10#ifndef opengl_CPointCloud_H
11#define opengl_CPointCloud_H
49 public
mrpt::utils::PLY_Importer,
50 public
mrpt::utils::PLY_Exporter
54 enum Axis { colNone=0, colZ, colY, colX} m_colorFromDepth;
55 std::vector<float>
m_xs,m_ys,m_zs;
91 this->octree_getBoundingBox(bb_min, bb_max);
97 inline size_t size()
const {
return m_xs.size(); }
100 inline void resize(
size_t N) { m_xs.resize(N); m_ys.resize(N); m_zs.resize(N); m_minmax_valid =
false; markAllPointsAsNew(); }
103 inline void reserve(
size_t N) { m_xs.reserve(N); m_ys.reserve(N); m_zs.reserve(N); }
106 void setAllPoints(
const std::vector<float> &x,
const std::vector<float> &y,
const std::vector<float> &z)
111 m_minmax_valid =
false;
112 markAllPointsAsNew();
122 m_minmax_valid =
false;
123 markAllPointsAsNew();
126 inline const std::vector<float> &
getArrayX()
const {
return m_xs;}
127 inline const std::vector<float> &
getArrayY()
const {
return m_ys;}
128 inline const std::vector<float> &
getArrayZ()
const {
return m_zs;}
160 void setPoint(
size_t i,
const float x,
const float y,
const float z);
163 inline void setPoint_fast(
size_t i,
const float x,
const float y,
const float z)
168 m_minmax_valid =
false;
169 markAllPointsAsNew();
174 template <
class POINTSMAP>
175 void loadFromPointsMap(
const POINTSMAP *themap);
183 const size_t N = pointsList.size();
191 for ( idx=0,it=pointsList.begin() ; idx<N ; ++idx,++it)
197 markAllPointsAsNew();
229 void render_subset(const
bool all, const
std::vector<
size_t>& idxs, const
float render_area_sqpixels ) const;
238 mutable float m_min,
m_max,m_max_m_min,m_max_m_min_inv;
261 static const int HAS_RGB = 0;
262 static const int HAS_RGBf = 0;
263 static const int HAS_RGBu8 = 0;
268 inline size_t size()
const {
return m_obj.
size(); }
273 template <
typename T>
274 inline void getPointXYZ(
const size_t idx, T &x,T &y, T &z)
const {
290 template <
class POINTSMAP>
296 const size_t N=pc_src.size();
298 for (
size_t i=0;i<N;i++)
301 pc_src.getPointXYZ(i,x,y,z);
302 pc_dst.setPointXYZ(i,x,y,z);
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Template class that implements the data structure and algorithms for Octree-based efficient rendering...
A cloud of points, all with the same color or each depending on its value along a particular coordina...
bool m_pointSmooth
Default: false.
void PLY_export_get_vertex(const size_t idx, mrpt::math::TPoint3Df &pt, bool &pt_has_color, mrpt::utils::TColorf &pt_color) const MRPT_OVERRIDE
In a base class, will be called after PLY_export_get_vertex_count() once for each exported point.
void loadFromPointsList(LISTOFPOINTS &pointsList)
Load the points from a list of mrpt::math::TPoint3D.
void enablePointSmooth(bool enable=true)
std::vector< float > m_xs
virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
const std::vector< float > & getArrayX() const
Get a const reference to the internal array of X coordinates.
const std::vector< float > & getArrayZ() const
Get a const reference to the internal array of Z coordinates.
void enableColorFromY(bool v=true)
size_t getActuallyRendered() const
Get the number of elements actually rendered in the last render event.
void disablePointSmooth()
float getPointSize() const
virtual void PLY_import_set_vertex(const size_t idx, const mrpt::math::TPoint3Df &pt, const mrpt::utils::TColorf *pt_color=NULL) MRPT_OVERRIDE
In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point.
volatile size_t m_last_rendered_count
void setPoint_fast(size_t i, const float x, const float y, const float z)
Write an individual point (without checking validity of the index).
void internal_render_one_point(size_t i) const
virtual void PLY_import_set_vertex_count(const size_t N) MRPT_OVERRIDE
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex.
bool isPointSmoothEnabled() const
virtual void PLY_import_set_face_count(const size_t N) MRPT_OVERRIDE
In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.
void setGradientColors(const mrpt::utils::TColorf &colorMin, const mrpt::utils::TColorf &colorMax)
Sets the colors used as extremes when colorFromDepth is enabled.
mrpt::math::TPoint3D getPoint(size_t i) const
Read access to each individual point (checks for "i" in the valid range only in Debug).
void setPointSize(float p)
By default is 1.0.
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 markAllPointsAsNew()
Do needed internal work if all points are new (octree rebuilt,...)
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).
size_t PLY_export_get_vertex_count() const MRPT_OVERRIDE
In a base class, return the number of vertices.
void insertPoint(float x, float y, float z)
Adds a new point to the cloud.
void reserve(size_t N)
Like STL std::vector's reserve.
const std::vector< float > & getArrayY() const
Get a const reference to the internal array of Y coordinates.
void clear()
Empty the list of points.
void enableColorFromZ(bool v=true)
mrpt::utils::TColorf m_col_slop
void loadFromPointsMap(const POINTSMAP *themap)
Load the points from any other point map class supported by the adapter mrpt::utils::PointCloudAdapte...
void render() const MRPT_OVERRIDE
Render.
mrpt::utils::TColorf m_colorFromDepth_max
The colors used to interpolate when m_colorFromDepth is true.
void enableColorFromX(bool v=true)
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 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)
float m_pointSize
By default is 1.0.
void resize(size_t N)
Set the number of points (with contents undefined)
The base class of 3D objects that can be directly rendered through OpenGL.
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i'th point.
PointCloudAdapter(const mrpt::opengl::CPointCloud &obj)
Constructor (accept a const ref for convenience)
void resize(const size_t N)
Set number of points (to uninitialized values)
size_t size() const
Get number of points.
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i'th point.
mrpt::opengl::CPointCloud & m_obj
float coords_t
The type of each point XYZ coordinates.
An adapter to different kinds of point cloud object.
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
const Scalar * const_iterator
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#define ASSERT_BELOW_(__A, __B)
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
size_t size(const MATRIXLIKE &m, int dim)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Lightweight 3D point (float version).
A RGB color - floats in the range [0,1].