mrpt::opengl::CPointCloud Class Reference

A cloud of points, all with the same color or each depending on it's "z" coordinate. More...

#include <mrpt/opengl/CPointCloud.h>

Inheritance diagram for mrpt::opengl::CPointCloud:

List of all members.

Public Member Functions
void	enableColorFromZ (bool v=true)
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.
void	loadFromPointsMap (const mrpt::slam::CPointsMap *map)
	Load the points from a points map.
void	render () const
	Render.
void	setGradientColors (const mrpt::utils::TColorf &colorMin, const mrpt::utils::TColorf &colorMax)
	Sets the colors used as extremes when colorFromZ is enabled.
Static Public Member Functions
static CPointCloudPtr	Create ()
	Class factory.
Protected Attributes
bool	m_colorFromZ
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_z_min
float	m_z_max
	Buffer for min/max z coords.
bool	m_z_minmax_valid
mrpt::utils::TColorf	m_colorFromZ_min
mrpt::utils::TColorf	m_colorFromZ_max
	The colors used to interpolate when m_colorFromZ is true.

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Detailed Description

A cloud of points, all with the same color or each depending on it's "z" coordinate.

See also:

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

Definition at line 50 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 96 of file CPointCloud.h.

---

Member Function Documentation

void mrpt::opengl::CPointCloud::clear

(

)

Empty the list of points.

static CPointCloudPtr mrpt::opengl::CPointCloud::Create

(

)

[inline, static]

Class factory.

Definition at line 75 of file CPointCloud.h.

References mrpt::opengl::CPointCloud.

void mrpt::opengl::CPointCloud::enableColorFromZ

(

bool

v = true

)

[inline]

Definition at line 59 of file CPointCloud.h.

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

(

)

[inline]

Get a reference to the internal array of X coordinates.

Definition at line 61 of file CPointCloud.h.

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

(

)

[inline]

Get a reference to the internal array of Y coordinates.

Definition at line 62 of file CPointCloud.h.

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

(

)

[inline]

Get a reference to the internal array of Z coordinates.

Definition at line 63 of file CPointCloud.h.

float mrpt::opengl::CPointCloud::getPointSize

(

)

const [inline]

Definition at line 66 of file CPointCloud.h.

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

Adds a new point to the cloud.

void mrpt::opengl::CPointCloud::loadFromPointsMap

(

const mrpt::slam::CPointsMap *

map

)

Load the points from a points map.

void mrpt::opengl::CPointCloud::render

(

)

const [virtual]

Render.

Implements mrpt::opengl::CRenderizable.

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

Sets the colors used as extremes when colorFromZ is enabled.

void mrpt::opengl::CPointCloud::setPointSize

(

float

p

)

[inline]

By default is 1.0.

Definition at line 65 of file CPointCloud.h.

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Member Data Documentation

bool mrpt::opengl::CPointCloud::m_colorFromZ [protected]

Definition at line 54 of file CPointCloud.h.

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

The colors used to interpolate when m_colorFromZ is true.

Definition at line 101 of file CPointCloud.h.

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

Definition at line 101 of file CPointCloud.h.

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

By default is 1.0.

Definition at line 56 of file CPointCloud.h.

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

Definition at line 55 of file CPointCloud.h.

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

Definition at line 55 of file CPointCloud.h.

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

Buffer for min/max z coords.

Definition at line 98 of file CPointCloud.h.

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

Definition at line 98 of file CPointCloud.h.

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

Definition at line 99 of file CPointCloud.h.

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

Definition at line 55 of file CPointCloud.h.