MRPT  1.9.9
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mrpt::opengl::CPointCloud Class Reference

Detailed Description

A cloud of points, all with the same color or each depending on its value along a particular coordinate axis.

This class is just an OpenGL representation of a point cloud. For operating with maps of points, see mrpt::maps::CPointsMap and derived classes.

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

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

See also
opengl::CPlanarLaserScan, opengl::COpenGLScene, opengl::CPointCloudColoured, mrpt::maps::CPointsMap
mrpt::opengl::CPointCloud
preview_CPointCloud.png

Definition at line 43 of file CPointCloud.h.

#include <mrpt/opengl/CPointCloud.h>

Inheritance diagram for mrpt::opengl::CPointCloud:

Public Types

enum  
 

Public Member Functions

void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
 
void 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...
 
 CPointCloud ()
 Constructor. More...
 
 ~CPointCloud () override=default
 Private, virtual destructor: only can be deleted from smart pointers. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Simulation of ray-trace, given a pose. More...
 
virtual mxArraywriteToMatlab () 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::img::TColorf &lines_color=mrpt::img::TColorf(1, 1, 1), const bool draw_solid_boxes=false) const
 Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes. More...
 
void octree_debug_dump_tree (std::ostream &o) const
 Used for debug only. More...
 
bool loadFromPlyFile (const std::string &filename, std::vector< std::string > *file_comments=nullptr, std::vector< std::string > *file_obj_info=nullptr)
 Loads from a PLY file. More...
 
std::string getLoadPLYErrorString () const
 Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
 
bool saveToPlyFile (const std::string &filename, bool save_in_binary=false, const std::vector< std::string > &file_comments=std::vector< std::string >(), const std::vector< std::string > &file_obj_info=std::vector< std::string >()) const
 Saves to a PLY file. More...
 
std::string getSavePLYErrorString () const
 Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems. More...
 
Read/Write of the list of points to render
size_t size () const
 
void resize (size_t N)
 Set the number of points (with contents undefined) More...
 
void reserve (size_t N)
 Like STL std::vector's reserve. More...
 
void setAllPoints (const std::vector< float > &x, const std::vector< float > &y, const std::vector< float > &z)
 Set the list of (X,Y,Z) point coordinates, all at once, from three vectors with their coordinates. More...
 
void setAllPointsFast (std::vector< float > &x, std::vector< float > &y, std::vector< float > &z)
 Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of the input vectors (via swap) More...
 
const std::vector< float > & getArrayX () const
 Get a const reference to the internal array of X coordinates. More...
 
const std::vector< float > & getArrayY () const
 Get a const reference to the internal array of Y coordinates. More...
 
const std::vector< float > & getArrayZ () const
 Get a const reference to the internal array of Z coordinates. More...
 
void clear ()
 Empty the list of points. More...
 
void insertPoint (float x, float y, float z)
 Adds a new point to the cloud. More...
 
mrpt::math::TPoint3D operator[] (size_t i) const
 Read access to each individual point (checks for "i" in the valid range only in Debug). More...
 
mrpt::math::TPoint3D 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 float x, const float y, const float z)
 Write an individual point (checks for "i" in the valid range only in Debug). More...
 
void setPoint_fast (size_t i, const float x, const float y, const float z)
 Write an individual point (without checking validity of the index). More...
 
template<class POINTSMAP >
void loadFromPointsMap (const POINTSMAP *themap)
 Load the points from any other point map class supported by the adapter mrpt::opengl::PointCloudAdapter. More...
 
template<class LISTOFPOINTS >
void loadFromPointsList (LISTOFPOINTS &pointsList)
 Load the points from a list of mrpt::math::TPoint3D. More...
 
size_t getActuallyRendered () const
 Get the number of elements actually rendered in the last render event. More...
 
Modify the appearance of the rendered points
void enableColorFromX (bool v=true)
 
void enableColorFromY (bool v=true)
 
void enableColorFromZ (bool v=true)
 
void setPointSize (float p)
 By default is 1.0. More...
 
float getPointSize () const
 
void enablePointSmooth (bool enable=true)
 
void disablePointSmooth ()
 
bool isPointSmoothEnabled () const
 
void setGradientColors (const mrpt::img::TColorf &colorMin, const mrpt::img::TColorf &colorMax)
 Sets the colors used as extremes when colorFromDepth is enabled. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () 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
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (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::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (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...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
virtual CRenderizablesetColorR_u8 (const uint8_t r)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorG_u8 (const uint8_t g)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorB_u8 (const uint8_t b)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorA_u8 (const uint8_t a)
 Color components in the range [0,255]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (float sx, float sy, float sz)
 Scale to apply to the object in each axis (default=1) More...
 
float getScaleX () const
 Get the current scaling factor in one axis. More...
 
float getScaleY () const
 Get the current scaling factor in one axis. More...
 
float getScaleZ () const
 Get the current scaling factor in one axis. More...
 
mrpt::img::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::img::TColorf &c)
 Changes the default object color. More...
 
CRenderizablesetColor (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::img::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 
virtual CRenderizablesetColor_u8 (const mrpt::img::TColor &c)
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Set the color components of this object (R,G,B,Alpha, in the range 0-255) More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

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 Types

enum  Axis { colNone = 0, colZ, colY, colX }
 

Protected Member Functions

void markAllPointsAsNew ()
 Do needed internal work if all points are new (octree rebuilt,...) More...
 
void writeToStreamRender (mrpt::serialization::CArchive &out) const
 
void readFromStreamRender (mrpt::serialization::CArchive &in)
 
CPointCloudoctree_derived ()
 
const CPointCloudoctree_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
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
PLY Import virtual methods to implement in base classes
void PLY_import_set_vertex_count (const size_t N) override
 In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex. More...
 
void PLY_import_set_face_count (const size_t N) override
 In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face. More...
 
void PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::img::TColorf *pt_color=nullptr) override
 In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. More...
 
PLY Export virtual methods to implement in base classes
size_t PLY_export_get_vertex_count () const override
 In a base class, return the number of vertices. More...
 
size_t PLY_export_get_face_count () const override
 In a base class, return the number of faces. More...
 
void PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::img::TColorf &pt_color) const override
 In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

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

enum mrpt::opengl::CPointCloud::Axis colNone
 
std::vector< float > m_xs
 
std::vector< float > m_ys
 
std::vector< float > m_zs
 
float m_pointSize {1}
 By default is 1.0. More...
 
bool m_pointSmooth {false}
 Default: false. More...
 
volatile size_t m_last_rendered_count {0}
 
volatile size_t m_last_rendered_count_ongoing {0}
 
std::string m_name
 
bool m_show_name {false}
 
mrpt::img::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. More...
 
float m_scale_x {1}
 Scale components to apply to the object (default=1) More...
 
float m_scale_y {1}
 
float m_scale_z {1}
 
bool m_visible {true}
 Is the object visible? (default=true) More...
 

Private Member Functions

void internal_render_one_point (size_t i) const
 

Private Attributes

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

RTTI stuff

using Ptr = std::shared_ptr< mrpt::opengl ::CPointCloud >
 
using ConstPtr = std::shared_ptr< const mrpt::opengl ::CPointCloud >
 
using UniquePtr = std::unique_ptr< mrpt::opengl ::CPointCloud >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::opengl ::CPointCloud >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::opengl" "::" "CPointCloud"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 48 of file CPointCloud.h.

◆ ConstUniquePtr

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

Definition at line 48 of file CPointCloud.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 48 of file CPointCloud.h.

◆ UniquePtr

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

Definition at line 48 of file CPointCloud.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited

Definition at line 65 of file COctreePointRenderer.h.

◆ Axis

Enumerator
colNone 
colZ 
colY 
colX 

Definition at line 51 of file CPointCloud.h.

Constructor & Destructor Documentation

◆ CPointCloud()

CPointCloud::CPointCloud ( )

Constructor.

Definition at line 53 of file CPointCloud.cpp.

◆ ~CPointCloud()

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

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

Member Function Documentation

◆ _GetBaseClass()

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

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited

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

Definition at line 240 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), and mrpt::opengl::CPolyhedron::render_dl().

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◆ clear()

void CPointCloud::clear ( )

Empty the list of points.

Definition at line 362 of file CPointCloud.cpp.

Referenced by setAllPointsFast().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CPointCloud::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::opengl::CPointCloud::Create ( Args &&...  args)
inlinestatic

Definition at line 48 of file CPointCloud.h.

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

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◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::opengl::CPointCloud::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 48 of file CPointCloud.h.

◆ CreateObject()

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

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::opengl::CPointCloud::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 48 of file CPointCloud.h.

◆ disablePointSmooth()

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

Definition at line 275 of file CPointCloud.h.

References m_pointSmooth.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ enableColorFromX()

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

Definition at line 255 of file CPointCloud.h.

References colNone, and colX.

◆ enableColorFromY()

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

Definition at line 259 of file CPointCloud.h.

References colNone, and colY.

◆ enableColorFromZ()

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

Definition at line 263 of file CPointCloud.h.

References colNone, and colZ.

◆ enablePointSmooth()

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

Definition at line 271 of file CPointCloud.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 82 of file CRenderizable.h.

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

◆ getActuallyRendered()

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

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

Definition at line 250 of file CPointCloud.h.

References m_last_rendered_count.

◆ getArrayX()

const std::vector<float>& mrpt::opengl::CPointCloud::getArrayX ( ) const
inline

Get a const reference to the internal array of X coordinates.

Definition at line 162 of file CPointCloud.h.

References m_xs.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().

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◆ getArrayY()

const std::vector<float>& mrpt::opengl::CPointCloud::getArrayY ( ) const
inline

Get a const reference to the internal array of Y coordinates.

Definition at line 164 of file CPointCloud.h.

References m_ys.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().

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◆ getArrayZ()

const std::vector<float>& mrpt::opengl::CPointCloud::getArrayZ ( ) const
inline

Get a const reference to the internal array of Z coordinates.

Definition at line 166 of file CPointCloud.h.

References m_zs.

Referenced by mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::getPointXYZ().

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◆ getBoundingBox()

void mrpt::opengl::CPointCloud::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
inlineoverridevirtual

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

Implements mrpt::opengl::CRenderizable.

Definition at line 106 of file CPointCloud.h.

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

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◆ getClassName()

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

Definition at line 48 of file CPointCloud.h.

◆ getColor()

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

Returns the object color property as a TColorf.

Definition at line 231 of file CRenderizable.h.

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

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().

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◆ getColor_u8()

const mrpt::img::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 250 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 154 of file CRenderizable.h.

References mrpt::img::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 162 of file CRenderizable.h.

References mrpt::img::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 152 of file CRenderizable.h.

References mrpt::img::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 160 of file CRenderizable.h.

References mrpt::img::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 150 of file CRenderizable.h.

References mrpt::img::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 158 of file CRenderizable.h.

References mrpt::img::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 148 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::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 156 of file CRenderizable.h.

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

◆ getLoadPLYErrorString()

std::string mrpt::opengl::PLY_Importer::getLoadPLYErrorString ( ) const
inlineinherited

Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems.

Definition at line 44 of file PLY_import_export.h.

References mrpt::opengl::PLY_Importer::m_ply_import_last_error.

◆ getName()

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

Returns the name of the object.

Definition at line 67 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 65 of file CRenderizable.cpp.

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

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◆ getPoint()

mrpt::math::TPoint3D mrpt::opengl::CPointCloud::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 185 of file CPointCloud.h.

References ASSERT_BELOW_, m_xs, m_ys, m_zs, and size().

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◆ getPointf()

mrpt::math::TPoint3Df mrpt::opengl::CPointCloud::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 195 of file CPointCloud.h.

References ASSERT_BELOW_, m_xs, m_ys, m_zs, and size().

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◆ getPointSize()

float mrpt::opengl::CPointCloud::getPointSize ( ) const
inline

Definition at line 270 of file CPointCloud.h.

References m_pointSize.

◆ getPose()

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

Returns the 3D pose of the object as TPose3D.

Definition at line 282 of file CRenderizable.cpp.

References mrpt::poses::CPose3D::asTPose(), and mrpt::opengl::CRenderizable::m_pose.

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◆ getPosePitch()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 138 of file CRenderizable.h.

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

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◆ getPosePitchRad()

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 144 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 108 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 140 of file CRenderizable.h.

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

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◆ getPoseRollRad()

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 146 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 130 of file CRenderizable.h.

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

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◆ getPoseY()

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

Translation relative to parent coordinate origin.

Definition at line 132 of file CRenderizable.h.

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

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◆ getPoseYaw()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 136 of file CRenderizable.h.

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

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◆ getPoseYawRad()

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 142 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 134 of file CRenderizable.h.

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

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CPointCloud::GetRuntimeClassIdStatic ( )
static

◆ getSavePLYErrorString()

std::string mrpt::opengl::PLY_Exporter::getSavePLYErrorString ( ) const
inlineinherited

Return a description of the error if loadFromPlyFile() returned false, or an empty string if the file was loaded without problems.

Definition at line 104 of file PLY_import_export.h.

References mrpt::opengl::PLY_Exporter::m_ply_export_last_error.

◆ getScaleX()

float mrpt::opengl::CRenderizable::getScaleX ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 225 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 227 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 229 of file CRenderizable.h.

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

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

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◆ insertPoint()

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

Adds a new point to the cloud.

Definition at line 373 of file CPointCloud.cpp.

◆ internal_render_one_point()

void CPointCloud::internal_render_one_point ( size_t  i) const
inlineprivate

Definition at line 151 of file CPointCloud.cpp.

References glColor4f(), glVertex3f(), and MRPT_UNUSED_PARAM.

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◆ isPointSmoothEnabled()

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

Definition at line 276 of file CPointCloud.h.

References m_pointSmooth.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See also
enableShowName

Definition at line 84 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 68 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,
std::vector< std::string > *  file_comments = nullptr,
std::vector< std::string > *  file_obj_info = nullptr 
)
inherited

Loads from a PLY file.

Parameters
[in]filenameThe filename to open. It can be either in binary or text format.
[out]file_commentsIf provided (!=nullptr) the list of comment strings stored in the file will be returned.
[out]file_obj_infoIf provided (!=nullptr) the list of "object info" strings stored in the file will be returned.
Returns
false on any error in the file format or reading it. To obtain more details on the error you can call getLoadPLYErrorString()

Definition at line 1844 of file PLY_import_export.cpp.

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

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◆ loadFromPointsList()

template<class LISTOFPOINTS >
void mrpt::opengl::CPointCloud::loadFromPointsList ( LISTOFPOINTS &  pointsList)
inline

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

Definition at line 227 of file CPointCloud.h.

References m_xs, m_ys, m_zs, markAllPointsAsNew(), MRPT_END, and MRPT_START.

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◆ loadFromPointsMap()

template<class POINTSMAP >
void mrpt::opengl::CPointCloud::loadFromPointsMap ( const POINTSMAP *  themap)

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

Definition at line 364 of file CPointCloud.h.

References ASSERT_.

◆ markAllPointsAsNew()

void CPointCloud::markAllPointsAsNew ( )
protected

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

Definition at line 416 of file CPointCloud.cpp.

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

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◆ octree_assure_uptodate()

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

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

Definition at line 80 of file COctreePointRenderer.h.

◆ octree_debug_dump_tree()

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

Used for debug only.

Definition at line 751 of file COctreePointRenderer.h.

◆ octree_derived() [1/2]

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

Definition at line 72 of file COctreePointRenderer.h.

◆ octree_derived() [2/2]

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

Definition at line 73 of file COctreePointRenderer.h.

◆ octree_get_graphics_boundingboxes()

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_get_graphics_boundingboxes ( mrpt::opengl::CSetOfObjects gl_bb,
const double  lines_width = 1,
const mrpt::img::TColorf lines_color = mrpt::img::TColorf(1, 1, 1),
const bool  draw_solid_boxes = false 
) const
inlineinherited

Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes.

Parameters
[in]draw_solid_boxesIf false, will draw solid boxes of color lines_color. Otherwise, wireframe boxes will be drawn.

Definition at line 728 of file COctreePointRenderer.h.

◆ octree_get_node_count()

size_t mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_get_node_count ( ) const
inlineinherited

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

See also
octree_get_nonempty_node_count

Definition at line 712 of file COctreePointRenderer.h.

◆ octree_get_visible_nodes()

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

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

Definition at line 714 of file COctreePointRenderer.h.

◆ octree_getBoundingBox()

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

Definition at line 114 of file COctreePointRenderer.h.

Referenced by getBoundingBox().

◆ octree_mark_as_outdated()

void mrpt::opengl::COctreePointRenderer< CPointCloud >::octree_mark_as_outdated ( )
inlineinherited

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

Definition at line 718 of file COctreePointRenderer.h.

◆ octree_render()

void mrpt::opengl::COctreePointRenderer< CPointCloud >::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 89 of file COctreePointRenderer.h.

◆ operator[]()

mrpt::math::TPoint3D mrpt::opengl::CPointCloud::operator[] ( size_t  i) const
inline

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

Definition at line 175 of file CPointCloud.h.

References ASSERT_BELOW_, m_xs, m_ys, m_zs, and size().

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◆ PLY_export_get_face_count()

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

In a base class, return the number of faces.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 97 of file CPointCloud.h.

◆ PLY_export_get_vertex()

void CPointCloud::PLY_export_get_vertex ( const size_t  idx,
mrpt::math::TPoint3Df pt,
bool &  pt_has_color,
mrpt::img::TColorf pt_color 
) const
overrideprotectedvirtual

In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.

Parameters
pt_colorWill be nullptr if the loaded file does not provide color info.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 449 of file CPointCloud.cpp.

References MRPT_UNUSED_PARAM, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

◆ PLY_export_get_vertex_count()

size_t CPointCloud::PLY_export_get_vertex_count ( ) const
overrideprotectedvirtual

In a base class, return the number of vertices.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 443 of file CPointCloud.cpp.

◆ PLY_import_set_face_count()

void mrpt::opengl::CPointCloud::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::opengl::PLY_Importer.

Definition at line 79 of file CPointCloud.h.

References MRPT_UNUSED_PARAM.

◆ PLY_import_set_vertex()

void CPointCloud::PLY_import_set_vertex ( const size_t  idx,
const mrpt::math::TPoint3Df pt,
const mrpt::img::TColorf pt_color = nullptr 
)
overrideprotectedvirtual

In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.

Parameters
pt_colorWill be nullptr if the loaded file does not provide color info.

Implements mrpt::opengl::PLY_Importer.

Definition at line 434 of file CPointCloud.cpp.

References MRPT_UNUSED_PARAM, mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.

◆ PLY_import_set_vertex_count()

void CPointCloud::PLY_import_set_vertex_count ( const size_t  N)
overrideprotectedvirtual

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

Implements mrpt::opengl::PLY_Importer.

Definition at line 424 of file CPointCloud.cpp.

References resize().

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◆ readFromStreamRender()

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

◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

Definition at line 93 of file CRenderizable.cpp.

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

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◆ render()

void CPointCloud::render ( ) const
overridevirtual

Render.

Implements mrpt::opengl::CRenderizable.

Definition at line 67 of file CPointCloud.cpp.

References ASSERT_, mrpt::opengl::gl_utils::checkOpenGLError(), colY, colZ, mrpt::opengl::gl_utils::getCurrentRenderingInfo(), GL_BLEND, GL_LIGHTING, GL_ONE_MINUS_SRC_ALPHA, GL_POINT_SMOOTH, GL_POINTS, GL_SRC_ALPHA, glBegin(), glBlendFunc(), glColor4ub(), glDisable(), glEnable(), glEnd(), glPointSize(), and mrpt::math::minimum_maximum().

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◆ render_subset()

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

Render a subset of points (required by octree renderer)

Definition at line 177 of file CPointCloud.cpp.

References MRPT_UNUSED_PARAM, OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL_value, and mrpt::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 306 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 332 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::CPointCloud::reserve ( size_t  N)
inline

Like STL std::vector's reserve.

Definition at line 128 of file CPointCloud.h.

References m_xs, m_ys, and m_zs.

◆ resize()

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

Set the number of points (with contents undefined)

Definition at line 118 of file CPointCloud.h.

References m_minmax_valid, m_xs, m_ys, m_zs, and markAllPointsAsNew().

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

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◆ saveToPlyFile()

bool PLY_Exporter::saveToPlyFile ( const std::string filename,
bool  save_in_binary = false,
const std::vector< std::string > &  file_comments = std::vector<std::string>(),
const std::vector< std::string > &  file_obj_info = std::vector<std::string>() 
) const
inherited

Saves to a PLY file.

Parameters
[in]filenameThe filename to be saved.
[in]file_commentsIf provided (!=nullptr) the list of comment strings stored in the file will be returned.
[in]file_obj_infoIf provided (!=nullptr) the list of "object info" strings stored in the file will be returned.
Returns
false on any error writing the file. To obtain more details on the error you can call getSavePLYErrorString()

Definition at line 1945 of file PLY_import_export.cpp.

References mrpt::img::TColorf::B, face_props, mrpt::img::TColorf::G, TVertex::intensity, PLY_ASCII, PLY_BINARY_BE, PLY_BINARY_LE, ply_close(), ply_describe_property(), ply_element_count(), ply_header_complete(), ply_open_for_writing(), ply_put_comment(), ply_put_element(), ply_put_element_setup(), ply_put_obj_info(), mrpt::img::TColorf::R, vert_props, mrpt::math::TPoint3Df::x, TVertex::x, mrpt::math::TPoint3Df::y, TVertex::y, mrpt::math::TPoint3Df::z, and TVertex::z.

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◆ serializeFrom() [1/2]

void CPointCloud::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

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

Implements mrpt::serialization::CSerializable.

Definition at line 233 of file CPointCloud.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and SCHEMA_DESERIALIZE_DATATYPE_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPointCloud::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 278 of file CPointCloud.cpp.

◆ serializeTo() [1/2]

void CPointCloud::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 207 of file CPointCloud.cpp.

References out, and SCHEMA_SERIALIZE_DATATYPE_VERSION.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setAllPoints()

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

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

Definition at line 137 of file CPointCloud.h.

References m_minmax_valid, m_xs, m_ys, m_zs, and markAllPointsAsNew().

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◆ setAllPointsFast()

void mrpt::opengl::CPointCloud::setAllPointsFast ( std::vector< float > &  x,
std::vector< float > &  y,
std::vector< float > &  z 
)
inline

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

Definition at line 150 of file CPointCloud.h.

References clear(), m_minmax_valid, m_ys, m_zs, and markAllPointsAsNew().

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◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::img::TColorf c)
inlineinherited

Changes the default object color.

Returns
a ref to this

Definition at line 236 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 244 of file CRenderizable.h.

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

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◆ setColor_u8() [1/2]

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::img::TColor c)
virtualinherited

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

Definition at line 295 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::CRenderizable::setColor(), mrpt::opengl::CRenderizableDisplayList::setColor_u8(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-255)

Returns
a ref to this

Definition at line 256 of file CRenderizable.h.

References G, 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 179 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 202 of file CRenderizable.h.

References mrpt::img::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 174 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 196 of file CRenderizable.h.

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

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

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◆ setColorG()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 169 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 190 of file CRenderizable.h.

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

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

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◆ setColorR()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 164 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 184 of file CRenderizable.h.

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

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

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◆ setGradientColors()

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

Sets the colors used as extremes when colorFromDepth is enabled.

Definition at line 408 of file CPointCloud.cpp.

◆ 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 111 of file CRenderizable.h.

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

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◆ setLocation() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inlineinherited

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

Returns
a ref to this

Definition at line 121 of file CRenderizable.h.

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

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◆ setName()

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

Changes the name of the object.

Definition at line 65 of file CRenderizable.h.

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

◆ setPoint()

void CPointCloud::setPoint ( size_t  i,
const float  x,
const float  y,
const float  z 
)

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

Definition at line 388 of file CPointCloud.cpp.

References ASSERT_BELOW_.

◆ setPoint_fast()

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

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

Definition at line 208 of file CPointCloud.h.

References m_minmax_valid, m_xs, m_ys, m_zs, and markAllPointsAsNew().

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

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◆ setPointSize()

void mrpt::opengl::CPointCloud::setPointSize ( float  p)
inline

By default is 1.0.

Definition at line 269 of file CPointCloud.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 248 of file CRenderizable.cpp.

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

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

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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 253 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 258 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 263 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 270 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setPose() [6/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D o)
inherited

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

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

Definition at line 276 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setScale() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  s)
inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns
a ref to this

Definition at line 210 of file CRenderizable.h.

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

◆ setScale() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  sx,
float  sy,
float  sz 
)
inlineinherited

Scale to apply to the object in each axis (default=1)

Returns
a ref to this

Definition at line 217 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 73 of file CRenderizable.h.

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

◆ size()

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

Definition at line 116 of file CPointCloud.h.

References m_xs.

Referenced by getPoint(), getPointf(), operator[](), and mrpt::opengl::PointCloudAdapter< mrpt::opengl::CPointCloud >::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 315 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

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( mrpt::serialization::CArchive out) const
protectedinherited

Member Data Documentation

◆ className

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

Definition at line 48 of file CPointCloud.h.

◆ colNone

enum mrpt::opengl::CPointCloud::Axis mrpt::opengl::CPointCloud::colNone
protected

◆ m_col_slop

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

Color linear function slope.

Definition at line 301 of file CPointCloud.h.

◆ m_col_slop_inv

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

Definition at line 301 of file CPointCloud.h.

◆ m_color

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

◆ m_colorFromDepth_max

mrpt::img::TColorf mrpt::opengl::CPointCloud::m_colorFromDepth_max
private

Definition at line 305 of file CPointCloud.h.

◆ m_colorFromDepth_min

mrpt::img::TColorf mrpt::opengl::CPointCloud::m_colorFromDepth_min
private

The colors used to interpolate when m_colorFromDepth is true.

Definition at line 305 of file CPointCloud.h.

◆ m_last_rendered_count

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

Definition at line 64 of file CPointCloud.h.

Referenced by getActuallyRendered().

◆ m_last_rendered_count_ongoing

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

Definition at line 65 of file CPointCloud.h.

◆ m_max

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

Definition at line 299 of file CPointCloud.h.

◆ m_max_m_min

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

Definition at line 299 of file CPointCloud.h.

◆ m_max_m_min_inv

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

Definition at line 299 of file CPointCloud.h.

◆ m_min

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

Buffer for min/max coords when m_colorFromDepth is true.

Definition at line 299 of file CPointCloud.h.

◆ m_minmax_valid

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

Definition at line 302 of file CPointCloud.h.

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

◆ m_name

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

◆ m_pointSize

float mrpt::opengl::CPointCloud::m_pointSize {1}
protected

By default is 1.0.

Definition at line 60 of file CPointCloud.h.

Referenced by getPointSize(), and setPointSize().

◆ m_pointSmooth

bool mrpt::opengl::CPointCloud::m_pointSmooth {false}
protected

Default: false.

Definition at line 62 of file CPointCloud.h.

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

◆ m_pose

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

◆ m_scale_x

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

◆ m_scale_y

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

◆ m_scale_z

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

◆ m_show_name

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

◆ m_visible

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

◆ m_xs

std::vector<float> mrpt::opengl::CPointCloud::m_xs
protected

◆ m_ys

std::vector<float> mrpt::opengl::CPointCloud::m_ys
protected

◆ m_zs

std::vector<float> mrpt::opengl::CPointCloud::m_zs
protected

◆ runtimeClassId

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

Definition at line 48 of file CPointCloud.h.




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