10 #ifndef opengl_CPointCloudColoured_H 11 #define opengl_CPointCloudColoured_H 58 float _x,
float _y,
float _z,
float _R,
float _G,
float _B)
59 :
x(_x),
y(_y),
z(_z),
R(_R),
G(_G),
B(_B)
112 void push_back(
float x,
float y,
float z,
float R,
float G,
float B);
156 void setPoint(
size_t i,
const TPointColour&
p);
167 const size_t i,
const float x,
const float y,
const float z)
185 size_t index,
float&
R,
float& G,
float& B)
const 203 template <
class POINTSMAP>
226 const float coord_min,
const float coord_max,
const int coord_index = 2,
231 void render()
const override;
235 const bool all,
const std::vector<size_t>& idxs,
236 const float render_area_sqpixels)
const;
299 static const int HAS_RGB = 1;
301 static const int HAS_RGBf = 1;
303 static const int HAS_RGBu8 = 0;
307 : m_obj(*const_cast<
mrpt::opengl::CPointCloudColoured*>(&
obj))
311 inline size_t size()
const {
return m_obj.
size(); }
315 template <
typename T>
332 THROW_EXCEPTION(
"mrpt::opengl::CPointCloudColoured needs to be dense");
336 template <
typename T>
338 const size_t idx, T&
x, T&
y, T&
z,
float&
r,
float&
g,
float&
b)
const 351 const float r,
const float g,
const float b)
359 template <
typename T>
379 x,
y,
z,
r / 255.f,
g / 255.f,
b / 255.f));
384 const size_t idx,
float&
r,
float&
g,
float&
b)
const 390 const size_t idx,
const float r,
const float g,
const float b)
417 template <
class POINTSMAP>
422 const size_t N = pc_src.size();
424 for (
size_t i = 0; i < N; i++)
427 pc_src.getPointXYZ_RGBf(i,
x,
y,
z,
r,
g,
b);
428 pc_dst.setPointXYZ_RGBf(i,
x,
y,
z,
r,
g,
b);
float coords_t
The type of each point XYZ coordinates.
const_iterator end() const
#define MRPT_DECLARE_TTYPENAME_NAMESPACE(_TYPE, __NS)
virtual 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 th...
PointCloudAdapter(const mrpt::opengl::CPointCloudColoured &obj)
Constructor (accept a const ref for convenience)
mrpt::utils::CStream & operator<<(mrpt::utils::CStream &out, const mrpt::opengl::CLight &o)
void clear()
Erase all the points.
bool m_pointSmooth
Default: false.
size_t size() const
Get number of points.
size_t getActuallyRendered() const
Get the number of elements actually rendered in the last render event.
void getPointXYZ_RGBf(const size_t idx, T &x, T &y, T &z, float &r, float &g, float &b) const
Get XYZ_RGBf coordinates of i'th point.
TColormap
Different colormaps for use in mrpt::utils::colormap()
size_t size() const
Return the number of points.
#define THROW_EXCEPTION(msg)
A cloud of points, each one with an individual colour (R,G,B).
#define ASSERT_BELOW_(__A, __B)
volatile size_t m_last_rendered_count_ongoing
void getPointColor_fast(size_t index, float &R, float &G, float &B) const
Like getPointColor but without checking for out-of-index erors.
The base class of 3D objects that can be directly rendered through OpenGL.
void setPointXYZ_RGBf(const size_t idx, const coords_t x, const coords_t y, const coords_t z, const float r, const float g, const float b)
Set XYZ_RGBf coordinates of i'th point.
const Scalar * const_iterator
mrpt::opengl::CPointCloudColoured & m_obj
GLsizei GLsizei GLuint * obj
void disablePointSmooth()
void getPointXYZ_RGBu8(const size_t idx, T &x, T &y, T &z, uint8_t &r, uint8_t &g, uint8_t &b) const
Get XYZ_RGBu8 coordinates of i'th point.
void resize(const size_t N)
Set number of points (to uninitialized values)
void setPointRGBu8(const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
Set RGBu8 coordinates of i'th point.
void loadFromPointsMap(const POINTSMAP *themap)
Load the points from any other point map class supported by the adapter mrpt::utils::PointCloudAdapte...
Template class that implements the data structure and algorithms for Octree-based efficient rendering...
void setPoint(size_t i, const TPointColour &p)
Write an individual point (checks for "i" in the valid range only in Debug).
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
TPointColour(float _x, float _y, float _z, float _R, float _G, float _B)
Lightweight 3D point (float version).
CPointCloudColoured()
Constructor.
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
const_iterator begin() const
void recolorizeByCoordinate(const float coord_min, const float coord_max, const int coord_index=2, const mrpt::utils::TColormap color_map=mrpt::utils::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.
void render() const override
Render.
bool isPointSmoothEnabled() const
size_t PLY_export_get_vertex_count() const override
In a base class, return the number of vertices.
TListPointColour::iterator iterator
A virtual base class that implements the capability of importing 3D point clouds and faces from a fil...
An adapter to different kinds of point cloud object.
void setPointRGBf(const size_t idx, const float r, const float g, const float b)
Set XYZ_RGBf coordinates of i'th point.
virtual void PLY_import_set_vertex(const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=nullptr) override
In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point...
void setPointXYZ_RGBu8(const size_t idx, const coords_t x, const coords_t y, const coords_t z, const uint8_t r, const uint8_t g, const uint8_t b)
Set XYZ_RGBu8 coordinates of i'th point.
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i'th point.
volatile size_t m_last_rendered_count
void setPointSize(float pointSize)
void enablePointSmooth(bool enable=true)
mrpt::utils::CStream & operator>>(mrpt::utils::CStream &in, mrpt::opengl::CLight &o)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
std::vector< TPointColour > TListPointColour
mrpt::math::TPoint3Df getPointf(size_t i) const
Read access to each individual point (checks for "i" in the valid range only in Debug).
GLdouble GLdouble GLdouble r
void setPointColor_fast(size_t index, float R, float G, float B)
Like setPointColor but without checking for out-of-index erors.
TListPointColour::const_iterator const_iterator
TListPointColour m_points
void push_back(float x, float y, float z, float R, float G, float B)
Inserts a new point into the point cloud.
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)
The namespace for 3D scene representation and rendering.
void octree_getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
A RGB color - floats in the range [0,1].
size_t PLY_export_get_face_count() const override
In a base class, return the number of faces.
void setInvalidPoint(const size_t idx)
const TPointColour & getPoint(size_t i) const
Read access to each individual point (checks for "i" in the valid range only in Debug).
void setPoint_fast(const size_t i, const TPointColour &p)
Like setPoint() but does not check for index out of bounds.
float getPointSize() const
An adapter to different kinds of point cloud object.
const TPointColour & operator[](size_t i) const
Read access to each individual point (checks for "i" in the valid range only in Debug).
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.
float m_pointSize
By default is 1.0.
virtual 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.
A virtual base class that implements the capability of exporting 3D point clouds and faces to a file ...
void PLY_export_get_vertex(const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const override
In a base class, will be called after PLY_export_get_vertex_count() once for each exported point...
void getPointRGBf(const size_t idx, float &r, float &g, float &b) const
Get RGBf color of i'th point.
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 getPointRGBu8(const size_t idx, uint8_t &r, uint8_t &g, uint8_t &b) const
Get RGBu8 color of i'th point.
virtual ~CPointCloudColoured()
Private, virtual destructor: only can be deleted from smart pointers.
virtual void PLY_import_set_face_count(const size_t N) override
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.
void markAllPointsAsNew()
Do needed internal work if all points are new (octree rebuilt,...)