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mrpt::opengl::CPointCloud Class Reference

A cloud of points, all with the same color or each depending on it's "z" coordinate. 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 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 colorFromZ is enabled.

Static Public Member Functions

static CPointCloudPtr Create ()
 Class factory.

Protected Attributes

bool m_colorFromZ
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_z_min
float m_z_max
 Buffer for min/max z coords.
bool m_z_minmax_valid
mrpt::utils::TColorf m_colorFromZ_min
mrpt::utils::TColorf m_colorFromZ_max
 The colors used to interpolate when m_colorFromZ is true.


Detailed Description

A cloud of points, all with the same color or each depending on it's "z" coordinate.

See also:
opengl::CPlanarLaserScan, opengl::COpenGLScene, opengl::CPointCloudColoured

Definition at line 50 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 96 of file CPointCloud.h.


Member Function Documentation

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

Empty the list of points.

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

Class factory.

Definition at line 75 of file CPointCloud.h.

References mrpt::opengl::CPointCloud.

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

Definition at line 59 of file CPointCloud.h.

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

Get a reference to the internal array of X coordinates.

Definition at line 61 of file CPointCloud.h.

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

Get a reference to the internal array of Y coordinates.

Definition at line 62 of file CPointCloud.h.

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

Get a reference to the internal array of Z coordinates.

Definition at line 63 of file CPointCloud.h.

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

Definition at line 66 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 colorFromZ is enabled.

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

By default is 1.0.

Definition at line 65 of file CPointCloud.h.


Member Data Documentation

Definition at line 54 of file CPointCloud.h.

The colors used to interpolate when m_colorFromZ is true.

Definition at line 101 of file CPointCloud.h.

Definition at line 101 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.

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

Buffer for min/max z coords.

Definition at line 98 of file CPointCloud.h.

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

Definition at line 98 of file CPointCloud.h.

Definition at line 99 of file CPointCloud.h.

Definition at line 55 of file CPointCloud.h.




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