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 430 of file CPointCloud.cpp.

PLY_export_get_vertex_count()

size_t CPointCloud::PLY_export_get_vertex_count ( ) const

overrideprotectedvirtual

In a base class, return the number of vertices.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 425 of file CPointCloud.cpp.

References mrpt::math::size().

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PLY_import_set_face_count() [1/2]

virtual void mrpt::opengl::PLY_Importer::PLY_import_set_face_count ( const size_t  N )

protectedpure virtualinherited

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

PLY_import_set_face_count() [2/2]

void mrpt::opengl::CPointCloud::PLY_import_set_face_count ( [[maybe_unused] ] const size_t  N )

inlineoverrideprotected

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

Definition at line 84 of file CPointCloud.h.

PLY_import_set_vertex()

void CPointCloud::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 417 of file CPointCloud.cpp.

References mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

PLY_import_set_vertex_count()

void CPointCloud::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 408 of file CPointCloud.cpp.

References resize().

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readFromStreamRender()

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

protectedinherited

Definition at line 99 of file CRenderizable.cpp.

References mrpt::obs::gnss::pitch, mrpt::serialization::CArchive::ReadBuffer(), mrpt::obs::gnss::roll, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), and mrpt::opengl::CFrustum::serializeFrom().

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render()

void CRenderizableShaderPoints::render ( const RenderContext &  rc ) const

overridevirtualinherited

Implements the rendering of 3D objects in each class derived from CRenderizable.

This can be called more than once (one per required shader program) if the object registered several shaders.

See also

renderUpdateBuffers

Implements mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CVectorField3D, mrpt::opengl::CVectorField2D, and mrpt::opengl::CSetOfLines.

Definition at line 52 of file CRenderizableShaderPoints.cpp.

References mrpt::opengl::Program::attributeId(), mrpt::opengl::COpenGLVertexArrayObject::bind(), mrpt::opengl::COpenGLBuffer::bind(), BUFFER_OFFSET, mrpt::opengl::CRenderizableShaderPoints::m_colorBuffer, mrpt::opengl::CRenderizableShaderPoints::m_pointSize, mrpt::opengl::CRenderizableShaderPoints::m_vao, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K, mrpt::opengl::CRenderizableShaderPoints::m_vertex_buffer_data, mrpt::opengl::CRenderizableShaderPoints::m_vertexBuffer, mrpt::opengl::CRenderizable::RenderContext::shader, and mrpt::opengl::Program::uniformId().

Referenced by mrpt::opengl::CSetOfLines::render(), mrpt::opengl::CMesh3D::render(), mrpt::opengl::CAssimpModel::render(), mrpt::opengl::CPlanarLaserScan::render(), and mrpt::opengl::COctoMapVoxels::render().

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render_subset()

void 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)

Definition at line 162 of file CPointCloud.cpp.

References mrpt::d2f(), OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL_value, and mrpt::round().

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renderUpdateBuffers()

void mrpt::opengl::CRenderizableShaderPoints::renderUpdateBuffers ( ) const

overridevirtualinherited

Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc.

before they are sent for rendering in render()

Implements mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CVectorField3D, mrpt::opengl::CVectorField2D, and mrpt::opengl::CSetOfLines.

Referenced by mrpt::opengl::CSetOfLines::renderUpdateBuffers(), mrpt::opengl::CMesh3D::renderUpdateBuffers(), mrpt::opengl::CAssimpModel::renderUpdateBuffers(), mrpt::opengl::CVectorField2D::renderUpdateBuffers(), mrpt::opengl::CPlanarLaserScan::renderUpdateBuffers(), mrpt::opengl::CVectorField3D::renderUpdateBuffers(), and mrpt::opengl::COctoMapVoxels::renderUpdateBuffers().

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requiredShaders()

virtual shader_list_t mrpt::opengl::CRenderizableShaderPoints::requiredShaders ( ) const

inlineoverridevirtualinherited

Returns the ID of the OpenGL shader program required to render this class.

See also

DefaultShaderID

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::COctoMapVoxels, mrpt::opengl::CVectorField3D, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CVectorField2D, mrpt::opengl::CAssimpModel, mrpt::opengl::CMesh3D, and mrpt::opengl::CSetOfLines.

Definition at line 46 of file CRenderizableShaderPoints.h.

References mrpt::opengl::DefaultShaderID::POINTS.

reserve()

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

inline

Like STL std::vector's reserve.

Definition at line 128 of file CPointCloud.h.

References m_points.

resize()

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

inline

Set the number of points (with contents undefined)

Definition at line 120 of file CPointCloud.h.

References m_minmax_valid, m_points, and markAllPointsAsNew().

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::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 1945 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::TPoint3D_data< T >::x, TVertex::x, mrpt::math::TPoint3D_data< T >::y, TVertex::y, mrpt::math::TPoint3D_data< T >::z, and TVertex::z.

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serializeFrom() [1/2]

void CPointCloud::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

currently below is being left to what is being set by the default constructor i.e.,CPointCloud::colNone

Implements mrpt::serialization::CSerializable.

Definition at line 212 of file CPointCloud.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and SCHEMA_DESERIALIZE_DATATYPE_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 CPointCloud::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 253 of file CPointCloud.cpp.

serializeTo() [1/2]

void CPointCloud::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 190 of file CPointCloud.cpp.

References out, and SCHEMA_SERIALIZE_DATATYPE_VERSION.

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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setAllPoints() [1/2]

template<typename T >

void mrpt::opengl::CPointCloud::setAllPoints ( const std::vector< T > &  x, const std::vector< T > &  y, const std::vector< T > &  z  )

inline

Set the list of (X,Y,Z) point coordinates, all at once, from three vectors with their coordinates.

Definition at line 133 of file CPointCloud.h.

References m_minmax_valid, m_points, and markAllPointsAsNew().

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setAllPoints() [2/2]

void CPointCloud::setAllPoints

(

const std::vector< mrpt::math::TPoint3D > &

pts

)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 439 of file CPointCloud.cpp.

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

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setAllPointsFast()

void mrpt::opengl::CPointCloud::setAllPointsFast ( std::vector< mrpt::math::TPoint3Df > &  pts )

inline

Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of the input vectors (via swap)

Definition at line 151 of file CPointCloud.h.

References clear(), m_minmax_valid, markAllPointsAsNew(), and mrpt::opengl::CRenderizable::notifyChange().

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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 234 of file CRenderizable.h.

References mrpt::img::TColorf::A, mrpt::img::TColorf::B, mrpt::f2u8(), mrpt::img::TColorf::G, mrpt::img::TColorf::R, and mrpt::opengl::CRenderizable::setColor_u8().

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setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( float  R, float  G, float  B, float  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 242 of file CRenderizable.h.

References mrpt::f2u8(), 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::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 229 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::CRenderizable::setColor(), 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 254 of file CRenderizable.h.

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

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setColorA()

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 180 of file CRenderizable.h.

References mrpt::f2u8(), and 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::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 200 of file CRenderizable.h.

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

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject(), mrpt::opengl::CRenderizable::setColorA(), and mrpt::opengl::CSetOfObjects::setColorA_u8().

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setColorB()

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 178 of file CRenderizable.h.

References mrpt::f2u8(), and 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::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 194 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 float  g )

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 176 of file CRenderizable.h.

References mrpt::f2u8(), and 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::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 188 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 float  r )

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 174 of file CRenderizable.h.

References mrpt::f2u8(), and 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::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 182 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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setGradientColors()

void CPointCloud::setGradientColors	(	const mrpt::img::TColorf &	colorMin,
		const mrpt::img::TColorf &	colorMax
	)

Sets the colors used as extremes when colorFromDepth is enabled.

Definition at line 392 of file CPointCloud.cpp.

setLocalRepresentativePoint()

void mrpt::opengl::CRenderizable::setLocalRepresentativePoint ( const mrpt::math::TPoint3Df &  p )

inlineinherited

See getLocalRepresentativePoint()

Definition at line 347 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_representativePoint.

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 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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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 131 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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setName()

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

inlineinherited

Changes the name of the object.

Definition at line 73 of file CRenderizable.h.

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

setPoint()

void 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).

Definition at line 376 of file CPointCloud.cpp.

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

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setPoint_fast()

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

inline

Write an individual point (without checking validity of the index).

Definition at line 192 of file CPointCloud.h.

References m_minmax_valid, m_points, and markAllPointsAsNew().

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::setInvalidPoint(), and mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::setPointXYZ().

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setPointSize()

void mrpt::opengl::CRenderizableShaderPoints::setPointSize ( float  p )

inlineinherited

By default is 1.0.

See also

enableVariablePointSize()

Definition at line 58 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::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 189 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::setCurrentCameraFromPose().

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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 194 of file CRenderizable.cpp.

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 199 of file CRenderizable.cpp.

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 204 of file CRenderizable.cpp.

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 211 of file CRenderizable.cpp.

References 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 217 of file CRenderizable.cpp.

References 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 208 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 215 of file CRenderizable.h.

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

setVariablePointSize_DepthScale()

void mrpt::opengl::CRenderizableShaderPoints::setVariablePointSize_DepthScale ( float  v )

inlineinherited

see CRenderizableShaderPoints for a discussion of this parameter.

Definition at line 76 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale.

setVariablePointSize_k()

void mrpt::opengl::CRenderizableShaderPoints::setVariablePointSize_k ( float  v )

inlineinherited

see CRenderizableShaderPoints for a discussion of this parameter.

Definition at line 72 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K.

setVisibility()

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

inlineinherited

Set object visibility (default=true)

See also

isVisible

Definition at line 81 of file CRenderizable.h.

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

shaderPointsVertexColorBuffer()

const auto& mrpt::opengl::CRenderizableShaderPoints::shaderPointsVertexColorBuffer ( ) const

inlineinherited

Definition at line 99 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_color_buffer_data.

shaderPointsVertexPointBuffer()

const auto& mrpt::opengl::CRenderizableShaderPoints::shaderPointsVertexPointBuffer ( ) const

inlineinherited

Definition at line 95 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_vertex_buffer_data.

size()

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

inline

Definition at line 118 of file CPointCloud.h.

References m_points.

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

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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::CSetOfObjects, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::opengl::CTexturedPlane, mrpt::opengl::CDisk, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CEllipsoid2D, mrpt::opengl::CSphere, mrpt::opengl::CEllipsoid3D, and mrpt::opengl::CCylinder.

Definition at line 224 of file CRenderizable.cpp.

updateBuffers()

void mrpt::opengl::CRenderizable::updateBuffers ( ) const

inlineinherited

Calls renderUpdateBuffers() and clear the flag that is set with notifyChange()

Definition at line 307 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers, and mrpt::opengl::CRenderizable::renderUpdateBuffers().

Referenced by mrpt::opengl::enqueForRendering().

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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 44 of file CRenderizable.cpp.

References out.

Referenced by mrpt::opengl::CGridPlaneXY::serializeTo(), mrpt::opengl::CGridPlaneXZ::serializeTo(), mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), and mrpt::opengl::CFrustum::serializeTo().

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Member Data Documentation

className

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

static

Definition at line 49 of file CPointCloud.h.

m_col_slop

mrpt::img::TColorf mrpt::opengl::CPointCloud::m_col_slop

mutableprivate

Color linear function slope.

Definition at line 278 of file CPointCloud.h.

m_col_slop_inv

mrpt::img::TColorf mrpt::opengl::CPointCloud::m_col_slop_inv

mutableprivate

Definition at line 278 of file CPointCloud.h.

m_color

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

protectedinherited

Color components in the range [0,255].

Definition at line 59 of file CRenderizable.h.

Referenced by mrpt::opengl::CMeshFast::CMeshFast(), mrpt::opengl::CVectorField3D::CVectorField3D(), mrpt::opengl::CRenderizable::getColor(), mrpt::opengl::CRenderizable::getColor_u8(), mrpt::opengl::CRenderizable::getColorA(), mrpt::opengl::CRenderizable::getColorA_u8(), mrpt::opengl::CRenderizable::getColorB(), mrpt::opengl::CRenderizable::getColorB_u8(), mrpt::opengl::CRenderizable::getColorG(), mrpt::opengl::CRenderizable::getColorG_u8(), mrpt::opengl::CRenderizable::getColorR(), mrpt::opengl::CRenderizable::getColorR_u8(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Triangles(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Wireframe(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXY::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXZ::onUpdateBuffers_Wireframe(), mrpt::opengl::CRenderizable::setColorA_u8(), mrpt::opengl::CRenderizable::setColorB_u8(), mrpt::opengl::CRenderizable::setColorG_u8(), and mrpt::opengl::CRenderizable::setColorR_u8().

m_color_buffer_data

std::vector<mrpt::img::TColor> mrpt::opengl::CRenderizableShaderPoints::m_color_buffer_data

mutableprotectedinherited

Definition at line 107 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CAssimpModel::onUpdateBuffers_all(), mrpt::opengl::CMeshFast::onUpdateBuffers_Points(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CMesh3D::onUpdateBuffers_Points(), mrpt::opengl::CVectorField2D::onUpdateBuffers_Points(), mrpt::opengl::CPlanarLaserScan::onUpdateBuffers_Points(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Points(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Points(), onUpdateBuffers_Points(), and mrpt::opengl::CRenderizableShaderPoints::shaderPointsVertexColorBuffer().

m_colorFromDepth

Axis mrpt::opengl::CPointCloud::m_colorFromDepth = CPointCloud::colNone

protected

Definition at line 60 of file CPointCloud.h.

Referenced by enableColorFromX(), enableColorFromY(), and enableColorFromZ().

m_colorFromDepth_max

mrpt::img::TColorf mrpt::opengl::CPointCloud::m_colorFromDepth_max = {0, 0, 1}

private

Definition at line 283 of file CPointCloud.h.

m_colorFromDepth_min

mrpt::img::TColorf mrpt::opengl::CPointCloud::m_colorFromDepth_min = {0, 0, 0}

private

The colors used to interpolate when m_colorFromDepth is true.

Definition at line 282 of file CPointCloud.h.

m_label_obj

std::shared_ptr<mrpt::opengl::CText> mrpt::opengl::CRenderizable::m_label_obj

mutableprotectedinherited

Optional pointer to a mrpt::opengl::CText.

Definition at line 372 of file CRenderizable.h.

m_last_rendered_count

size_t mrpt::opengl::CPointCloud::m_last_rendered_count {0}

mutableprotected

Definition at line 70 of file CPointCloud.h.

Referenced by getActuallyRendered().

m_last_rendered_count_ongoing

size_t mrpt::opengl::CPointCloud::m_last_rendered_count_ongoing {0}

mutableprotected

Definition at line 70 of file CPointCloud.h.

m_max

float mrpt::opengl::CPointCloud::m_max {0}

mutableprivate

Definition at line 276 of file CPointCloud.h.

m_max_m_min

float mrpt::opengl::CPointCloud::m_max_m_min {0}

mutableprivate

Definition at line 276 of file CPointCloud.h.

m_max_m_min_inv

float mrpt::opengl::CPointCloud::m_max_m_min_inv {0}

mutableprivate

Definition at line 276 of file CPointCloud.h.

m_min

float mrpt::opengl::CPointCloud::m_min {0}

mutableprivate

Buffer for min/max coords when m_colorFromDepth is true.

Definition at line 276 of file CPointCloud.h.

m_minmax_valid

bool mrpt::opengl::CPointCloud::m_minmax_valid {false}

mutableprivate

Definition at line 279 of file CPointCloud.h.

Referenced by resize(), setAllPoints(), setAllPointsFast(), and setPoint_fast().

m_name

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

protectedinherited

Definition at line 56 of file CRenderizable.h.

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

m_outdatedBuffers

bool mrpt::opengl::CRenderizable::m_outdatedBuffers = true

protectedinherited

Definition at line 368 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::hasToUpdateBuffers(), mrpt::opengl::CRenderizable::notifyChange(), and mrpt::opengl::CRenderizable::updateBuffers().

m_points

std::vector<mrpt::math::TPoint3Df>& mrpt::opengl::CPointCloud::m_points

protected

Initial value:

=
        CRenderizableShaderPoints::m_vertex_buffer_data

Actually, an alias for the base class shader container of points.

Kept to have an easy to use name.

Definition at line 64 of file CPointCloud.h.

Referenced by getArrayPoints(), getPoint3Df(), loadFromPointsList(), operator[](), reserve(), resize(), setAllPoints(), setPoint_fast(), and size().

m_pointSize

float mrpt::opengl::CRenderizableShaderPoints::m_pointSize = 1.0f

protectedinherited

Definition at line 109 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CSetOfLines::CSetOfLines(), mrpt::opengl::CRenderizableShaderPoints::getPointSize(), mrpt::opengl::CSetOfLines::getVerticesPointSize(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::opengl::CRenderizableShaderPoints::params_serialize(), mrpt::opengl::CRenderizableShaderPoints::render(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CRenderizableShaderPoints::setPointSize(), and mrpt::opengl::CSetOfLines::setVerticesPointSize().

m_pointSmooth

bool mrpt::opengl::CPointCloud::m_pointSmooth = false

protected

Default: false.

Definition at line 68 of file CPointCloud.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 62 of file CRenderizable.h.

Referenced by mrpt::opengl::CGridPlaneXY::getBoundingBox(), mrpt::opengl::CGridPlaneXZ::getBoundingBox(), mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPolyhedron::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPosePitchRad(), mrpt::opengl::CRenderizable::getPoseRef(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseRollRad(), mrpt::opengl::CRenderizable::getPoseX(), mrpt::opengl::CRenderizable::getPoseY(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CRenderizable::getPoseYawRad(), mrpt::opengl::CRenderizable::getPoseZ(), mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::renderUpdateBuffers(), mrpt::opengl::CRenderizable::setLocation(), and mrpt::opengl::CPolyhedron::traceRay().

m_representativePoint

mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::m_representativePoint {0, 0, 0}

protectedinherited

Definition at line 369 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getLocalRepresentativePoint(), and mrpt::opengl::CRenderizable::setLocalRepresentativePoint().

m_scale_x

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

protectedinherited

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

Definition at line 64 of file CRenderizable.h.

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

m_scale_y

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

protectedinherited

Definition at line 64 of file CRenderizable.h.

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

m_scale_z

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

protectedinherited

Definition at line 64 of file CRenderizable.h.

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

m_show_name

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

protectedinherited

Definition at line 57 of file CRenderizable.h.

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

m_variablePointSize

bool mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize = true

protectedinherited

Definition at line 110 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CRenderizableShaderPoints::enableVariablePointSize(), mrpt::opengl::CRenderizableShaderPoints::isEnabledVariablePointSize(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::opengl::CRenderizableShaderPoints::params_serialize(), and mrpt::opengl::CRenderizableShaderPoints::render().

m_variablePointSize_DepthScale

float mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale = 0.1f

protectedinherited

Definition at line 112 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CRenderizableShaderPoints::getVariablePointSize_DepthScale(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::opengl::CRenderizableShaderPoints::params_serialize(), mrpt::opengl::CRenderizableShaderPoints::render(), and mrpt::opengl::CRenderizableShaderPoints::setVariablePointSize_DepthScale().

m_variablePointSize_K

float mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K = 0.1f

protectedinherited

Definition at line 111 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CRenderizableShaderPoints::getVariablePointSize_k(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::opengl::CRenderizableShaderPoints::params_serialize(), mrpt::opengl::CRenderizableShaderPoints::render(), and mrpt::opengl::CRenderizableShaderPoints::setVariablePointSize_k().

m_vertex_buffer_data

std::vector<mrpt::math::TPoint3Df> mrpt::opengl::CRenderizableShaderPoints::m_vertex_buffer_data

mutableprotectedinherited

Definition at line 106 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CAssimpModel::onUpdateBuffers_all(), mrpt::opengl::CMeshFast::onUpdateBuffers_Points(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CMesh3D::onUpdateBuffers_Points(), mrpt::opengl::CVectorField2D::onUpdateBuffers_Points(), mrpt::opengl::CPlanarLaserScan::onUpdateBuffers_Points(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Points(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Points(), mrpt::opengl::CRenderizableShaderPoints::render(), and mrpt::opengl::CRenderizableShaderPoints::shaderPointsVertexPointBuffer().

m_visible

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

protectedinherited

Is the object visible? (default=true)

Definition at line 66 of file CRenderizable.h.

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

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CPointCloud::runtimeClassId

staticprotected

Definition at line 49 of file CPointCloud.h.