mrpt::opengl::CPointCloud Class Reference

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

#include <mrpt/opengl/CPointCloud.h>

Inheritance diagram for mrpt::opengl::CPointCloud:

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Collaboration diagram for mrpt::opengl::CPointCloud:

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List of all members.

Public Member Functions
void	enableColorFromX (bool v=true)
void	enableColorFromY (bool v=true)
void	enableColorFromZ (bool v=true)
void	resize (size_t N)
void	reserve (size_t N)
vector_float &	getArrayX ()
	Get a reference to the internal array of X coordinates.
vector_float &	getArrayY ()
	Get a reference to the internal array of Y coordinates.
vector_float &	getArrayZ ()
	Get a reference to the internal array of Z coordinates.
void	setPointSize (float p)
	By default is 1.0.
float	getPointSize () const
void	clear ()
	Empty the list of points.
void	insertPoint (float x, float y, float z)
	Adds a new point to the cloud.
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.
void	render () const
	Render.
void	setGradientColors (const mrpt::utils::TColorf &colorMin, const mrpt::utils::TColorf &colorMax)
	Sets the colors used as extremes when colorFromDepth is enabled.
Protected Types
enum	Axis { None = 0, Z, Y, X }
Protected Attributes
enum mrpt::opengl::CPointCloud::Axis	m_colorFromDepth
vector_float	m_xs
vector_float	m_ys
vector_float	m_zs
float	m_pointSize
	By default is 1.0.
Private Member Functions
	CPointCloud ()
	Constructor.
virtual	~CPointCloud ()
	Private, virtual destructor: only can be deleted from smart pointers.
Private Attributes
float	m_min
float	m_max
	Buffer for min/max coords when m_colorFromDepth is true.
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.

---

Detailed Description

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

See also:

opengl::CPlanarLaserScan, opengl::COpenGLScene, opengl::CPointCloudColoured

Definition at line 49 of file CPointCloud.h.

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Member Enumeration Documentation

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

Enumerator:

None
Z
Y
X

Definition at line 53 of file CPointCloud.h.

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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 124 of file CPointCloud.h.

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Member Function Documentation

void mrpt::opengl::CPointCloud::clear

(

)

Empty the list of points.

void mrpt::opengl::CPointCloud::enableColorFromX

(

bool

v = true

)

[inline]

Definition at line 58 of file CPointCloud.h.

References X.

void mrpt::opengl::CPointCloud::enableColorFromY

(

bool

v = true

)

[inline]

Definition at line 59 of file CPointCloud.h.

References Y.

void mrpt::opengl::CPointCloud::enableColorFromZ

(

bool

v = true

)

[inline]

Definition at line 60 of file CPointCloud.h.

References Z.

vector_float& mrpt::opengl::CPointCloud::getArrayX

(

)

[inline]

Get a reference to the internal array of X coordinates.

Definition at line 65 of file CPointCloud.h.

vector_float& mrpt::opengl::CPointCloud::getArrayY

(

)

[inline]

Get a reference to the internal array of Y coordinates.

Definition at line 66 of file CPointCloud.h.

vector_float& mrpt::opengl::CPointCloud::getArrayZ

(

)

[inline]

Get a reference to the internal array of Z coordinates.

Definition at line 67 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::getPointSize

(

)

const [inline]

Definition at line 70 of file CPointCloud.h.

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

Adds a new point to the cloud.

template<class LISTOFPOINTS >

void mrpt::opengl::CPointCloud::loadFromPointsList

(

LISTOFPOINTS &

pointsList

)

[inline]

Load the points from a list of TPoint3D.

Definition at line 88 of file CPointCloud.h.

References MRPT_END, and MRPT_START.

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 82 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::render

(

)

const [virtual]

Render.

Implements mrpt::opengl::CRenderizable.

void mrpt::opengl::CPointCloud::reserve

(

size_t

N

)

[inline]

Definition at line 63 of file CPointCloud.h.

void mrpt::opengl::CPointCloud::resize

(

size_t

N

)

[inline]

Definition at line 62 of file CPointCloud.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.

void mrpt::opengl::CPointCloud::setPointSize

(

float

p

)

[inline]

By default is 1.0.

Definition at line 69 of file CPointCloud.h.

---

Member Data Documentation

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

mrpt::utils::TColorf mrpt::opengl::CPointCloud::m_colorFromDepth_max [private]

The colors used to interpolate when m_colorFromDepth is true.

Definition at line 129 of file CPointCloud.h.

mrpt::utils::TColorf mrpt::opengl::CPointCloud::m_colorFromDepth_min [private]

Definition at line 129 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::m_max [mutable, private]

Buffer for min/max coords when m_colorFromDepth is true.

Definition at line 126 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::m_min [mutable, private]

Definition at line 126 of file CPointCloud.h.

bool mrpt::opengl::CPointCloud::m_minmax_valid [mutable, private]

Definition at line 127 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::m_pointSize [protected]

By default is 1.0.

Definition at line 55 of file CPointCloud.h.

vector_float mrpt::opengl::CPointCloud::m_xs [protected]

Definition at line 54 of file CPointCloud.h.

vector_float mrpt::opengl::CPointCloud::m_ys [protected]

Definition at line 54 of file CPointCloud.h.

vector_float mrpt::opengl::CPointCloud::m_zs [protected]

Definition at line 54 of file CPointCloud.h.