mrpt::opengl::CPointCloudColoured Class Reference

Detailed Description

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

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

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

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

See also

opengl::COpenGLScene, opengl::CPointCloud

mrpt::opengl::CPointCloudColoured

Definition at line 46 of file CPointCloudColoured.h.

#include <mrpt/opengl/CPointCloudColoured.h>

Inheritance diagram for mrpt::opengl::CPointCloudColoured:

Classes
struct	TPointColour

Public Types
enum

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) noexcept
void	operator delete[] (void *ptr) noexcept
void	operator delete (void *memory, void *ptr) noexcept
void *	operator new (size_t size, const std::nothrow_t &) noexcept
void	operator delete (void *ptr, const std::nothrow_t &) noexcept
	CPointCloudColoured ()
	Constructor. More...
virtual	~CPointCloudColoured ()
	Private, virtual destructor: only can be deleted from smart pointers. More...
void	markAllPointsAsNew ()
	Do needed internal work if all points are new (octree rebuilt,...) More...
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 the object parent. More...
void	render () const override
	Render. More...
void	render_subset (const bool all, const std::vector< size_t > &idxs, const float render_area_sqpixels) const
	Render a subset of points (required by octree renderer) More...
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose. More...
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
size_t	octree_get_node_count () const
	Return the number of octree nodes (all of them, including the empty ones) More...
size_t	octree_get_visible_nodes () const
	Return the number of visible octree nodes in the last render event. More...
void	octree_mark_as_outdated ()
	Called from the derived class (or the user) to indicate we have/want to rebuild the entire node tree (for example, after modifying the point cloud or any global octree parameter) More...
void	octree_get_graphics_boundingboxes (mrpt::opengl::CSetOfObjects &gl_bb, const double lines_width=1, const mrpt::utils::TColorf &lines_color=mrpt::utils::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, CStringList *file_comments=nullptr, CStringList *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 CStringList &file_comments=CStringList(), const CStringList &file_obj_info=CStringList()) const
	Saves to a PLY file. More...
std::string	getSavePLYErrorString () const
	Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
Read/Write of the list of points to render
void	push_back (float x, float y, float z, float R, float G, float B)
	Inserts a new point into the point cloud. More...
void	resize (size_t N)
	Set the number of points, with undefined contents. More...
void	reserve (size_t N)
	Like STL std::vector's reserve. More...
const TPointColour &	operator[] (size_t i) const
	Read access to each individual point (checks for "i" in the valid range only in Debug). More...
const TPointColour &	getPoint (size_t i) const
	Read access to each individual point (checks for "i" in the valid range only in Debug). More...
mrpt::math::TPoint3Df	getPointf (size_t i) const
	Read access to each individual point (checks for "i" in the valid range only in Debug). More...
void	setPoint (size_t i, const TPointColour &p)
	Write an individual point (checks for "i" in the valid range only in Debug). More...
void	setPoint_fast (const size_t i, const TPointColour &p)
	Like setPoint() but does not check for index out of bounds. More...
void	setPoint_fast (const size_t i, const float x, const float y, const float z)
	Like setPoint() but does not check for index out of bounds. More...
void	setPointColor_fast (size_t index, float R, float G, float B)
	Like setPointColor but without checking for out-of-index erors. More...
void	getPointColor_fast (size_t index, float &R, float &G, float &B) const
	Like getPointColor but without checking for out-of-index erors. More...
size_t	size () const
	Return the number of points. More...
void	clear ()
	Erase all the points. More...
template<class POINTSMAP >
void	loadFromPointsMap (const POINTSMAP *themap)
	Load the points from any other point map class supported by the adapter mrpt::utils::PointCloudAdapter. More...
size_t	getActuallyRendered () const
	Get the number of elements actually rendered in the last render event. More...
Modify the appearance of the rendered points
void	setPointSize (float pointSize)
float	getPointSize () const
void	enablePointSmooth (bool enable=true)
void	disablePointSmooth ()
bool	isPointSmoothEnabled () const
void	recolorizeByCoordinate (const float coord_min, const float coord_max, const int coord_index=2, const mrpt::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. More...
Changes the appearance of the object to render
void	setName (const std::string &n)
	Changes the name of the object. More...
const std::string &	getName () const
	Returns the name of the object. More...
bool	isVisible () const
	Is the object visible? More...
void	setVisibility (bool visible=true)
	Set object visibility (default=true) More...
void	enableShowName (bool showName=true)
	Enables or disables showing the name of the object as a label when rendering. More...
bool	isShowNameEnabled () const
CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::poses::CPose2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::math::TPose2D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::poses::CPoint2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
mrpt::math::TPose3D	getPose () const
	Returns the 3D pose of the object as TPose3D. More...
const mrpt::poses::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation. More...
CRenderizable &	setLocation (const mrpt::math::TPoint3D &p)
	Changes the location of the object, keeping untouched the orientation. More...
double	getPoseX () const
	Translation relative to parent coordinate origin. More...
double	getPoseY () const
	Translation relative to parent coordinate origin. More...
double	getPoseZ () const
	Translation relative to parent coordinate origin. More...
double	getPoseYaw () const
	Rotation relative to parent coordinate origin, in DEGREES. More...
double	getPosePitch () const
	Rotation relative to parent coordinate origin, in DEGREES. More...
double	getPoseRoll () const
	Rotation relative to parent coordinate origin, in DEGREES. More...
double	getPoseYawRad () const
	Rotation relative to parent coordinate origin, in radians. More...
double	getPosePitchRad () const
	Rotation relative to parent coordinate origin, in radians. More...
double	getPoseRollRad () const
	Rotation relative to parent coordinate origin, in radians. More...
double	getColorR () const
	Color components in the range [0,1]. More...
double	getColorG () const
	Color components in the range [0,1]. More...
double	getColorB () const
	Color components in the range [0,1]. More...
double	getColorA () const
	Color components in the range [0,1]. More...
uint8_t	getColorR_u8 () const
	Color components in the range [0,255]. More...
uint8_t	getColorG_u8 () const
	Color components in the range [0,255]. More...
uint8_t	getColorB_u8 () const
	Color components in the range [0,255]. More...
uint8_t	getColorA_u8 () const
	Color components in the range [0,255]. More...
CRenderizable &	setColorR (const double r)
	Color components in the range [0,1]. More...
CRenderizable &	setColorG (const double g)
	Color components in the range [0,1]. More...
CRenderizable &	setColorB (const double b)
	Color components in the range [0,1]. More...
CRenderizable &	setColorA (const double a)
	Color components in the range [0,1]. More...
virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255]. More...
virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255]. More...
virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255]. More...
virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255]. More...
CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1) More...
CRenderizable &	setScale (float sx, float sy, float sz)
	Scale to apply to the object in each axis (default=1) More...
float	getScaleX () const
	Get the current scaling factor in one axis. More...
float	getScaleY () const
	Get the current scaling factor in one axis. More...
float	getScaleZ () const
	Get the current scaling factor in one axis. More...
mrpt::utils::TColorf	getColor () const
	Returns the object color property as a TColorf. More...
CRenderizable &	setColor (const mrpt::utils::TColorf &c)
	Changes the default object color. More...
CRenderizable &	setColor (double R, double G, double B, double A=1)
	Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...
const mrpt::utils::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...
virtual CRenderizable &	setColor_u8 (const mrpt::utils::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
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)
static void	renderTextBitmap (const char *str, void *fontStyle)
	This method is safe for calling from within ::render() methods. More...
static void	renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
static int	textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...

Protected Member Functions
void	writeToStreamRender (utils::CStream &out) const
void	readFromStreamRender (utils::CStream &in)
CPointCloudColoured &	octree_derived ()
const CPointCloudColoured &	octree_derived () const
void	octree_assure_uptodate () const
	Must be called at children class' render() previously to octree_render() More...
void	octree_render (const mrpt::opengl::gl_utils::TRenderInfo &ri) const
	Render the entire octree recursively. More...
void	octree_getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...
void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
PLY Import virtual methods to implement in base classes
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. More...
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. More...
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. 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::utils::TColorf &pt_color) const override
	In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...

Static Protected Member Functions
static void	checkOpenGLError ()
	Checks glGetError and throws an exception if an error situation is found. More...
static unsigned int	getNewTextureNumber ()
	Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...
static void	releaseTextureName (unsigned int i)

Protected Attributes
std::string	m_name
bool	m_show_name
mrpt::utils::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
	Scale components to apply to the object (default=1) More...
float	m_scale_y
float	m_scale_z
bool	m_visible
	Is the object visible? (default=true) More...

Private Types
typedef std::vector< TPointColour >	TListPointColour
typedef TListPointColour::iterator	iterator
typedef TListPointColour::const_iterator	const_iterator

Private Member Functions
iterator	begin ()
const_iterator	begin () const
iterator	end ()
const_iterator	end () const

Private Attributes
TListPointColour	m_points
float	m_pointSize
	By default is 1.0. More...
bool	m_pointSmooth
	Default: false. More...
volatile size_t	m_last_rendered_count
volatile size_t	m_last_rendered_count_ongoing

RTTI stuff
using	Ptr = std::shared_ptr< CPointCloudColoured >
using	ConstPtr = std::shared_ptr< const CPointCloudColoured >
static mrpt::utils::CLASSINIT	_init_CPointCloudColoured
static const mrpt::utils::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "CPointCloudColoured"
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static mrpt::utils::CObject *	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

const_iterator

typedef TListPointColour::const_iterator mrpt::opengl::CPointCloudColoured::const_iterator

private

Definition at line 70 of file CPointCloudColoured.h.

ConstPtr

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

Definition at line 51 of file CPointCloudColoured.h.

iterator

typedef TListPointColour::iterator mrpt::opengl::CPointCloudColoured::iterator

private

Definition at line 69 of file CPointCloudColoured.h.

Ptr

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

A typedef for the associated smart pointer

Definition at line 51 of file CPointCloudColoured.h.

TListPointColour

typedef std::vector<TPointColour> mrpt::opengl::CPointCloudColoured::TListPointColour

private

Definition at line 66 of file CPointCloudColoured.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

inherited

Definition at line 70 of file COctreePointRenderer.h.

Constructor & Destructor Documentation

CPointCloudColoured()

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

inline

Constructor.

Definition at line 85 of file CPointCloudColoured.h.

~CPointCloudColoured()

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

inlinevirtual

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

Definition at line 94 of file CPointCloudColoured.h.

Member Function Documentation

_GetBaseClass()

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

staticprotected

begin() [1/2]

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

inlineprivate

Definition at line 71 of file CPointCloudColoured.h.

References m_points.

begin() [2/2]

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

inlineprivate

Definition at line 72 of file CPointCloudColoured.h.

References m_points.

checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotectedinherited

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

Definition at line 302 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CGridPlaneXY::render_dl(), mrpt::opengl::CGridPlaneXZ::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CPolyhedron::render_dl(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

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clear()

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

inline

Erase all the points.

Definition at line 195 of file CPointCloudColoured.h.

References m_points, and markAllPointsAsNew().

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clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

Create()

template<typename... Args>

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

inlinestatic

Definition at line 51 of file CPointCloudColoured.h.

CreateObject()

static mrpt::utils::CObject* mrpt::opengl::CPointCloudColoured::CreateObject ( )

static

disablePointSmooth()

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

inline

Definition at line 221 of file CPointCloudColoured.h.

References m_pointSmooth.

enablePointSmooth()

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

inline

Definition at line 217 of file CPointCloudColoured.h.

References m_pointSmooth.

enableShowName()

void mrpt::opengl::CRenderizable::enableShowName ( bool  showName = true )

inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 85 of file CRenderizable.h.

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

end() [1/2]

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

inlineprivate

Definition at line 73 of file CPointCloudColoured.h.

References m_points.

end() [2/2]

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

inlineprivate

Definition at line 74 of file CPointCloudColoured.h.

References m_points.

getActuallyRendered()

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

inline

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

Definition at line 209 of file CPointCloudColoured.h.

References m_last_rendered_count.

getBoundingBox()

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

inlineoverridevirtual

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

Implements mrpt::opengl::CRenderizable.

Definition at line 101 of file CPointCloudColoured.h.

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

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getColor()

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

inlineinherited

Returns the object color property as a TColorf.

Definition at line 243 of file CRenderizable.h.

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

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

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getColor_u8()

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

inlineinherited

Returns the object color property as a TColor.

Definition at line 263 of file CRenderizable.h.

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

getColorA()

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

inlineinherited

Color components in the range [0,1].

Definition at line 166 of file CRenderizable.h.

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

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

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getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 174 of file CRenderizable.h.

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

getColorB()

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

inlineinherited

Color components in the range [0,1].

Definition at line 164 of file CRenderizable.h.

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

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

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getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 172 of file CRenderizable.h.

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

getColorG()

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

inlineinherited

Color components in the range [0,1].

Definition at line 162 of file CRenderizable.h.

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

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

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getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 170 of file CRenderizable.h.

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

getColorR()

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

inlineinherited

Color components in the range [0,1].

Definition at line 160 of file CRenderizable.h.

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

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

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getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 168 of file CRenderizable.h.

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

getLoadPLYErrorString()

std::string mrpt::utils::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 46 of file PLY_import_export.h.

References mrpt::utils::PLY_Importer::m_ply_import_last_error.

getName()

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

inlineinherited

Returns the name of the object.

Definition at line 70 of file CRenderizable.h.

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

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

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getNewTextureNumber()

unsigned int CRenderizable::getNewTextureNumber ( )

staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

Returns the lowest, free texture name.

Definition at line 73 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL().

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getPoint()

const TPointColour& mrpt::opengl::CPointCloudColoured::getPoint ( size_t  i ) const

inline

Read access to each individual point (checks for "i" in the valid range only in Debug).

Definition at line 135 of file CPointCloudColoured.h.

References ASSERT_BELOW_, m_points, and size().

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getPointColor_fast()

void mrpt::opengl::CPointCloudColoured::getPointColor_fast ( size_t  index, float &  R, float &  G, float &  B  ) const

inline

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

Definition at line 184 of file CPointCloudColoured.h.

References m_points, and R.

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

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getPointf()

mrpt::math::TPoint3Df mrpt::opengl::CPointCloudColoured::getPointf ( size_t  i ) const

inline

Read access to each individual point (checks for "i" in the valid range only in Debug).

Definition at line 145 of file CPointCloudColoured.h.

References ASSERT_BELOW_, m_points, and size().

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getPointSize()

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

inline

Definition at line 216 of file CPointCloudColoured.h.

References m_pointSize.

getPose()

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

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 347 of file CRenderizable.cpp.

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

getPosePitch()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 144 of file CRenderizable.h.

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

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getPosePitchRad()

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) 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::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 111 of file CRenderizable.h.

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

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

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getPoseRoll()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 149 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::mrpt::utils::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 158 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 133 of file CRenderizable.h.

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

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getPoseY()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 135 of file CRenderizable.h.

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

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getPoseYaw()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 139 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::mrpt::utils::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 154 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 137 of file CRenderizable.h.

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

GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

GetRuntimeClassIdStatic()

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

static

getSavePLYErrorString()

std::string mrpt::utils::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::utils::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 237 of file CRenderizable.h.

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

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

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getScaleY()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 239 of file CRenderizable.h.

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

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

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getScaleZ()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 241 of file CRenderizable.h.

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

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

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isPointSmoothEnabled()

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

inline

Definition at line 222 of file CPointCloudColoured.h.

References m_pointSmooth.

isShowNameEnabled()

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

inlineinherited

See also

enableShowName

Definition at line 87 of file CRenderizable.h.

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

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

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isVisible()

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

inlineinherited

Is the object visible?

See also

setVisibility

Definition at line 71 of file CRenderizable.h.

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

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

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loadFromPlyFile()

bool PLY_Importer::loadFromPlyFile ( const std::string &  filename, CStringList *  file_comments = nullptr, CStringList *  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 1855 of file PLY_import_export.cpp.

References TVertex::b, TVertex::g, TVertex::intensity, ply_close(), ply_get_comments(), ply_get_element(), ply_get_element_description(), ply_get_obj_info(), ply_get_property(), ply_open_for_reading(), TVertex::r, VAL_NOT_SET, vert_props, TVertex::x, TVertex::y, and TVertex::z.

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loadFromPointsMap()

template<class POINTSMAP >

void mrpt::opengl::CPointCloudColoured::loadFromPointsMap

(

const POINTSMAP *

themap

)

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

Definition at line 418 of file CPointCloudColoured.h.

markAllPointsAsNew()

void CPointCloudColoured::markAllPointsAsNew

(

)

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

Definition at line 216 of file CPointCloudColoured.cpp.

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

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octree_assure_uptodate()

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

inlineprotectedinherited

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

Definition at line 85 of file COctreePointRenderer.h.

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

octree_debug_dump_tree()

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

inlineinherited

Used for debug only.

Definition at line 758 of file COctreePointRenderer.h.

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

octree_derived() [1/2]

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

inlineprotectedinherited

Definition at line 77 of file COctreePointRenderer.h.

octree_derived() [2/2]

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

inlineprotectedinherited

Definition at line 78 of file COctreePointRenderer.h.

octree_get_graphics_boundingboxes()

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes ( mrpt::opengl::CSetOfObjects &  gl_bb, const double  lines_width = 1, const mrpt::utils::TColorf &  lines_color = mrpt::utils::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 734 of file COctreePointRenderer.h.

References mrpt::opengl::CSetOfObjects::clear(), mrpt::opengl::CSetOfObjects::insert(), mrpt::opengl::COctreePointRenderer< Derived >::m_octree_nodes, and mrpt::opengl::COctreePointRenderer< Derived >::octree_assure_uptodate().

octree_get_node_count()

size_t mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_node_count ( ) const

inlineinherited

Return the number of octree nodes (all of them, including the empty ones)

See also

octree_get_nonempty_node_count

Definition at line 718 of file COctreePointRenderer.h.

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

octree_get_visible_nodes()

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

inlineinherited

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

Definition at line 720 of file COctreePointRenderer.h.

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

octree_getBoundingBox()

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

inlineprotectedinherited

Definition at line 119 of file COctreePointRenderer.h.

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

Referenced by getBoundingBox().

octree_mark_as_outdated()

void mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_mark_as_outdated ( )

inlineinherited

Called from the derived class (or the user) to indicate we have/want to rebuild the entire node tree (for example, after modifying the point cloud or any global octree parameter)

Definition at line 724 of file COctreePointRenderer.h.

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

octree_render()

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

inlineprotectedinherited

Render the entire octree recursively.

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

Definition at line 94 of file COctreePointRenderer.h.

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

operator delete() [1/3]

void mrpt::opengl::CPointCloudColoured::operator delete ( void *  ptr )

inlinenoexcept

Definition at line 51 of file CPointCloudColoured.h.

operator delete() [2/3]

void mrpt::opengl::CPointCloudColoured::operator delete ( void *  ptr, const std::nothrow_t &    )

inlinenoexcept

Definition at line 51 of file CPointCloudColoured.h.

operator delete() [3/3]

void mrpt::opengl::CPointCloudColoured::operator delete ( void *  memory, void *  ptr  )

inlinenoexcept

Definition at line 51 of file CPointCloudColoured.h.

operator delete[]()

void mrpt::opengl::CPointCloudColoured::operator delete[] ( void *  ptr )

inlinenoexcept

Definition at line 51 of file CPointCloudColoured.h.

operator new() [1/3]

void* mrpt::opengl::CPointCloudColoured::operator new ( size_t  size, const std::nothrow_t &    )

inlinenoexcept

Definition at line 51 of file CPointCloudColoured.h.

operator new() [2/3]

static void* mrpt::opengl::CPointCloudColoured::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 51 of file CPointCloudColoured.h.

operator new() [3/3]

void* mrpt::opengl::CPointCloudColoured::operator new ( size_t  size )

inline

Definition at line 51 of file CPointCloudColoured.h.

operator new[]()

void* mrpt::opengl::CPointCloudColoured::operator new[] ( size_t  size )

inline

Definition at line 51 of file CPointCloudColoured.h.

operator[]()

const TPointColour& mrpt::opengl::CPointCloudColoured::operator[] ( size_t  i ) const

inline

Read access to each individual point (checks for "i" in the valid range only in Debug).

Definition at line 125 of file CPointCloudColoured.h.

References ASSERT_BELOW_, m_points, and size().

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PLY_export_get_face_count()

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

inlineoverrideprotectedvirtual

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

Definition at line 263 of file CPointCloudColoured.h.

PLY_export_get_vertex()

void CPointCloudColoured::PLY_export_get_vertex ( const size_t  idx, mrpt::math::TPoint3Df &  pt, bool &  pt_has_color, mrpt::utils::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::utils::PLY_Exporter.

Definition at line 252 of file CPointCloudColoured.cpp.

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

PLY_export_get_vertex_count()

size_t CPointCloudColoured::PLY_export_get_vertex_count ( ) const

overrideprotectedvirtual

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

Definition at line 242 of file CPointCloudColoured.cpp.

PLY_import_set_face_count()

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

inlineoverrideprotectedvirtual

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

Implements mrpt::utils::PLY_Importer.

Definition at line 246 of file CPointCloudColoured.h.

References MRPT_UNUSED_PARAM.

PLY_import_set_vertex()

void CPointCloudColoured::PLY_import_set_vertex ( const size_t  idx, const mrpt::math::TPoint3Df &  pt, const mrpt::utils::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::utils::PLY_Importer.

Definition at line 229 of file CPointCloudColoured.cpp.

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

PLY_import_set_vertex_count()

void CPointCloudColoured::PLY_import_set_vertex_count ( const size_t  N )

overrideprotectedvirtual

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

Implements mrpt::utils::PLY_Importer.

Definition at line 219 of file CPointCloudColoured.cpp.

push_back()

void CPointCloudColoured::push_back	(	float	x,
		float	y,
		float	z,
		float	R,
		float	G,
		float	B
	)

Inserts a new point into the point cloud.

Definition at line 205 of file CPointCloudColoured.cpp.

References R.

readFromStream()

void CPointCloudColoured::readFromStream ( mrpt::utils::CStream &  in, int  version  )

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 141 of file CPointCloudColoured.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

readFromStreamRender()

void CRenderizable::readFromStreamRender ( utils::CStream &  in )

protectedinherited

Definition at line 165 of file CRenderizable.cpp.

References mrpt::utils::TColor::A, mrpt::utils::TColorf::A, mrpt::utils::TColor::B, mrpt::utils::TColorf::B, DEG2RAD, mrpt::utils::TColor::G, mrpt::utils::TColorf::G, mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizable::m_name, mrpt::opengl::CRenderizable::m_pose, mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, mrpt::opengl::CRenderizable::m_scale_z, mrpt::opengl::CRenderizable::m_show_name, mrpt::opengl::CRenderizable::m_visible, mrpt::obs::gnss::pitch, mrpt::utils::TColor::R, mrpt::utils::TColorf::R, mrpt::obs::gnss::roll, mrpt::poses::CPose3D::setYawPitchRoll(), THROW_EXCEPTION_FMT, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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

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recolorizeByCoordinate()

void CPointCloudColoured::recolorizeByCoordinate	(	const float	coord_min,
		const float	coord_max,
		const int	coord_index = 2,
		const mrpt::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.

Definition at line 266 of file CPointCloudColoured.cpp.

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

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releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int  i )

staticprotectedinherited

Definition at line 101 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::CTexturedObject::unloadTexture().

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render()

void CPointCloudColoured::render ( ) const

overridevirtual

Render.

Implements mrpt::opengl::CRenderizable.

Definition at line 32 of file CPointCloudColoured.cpp.

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

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render_subset()

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

Render a subset of points (required by octree renderer)

Definition at line 76 of file CPointCloudColoured.cpp.

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

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renderTextBitmap() [1/2]

void CRenderizable::renderTextBitmap ( const char *  str, void *  fontStyle  )

staticinherited

This method is safe for calling from within ::render() methods.

See also

renderTextBitmap, mrpt::opengl::gl_utils

renderTextBitmap

Definition at line 380 of file CRenderizable.cpp.

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

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renderTextBitmap() [2/2]

void CRenderizable::renderTextBitmap ( int  screen_x, int  screen_y, const std::string &  str, float  color_r = 1, float  color_g = 1, float  color_b = 1, mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24  )

staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

• Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
• The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].

  See also

  renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

Definition at line 315 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), and MRPT_UNUSED_PARAM.

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reserve()

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

inline

Like STL std::vector's reserve.

Definition at line 122 of file CPointCloudColoured.h.

References m_points.

resize()

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

inline

Set the number of points, with undefined contents.

Definition at line 115 of file CPointCloudColoured.h.

References m_points, and markAllPointsAsNew().

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

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saveToPlyFile()

bool PLY_Exporter::saveToPlyFile ( const std::string &  filename, bool  save_in_binary = false, const CStringList &  file_comments = CStringList(), const CStringList &  file_obj_info = CStringList()  ) 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 1958 of file PLY_import_export.cpp.

References mrpt::utils::TColorf::B, face_props, mrpt::utils::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::utils::TColorf::R, mrpt::utils::CStringList::size(), vert_props, mrpt::math::TPoint3Df::x, TVertex::x, mrpt::math::TPoint3Df::y, TVertex::y, mrpt::math::TPoint3Df::z, and TVertex::z.

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setColor() [1/2]

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

inlineinherited

Changes the default object color.

Returns

a ref to this

Definition at line 248 of file CRenderizable.h.

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

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

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setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( double  R, double  G, double  B, double  A = 1  )

inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns

a ref to this

Definition at line 257 of file CRenderizable.h.

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

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setColor_u8() [1/2]

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

virtualinherited

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

Definition at line 369 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::CRenderizable::setColor(), mrpt::opengl::CRenderizableDisplayList::setColor_u8(), mrpt::opengl::CRenderizable::setColor_u8(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().

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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 269 of file CRenderizable.h.

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

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setColorA()

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 191 of file CRenderizable.h.

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

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setColorA_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorA_u8 ( const uint8_t  a )

inlinevirtualinherited

Color components in the range [0,255].

Returns

a ref to this

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

Definition at line 214 of file CRenderizable.h.

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

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

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setColorB()

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 186 of file CRenderizable.h.

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

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setColorB_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorB_u8 ( const uint8_t  b )

inlinevirtualinherited

Color components in the range [0,255].

Returns

a ref to this

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

Definition at line 208 of file CRenderizable.h.

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

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

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setColorG()

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 181 of file CRenderizable.h.

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

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setColorG_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorG_u8 ( const uint8_t  g )

inlinevirtualinherited

Color components in the range [0,255].

Returns

a ref to this

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

Definition at line 202 of file CRenderizable.h.

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

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

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setColorR()

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 176 of file CRenderizable.h.

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

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setColorR_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorR_u8 ( const uint8_t  r )

inlinevirtualinherited

Color components in the range [0,255].

Returns

a ref to this

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

Definition at line 196 of file CRenderizable.h.

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

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

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setLocation() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( double  x, double  y, double  z  )

inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns

a ref to this

Definition at line 114 of file CRenderizable.h.

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

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateCurrCovarianceVisualization(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().

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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 124 of file CRenderizable.h.

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

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setName()

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

inlineinherited

Changes the name of the object.

Definition at line 68 of file CRenderizable.h.

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

setPoint()

void CPointCloudColoured::setPoint	(	size_t	i,
		const TPointColour &	p
	)

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

Definition at line 192 of file CPointCloudColoured.cpp.

References ASSERT_BELOW_.

setPoint_fast() [1/2]

void mrpt::opengl::CPointCloudColoured::setPoint_fast ( const size_t  i, const TPointColour &  p  )

inline

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

Definition at line 159 of file CPointCloudColoured.h.

References m_points, and markAllPointsAsNew().

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

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setPoint_fast() [2/2]

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

inline

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

Definition at line 166 of file CPointCloudColoured.h.

References m_points, and markAllPointsAsNew().

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setPointColor_fast()

void mrpt::opengl::CPointCloudColoured::setPointColor_fast ( size_t  index, float  R, float  G, float  B  )

inline

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

Definition at line 177 of file CPointCloudColoured.h.

References m_points, and R.

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

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setPointSize()

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

inline

Definition at line 215 of file CPointCloudColoured.h.

References m_pointSize.

setPose() [1/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D &  o )

inherited

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

Definition at line 310 of file CRenderizable.cpp.

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

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::kinematics::CKinematicChain::update3DObject(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateEstimatedTrajectoryVisualization(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateGTVisualization(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateOdometryVisualization(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

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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 315 of file CRenderizable.cpp.

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

setPose() [3/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D &  o )

inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 320 of file CRenderizable.cpp.

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

setPose() [4/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D &  o )

inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 325 of file CRenderizable.cpp.

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

setPose() [5/6]

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

inherited

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

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

Definition at line 332 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 338 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 222 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CText3D::CText3D().

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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 229 of file CRenderizable.h.

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

setVisibility()

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

inlineinherited

Set object visibility (default=true)

See also

isVisible

Definition at line 76 of file CRenderizable.h.

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

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().

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size()

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

inline

Return the number of points.

Definition at line 193 of file CPointCloudColoured.h.

References m_points.

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

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textBitmapWidth()

int CRenderizable::textBitmapWidth ( const std::string &  str, mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24  )

staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also

renderTextBitmap, mrpt::opengl::gl_utils

renderTextBitmap

Definition at line 389 of file CRenderizable.cpp.

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

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traceRay()

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

virtualinherited

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned

Reimplemented in mrpt::opengl::CPolyhedron, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CMesh, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CEllipsoid, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSphere, mrpt::opengl::CBox, mrpt::opengl::CTexturedPlane, mrpt::opengl::CDisk, mrpt::opengl::CAssimpModel, mrpt::opengl::C3DSScene, mrpt::opengl::CCylinder, and mrpt::opengl::COpenGLStandardObject.

Definition at line 355 of file CRenderizable.cpp.

References MRPT_UNUSED_PARAM.

writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

writeToStream()

void CPointCloudColoured::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 123 of file CPointCloudColoured.cpp.

writeToStreamRender()

void CRenderizable::writeToStreamRender ( utils::CStream &  out ) const

protectedinherited

Definition at line 112 of file CRenderizable.cpp.

References mrpt::utils::TColor::A, mrpt::utils::TColor::B, mrpt::utils::TColor::G, mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizable::m_name, mrpt::opengl::CRenderizable::m_pose, mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, mrpt::opengl::CRenderizable::m_scale_z, mrpt::opengl::CRenderizable::m_show_name, mrpt::opengl::CRenderizable::m_visible, mrpt::poses::CPose3D::pitch(), mrpt::utils::TColor::R, mrpt::poses::CPose3D::roll(), mrpt::utils::CStream::WriteBuffer(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by mrpt::opengl::CSimpleLine::writeToStream(), mrpt::opengl::CTexturedPlane::writeToStream(), mrpt::opengl::CGridPlaneXZ::writeToStream(), mrpt::opengl::CGridPlaneXY::writeToStream(), mrpt::opengl::CSetOfLines::writeToStream(), mrpt::opengl::CVectorField2D::writeToStream(), mrpt::opengl::CBox::writeToStream(), mrpt::opengl::CPolyhedron::writeToStream(), mrpt::opengl::CVectorField3D::writeToStream(), mrpt::opengl::CText3D::writeToStream(), mrpt::opengl::CFrustum::writeToStream(), and mrpt::opengl::CPlanarLaserScan::writeToStream().

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Member Data Documentation

_init_CPointCloudColoured

mrpt::utils::CLASSINIT mrpt::opengl::CPointCloudColoured::_init_CPointCloudColoured

staticprotected

Definition at line 51 of file CPointCloudColoured.h.

className

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

static

Definition at line 51 of file CPointCloudColoured.h.

m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color

protectedinherited

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

Referenced by mrpt::opengl::CMeshFast::CMeshFast(), mrpt::opengl::CVectorField2D::CVectorField2D(), 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::CRenderizable::readFromStreamRender(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CText3D::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CPolyhedron::render_dl(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), mrpt::opengl::CRenderizable::setColor_u8(), mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), mrpt::opengl::CRenderizable::setColorA_u8(), mrpt::opengl::CRenderizableDisplayList::setColorB_u8(), mrpt::opengl::CRenderizable::setColorB_u8(), mrpt::opengl::CRenderizableDisplayList::setColorG_u8(), mrpt::opengl::CRenderizable::setColorG_u8(), mrpt::opengl::CRenderizableDisplayList::setColorR_u8(), mrpt::opengl::CRenderizable::setColorR_u8(), and mrpt::opengl::CRenderizable::writeToStreamRender().

m_last_rendered_count

volatile size_t mrpt::opengl::CPointCloudColoured::m_last_rendered_count

mutableprivate

Definition at line 79 of file CPointCloudColoured.h.

Referenced by getActuallyRendered().

m_last_rendered_count_ongoing

volatile size_t mrpt::opengl::CPointCloudColoured::m_last_rendered_count_ongoing

mutableprivate

Definition at line 79 of file CPointCloudColoured.h.

m_name

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

protectedinherited

Definition at line 51 of file CRenderizable.h.

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

m_points

TListPointColour mrpt::opengl::CPointCloudColoured::m_points

private

Definition at line 67 of file CPointCloudColoured.h.

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

m_pointSize

float mrpt::opengl::CPointCloudColoured::m_pointSize

private

By default is 1.0.

Definition at line 76 of file CPointCloudColoured.h.

Referenced by getPointSize(), and setPointSize().

m_pointSmooth

bool mrpt::opengl::CPointCloudColoured::m_pointSmooth

private

Default: false.

Definition at line 78 of file CPointCloudColoured.h.

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

m_pose

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

protectedinherited

6D pose wrt the parent coordinate reference.

This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

Definition at line 57 of file CRenderizable.h.

Referenced by mrpt::opengl::C3DSScene::getBoundingBox(), mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CBox::getBoundingBox(), mrpt::opengl::CSimpleLine::getBoundingBox(), mrpt::opengl::CTexturedPlane::getBoundingBox(), mrpt::opengl::CGridPlaneXY::getBoundingBox(), mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CGridPlaneXZ::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::opengl::CPolyhedron::getBoundingBox(), mrpt::opengl::CVectorField2D::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CRenderizable::getPose(), 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::CRenderizable::readFromStreamRender(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CRenderizable::setPose(), mrpt::opengl::CTexturedPlane::traceRay(), mrpt::opengl::CPolyhedron::traceRay(), and mrpt::opengl::CRenderizable::writeToStreamRender().

m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x

protectedinherited

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

Definition at line 59 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CRenderizable::getScaleX(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y

protectedinherited

Definition at line 59 of file CRenderizable.h.

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

m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z

protectedinherited

Definition at line 59 of file CRenderizable.h.

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

m_show_name

bool mrpt::opengl::CRenderizable::m_show_name

protectedinherited

Definition at line 52 of file CRenderizable.h.

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

m_visible

bool mrpt::opengl::CRenderizable::m_visible

protectedinherited

Is the object visible? (default=true)

Definition at line 61 of file CRenderizable.h.

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

runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::opengl::CPointCloudColoured::runtimeClassId

staticprotected

Definition at line 51 of file CPointCloudColoured.h.