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: http://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

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 *	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

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...

	CPointCloud ()
	Constructor. More...

virtual	~CPointCloud ()
	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 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::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::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::img::TColorf	getColor () const
	Returns the object color property as a TColorf. More...

CRenderizable &	setColor (const mrpt::img::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::img::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...

virtual CRenderizable &	setColor_u8 (const mrpt::img::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 for polymorphic hierarchies
mrpt::rtti::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 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)

CPointCloud &	octree_derived ()

const CPointCloud &	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
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
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::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...

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	m_colorFromDepth

std::vector< float >	m_xs

std::vector< float >	m_ys

std::vector< float >	m_zs

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

std::string	m_name

bool	m_show_name

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
	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 Member Functions
void	internal_render_one_point (size_t i) const

Private Attributes
float	m_min
	Buffer for min/max coords when m_colorFromDepth is true. More...

float	m_max

float	m_max_m_min

float	m_max_m_min_inv

mrpt::img::TColorf	m_col_slop
	Color linear function slope. More...

mrpt::img::TColorf	m_col_slop_inv

bool	m_minmax_valid

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< CPointCloud >

using	ConstPtr = std::shared_ptr< const CPointCloud >

using	UniquePtr = std::unique_ptr< CPointCloud >

using	ConstUniquePtr = std::unique_ptr< const CPointCloud >

static mrpt::rtti::CLASSINIT	_init_CPointCloud

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPointCloud"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

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

static mrpt::rtti::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 48 of file CPointCloud.h.

◆ ConstUniquePtr

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

Definition at line 48 of file CPointCloud.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 48 of file CPointCloud.h.

◆ UniquePtr

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

Definition at line 48 of file CPointCloud.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Definition at line 70 of file COctreePointRenderer.h.

◆ Axis

enum mrpt::opengl::CPointCloud::Axis

protected

Enumerator
colNone
colZ
colY
colX

Definition at line 50 of file CPointCloud.h.

Constructor & Destructor Documentation

◆ CPointCloud()

CPointCloud::CPointCloud ( )

Constructor.

Definition at line 52 of file CPointCloud.cpp.

◆ ~CPointCloud()

virtual mrpt::opengl::CPointCloud::~CPointCloud ( )

inlinevirtual

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

Definition at line 294 of file CPointCloud.h.

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 301 of file CRenderizable.cpp.

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

Referenced by 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(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ clear()

void CPointCloud::clear ( )

Empty the list of points.

Definition at line 301 of file CPointCloud.cpp.

Referenced by setAllPointsFast().

◆ 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::maps::CPointsMap::getAs3DObject().

◆ CreateObject()

static mrpt::rtti::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 274 of file CPointCloud.h.

References m_pointSmooth.

◆ duplicateGetSmartPtr()

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

inlineinherited

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).

Definition at line 168 of file CObject.h.

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

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

◆ enableColorFromX()

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

inline

Definition at line 254 of file CPointCloud.h.

References colNone, colX, and m_colorFromDepth.

◆ enableColorFromY()

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

inline

Definition at line 258 of file CPointCloud.h.

References colNone, colY, and m_colorFromDepth.

◆ enableColorFromZ()

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

inline

Definition at line 262 of file CPointCloud.h.

References colNone, colZ, and m_colorFromDepth.

◆ enablePointSmooth()

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

inline

Definition at line 270 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 83 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 249 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 161 of file CPointCloud.h.

References m_xs.

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

◆ 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 163 of file CPointCloud.h.

References m_ys.

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

◆ 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 165 of file CPointCloud.h.

References m_zs.

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

◆ getBoundingBox()

virtual 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 105 of file CPointCloud.h.

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

◆ 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 232 of file CRenderizable.h.

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

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

◆ getColor_u8()

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

inlineinherited

Returns the object color property as a TColor.

Definition at line 252 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 155 of file CRenderizable.h.

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

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

◆ getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 163 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 153 of file CRenderizable.h.

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

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

◆ getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 161 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 151 of file CRenderizable.h.

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

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

◆ getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 159 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 149 of file CRenderizable.h.

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

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

◆ getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 157 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 68 of file CRenderizable.h.

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

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

◆ 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 71 of file CRenderizable.cpp.

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

◆ 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 184 of file CPointCloud.h.

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

◆ 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 194 of file CPointCloud.h.

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

◆ getPointSize()

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

inline

Definition at line 269 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 343 of file CRenderizable.cpp.

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

◆ getPosePitch()

double mrpt::opengl::CRenderizable::getPosePitch ( ) 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::poses::CPose3D::pitch(), and mrpt::RAD2DEG().

◆ getPosePitchRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 145 of file CRenderizable.h.

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

◆ 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 109 of file CRenderizable.h.

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

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

◆ getPoseRoll()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 141 of file CRenderizable.h.

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

◆ getPoseRollRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 147 of file CRenderizable.h.

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

◆ getPoseX()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 131 of file CRenderizable.h.

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

◆ getPoseY()

double mrpt::opengl::CRenderizable::getPoseY ( ) 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 >::y().

◆ getPoseYaw()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 137 of file CRenderizable.h.

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

◆ getPoseYawRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 143 of file CRenderizable.h.

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

◆ getPoseZ()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 135 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 226 of file CRenderizable.h.

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

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

◆ getScaleY()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 228 of file CRenderizable.h.

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

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

◆ getScaleZ()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 230 of file CRenderizable.h.

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

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

◆ insertPoint()

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

Adds a new point to the cloud.

Definition at line 312 of file CPointCloud.cpp.

◆ internal_render_one_point()

void CPointCloud::internal_render_one_point ( size_t i ) const

inlineprivate

Definition at line 159 of file CPointCloud.cpp.

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

◆ isPointSmoothEnabled()

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

inline

Definition at line 275 of file CPointCloud.h.

References m_pointSmooth.

◆ isShowNameEnabled()

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

inlineinherited

See also: enableShowName

Definition at line 85 of file CRenderizable.h.

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

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

◆ isVisible()

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

inlineinherited

Is the object visible?

See also: setVisibility

Definition at line 69 of file CRenderizable.h.

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

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

◆ 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]	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 1857 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.

◆ 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 226 of file CPointCloud.h.

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

◆ 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 366 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 355 of file CPointCloud.cpp.

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

◆ 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 85 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 759 of file COctreePointRenderer.h.

◆ octree_derived() [1/2]

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

inlineprotectedinherited

Definition at line 77 of file COctreePointRenderer.h.

◆ octree_derived() [2/2]

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

inlineprotectedinherited

Definition at line 78 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_boxes If false, will draw solid boxes of color lines_color. Otherwise, wireframe boxes will be drawn.

Definition at line 735 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 719 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 721 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 119 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 725 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 94 of file COctreePointRenderer.h.

◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 48 of file CPointCloud.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 48 of file CPointCloud.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 48 of file CPointCloud.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 48 of file CPointCloud.h.

◆ operator new() [1/3]

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

inlinenoexcept

Definition at line 48 of file CPointCloud.h.

◆ operator new() [2/3]

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

inline

Definition at line 48 of file CPointCloud.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 48 of file CPointCloud.h.

◆ operator new[]()

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

inline

Definition at line 48 of file CPointCloud.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 174 of file CPointCloud.h.

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

◆ 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 96 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_color Will be nullptr if the loaded file does not provide color info.

Implements mrpt::opengl::PLY_Exporter.

Definition at line 388 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 382 of file CPointCloud.cpp.

◆ PLY_import_set_face_count()

virtual 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 78 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_color Will be nullptr if the loaded file does not provide color info.

Implements mrpt::opengl::PLY_Importer.

Definition at line 373 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 363 of file CPointCloud.cpp.

◆ readFromStreamRender()

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

protectedinherited

Definition at line 164 of file CRenderizable.cpp.

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

◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int i )

staticprotectedinherited

Definition at line 99 of file CRenderizable.cpp.

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

◆ render()

void CPointCloud::render ( ) const

overridevirtual

Render.

Implements mrpt::opengl::CRenderizable.

Definition at line 75 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().

◆ 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 185 of file CPointCloud.cpp.

References MRPT_UNUSED_PARAM, OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL_value, and mrpt::round().

◆ 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 367 of file CRenderizable.cpp.

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

◆ 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 318 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.

◆ reserve()

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

inline

Like STL std::vector's reserve.

Definition at line 127 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 117 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().

◆ 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]	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 1960 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.

◆ serializeFrom()

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

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 238 of file CPointCloud.cpp.

References colNone, colZ, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 217 of file CPointCloud.cpp.

◆ serializeTo()

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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 218 of file CPointCloud.cpp.

◆ 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 136 of file CPointCloud.h.

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

◆ 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 149 of file CPointCloud.h.

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

◆ 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 237 of file CRenderizable.h.

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

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

◆ 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 246 of file CRenderizable.h.

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

◆ 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 356 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().

◆ 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 258 of file CRenderizable.h.

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

◆ 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 180 of file CRenderizable.h.

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

◆ 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 203 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().

◆ 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 175 of file CRenderizable.h.

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

◆ 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 197 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().

◆ 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 170 of file CRenderizable.h.

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

◆ 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 191 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().

◆ 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 165 of file CRenderizable.h.

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

◆ 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 185 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().

◆ 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 347 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 112 of file CRenderizable.h.

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

◆ 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 122 of file CRenderizable.h.

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

◆ setName()

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

inlineinherited

Changes the name of the object.

Definition at line 66 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 327 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 207 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().

◆ setPointSize()

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

inline

By default is 1.0.

Definition at line 268 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 309 of file CRenderizable.cpp.

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

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

◆ 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 314 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 319 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 324 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 331 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().

◆ 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 337 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().

◆ 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 211 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().

◆ 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 218 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 74 of file CRenderizable.h.

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

◆ size()

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

inline

Definition at line 115 of file CPointCloud.h.

References m_xs.

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

◆ 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 376 of file CRenderizable.cpp.

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

◆ 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::CEllipsoid, mrpt::opengl::CSetOfTriangles, 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::CCylinder, and mrpt::opengl::COpenGLStandardObject.

Definition at line 344 of file CRenderizable.cpp.

◆ 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 68 of file CSerializable.h.

◆ writeToStreamRender()

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

protectedinherited

Definition at line 110 of file CRenderizable.cpp.

Member Data Documentation

◆ _init_CPointCloud

mrpt::rtti::CLASSINIT mrpt::opengl::CPointCloud::_init_CPointCloud

staticprotected

Definition at line 48 of file CPointCloud.h.

◆ className

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

static

Definition at line 48 of file CPointCloud.h.

◆ m_col_slop

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

mutableprivate

Color linear function slope.

Definition at line 299 of file CPointCloud.h.

◆ m_col_slop_inv

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

mutableprivate

Definition at line 299 of file CPointCloud.h.

◆ m_color

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

protectedinherited

Color components in the range [0,255].

Definition at line 52 of file CRenderizable.h.

◆ m_colorFromDepth

enum mrpt::opengl::CPointCloud::Axis mrpt::opengl::CPointCloud::m_colorFromDepth

protected

Referenced by enableColorFromX(), enableColorFromY(), and enableColorFromZ().

◆ m_colorFromDepth_max

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

private

Definition at line 303 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 303 of file CPointCloud.h.

◆ m_last_rendered_count

volatile size_t mrpt::opengl::CPointCloud::m_last_rendered_count

mutableprotected

Definition at line 63 of file CPointCloud.h.

Referenced by getActuallyRendered().

◆ m_last_rendered_count_ongoing

volatile size_t mrpt::opengl::CPointCloud::m_last_rendered_count_ongoing

mutableprotected

Definition at line 63 of file CPointCloud.h.

◆ m_max

float mrpt::opengl::CPointCloud::m_max

mutableprivate

Definition at line 297 of file CPointCloud.h.

◆ m_max_m_min

float mrpt::opengl::CPointCloud::m_max_m_min

mutableprivate

Definition at line 297 of file CPointCloud.h.

◆ m_max_m_min_inv

float mrpt::opengl::CPointCloud::m_max_m_min_inv

mutableprivate

Definition at line 297 of file CPointCloud.h.

◆ m_min

float mrpt::opengl::CPointCloud::m_min

mutableprivate

Buffer for min/max coords when m_colorFromDepth is true.

Definition at line 297 of file CPointCloud.h.

◆ m_minmax_valid

bool mrpt::opengl::CPointCloud::m_minmax_valid

mutableprivate

Definition at line 300 of file CPointCloud.h.

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

◆ m_name

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

protectedinherited

Definition at line 49 of file CRenderizable.h.

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

◆ m_pointSize

float mrpt::opengl::CPointCloud::m_pointSize

protected

By default is 1.0.

Definition at line 59 of file CPointCloud.h.

Referenced by getPointSize(), and setPointSize().

◆ m_pointSmooth

bool mrpt::opengl::CPointCloud::m_pointSmooth

protected

Default: false.

Definition at line 61 of file CPointCloud.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 55 of file CRenderizable.h.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x

protectedinherited

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

Definition at line 57 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 57 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 57 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 50 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 59 of file CRenderizable.h.

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

◆ m_xs

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

protected

Definition at line 57 of file CPointCloud.h.

Referenced by getArrayX(), getPoint(), getPointf(), loadFromPointsList(), operator[](), reserve(), resize(), setAllPoints(), setPoint_fast(), and size().

◆ m_ys

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

protected

Definition at line 57 of file CPointCloud.h.

Referenced by getArrayY(), getPoint(), getPointf(), loadFromPointsList(), operator[](), reserve(), resize(), setAllPoints(), setAllPointsFast(), and setPoint_fast().

◆ m_zs

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

protected

Definition at line 57 of file CPointCloud.h.

Referenced by getArrayZ(), getPoint(), getPointf(), loadFromPointsList(), operator[](), reserve(), resize(), setAllPoints(), setAllPointsFast(), and setPoint_fast().

◆ runtimeClassId

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

staticprotected

Definition at line 48 of file CPointCloud.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ Axis

Constructor & Destructor Documentation

◆ CPointCloud()

◆ ~CPointCloud()

Member Function Documentation

◆ _GetBaseClass()

◆ checkOpenGLError()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ disablePointSmooth()

◆ duplicateGetSmartPtr()

◆ enableColorFromX()

◆ enableColorFromY()

◆ enableColorFromZ()

◆ enablePointSmooth()

◆ enableShowName()

◆ getActuallyRendered()

◆ getArrayX()

◆ getArrayY()

◆ getArrayZ()

◆ getBoundingBox()

◆ getClassName()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getLoadPLYErrorString()

◆ getName()

◆ getNewTextureNumber()

◆ getPoint()

◆ getPointf()

◆ getPointSize()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSavePLYErrorString()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ insertPoint()

◆ internal_render_one_point()

◆ isPointSmoothEnabled()

◆ isShowNameEnabled()