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<div class="title">CPointCloud.h</div> </div>
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<a href="_c_point_cloud_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef opengl_CPointCloud_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CPointCloud_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_renderizable_8h.html">mrpt/opengl/CRenderizable.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_octree_point_renderer_8h.html">mrpt/opengl/COctreePointRenderer.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_p_l_y__import__export_8h.html">mrpt/utils/PLY_import_export.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>opengl
<a name="l00039"></a>00039 {
<a name="l00040"></a><a class="code" href="namespacemrpt_1_1opengl.html#a84bae4edf5ed7a2efc71b2140b29fdea">00040</a> <span class="keyword">class </span><a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html" title="A cloud of points, all with the same color or each depending on its value along a particular coordina...">CPointCloud</a>;
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00043"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_point_cloud_ptr.html#a38f3c9aca11edec31d83b451c379fc2d">00043</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html" title="A cloud of points, all with the same color or each depending on its value along a particular coordina...">CPointCloud</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable.html" title="The base class of 3D objects that can be directly rendered through OpenGL.">CRenderizable</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> )
<a name="l00044"></a>00044
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="comment">/** A cloud of points, all with the same color or each depending on its value along a particular coordinate axis.</span>
<a name="l00047"></a>00047 <span class="comment"> * This class is just an OpenGL representation of a point cloud. For operating with maps of points, see mrpt::slam::CPointsMap and derived classes.</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * To load from a points-map, CPointCloud::loadFromPointsMap().</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * This class uses smart optimizations while rendering to efficiently draw clouds of millions of points, </span>
<a name="l00052"></a>00052 <span class="comment"> * as described in this page: http://www.mrpt.org/Efficiently_rendering_point_clouds_of_millions_of_points</span>
<a name="l00053"></a>00053 <span class="comment"> *</span>
<a name="l00054"></a>00054 <span class="comment"> * \sa opengl::CPlanarLaserScan, opengl::COpenGLScene, opengl::CPointCloudColoured, mrpt::slam::CPointsMap</span>
<a name="l00055"></a>00055 <span class="comment"> *</span>
<a name="l00056"></a>00056 <span class="comment"> * <div align="center"></span>
<a name="l00057"></a>00057 <span class="comment"> * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"></span>
<a name="l00058"></a>00058 <span class="comment"> * <tr> <td> mrpt::opengl::CPointCloud </td> <td> \image html preview_CPointCloud.png </td> </tr></span>
<a name="l00059"></a>00059 <span class="comment"> * </table></span>
<a name="l00060"></a>00060 <span class="comment"> * </div></span>
<a name="l00061"></a>00061 <span class="comment"> *</span>
<a name="l00062"></a>00062 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a>00064 class <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html" title="A cloud of points, all with the same color or each depending on its value along a particular coordina...">CPointCloud</a> :
<a name="l00065"></a>00065 public <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable.html" title="The base class of 3D objects that can be directly rendered through OpenGL.">CRenderizable</a>,
<a name="l00066"></a>00066 public <a class="code" href="classmrpt_1_1opengl_1_1_c_octree_point_renderer.html" title="Template class that implements the data structure and algorithms for Octree-based efficient rendering...">COctreePointRenderer</a><<a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html" title="A cloud of points, all with the same color or each depending on its value along a particular coordina...">CPointCloud</a>>,
<a name="l00067"></a>00067 public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_p_l_y___importer.html" title="A virtual base class that implements the capability of importing 3D point clouds and faces from a fil...">PLY_Importer</a>,
<a name="l00068"></a>00068 public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_p_l_y___exporter.html" title="A virtual base class that implements the capability of exporting 3D point clouds and faces to a file ...">PLY_Exporter</a>
<a name="l00069"></a>00069 {
<a name="l00070"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a031f64548b0274c3ceed98dd9b102726">00070</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( CPointCloud )
<a name="l00071"></a>00071 protected:
<a name="l00072"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a683438791cacb2e9b56ae8383d0fb6c8a9cb1b08c9e777f7ee9aad92b9976825b">00072</a> enum <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a683438791cacb2e9b56ae8383d0fb6c8">Axis</a> { None=0, <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a683438791cacb2e9b56ae8383d0fb6c8a9cb1b08c9e777f7ee9aad92b9976825b">Z</a>, Y, X} m_colorFromDepth;
<a name="l00073"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#ae8bc2b8255f3631de959f36b24b3fc1d">00073</a> std<a class="code" href="classstd_1_1vector.html">::vector<float></a> m_xs,m_ys,<a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#ae8bc2b8255f3631de959f36b24b3fc1d">m_zs</a>;
<a name="l00074"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#adead1e369f8515518312f08ff1da6de9">00074</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#adead1e369f8515518312f08ff1da6de9" title="By default is 1.0.">m_pointSize</a>; <span class="comment">//!< By default is 1.0</span>
<a name="l00075"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a0fe910ed5dc10b66c1ab6ebad25146ca">00075</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a0fe910ed5dc10b66c1ab6ebad25146ca" title="Default: false.">m_pointSmooth</a>; <span class="comment">//!< Default: false</span>
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#ac50b75247addeb51fb626781c6b15498">00077</a> <span class="keyword">mutable</span> <span class="keyword">volatile</span> <span class="keywordtype">size_t</span> m_last_rendered_count, <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#ac50b75247addeb51fb626781c6b15498">m_last_rendered_count_ongoing</a>;
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keywordtype">void</span> markAllPointsAsNew(); <span class="comment">//!< Do needed internal work if all points are new (octree rebuilt,...)</span>
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** @name PLY Import virtual methods to implement in base classes</span>
<a name="l00083"></a>00083 <span class="comment"> @{ */</span><span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment"> /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex */</span>
<a name="l00085"></a>00085 <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_import_set_vertex_count(<span class="keyword">const</span> <span class="keywordtype">size_t</span> N);
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face */</span>
<a name="l00088"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a5261a38a4fc503a4f88b53e072bdd8d6">00088</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a5261a38a4fc503a4f88b53e072bdd8d6" title="In a base class, reserve memory to prepare subsequent calls to PLY_import_set_face.">PLY_import_set_face_count</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> N) { }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** In a base class, will be called after PLY_import_set_vertex_count() once for each loaded point. </span>
<a name="l00091"></a>00091 <span class="comment"> * \param pt_color Will be NULL if the loaded file does not provide color info.</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a>00093 <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_import_set_vertex(<span class="keyword">const</span> <span class="keywordtype">size_t</span> idx, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">mrpt::math::TPoint3Df</a> &pt, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> *pt_color = NULL);<span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** @} */</span>
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** @name PLY Export virtual methods to implement in base classes</span>
<a name="l00097"></a>00097 <span class="comment"> @{ */</span>
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** In a base class, return the number of vertices */</span>
<a name="l00100"></a>00100 <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> PLY_export_get_vertex_count() <span class="keyword">const</span>;
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** In a base class, return the number of faces */</span>
<a name="l00103"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a5b0c4cf909975c345ee4545312f9b024">00103</a> <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a5b0c4cf909975c345ee4545312f9b024" title="In a base class, return the number of faces.">PLY_export_get_face_count</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> 0; }
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** In a base class, will be called after PLY_export_get_vertex_count() once for each exported point. </span>
<a name="l00106"></a>00106 <span class="comment"> * \param pt_color Will be NULL if the loaded file does not provide color info.</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a>00108 <span class="keyword">virtual</span> <span class="keywordtype">void</span> PLY_export_get_vertex(
<a name="l00109"></a>00109 <span class="keyword">const</span> <span class="keywordtype">size_t</span> idx,
<a name="l00110"></a>00110 <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">mrpt::math::TPoint3Df</a> &pt,
<a name="l00111"></a>00111 <span class="keywordtype">bool</span> &pt_has_color,
<a name="l00112"></a>00112 <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> &pt_color) <span class="keyword">const</span>;
<a name="l00113"></a>00113 <span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment"> /** @} */</span>
<a name="l00115"></a>00115
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="keyword">public</span>:
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** @name Read/Write of the list of points to render</span>
<a name="l00120"></a>00120 <span class="comment"> @{ */</span>
<a name="l00121"></a>00121
<a name="l00122"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a98012914a2286d57d30789a6f62d9ff3">00122</a> <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a98012914a2286d57d30789a6f62d9ff3">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_xs.size(); }
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Set the number of points (with contents undefined) */</span>
<a name="l00125"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#af13553952f4ba91ec4d609abac547959">00125</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#af13553952f4ba91ec4d609abac547959" title="Set the number of points (with contents undefined)">resize</a>(<span class="keywordtype">size_t</span> N) { m_xs.resize(N); m_ys.resize(N); m_zs.resize(N); }
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** Like STL std::vector's reserve */</span>
<a name="l00128"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a8477e613228ca51cabb105857c88d505">00128</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a8477e613228ca51cabb105857c88d505" title="Like STL std::vector's reserve.">reserve</a>(<span class="keywordtype">size_t</span> N) { m_xs.reserve(N); m_ys.reserve(N); m_zs.reserve(N); }
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment"> /** Set the list of (X,Y,Z) point coordinates, all at once, from three vectors with their coordinates */</span>
<a name="l00131"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a707010bf1a7c52b4542511ea6510daed">00131</a> <span class="keywordtype">void</span> setAllPoints(<span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &x, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &z)
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 m_xs = x;
<a name="l00134"></a>00134 m_ys = <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>;
<a name="l00135"></a>00135 m_zs = z;
<a name="l00136"></a>00136 markAllPointsAsNew();
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment"> /** Set the list of (X,Y,Z) point coordinates, DESTROYING the contents of the input vectors (via swap) */</span>
<a name="l00140"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#adc9a7ac50f7cbcca0f2e20f6953d1dad">00140</a> <span class="keywordtype">void</span> setAllPointsFast(<a class="code" href="classstd_1_1vector.html">std::vector<float></a> &x, <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &z)
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 this->clear();
<a name="l00143"></a>00143 m_xs.swap(x);
<a name="l00144"></a>00144 m_ys.swap(y);
<a name="l00145"></a>00145 m_zs.swap(z);
<a name="l00146"></a>00146 markAllPointsAsNew();
<a name="l00147"></a>00147 }
<a name="l00148"></a>00148
<a name="l00149"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#aadde1cec842002a3c3f256a3d95c72f5">00149</a> <span class="keyword">inline</span> <span class="keyword">const</span> std<a class="code" href="classstd_1_1vector.html">::vector<float></a> & <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#aadde1cec842002a3c3f256a3d95c72f5" title="Get a const reference to the internal array of X coordinates.">getArrayX</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> m_xs;} <span class="comment">//!< Get a const reference to the internal array of X coordinates</span>
<a name="l00150"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a1a3bd0932a6bc6a1dc731b110a5aebf8">00150</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keyword">const</span> std<a class="code" href="classstd_1_1vector.html">::vector<float></a> & <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a1a3bd0932a6bc6a1dc731b110a5aebf8" title="Get a const reference to the internal array of Y coordinates.">getArrayY</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> m_ys;} <span class="comment">//!< Get a const reference to the internal array of Y coordinates</span>
<a name="l00151"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a8f29e8cbd4e63839493527005848d04f">00151</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keyword">const</span> std<a class="code" href="classstd_1_1vector.html">::vector<float></a> & <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a8f29e8cbd4e63839493527005848d04f" title="Get a const reference to the internal array of Z coordinates.">getArrayZ</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> m_zs;} <span class="comment">//!< Get a const reference to the internal array of Z coordinates</span>
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="keywordtype">void</span> clear(); <span class="comment">//!< Empty the list of points.</span>
<a name="l00154"></a>00154 <span class="comment"></span><span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** Adds a new point to the cloud */</span>
<a name="l00156"></a>00156 <span class="keywordtype">void</span> insertPoint( <span class="keywordtype">float</span> x,<span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> z );
<a name="l00157"></a>00157 <span class="comment"></span>
<a name="l00158"></a>00158 <span class="comment"> /** Read access to each individual point (checks for "i" in the valid range only in Debug). */</span>
<a name="l00159"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a36872ba6c088dc89cdac355b1491468b">00159</a> <span class="keyword">inline</span> mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">::math::TPoint3D</a> operator [](<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00160"></a>00160 <span class="preprocessor">#ifdef _DEBUG</span>
<a name="l00161"></a>00161 <span class="preprocessor"></span> <a class="code" href="mrpt__macros_8h.html#a8b01938f6fbebe5c4163b7c83a137d1d">ASSERT_BELOW_</a>(i,<a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>())
<a name="l00162"></a>00162 <span class="preprocessor">#endif</span>
<a name="l00163"></a>00163 <span class="preprocessor"></span> <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a>(m_xs[i],m_ys[i],m_zs[i]);
<a name="l00164"></a>00164 }
<a name="l00165"></a>00165 <span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment"> /** Read access to each individual point (checks for "i" in the valid range only in Debug). */</span>
<a name="l00167"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a12d1c112a09fa66ac4b3185371f239ef">00167</a> <span class="keyword">inline</span> mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">::math::TPoint3D</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a12d1c112a09fa66ac4b3185371f239ef" title="Read access to each individual point (checks for "i" in the valid range only in Debug).">getPoint</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00168"></a>00168 <span class="preprocessor">#ifdef _DEBUG</span>
<a name="l00169"></a>00169 <span class="preprocessor"></span> <a class="code" href="mrpt__macros_8h.html#a8b01938f6fbebe5c4163b7c83a137d1d">ASSERT_BELOW_</a>(i,<a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>())
<a name="l00170"></a>00170 <span class="preprocessor">#endif</span>
<a name="l00171"></a>00171 <span class="preprocessor"></span> <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a>(m_xs[i],m_ys[i],m_zs[i]);
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /** Read access to each individual point (checks for "i" in the valid range only in Debug). */</span>
<a name="l00175"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a4afb8331a2df0e9d1e226108a0d73977">00175</a> <span class="keyword">inline</span> mrpt<a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">::math::TPoint3Df</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a4afb8331a2df0e9d1e226108a0d73977" title="Read access to each individual point (checks for "i" in the valid range only in Debug).">getPointf</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00176"></a>00176 <span class="preprocessor">#ifdef _DEBUG</span>
<a name="l00177"></a>00177 <span class="preprocessor"></span> <a class="code" href="mrpt__macros_8h.html#a8b01938f6fbebe5c4163b7c83a137d1d">ASSERT_BELOW_</a>(i,<a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>())
<a name="l00178"></a>00178 <span class="preprocessor">#endif</span>
<a name="l00179"></a>00179 <span class="preprocessor"></span> <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_df.html" title="Lightweight 3D point (float version).">mrpt::math::TPoint3Df</a>(m_xs[i],m_ys[i],m_zs[i]);
<a name="l00180"></a>00180 }
<a name="l00181"></a>00181 <span class="comment"></span>
<a name="l00182"></a>00182 <span class="comment"> /** Write an individual point (checks for "i" in the valid range only in Debug). */</span>
<a name="l00183"></a>00183 <span class="keywordtype">void</span> setPoint(<span class="keywordtype">size_t</span> i, <span class="keyword">const</span> <span class="keywordtype">float</span> x,<span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keyword">const</span> <span class="keywordtype">float</span> z);
<a name="l00184"></a>00184
<a name="l00185"></a>00185 <span class="comment"></span>
<a name="l00186"></a>00186 <span class="comment"> /** Load the points from a pointsMap (mrpt::slam::CPointsMap), passed as a pointer.</span>
<a name="l00187"></a>00187 <span class="comment"> * Note that the method is a template since CPointsMap belongs to a different mrpt library.</span>
<a name="l00188"></a>00188 <span class="comment"> */</span>
<a name="l00189"></a>00189 <span class="keyword">template</span> <<span class="keyword">class</span> POINTSMAP>
<a name="l00190"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#aa6a1ead35f952928ff4db747cc486b6e">00190</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#aa6a1ead35f952928ff4db747cc486b6e" title="Load the points from a pointsMap (mrpt::slam::CPointsMap), passed as a pointer.">loadFromPointsMap</a>( <span class="keyword">const</span> POINTSMAP *themap) {
<a name="l00191"></a>00191 themap->getAllPoints(m_xs,m_ys,m_zs);
<a name="l00192"></a>00192 markAllPointsAsNew();
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194 <span class="comment"></span>
<a name="l00195"></a>00195 <span class="comment"> /** Load the points from a list of TPoint3D</span>
<a name="l00196"></a>00196 <span class="comment"> */</span>
<a name="l00197"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a210dd78003465423e38f5824cad1356b">00197</a> <span class="keyword">template</span><<span class="keyword">class</span> LISTOFPOINTS> <span class="keywordtype">void</span> loadFromPointsList( LISTOFPOINTS &pointsList)
<a name="l00198"></a>00198 {
<a name="l00199"></a>00199 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00200"></a>00200 <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = pointsList.size();
<a name="l00201"></a>00201
<a name="l00202"></a>00202 m_xs.resize(N);
<a name="l00203"></a>00203 m_ys.resize(N);
<a name="l00204"></a>00204 m_zs.resize(N);
<a name="l00205"></a>00205
<a name="l00206"></a>00206 <span class="keywordtype">size_t</span> idx;
<a name="l00207"></a>00207 <span class="keyword">typename</span> LISTOFPOINTS<a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">::const_iterator</a> it;
<a name="l00208"></a>00208 <span class="keywordflow">for</span> ( idx=0,it=pointsList.begin() ; idx<N ; ++idx,++it)
<a name="l00209"></a>00209 {
<a name="l00210"></a>00210 m_xs[idx]=it->x;
<a name="l00211"></a>00211 m_ys[idx]=it->y;
<a name="l00212"></a>00212 m_zs[idx]=it->z;
<a name="l00213"></a>00213 }
<a name="l00214"></a>00214 markAllPointsAsNew();
<a name="l00215"></a>00215 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217 <span class="comment"></span>
<a name="l00218"></a>00218 <span class="comment"> /** Get the number of elements actually rendered in the last render event. */</span>
<a name="l00219"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#ac7449390343aafce7e28cef8dbdadc3f">00219</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#ac7449390343aafce7e28cef8dbdadc3f" title="Get the number of elements actually rendered in the last render event.">getActuallyRendered</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_last_rendered_count; }
<a name="l00220"></a>00220 <span class="comment"></span>
<a name="l00221"></a>00221 <span class="comment"> /** @} */</span>
<a name="l00222"></a>00222
<a name="l00223"></a>00223 <span class="comment"></span>
<a name="l00224"></a>00224 <span class="comment"> /** @name Modify the appearance of the rendered points</span>
<a name="l00225"></a>00225 <span class="comment"> @{ */</span>
<a name="l00226"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#acf77226d2d1670edc631cdd048b249d6">00226</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#acf77226d2d1670edc631cdd048b249d6">enableColorFromX</a>(<span class="keywordtype">bool</span> v=<span class="keyword">true</span>) { m_colorFromDepth = v ? CPointCloud::X : CPointCloud::None; }
<a name="l00227"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a34d0b7b4225958d4d33d0fdc76d50192">00227</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a34d0b7b4225958d4d33d0fdc76d50192">enableColorFromY</a>(<span class="keywordtype">bool</span> v=<span class="keyword">true</span>) { m_colorFromDepth = v ? CPointCloud::Y : CPointCloud::None; }
<a name="l00228"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a8c4adfe681da2985ecb4b054fcadcc38">00228</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a8c4adfe681da2985ecb4b054fcadcc38">enableColorFromZ</a>(<span class="keywordtype">bool</span> v=<span class="keyword">true</span>) { m_colorFromDepth = v ? CPointCloud::Z : CPointCloud::None; }
<a name="l00229"></a>00229
<a name="l00230"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a6a8f11cadcb467de2eaf78822ccd7462">00230</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a6a8f11cadcb467de2eaf78822ccd7462" title="By default is 1.0.">setPointSize</a>(<span class="keywordtype">float</span> p) { m_pointSize=p; } <span class="comment">//!< By default is 1.0</span>
<a name="l00231"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a05a904761feed94bd8d91698785f6fad">00231</a> <span class="comment"></span> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a05a904761feed94bd8d91698785f6fad">getPointSize</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_pointSize; }
<a name="l00232"></a>00232
<a name="l00233"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a25d0c42df8cc9f9a3e35e4f5e143e552">00233</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a25d0c42df8cc9f9a3e35e4f5e143e552">enablePointSmooth</a>(<span class="keywordtype">bool</span> enable=<span class="keyword">true</span>) { m_pointSmooth=enable; }
<a name="l00234"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a41ae71c633dced878a8f214e3abbfa77">00234</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a41ae71c633dced878a8f214e3abbfa77">disablePointSmooth</a>() { m_pointSmooth=<span class="keyword">false</span>; }
<a name="l00235"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a8378a59a48397a00ae8358b13a73b942">00235</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a8378a59a48397a00ae8358b13a73b942">isPointSmoothEnabled</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_pointSmooth; }
<a name="l00236"></a>00236 <span class="comment"></span>
<a name="l00237"></a>00237 <span class="comment"> /** Sets the colors used as extremes when colorFromDepth is enabled. */</span>
<a name="l00238"></a>00238 <span class="keywordtype">void</span> setGradientColors( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> &colorMin, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> &colorMax );
<a name="l00239"></a>00239 <span class="comment"></span>
<a name="l00240"></a>00240 <span class="comment"> /** @} */</span>
<a name="l00241"></a>00241 <span class="comment"></span>
<a name="l00242"></a>00242 <span class="comment"> /** Render */</span>
<a name="l00243"></a>00243 <span class="keywordtype">void</span> render() <span class="keyword">const</span>;
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="comment"></span>
<a name="l00246"></a>00246 <span class="comment"> /** Render a subset of points (required by octree renderer) */</span>
<a name="l00247"></a>00247 <span class="keywordtype">void</span> render_subset(<span class="keyword">const</span> <span class="keywordtype">bool</span> all, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<size_t></a>& idxs, <span class="keyword">const</span> <span class="keywordtype">float</span> render_area_sqpixels ) <span class="keyword">const</span>;
<a name="l00248"></a>00248
<a name="l00249"></a>00249 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00250"></a>00250 <span class="comment"> /** Constructor */</span>
<a name="l00251"></a>00251 <a class="code" href="namespacemrpt_1_1opengl.html#a84bae4edf5ed7a2efc71b2140b29fdea">CPointCloud</a>();
<a name="l00252"></a>00252 <span class="comment"></span>
<a name="l00253"></a>00253 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00254"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a00ed2bf243e764ee83dc7a47d249293b">00254</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a00ed2bf243e764ee83dc7a47d249293b" title="Private, virtual destructor: only can be deleted from smart pointers.">~CPointCloud</a>() { }
<a name="l00255"></a>00255
<a name="l00256"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a6ed2736fcd2f57f8643c34920037278e">00256</a> <span class="keyword">mutable</span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a6ed2736fcd2f57f8643c34920037278e">m_min</a>, m_max,m_max_m_min,m_max_m_min_inv; <span class="comment">//!< Buffer for min/max coords when m_colorFromDepth is true.</span>
<a name="l00257"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a2dd66446d688f836b26a4f173f6ab7aa">00257</a> <span class="comment"></span> <span class="keyword">mutable</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">::utils::TColorf</a> m_col_slop,<a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a2dd66446d688f836b26a4f173f6ab7aa" title="Color linear function slope.">m_col_slop_inv</a>; <span class="comment">//!< Color linear function slope</span>
<a name="l00258"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a86ee13056ea143f99b6d9a69828c38b1">00258</a> <span class="comment"></span> <span class="keyword">mutable</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a86ee13056ea143f99b6d9a69828c38b1">m_minmax_valid</a>;
<a name="l00259"></a>00259
<a name="l00260"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#aea931285b7c2379f45eba7847eb7c610">00260</a> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">::utils::TColorf</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#aea931285b7c2379f45eba7847eb7c610">m_colorFromDepth_min</a>, m_colorFromDepth_max; <span class="comment">//!< The colors used to interpolate when m_colorFromDepth is true.</span>
<a name="l00261"></a>00261 <span class="comment"></span>
<a name="l00262"></a>00262 <span class="keyword">inline</span> <span class="keywordtype">void</span> internal_render_one_point(<span class="keywordtype">size_t</span> i) <span class="keyword">const</span>;
<a name="l00263"></a>00263 };
<a name="l00264"></a>00264
<a name="l00265"></a>00265 } <span class="comment">// end namespace</span>
<a name="l00266"></a>00266
<a name="l00267"></a>00267
<a name="l00268"></a>00268
<a name="l00269"></a>00269 } <span class="comment">// End of namespace</span>
<a name="l00270"></a>00270
<a name="l00271"></a>00271
<a name="l00272"></a>00272 <span class="preprocessor">#endif</span>
</pre></div></div>
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