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::slam::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::slam::CPointsMap

mrpt::opengl::CPointCloud

#include <mrpt/opengl/CPointCloud.h>

Inheritance diagram for mrpt::opengl::CPointCloud:

[legend]

List of all members.

Public Types
enum
Public Member Functions
void	render () const
	Render.
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)
CRenderizable *	clone () const
	Interface for the stlplus smart pointer class.
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose.
mrpt::utils::CObjectPtr	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).
size_t	octree_get_node_count () const
	Return the number of octree nodes (all of them, including the empty ones)
size_t	octree_get_visible_nodes () const
	Return the number of visible octree nodes in the last render event.
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)
void	octree_get_graphics_boundingboxes (mrpt::opengl::CSetOfObjects &gl_bb, const double lines_width=1, const TColorf lines_color=TColorf(1, 1, 1)) const
	Returns a graphical representation of all the bounding boxes of the octree (leaf) nodes.
void	octree_debug_dump_tree (std::ostream &o) const
	Used for debug only.
bool	loadFromPlyFile (const std::string &filename, CStringList file_comments=NULL, CStringList file_obj_info=NULL)
	Loads from a PLY file.
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.
bool	saveToPlyFile (const std::string &filename, bool save_in_binary=false, const CStringList &file_comments=CStringList(), const CStringList &file_obj_info=CStringList()) const
	Saves to a PLY file.
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.
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)
void	reserve (size_t N)
	Like STL std::vector's reserve.
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.
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)
const std::vector< float > &	getArrayX () const
	Get a const reference to the internal array of X coordinates.
const std::vector< float > &	getArrayY () const
	Get a const reference to the internal array of Y coordinates.
const std::vector< float > &	getArrayZ () const
	Get a const reference to the internal array of Z coordinates.
void	clear ()
	Empty the list of points.
void	insertPoint (float x, float y, float z)
	Adds a new point to the cloud.
mrpt::math::TPoint3D	operator[] (size_t i) const
	Read access to each individual point (checks for "i" in the valid range only in Debug).
mrpt::math::TPoint3D	getPoint (size_t i) const
	Read access to each individual point (checks for "i" in the valid range only in Debug).
mrpt::math::TPoint3Df	getPointf (size_t i) const
	Read access to each individual point (checks for "i" in the valid range only in Debug).
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).
template<class POINTSMAP >
void	loadFromPointsMap (const POINTSMAP *themap)
	Load the points from a pointsMap (mrpt::slam::CPointsMap), passed as a pointer.
template<class LISTOFPOINTS >
void	loadFromPointsList (LISTOFPOINTS &pointsList)
	Load the points from a list of TPoint3D.
size_t	getActuallyRendered () const
	Get the number of elements actually rendered in the last render event.
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.
float	getPointSize () const
void	enablePointSmooth (bool enable=true)
void	disablePointSmooth ()
bool	isPointSmoothEnabled () const
void	setGradientColors (const mrpt::utils::TColorf &colorMin, const mrpt::utils::TColorf &colorMax)
	Sets the colors used as extremes when colorFromDepth is enabled.
Changes the appearance of the object to render
void	setName (const std::string &n)
	Changes the name of the object.
const std::string &	getName () const
	Returns the name of the object.
bool	isVisible () const
	Is the object visible?
void	setVisibility (bool visible=true)
	Set object visibility (default=true)
void	enableShowName (bool showName=true)
	Enables or disables showing the name of the object as a label when rendering.
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)
CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::poses::CPoint2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
mrpt::math::TPose3D	getPose () const
	Returns the 3D pose of the object as TPose3D.
const mrpt::poses::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as CPose3D (which explicitly contains the 3x3 rotation matrix)
CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation.
CRenderizable &	setLocation (const mrpt::math::TPoint3D &p)
	Changes the location of the object, keeping untouched the orientation.
double	getPoseX () const
	Translation relative to parent coordinate origin.
double	getPoseY () const
	Translation relative to parent coordinate origin.
double	getPoseZ () const
	Translation relative to parent coordinate origin.
double	getPoseYaw () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPosePitch () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPoseRoll () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPoseYawRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getPosePitchRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getPoseRollRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getColorR () const
	Color components in the range [0,1].
double	getColorG () const
	Color components in the range [0,1].
double	getColorB () const
	Color components in the range [0,1].
double	getColorA () const
	Color components in the range [0,1].
uint8_t	getColorR_u8 () const
	Color components in the range [0,255].
uint8_t	getColorG_u8 () const
	Color components in the range [0,255].
uint8_t	getColorB_u8 () const
	Color components in the range [0,255].
uint8_t	getColorA_u8 () const
	Color components in the range [0,255].
CRenderizable &	setColorR (const double r)
	Color components in the range [0,1].
CRenderizable &	setColorG (const double g)
	Color components in the range [0,1].
CRenderizable &	setColorB (const double b)
	Color components in the range [0,1].
CRenderizable &	setColorA (const double a)
	Color components in the range [0,1].
virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255].
virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255].
virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255].
virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255].
CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1)
CRenderizable &	setScale (float sx, float sy, float sz)
	Scale to apply to the object in each axis (default=1)
float	getScaleX () const
	Get the current scaling factor in one axis.
float	getScaleY () const
	Get the current scaling factor in one axis.
float	getScaleZ () const
	Get the current scaling factor in one axis.
mrpt::utils::TColorf	getColor () const
	Returns the object color property as a TColorf.
CRenderizable &	setColor (const mrpt::utils::TColorf &c)
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)
const mrpt::utils::TColor &	getColor_u8 () const
	Returns the object color property as a TColor.
virtual CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c)
CRenderizable &	setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
	Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Static Public Member Functions
static void	renderTextBitmap (const char str, void fontStyle)
	This method is safe for calling from within ::render() methods.
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)
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().
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
Protected Types
enum	Axis { None = 0, Z, Y, X }
Protected Member Functions
void	markAllPointsAsNew ()
	Do needed internal work if all points are new (octree rebuilt,...)
void	writeToStreamRender (utils::CStream &out) const
void	readFromStreamRender (utils::CStream &in)
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
Derived &	octree_derived ()
const Derived &	octree_derived () const
void	octree_assure_uptodate () const
	Must be called at children class' render() previously to octree_render()
void	octree_render (const mrpt::opengl::gl_utils::TRenderInfo &ri) const
	Render the entire octree recursively.
PLY Import virtual methods to implement in base classes
virtual void	PLY_import_set_vertex_count (const size_t N)
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
virtual void	PLY_import_set_face_count (const size_t N)
	In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.
virtual void	PLY_import_set_vertex (const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=NULL)
	In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.
PLY Export virtual methods to implement in base classes
virtual size_t	PLY_export_get_vertex_count () const
	In a base class, return the number of vertices.
virtual size_t	PLY_export_get_face_count () const
	In a base class, return the number of faces.
virtual void	PLY_export_get_vertex (const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const
	In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.
Static Protected Member Functions
static void	checkOpenGLError ()
	Checks glGetError and throws an exception if an error situation is found.
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).
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.
bool	m_pointSmooth
	Default: false.
volatile size_t	m_last_rendered_count
volatile size_t	m_last_rendered_count_ongoing
std::string	m_name
bool	m_show_name
mrpt::utils::TColor	m_color
	Color components in the range [0,255].
mrpt::poses::CPose3D	m_pose
	6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
float	m_scale_x
float	m_scale_y
float	m_scale_z
	Scale components to apply to the object (default=1)
bool	m_visible
	Is the object visible? (default=true)
Private Member Functions
	CPointCloud ()
	Constructor.
virtual	~CPointCloud ()
	Private, virtual destructor: only can be deleted from smart pointers.
void	internal_render_one_point (size_t i) const
Private Attributes
float	m_min
float	m_max
float	m_max_m_min
float	m_max_m_min_inv
	Buffer for min/max coords when m_colorFromDepth is true.
mrpt::utils::TColorf	m_col_slop
mrpt::utils::TColorf	m_col_slop_inv
	Color linear function slope.
bool	m_minmax_valid
mrpt::utils::TColorf	m_colorFromDepth_min
mrpt::utils::TColorf	m_colorFromDepth_max
	The colors used to interpolate when m_colorFromDepth is true.
Friends
class	mrpt::opengl::COpenGLViewport
class	mrpt::opengl::CSetOfObjects
RTTI stuff
typedef CPointCloudPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPointCloud
static mrpt::utils::TRuntimeClassId	classCPointCloud
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPointCloudPtr	Create ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizable
class	mrpt::utils::CStream

Member Typedef Documentation

typedef CPointCloudPtr mrpt::opengl::CPointCloud::SmartPtr

A typedef for the associated smart pointer

Definition at line 70 of file CPointCloud.h.

Member Enumeration Documentation

anonymous enum [inherited]

Definition at line 81 of file COctreePointRenderer.h.

enum mrpt::opengl::CPointCloud::Axis [protected]

Enumerator:

None
Z
Y
X

Definition at line 72 of file CPointCloud.h.

Constructor & Destructor Documentation

mrpt::opengl::CPointCloud::CPointCloud ( ) [private]

Constructor.

virtual mrpt::opengl::CPointCloud::~CPointCloud ( ) [inline, private, virtual]

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

Definition at line 254 of file CPointCloud.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloud::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::opengl::CRenderizable.

static void mrpt::opengl::CRenderizable::checkOpenGLError ( ) [static, protected, inherited]

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

void mrpt::opengl::CPointCloud::clear ( )

Empty the list of points.

CRenderizable* mrpt::opengl::CRenderizable::clone ( ) const [inline, inherited]

Interface for the stlplus smart pointer class.

Reimplemented from mrpt::utils::CObject.

Reimplemented in mrpt::opengl::CRenderizableDisplayList.

Definition at line 174 of file CRenderizable.h.

static CPointCloudPtr mrpt::opengl::CPointCloud::Create ( ) [static]

Referenced by mrpt::opengl::graph_tools::graph_visualize().

static mrpt::utils::CObject* mrpt::opengl::CPointCloud::CreateObject ( ) [static]

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

Definition at line 234 of file CPointCloud.h.

virtual mrpt::utils::CObject* mrpt::opengl::CPointCloud::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

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 151 of file CObject.h.

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

Definition at line 226 of file CPointCloud.h.

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

Definition at line 227 of file CPointCloud.h.

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

Definition at line 228 of file CPointCloud.h.

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

Definition at line 233 of file CPointCloud.h.

void mrpt::opengl::CRenderizable::enableShowName ( bool showName = true ) [inline, inherited]

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

Definition at line 95 of file CRenderizable.h.

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

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

Definition at line 219 of file CPointCloud.h.

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

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

Definition at line 149 of file CPointCloud.h.

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

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

Definition at line 150 of file CPointCloud.h.

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

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

Definition at line 151 of file CPointCloud.h.

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const [inline, inherited]

Returns the object color property as a TColorf.

Definition at line 150 of file CRenderizable.h.

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const [inline, inherited]

Returns the object color property as a TColor.

Definition at line 159 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorA ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 126 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 131 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorB ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 125 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 130 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorG ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 124 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 129 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorR ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 123 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 128 of file CRenderizable.h.

std::string mrpt::utils::PLY_Importer::getLoadPLYErrorString ( ) const [inline, inherited]

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

Definition at line 60 of file PLY_import_export.h.

const std::string& mrpt::opengl::CRenderizable::getName ( ) const [inline, inherited]

Returns the name of the object.

Definition at line 90 of file CRenderizable.h.

static unsigned int mrpt::opengl::CRenderizable::getNewTextureNumber ( ) [static, protected, inherited]

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).

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 167 of file CPointCloud.h.

References ASSERT_BELOW_, and mrpt::math::size().

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 175 of file CPointCloud.h.

References ASSERT_BELOW_, and mrpt::math::size().

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

Definition at line 231 of file CPointCloud.h.

mrpt::math::TPose3D mrpt::opengl::CRenderizable::getPose ( ) const [inherited]

Returns the 3D pose of the object as TPose3D.

double mrpt::opengl::CRenderizable::getPosePitch ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 117 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 120 of file CRenderizable.h.

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const [inline, inherited]

Returns a const ref to the 3D pose of the object as CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 105 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 118 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 121 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseX ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 113 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseY ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 114 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 116 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 119 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseZ ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 115 of file CRenderizable.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloud::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

std::string mrpt::utils::PLY_Exporter::getSavePLYErrorString ( ) const [inline, inherited]

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

Definition at line 106 of file PLY_import_export.h.

float mrpt::opengl::CRenderizable::getScaleX ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 145 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::getScaleY ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 146 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::getScaleZ ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 147 of file CRenderizable.h.

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

Adds a new point to the cloud.

void mrpt::opengl::CPointCloud::internal_render_one_point ( size_t i ) const [inline, private]

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

Definition at line 235 of file CPointCloud.h.

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const [inline, inherited]

See also:: enableShowName

Definition at line 96 of file CRenderizable.h.

bool mrpt::opengl::CRenderizable::isVisible ( ) const [inline, inherited]

Is the object visible?

See also:: setVisibility

Definition at line 92 of file CRenderizable.h.

bool mrpt::utils::PLY_Importer::loadFromPlyFile	(	const std::string &	filename,
		CStringList *	file_comments = `NULL`,
		CStringList *	file_obj_info = `NULL`
	)		`[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 (!=NULL) the list of comment strings stored in the file will be returned.
[out]	file_obj_info	If provided (!=NULL) 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()

template<class LISTOFPOINTS >

void mrpt::opengl::CPointCloud::loadFromPointsList ( LISTOFPOINTS & pointsList ) [inline]

Load the points from a list of TPoint3D.

Definition at line 197 of file CPointCloud.h.

References MRPT_START, and MRPT_END.

template<class POINTSMAP >

void mrpt::opengl::CPointCloud::loadFromPointsMap ( const POINTSMAP * themap ) [inline]

Load the points from a pointsMap (mrpt::slam::CPointsMap), passed as a pointer.

Note that the method is a template since CPointsMap belongs to a different mrpt library.

Definition at line 190 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::markAllPointsAsNew ( ) [protected]

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

void mrpt::opengl::COctreePointRenderer::octree_assure_uptodate ( ) const [inline, protected, inherited]

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

Definition at line 89 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer::octree_debug_dump_tree ( std::ostream & o ) const [inline, inherited]

Used for debug only.

Definition at line 570 of file COctreePointRenderer.h.

Derived& mrpt::opengl::COctreePointRenderer::octree_derived ( ) [inline, protected, inherited]

Definition at line 85 of file COctreePointRenderer.h.

const Derived& mrpt::opengl::COctreePointRenderer::octree_derived ( ) const [inline, protected, inherited]

Definition at line 86 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer::octree_get_graphics_boundingboxes	(	mrpt::opengl::CSetOfObjects &	gl_bb,
		const double	lines_width = `1`,
		const TColorf	lines_color = `TColorf(1,1,1)`
	)		const `[inline, inherited]`

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

Definition at line 548 of file COctreePointRenderer.h.

size_t mrpt::opengl::COctreePointRenderer::octree_get_node_count ( ) const [inline, inherited]

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

See also:: octree_get_nonempty_node_count

Definition at line 538 of file COctreePointRenderer.h.

size_t mrpt::opengl::COctreePointRenderer::octree_get_visible_nodes ( ) const [inline, inherited]

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

Definition at line 541 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer::octree_mark_as_outdated ( ) [inline, inherited]

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 544 of file COctreePointRenderer.h.

void mrpt::opengl::COctreePointRenderer::octree_render ( const mrpt::opengl::gl_utils::TRenderInfo & ri ) const [inline, protected, inherited]

Render the entire octree recursively.

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

Definition at line 97 of file COctreePointRenderer.h.

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 159 of file CPointCloud.h.

References ASSERT_BELOW_, and mrpt::math::size().

virtual size_t mrpt::opengl::CPointCloud::PLY_export_get_face_count ( ) const [inline, protected, virtual]

In a base class, return the number of faces.

Implements mrpt::utils::PLY_Exporter.

Definition at line 103 of file CPointCloud.h.

virtual void mrpt::opengl::CPointCloud::PLY_export_get_vertex	(	const size_t	idx,
		mrpt::math::TPoint3Df &	pt,
		bool &	pt_has_color,
		mrpt::utils::TColorf &	pt_color
	)		const `[protected, virtual]`

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

Parameters:

pt_color Will be NULL if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Exporter.

virtual size_t mrpt::opengl::CPointCloud::PLY_export_get_vertex_count ( ) const [protected, virtual]

In a base class, return the number of vertices.

Implements mrpt::utils::PLY_Exporter.

virtual void mrpt::opengl::CPointCloud::PLY_import_set_face_count ( const size_t N ) [inline, protected, virtual]

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

Implements mrpt::utils::PLY_Importer.

Definition at line 88 of file CPointCloud.h.

virtual void mrpt::opengl::CPointCloud::PLY_import_set_vertex	(	const size_t	idx,
		const mrpt::math::TPoint3Df &	pt,
		const mrpt::utils::TColorf *	pt_color = `NULL`
	)		`[protected, virtual]`

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

Parameters:

pt_color Will be NULL if the loaded file does not provide color info.

Implements mrpt::utils::PLY_Importer.

virtual void mrpt::opengl::CPointCloud::PLY_import_set_vertex_count ( const size_t N ) [protected, virtual]

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

Implements mrpt::utils::PLY_Importer.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

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

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::opengl::CRenderizable::readFromStreamRender ( utils::CStream & in ) [protected, inherited]

Reimplemented in mrpt::opengl::CRenderizableDisplayList.

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

static void mrpt::opengl::CRenderizable::releaseTextureName ( unsigned int i ) [static, protected, inherited]

void mrpt::opengl::CPointCloud::render ( ) const [virtual]

Render.

Implements mrpt::opengl::CRenderizable.

void mrpt::opengl::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)

static void mrpt::opengl::CRenderizable::renderTextBitmap	(	const char *	str,
		void *	fontStyle
	)		`[static, inherited]`

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

See also:: renderTextBitmap, mrpt::opengl::gl_utils

static void mrpt::opengl::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`
	)		`[static, inherited]`

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

void mrpt::opengl::CPointCloud::reserve ( size_t N ) [inline]

Like STL std::vector's reserve.

Definition at line 128 of file CPointCloud.h.

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

Set the number of points (with contents undefined)

Definition at line 125 of file CPointCloud.h.

bool mrpt::utils::PLY_Exporter::saveToPlyFile	(	const std::string &	filename,
		bool	save_in_binary = `false`,
		const CStringList &	file_comments = `CStringList()`,
		const CStringList &	file_obj_info = `CStringList()`
	)		const `[inherited]`

Saves to a PLY file.

Parameters:

[in]	filename	The filename to be saved.
[in]	file_comments	If provided (!=NULL) the list of comment strings stored in the file will be returned.
[in]	file_obj_info	If provided (!=NULL) 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()

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 131 of file CPointCloud.h.

References Eigen::internal::y.

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 140 of file CPointCloud.h.

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf & c ) [inline, inherited]

Parameters:

c	Changes the default object color

Returns:: a ref to this

Definition at line 151 of file CRenderizable.h.

References mrpt::utils::TColorf::R, mrpt::utils::TColorf::G, mrpt::utils::TColorf::B, and mrpt::utils::TColorf::A.

CRenderizable& mrpt::opengl::CRenderizable::setColor	(	double	R,
		double	G,
		double	B,
		double	A = `1`
	)		`[inline, inherited]`

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

Returns:: a ref to this

Definition at line 157 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColor_u8 ( const mrpt::utils::TColor & c ) [virtual, inherited]

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

Referenced by mrpt::opengl::CRenderizableDisplayList::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColor_u8	(	uint8_t	R,
		uint8_t	G,
		uint8_t	B,
		uint8_t	A = `255`
	)		`[inline, inherited]`

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

Returns:: a ref to this

Definition at line 164 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double a ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 136 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorA_u8 ( const uint8_t a ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

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

Definition at line 141 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double b ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 135 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorB_u8 ( const uint8_t b ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

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

Definition at line 140 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double g ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 134 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorG_u8 ( const uint8_t g ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

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

Definition at line 139 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double r ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 133 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorR_u8 ( const uint8_t r ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

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

Definition at line 138 of file CRenderizable.h.

void mrpt::opengl::CPointCloud::setGradientColors	(	const mrpt::utils::TColorf &	colorMin,
		const mrpt::utils::TColorf &	colorMax
	)

Sets the colors used as extremes when colorFromDepth is enabled.

CRenderizable& mrpt::opengl::CRenderizable::setLocation	(	double	x,
		double	y,
		double	z
	)		`[inline, inherited]`

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

Returns:: a ref to this

Definition at line 108 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D & p ) [inline, inherited]

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::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::opengl::CRenderizable::setName ( const std::string & n ) [inline, inherited]

Changes the name of the object.

Definition at line 89 of file CRenderizable.h.

void mrpt::opengl::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).

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

By default is 1.0.

Definition at line 230 of file CPointCloud.h.

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPose3D & o ) [inherited]

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

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::math::TPose3D & o ) [inherited]

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

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint3D & o ) [inherited]

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

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

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

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float s ) [inline, inherited]

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

Returns:: a ref to this

Definition at line 143 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setScale	(	float	sx,
		float	sy,
		float	sz
	)		`[inline, inherited]`

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

Returns:: a ref to this

Definition at line 144 of file CRenderizable.h.

void mrpt::opengl::CRenderizable::setVisibility ( bool visible = true ) [inline, inherited]

Set object visibility (default=true)

See also:: isVisible

Definition at line 93 of file CRenderizable.h.

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

Definition at line 122 of file CPointCloud.h.

static int mrpt::opengl::CRenderizable::textBitmapWidth	(	const std::string &	str,
		mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)		`[static, inherited]`

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

See also:: renderTextBitmap, mrpt::opengl::gl_utils

virtual bool mrpt::opengl::CRenderizable::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const `[virtual, inherited]`

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::CGeneralizedCylinder, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CEllipsoid, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CTexturedPlane, mrpt::opengl::CSphere, mrpt::opengl::CCylinder, mrpt::opengl::C3DSScene, mrpt::opengl::CDisk, and mrpt::opengl::CBox.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

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

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

Parameters:

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

Exceptions:

std::exception On any error, see CStream::WriteBuffer