class mrpt::viz::CPlanarLaserScan
Overview
This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface.
By default, all those three elements are drawn, but you can individually switch them on/off with:
To change the final result, more methods allow further customization of the 3D object (color of each element, etc.).
The scan is passed or updated through CPlanarLaserScan::setScan()
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The laser points are projected at the sensor pose as given in the “scan” object, so this CPlanarLaserScan object should be placed at the exact pose of the robot coordinates origin.
See also:
mrpt::viz::CPointCloud, viz::Scene
#include <mrpt/viz/CPlanarLaserScan.h> class CPlanarLaserScan: public mrpt::viz::CVisualObject, public mrpt::viz::VisualObjectParams_Triangles, public mrpt::viz::VisualObjectParams_Lines, public mrpt::viz::VisualObjectParams_Points { public: // typedefs typedef std::shared_ptr<mrpt::viz ::CPlanarLaserScan> Ptr; typedef std::shared_ptr<const mrpt::viz ::CPlanarLaserScan> ConstPtr; typedef std::unique_ptr<mrpt::viz ::CPlanarLaserScan> UniquePtr; typedef std::unique_ptr<const mrpt::viz ::CPlanarLaserScan> ConstUniquePtr; // fields static constexpr const char* className = "mrpt::viz" "::" "CPlanarLaserScan"; // construction CPlanarLaserScan(); // methods static constexpr auto getClassName(); static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic(); static std::shared_ptr<CObject> CreateObject(); 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::TRuntimeClassId* GetRuntimeClass() const; virtual mrpt::rtti::CObject* clone() const; void clear(); void enablePoints(bool enable = true); void enableLine(bool enable = true); void enableSurface(bool enable = true); void setLineColor( float R, float G, float B, float A = 1.0f ); void setPointsColor( float R, float G, float B, float A = 1.0f ); void setSurfaceColor( float R, float G, float B, float A = 1.0f ); void setScan(const mrpt::obs::CObservation2DRangeScan& scan); virtual void updateBuffers() const; virtual auto internalBoundingBoxLocal() const; virtual auto getLocalRepresentativePoint() const; };
Inherited Members
public: // typedefs typedef std::shared_ptr<CObject> Ptr; typedef std::shared_ptr<const CObject> ConstPtr; typedef std::unique_ptr<CObject> UniquePtr; typedef std::unique_ptr<const CObject> ConstUniquePtr; typedef std::shared_ptr<CSerializable> Ptr; typedef std::shared_ptr<const CSerializable> ConstPtr; typedef std::shared_ptr<CVisualObject> Ptr; typedef std::shared_ptr<const CVisualObject> ConstPtr; // structs struct BuffersVersion; struct ChangeCounter; struct PoseAndScale; struct State; // methods mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const; static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic(); virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const; virtual CObject* clone() const = 0; virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const; static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic(); virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const; static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic(); void setName(const std::string& n); std::string getName() const; bool isVisible() const; void setVisibility(bool visible = true); bool castShadows() const; void castShadows(bool doCast); void enableShowName(bool showName = true); bool isShowNameEnabled() const; CVisualObject& setPose(const mrpt::poses::CPose3D& o); CVisualObject& setPose(const mrpt::poses::CPose2D& o); CVisualObject& setPose(const mrpt::math::TPose3D& o); CVisualObject& setPose(const mrpt::math::TPose2D& o); CVisualObject& setPose(const mrpt::poses::CPoint3D& o); CVisualObject& setPose(const mrpt::poses::CPoint2D& o); mrpt::math::TPose3D getPose() const; PoseAndScale getPoseAndScale() const; mrpt::poses::CPose3D getCPose() const; CVisualObject& setLocation(double x, double y, double z); CVisualObject& setLocation(const mrpt::math::TPoint3D& p); mrpt::img::TColorf getColor() const; mrpt::img::TColor getColor_u8() const; CVisualObject& setColorA(const float a); virtual CVisualObject& setColorA_u8(const uint8_t a); float materialShininess() const; void materialShininess(float shininess); float materialSpecularExponent() const; void materialSpecularExponent(float exponent); mrpt::img::TColorf materialEmissive() const; void materialEmissive(const mrpt::img::TColorf& color); CVisualObject& setScale(float s); CVisualObject& setScale(float sx, float sy, float sz); float getScaleX() const; float getScaleY() const; float getScaleZ() const; CVisualObject& setColor(const mrpt::img::TColorf& c); CVisualObject& setColor(float R, float G, float B, float A = 1); virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c); CVisualObject& setColor_u8(uint8_t R, uint8_t G, uint8_t B, uint8_t A = 255); virtual bool cullElegible() const; virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const; virtual bool isCompositeObject() const; virtual const std::deque<std::shared_ptr<CVisualObject>>& getInternalChildren() const; void notifyChange() const; void notifyTransformChange() const; void clearChangedFlag() const; void notifyBBoxChange() const; bool hasToUpdateBuffers() const; uint64_t dataVersion() const; uint64_t transformVersion() const; bool hasToUpdateBuffersSince(uint64_t sinceVersion) const; void updateBuffersIfNeeded() const; virtual void updateBuffers() const; virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const; auto getBoundingBox() const; auto getBoundingBoxLocal() const; auto getBoundingBoxLocalf() const; virtual mrpt::math::TPoint3Df getLocalRepresentativePoint() const; void setLocalRepresentativePoint(const mrpt::math::TPoint3Df& p); mrpt::viz::CText& labelObject() const; std::shared_ptr<mrpt::viz::CText> labelObjectPtr() const; const auto& shaderTrianglesBuffer() const; auto& shaderTrianglesBufferMutex() const; bool isLightEnabled() const; void enableLight(bool enable = true); void cullFaces(const TCullFace& cf); TCullFace cullFaces() const; const auto& shaderLinesVertexPointBuffer() const; const auto& shaderLinesVertexColorBuffer() const; auto& shaderLinesBufferMutex() const; void setLineWidth(float w); float getLineWidth() const; void enableAntiAliasing(bool enable = true); bool isAntiAliasingEnabled() const; const auto& shaderPointsVertexPointBuffer() const; const auto& shaderPointsVertexColorBuffer() const; auto& shaderPointsBuffersMutex() const; void setPointSize(float p); float getPointSize() const; void enableVariablePointSize(bool enable = true); bool isEnabledVariablePointSize() const; void setVariablePointSize_k(float v); float getVariablePointSize_k() const; void setVariablePointSize_DepthScale(float v); float getVariablePointSize_DepthScale() const;
Typedefs
typedef std::shared_ptr<mrpt::viz ::CPlanarLaserScan> Ptr
A type for the associated smart pointer.
Methods
virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const
Returns information about the class of an object in runtime.
virtual mrpt::rtti::CObject* clone() const
Returns a deep copy (clone) of the object, indepently of its class.
void clear()
Clear the scan.
void enablePoints(bool enable = true)
Show or hides the scanned points.
See also:
sePointsWidth, setPointsColor
void enableLine(bool enable = true)
Show or hides lines along all scanned points.
See also:
void enableSurface(bool enable = true)
Show or hides the scanned area as a 2D surface.
See also:
virtual void updateBuffers() const
Called by the rendering system to update internal geometry buffers.
Derived classes should override this to populate their data buffers (triangles, points, lines) when the object geometry changes.
This is called automatically when hasToUpdateBuffers() returns true, which happens after notifyChange() was called.
The base implementation does nothing; derived classes should override.
Thread safety: implementations should lock the appropriate mutexes when writing to shared buffers.
virtual auto internalBoundingBoxLocal() const
Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates.
This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.
See also:
getBoundingBox(), getBoundingBoxLocal(), getBoundingBoxLocalf()
virtual auto getLocalRepresentativePoint() const
Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0])