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<div class="title">graph_tools_impl.h</div> </div>
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<a href="graph__tools__impl_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 <span class="preprocessor">#ifndef opengl_graph_tools_impl_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_graph_tools_impl_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="keyword">namespace </span>mrpt
<a name="l00032"></a>00032 {
<a name="l00033"></a>00033 <span class="keyword">namespace </span>opengl
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>graph_tools
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">template</span><<span class="keyword">class</span> GRAPH_T>
<a name="l00038"></a><a class="code" href="group__mrpt__opengl__grp.html#ga30efc9f6fcb49801e989d174e0f65a61">00038</a> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> <a class="code" href="group__mrpt__opengl__grp.html#ga30efc9f6fcb49801e989d174e0f65a61" title="Returns an opengl objects representation of an arbitrary graph, as a network of 3D pose frames...">graph_visualize</a>(
<a name="l00039"></a>00039 <span class="keyword">const</span> GRAPH_T &g,
<a name="l00040"></a>00040 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html" title="For usage when passing a dynamic number of (numeric) arguments to a function, by name.">mrpt::utils::TParametersDouble</a> &extra_params)
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <a class="code" href="mrpt__macros_8h.html#a5b194c0ba2906b0a69d0fd8a7c315918">MRPT_TRY_START</a>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">// Is a 2D or 3D graph network?</span>
<a name="l00045"></a>00045 <span class="keyword">typedef</span> <span class="keyword">typename</span> GRAPH_T::constraint_t constraint_t;
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">const</span> <span class="keywordtype">bool</span> is_3D_graph = constraint_t::is_3D();
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> ret = <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a7c0e877bb1420ff3abac3f8f86febbd0">CSetOfObjects::Create</a>();
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keyword">const</span> <span class="keywordtype">bool</span> show_ID_labels = 0!=extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"show_ID_labels"</span>, 0);
<a name="l00052"></a>00052 <span class="keyword">const</span> <span class="keywordtype">bool</span> show_ground_grid = 0!=extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"show_ground_grid"</span>, 1);
<a name="l00053"></a>00053 <span class="keyword">const</span> <span class="keywordtype">bool</span> show_edges = 0!=extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"show_edges"</span>, 1);
<a name="l00054"></a>00054 <span class="keyword">const</span> <span class="keywordtype">bool</span> show_node_corners = 0!=extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"show_node_corners"</span>, 1);
<a name="l00055"></a>00055 <span class="keyword">const</span> <span class="keywordtype">double</span> nodes_point_size = extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"nodes_point_size"</span>, 0. );
<a name="l00056"></a>00056 <span class="keyword">const</span> <span class="keywordtype">double</span> nodes_corner_scale = extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"nodes_corner_scale"</span>, 0.7 );
<a name="l00057"></a>00057 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nodes_point_color = extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"nodes_point_color"</span>, (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)0xA0A0A0 );
<a name="l00058"></a>00058 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> edge_color = extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"edge_color"</span>, (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)0x400000FF );
<a name="l00059"></a>00059 <span class="keyword">const</span> <span class="keywordtype">double</span> edge_width = extra_params.<a class="code" href="structmrpt_1_1utils_1_1_t_parameters.html#ae3c017856eca006e9b60a55f037e5e76" title="A const version of the [] operator and with a default value in case the parameter is not set (for usa...">getWithDefaultVal</a>(<span class="stringliteral">"edge_width"</span>, 2. );
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keywordflow">if</span> (show_ground_grid)
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063 <span class="comment">// Estimate bounding box.</span>
<a name="l00064"></a>00064 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> BB_min(-10.,-10.,0.), BB_max(10.,10.,0.);
<a name="l00065"></a>00065
<a name="l00066"></a>00066 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">GRAPH_T::global_poses_t::const_iterator</a> itNod = g.nodes.begin();itNod!=g.nodes.end();++itNod)
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> p = <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>(itNod->second); <span class="comment">// Convert to 3D from whatever its real type.</span>
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <a class="code" href="namespacemrpt_1_1utils.html#af67043bb92287af7092e91db2d6a1f19" title="If the second argument is below the first one, set the first argument to this lower value...">keep_min</a>( BB_min.x, p.x() );
<a name="l00071"></a>00071 <a class="code" href="namespacemrpt_1_1utils.html#af67043bb92287af7092e91db2d6a1f19" title="If the second argument is below the first one, set the first argument to this lower value...">keep_min</a>( BB_min.y, p.y() );
<a name="l00072"></a>00072 <a class="code" href="namespacemrpt_1_1utils.html#af67043bb92287af7092e91db2d6a1f19" title="If the second argument is below the first one, set the first argument to this lower value...">keep_min</a>( BB_min.z, p.z() );
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <a class="code" href="namespacemrpt_1_1utils.html#a3aaae8d44cd44b2e3d93e42644454589" title="If the second argument is above the first one, set the first argument to this higher value...">keep_max</a>( BB_max.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>, p.x() );
<a name="l00075"></a>00075 <a class="code" href="namespacemrpt_1_1utils.html#a3aaae8d44cd44b2e3d93e42644454589" title="If the second argument is above the first one, set the first argument to this higher value...">keep_max</a>( BB_max.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>, p.y() );
<a name="l00076"></a>00076 <a class="code" href="namespacemrpt_1_1utils.html#a3aaae8d44cd44b2e3d93e42644454589" title="If the second argument is above the first one, set the first argument to this higher value...">keep_max</a>( BB_max.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>, p.z() );
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="comment">// Create ground plane:</span>
<a name="l00080"></a>00080 <span class="keyword">const</span> <span class="keywordtype">double</span> grid_frequency = 5.0;
<a name="l00081"></a>00081 <a class="code" href="structmrpt_1_1opengl_1_1_c_grid_plane_x_y_ptr.html">CGridPlaneXYPtr</a> grid = <a class="code" href="classmrpt_1_1opengl_1_1_c_grid_plane_x_y.html#a2aab3a5cf73a39751cf4b72ec71dbac9">CGridPlaneXY::Create</a>(BB_min.x, BB_max.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>, BB_min.y, BB_max.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>, BB_min.z, grid_frequency);
<a name="l00082"></a>00082 grid->setColor(0.3,0.3,0.3);
<a name="l00083"></a>00083 ret->insert( grid );
<a name="l00084"></a>00084 } <span class="comment">// end show_ground_grid</span>
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="comment">// Draw nodes as thick points:</span>
<a name="l00087"></a>00087 <span class="keywordflow">if</span> (nodes_point_size!=0)
<a name="l00088"></a>00088 {
<a name="l00089"></a>00089 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(nodes_point_size>=0);
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <a class="code" href="structmrpt_1_1opengl_1_1_c_point_cloud_ptr.html">CPointCloudPtr</a> pnts = <a class="code" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#a34de7303bd4cb168a883980dc8bb45c9">CPointCloud::Create</a>();
<a name="l00092"></a>00092 pnts->setColor( <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">TColorf</a>(<a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">TColor</a>(nodes_point_color)) );
<a name="l00093"></a>00093 pnts->setPointSize(nodes_point_size);
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="comment">// Add nodes:</span>
<a name="l00096"></a>00096 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">GRAPH_T::global_poses_t::const_iterator</a> itNod = g.nodes.begin();itNod!=g.nodes.end();++itNod)
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> p = <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>(itNod->second); <span class="comment">// Convert to 3D from whatever its real type.</span>
<a name="l00099"></a>00099 pnts->insertPoint(p.x(),p.y(), p.z() );
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101
<a name="l00102"></a>00102 pnts->enablePointSmooth();
<a name="l00103"></a>00103
<a name="l00104"></a>00104 ret->insert(pnts);
<a name="l00105"></a>00105 } <span class="comment">// end draw node points</span>
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// Show a 2D corner at each node (or just an empty object with the ID label)</span>
<a name="l00108"></a>00108 <span class="keywordflow">if</span> (show_node_corners || show_ID_labels)
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">GRAPH_T::global_poses_t::const_iterator</a> itNod = g.nodes.begin();itNod!=g.nodes.end();++itNod)
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> p = <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>(itNod->second); <span class="comment">// Convert to 3D from whatever its real type.</span>
<a name="l00113"></a>00113 <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> gl_corner = show_node_corners ?
<a name="l00114"></a>00114 (is_3D_graph ? <a class="code" href="namespacemrpt_1_1opengl_1_1stock__objects.html#a4da4d4fbe83a0dff3b68449a28f353ee" title="Returns three arrows representing a X,Y,Z 3D corner (just thick lines instead of complex arrows for f...">stock_objects::CornerXYZSimple</a>(nodes_corner_scale, 1.0 <span class="comment">/*line width*/</span> ) : <a class="code" href="namespacemrpt_1_1opengl_1_1stock__objects.html#a9b0593caac72e4147cff850b39c4f7b3" title="Returns two arrows representing a X,Y 2D corner (just thick lines, fast to render).">stock_objects::CornerXYSimple</a>(nodes_corner_scale, 1.0 <span class="comment">/*line width*/</span> ))
<a name="l00115"></a>00115 : <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a7c0e877bb1420ff3abac3f8f86febbd0">CSetOfObjects::Create</a>();
<a name="l00116"></a>00116 gl_corner->setPose( p );
<a name="l00117"></a>00117 <span class="keywordflow">if</span> (show_ID_labels) <span class="comment">// don't show IDs twice!</span>
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 gl_corner->setName(<a class="code" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a>(<span class="stringliteral">"%u"</span>,static_cast<unsigned int>(itNod->first) ));
<a name="l00120"></a>00120 gl_corner->enableShowName();
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 ret->insert( gl_corner );
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 } <span class="comment">// end draw node corners</span>
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="keywordflow">if</span> (show_edges)
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_lines_ptr.html">CSetOfLinesPtr</a> gl_edges = <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_lines.html#ae9d92df71e3abe3706a0e43be83cdfb8">CSetOfLines::Create</a>();
<a name="l00129"></a>00129 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_color.html" title="A RGB color - 8bit.">TColor</a> col8bit(edge_color & 0xffffff);
<a name="l00130"></a>00130 <span class="keyword">const</span> uint8_t col_alpha = edge_color >> 24;
<a name="l00131"></a>00131
<a name="l00132"></a>00132 gl_edges->setColor( col8bit.<a class="code" href="structmrpt_1_1utils_1_1_t_color.html#a0f62f632e30adf825cecb3e65d719ca5">R</a>*(1./255), col8bit.<a class="code" href="structmrpt_1_1utils_1_1_t_color.html#af3c6674942537c656cd0d8fa405a0fad">G</a>*(1./255), col8bit.<a class="code" href="structmrpt_1_1utils_1_1_t_color.html#a42c56d1cdfc6119d133b84f8dd3d3fad">B</a>*(1./255), col_alpha*(1./255) );
<a name="l00133"></a>00133 gl_edges->setLineWidth( edge_width );
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">GRAPH_T::const_iterator</a> itEd = g.begin();itEd!=g.end();++itEd)
<a name="l00136"></a>00136 {
<a name="l00137"></a>00137 <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7" title="The type for node IDs in graphs of different types.">TNodeID</a> id1 = itEd->first.first;
<a name="l00138"></a>00138 <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7" title="The type for node IDs in graphs of different types.">TNodeID</a> id2 = itEd->first.second;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment">// Draw only if we have the global coords of both nodes:</span>
<a name="l00141"></a>00141 <span class="keyword">typename</span> GRAPH_T<a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">::global_poses_t::const_iterator</a> itNod1 = g.nodes.find(id1);
<a name="l00142"></a>00142 <span class="keyword">typename</span> GRAPH_T<a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">::global_poses_t::const_iterator</a> itNod2 = g.nodes.find(id2);
<a name="l00143"></a>00143 <span class="keywordflow">if</span> (itNod1!=g.nodes.end() && itNod2!=g.nodes.end())
<a name="l00144"></a>00144 {
<a name="l00145"></a>00145 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> p1 = <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>(itNod1->second);
<a name="l00146"></a>00146 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> p2 = <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>(itNod2->second);
<a name="l00147"></a>00147 gl_edges->appendLine( <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(p1.x(),p1.y(),p1.z()), <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a>(p2.x(),p2.y(),p2.z()) );
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150 ret->insert( gl_edges );
<a name="l00151"></a>00151
<a name="l00152"></a>00152 } <span class="comment">// end draw edges</span>
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="keywordflow">return</span> ret;
<a name="l00155"></a>00155
<a name="l00156"></a>00156 <a class="code" href="mrpt__macros_8h.html#aa896dd4cfcb541cef32aff5dbf06355e">MRPT_TRY_END</a>
<a name="l00157"></a>00157
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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