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:

CPlanarLaserScan::enablePoints()
CPlanarLaserScan::enableLine()
CPlanarLaserScan::enableSurface()

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()

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::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CVisualObject> Ptr;
    typedef std::shared_ptr<const CVisualObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;

    // structs

    struct PoseAndScale;
    struct State;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    const auto& shaderTrianglesBuffer() const;
    auto& shaderTrianglesBufferMutex() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    PoseAndScale getPoseAndScale() const;
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    bool isLightEnabled() const;
    void enableLight(bool enable = true);
    TCullFace cullFaces() const;
    void notifyBBoxChange() const;
    auto getBoundingBoxLocalf() 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;
    float getPointSize() const;
    bool isEnabledVariablePointSize() const;
    float getVariablePointSize_k() const;
    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:

setLineWidth, setLineColor

void enableSurface(bool enable = true)

Show or hides the scanned area as a 2D surface.

See also:

setSurfaceColor

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.

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])