class mrpt::opengl::CPointCloudColoured

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

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

To load from a points-map, CPointCloudColoured::loadFromPointsMap().

This class uses smart optimizations while rendering to efficiently draw clouds of millions of points, as described in this page: https://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points

See also:

opengl::COpenGLScene, opengl::CPointCloud

#include <mrpt/opengl/CPointCloudColoured.h>

class CPointCloudColoured:
    public mrpt::opengl::CRenderizableShaderPoints,
    public mrpt::opengl::COctreePointRenderer,
    public mrpt::opengl::PLY_Importer,
    public mrpt::opengl::PLY_Exporter
{
public:
    //
methods

    void push_back(float x, float y, float z, float R, float G, float B, float A = 1);
    void resize(size_t N);
    void reserve(size_t N);
    const mrpt::math::TPoint3Df& getPoint3Df(size_t i) const;
    void setPoint(size_t i, const mrpt::math::TPointXYZfRGBAu8& p);
    void setPoint_fast(const size_t i, const mrpt::math::TPointXYZfRGBAu8& p);
    void setPoint_fast(const size_t i, const float x, const float y, const float z);
    void setPointColor_fast(size_t index, float R, float G, float B, float A = 1);

    void setPointColor_u8_fast(
        size_t index,
        uint8_t r,
        uint8_t g,
        uint8_t b,
        uint8_t a = 0xff
        );

    void getPointColor_fast(size_t index, float& R, float& G, float& B) const;

    void getPointColor_fast(
        size_t index,
        uint8_t& r,
        uint8_t& g,
        uint8_t& b
        ) const;

    mrpt::img::TColor getPointColor(size_t index) const;
    size_t size() const;
    void clear();

    template <class POINTSMAP>
    void loadFromPointsMap(const POINTSMAP* themap);

    size_t getActuallyRendered() const;

    void recolorizeByCoordinate(
        const float coord_min,
        const float coord_max,
        const int coord_index = 2,
        const mrpt::img::TColormap color_map = mrpt::img::cmJET
        );

    virtual void onUpdateBuffers_Points();
    void markAllPointsAsNew();
    virtual void getBoundingBox(mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const;

    void render_subset(
        const bool all,
        const std::vector<size_t>& idxs,
        const float render_area_sqpixels
        ) const;
};

Inherited Members

public:
    // structs

    struct RenderContext;
    struct TNode;
    struct TRenderQueueElement;

    //
methods

    virtual void render(const RenderContext& rc) const = 0;
    virtual void renderUpdateBuffers() const = 0;
    virtual shader_list_t requiredShaders() const;
    virtual void getBoundingBox(mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const = 0;
    virtual void freeOpenGLResources() = 0;
    virtual void onUpdateBuffers_Points() = 0;
    size_t octree_get_node_count() const;
    size_t octree_get_visible_nodes() const;
    void octree_mark_as_outdated();

    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;

    void octree_debug_dump_tree(std::ostream& o) const;

Methods

void push_back(
    float x,
    float y,
    float z,
    float R,
    float G,
    float B,
    float A = 1
    )

Inserts a new point into the point cloud.

void resize(size_t N)

Set the number of points, with undefined contents.

void reserve(size_t N)

Like STL std::vector’s reserve.

void setPoint(size_t i, const mrpt::math::TPointXYZfRGBAu8& p)

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

void setPoint_fast(const size_t i, const mrpt::math::TPointXYZfRGBAu8& p)

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

void setPoint_fast(const size_t i, const float x, const float y, const float z)

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

void setPointColor_fast(size_t index, float R, float G, float B, float A = 1)

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

void getPointColor_fast(size_t index, float& R, float& G, float& B) const

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

size_t size() const

Return the number of points.

void clear()

Erase all the points.

template <class POINTSMAP>
void loadFromPointsMap(const POINTSMAP* themap)

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

size_t getActuallyRendered() const

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

void recolorizeByCoordinate(
    const float coord_min,
    const float coord_max,
    const int coord_index = 2,
    const mrpt::img::TColormap color_map = mrpt::img::cmJET
    )

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

virtual void onUpdateBuffers_Points()

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

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

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

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)