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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:

mrpt::opengl::CRenderizable mrpt::utils::CSerializable

List of all members.

Public Member Functions

void enableColorFromX (bool v=true)
void enableColorFromY (bool v=true)
void enableColorFromZ (bool v=true)
vector_floatgetArrayX ()
 Get a reference to the internal array of X coordinates.
vector_floatgetArrayY ()
 Get a reference to the internal array of Y coordinates.
vector_floatgetArrayZ ()
 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 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 50 of file CPointCloud.h.


Member Enumeration Documentation

Enumerator:
None 
Z 
Y 
X 

Definition at line 54 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 92 of file CPointCloud.h.


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 59 of file CPointCloud.h.

References X.

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

Definition at line 60 of file CPointCloud.h.

References Y.

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

Definition at line 61 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 63 of file CPointCloud.h.

vector_float& mrpt::opengl::CPointCloud::getArrayY (  )  [inline]

Get a reference to the internal array of Y coordinates.

Definition at line 64 of file CPointCloud.h.

vector_float& mrpt::opengl::CPointCloud::getArrayZ (  )  [inline]

Get a reference to the internal array of Z coordinates.

Definition at line 65 of file CPointCloud.h.

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

Definition at line 68 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 colorFromDepth is enabled.

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

By default is 1.0.

Definition at line 67 of file CPointCloud.h.


Member Data Documentation

The colors used to interpolate when m_colorFromDepth is true.

Definition at line 97 of file CPointCloud.h.

Definition at line 97 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 94 of file CPointCloud.h.

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

Definition at line 94 of file CPointCloud.h.

Definition at line 95 of file CPointCloud.h.

By default is 1.0.

Definition at line 56 of file CPointCloud.h.

Definition at line 55 of file CPointCloud.h.

Definition at line 55 of file CPointCloud.h.

Definition at line 55 of file CPointCloud.h.




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