class mrpt::opengl::CPointCloud

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, using octrees.

#include <mrpt/opengl/CPointCloud.h>

class CPointCloud:
    public mrpt::opengl::CRenderizableShaderPoints,
    public mrpt::opengl::COctreePointRenderer,
    public mrpt::opengl::PLY_Importer,
    public mrpt::opengl::PLY_Exporter
{
public:
    // construction

    CPointCloud();

    //
methods

    size_t size() const;
    size_t size_unprotected() const;
    void resize(size_t N);
    void reserve(size_t N);

    template <typename T>
    void setAllPoints(
        const std::vector<T>& x,
        const std::vector<T>& y,
        const std::vector<T>& z
        );

    void setAllPoints(const std::vector<mrpt::math::TPoint3D>& pts);
    void setAllPointsFast(std::vector<mrpt::math::TPoint3Df>& pts);
    const std::vector<mrpt::math::TPoint3Df>& getArrayPoints() const;
    void clear();
    bool empty() const;
    void insertPoint(float x, float y, float z);
    void insertPoint(const mrpt::math::TPoint3Df& p);
    void insertPoint(const mrpt::math::TPoint3D& p);
    const mrpt::math::TPoint3Df& operator [] (size_t i) const;
    const mrpt::math::TPoint3Df& getPoint3Df(size_t i) const;
    void setPoint(size_t i, const float x, const float y, const float z);
    void setPoint_fast(size_t i, const float x, const float y, const float z);

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

    template <class LISTOFPOINTS>
    void loadFromPointsList(LISTOFPOINTS& pointsList);

    size_t getActuallyRendered() const;
    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);
    virtual void onUpdateBuffers_Points();

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

    virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const;
};

Inherited Members

public:
    // structs

    struct RenderContext;
    struct State;
    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 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;

Construction

CPointCloud()

Constructor.

Methods

size_t size_unprotected() const

Like size(), but without locking the data mutex (internal usage)

void resize(size_t N)

Set the number of points (with contents undefined)

void reserve(size_t N)

Like STL std::vector’s reserve.

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.

void 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.

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)

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

Get a const reference to the internal array of points.

void clear()

Empty the list of points.

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

Adds a new point to the cloud.

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).

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

NOTE: This method is intentionally not protected by the shared_mutex, since it’s called in the inner loops of the octree, which acquires the lock once.

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).

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).

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

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

template <class LISTOFPOINTS>
void loadFromPointsList(LISTOFPOINTS& pointsList)

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

size_t getActuallyRendered() const

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

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

Sets the colors used as extremes when colorFromDepth is enabled.

virtual void onUpdateBuffers_Points()

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

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)

virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const

Used from COpenGLScene::asYAML().

(New in MRPT 2.4.2)