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

Definition at line 62 of file CPointCloud.h.

#include <mrpt/opengl/CPointCloud.h>

Inheritance diagram for mrpt::opengl::CPointCloud:

[legend]

List of all members.

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)
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.
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,...)
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
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.
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 ()

Member Typedef Documentation

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

A typedef for the associated smart pointer

Definition at line 66 of file CPointCloud.h.

Member Enumeration Documentation

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

Enumerator:

None
Z
Y
X

Definition at line 68 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 214 of file CPointCloud.h.

Member Function Documentation

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

Reimplemented from mrpt::opengl::CRenderizable.

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

Empty the list of points.

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

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

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

Definition at line 194 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.

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

Definition at line 186 of file CPointCloud.h.

References None, and X.

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

Definition at line 187 of file CPointCloud.h.

References None, and Y.

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

Definition at line 188 of file CPointCloud.h.

References None, and Z.

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

Definition at line 193 of file CPointCloud.h.

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

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

Definition at line 179 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 109 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 110 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 111 of file CPointCloud.h.

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 127 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 135 of file CPointCloud.h.

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

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

Definition at line 191 of file CPointCloud.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.

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 195 of file CPointCloud.h.

template<class LISTOFPOINTS >

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

Load the points from a list of TPoint3D.

Definition at line 157 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 150 of file CPointCloud.h.

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

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

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 119 of file CPointCloud.h.

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

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)

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

Like STL std::vector's reserve.

Definition at line 88 of file CPointCloud.h.

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

Set the number of points (with contents undefined)

Definition at line 85 of file CPointCloud.h.

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 91 of file CPointCloud.h.

References 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 100 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::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 190 of file CPointCloud.h.

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

Definition at line 82 of file CPointCloud.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CPointCloud::_init_CPointCloud [static, protected]

Definition at line 66 of file CPointCloud.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CPointCloud::classCPointCloud [static]

Definition at line 66 of file CPointCloud.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPointCloud::classinfo [static]

Definition at line 66 of file CPointCloud.h.

mrpt::utils::TColorf mrpt::opengl::CPointCloud::m_col_slop [mutable, private]

Definition at line 217 of file CPointCloud.h.

mrpt::utils::TColorf mrpt::opengl::CPointCloud::m_col_slop_inv [mutable, private]

Color linear function slope.

Definition at line 217 of file CPointCloud.h.

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 220 of file CPointCloud.h.

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

Definition at line 220 of file CPointCloud.h.

volatile size_t mrpt::opengl::CPointCloud::m_last_rendered_count [mutable, protected]

Definition at line 73 of file CPointCloud.h.

volatile size_t mrpt::opengl::CPointCloud::m_last_rendered_count_ongoing [mutable, protected]

Definition at line 73 of file CPointCloud.h.

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

Definition at line 216 of file CPointCloud.h.

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

Definition at line 216 of file CPointCloud.h.

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

Buffer for min/max coords when m_colorFromDepth is true.

Definition at line 216 of file CPointCloud.h.

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

Definition at line 216 of file CPointCloud.h.

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

Definition at line 218 of file CPointCloud.h.

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

By default is 1.0.

Definition at line 70 of file CPointCloud.h.

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

Default: false.

Definition at line 71 of file CPointCloud.h.

std::vector<float> mrpt::opengl::CPointCloud::m_xs [protected]

Definition at line 69 of file CPointCloud.h.

std::vector<float> mrpt::opengl::CPointCloud::m_ys [protected]

Definition at line 69 of file CPointCloud.h.

std::vector<float> mrpt::opengl::CPointCloud::m_zs [protected]

Definition at line 69 of file CPointCloud.h.

mrpt::opengl::CPointCloud Class Reference

Detailed Description

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation