Class CMeshFast

• Defined in File CMeshFast.h

Inheritance Relationships

Base Types

• public mrpt::viz::CVisualObject (Class CVisualObject)

• public mrpt::viz::VisualObjectParams_Points (Class VisualObjectParams_Points)

Class Documentation

class CMeshFast : public virtual mrpt::viz::CVisualObject, public mrpt::viz::VisualObjectParams_Points

A planar (XY) grid where each cell has an associated height and, optionally, a texture map. To make it faster to render, instead of drawing lines and triangles it draws a point at each gridcell. A typical usage example would be an elevation map or a 3D model of a terrain.

See also

opengl::Scene

Public Functions

inline CMeshFast(bool enableTransparency = false, float xMin_p = -1.0f, float xMax_p = 1.0f, float yMin_p = -1.0f, float yMax_p = 1.0f)

Constructor

virtual ~CMeshFast() override = default

inline void setGridLimits(float xmin, float xmax, float ymin, float ymax)

inline void getGridLimits(float &xmin, float &xmax, float &ymin, float &ymax) const

inline void enableTransparency(bool v)

inline void enableColorFromZ(bool v, mrpt::img::TColormap colorMap = mrpt::img::cmJET)

void setZ(const mrpt::math::CMatrixDynamic<float> &in_Z)

This method sets the matrix of heights for each position (cell) in the mesh grid

inline void getZ(mrpt::math::CMatrixFloat &out) const

Returns a reference to the internal Z matrix, allowing changing it efficiently

inline float getXMin() const

inline float getXMax() const

inline float getYMin() const

inline float getYMax() const

inline void setXMin(float nxm)

inline void setXMax(float nxm)

inline void setYMin(float nym)

inline void setYMax(float nym)

inline void getXBounds(float &min, float &max) const

inline void getYBounds(float &min, float &max) const

inline void setXBounds(float min, float max)

inline void setYBounds(float min, float max)

virtual void updateBuffers() const override

Called by the rendering system to update internal geometry buffers.

Derived classes should override this to populate their data buffers (triangles, points, lines) when the object geometry changes.

This is called automatically when hasToUpdateBuffers() returns true, which happens after notifyChange() was called.

The base implementation does nothing; derived classes should override.

Note

Thread safety: implementations should lock the appropriate mutexes when writing to shared buffers.

virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const override

Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates. This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.

See also

getBoundingBox(), getBoundingBoxLocal(), getBoundingBoxLocalf()

void assignImage(const mrpt::img::CImage &img)

Assigns a texture image, and disable transparency.

void assignImageAndZ(const mrpt::img::CImage &img, const mrpt::math::CMatrixDynamic<float> &in_Z)

Assigns a texture image and Z simultaneously, and disable transparency.

inline void adjustGridToImageAR()

Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction.

Protected Functions

void updateColorsMatrix() const

Called internally to assure C is updated.

void updatePoints() const

Protected Attributes

mrpt::img::CImage m_textureImage

bool m_enableTransparency

bool m_colorFromZ = {false}

bool m_isImage = {false}

mutable math::CMatrixF X

X(x,y): X-coordinate of the point (x,y)

mutable math::CMatrixF Y

Y(x,y): Y-coordinate of the point (x,y)

mutable math::CMatrixF Z

Z(x,y): Z-coordinate of the point (x,y)

mutable math::CMatrix_u8 C

Grayscale or RGB components [0,255] for each cell, updated by updateColorsMatrix

math::CMatrix_u8 C_r

math::CMatrix_u8 C_g

math::CMatrix_u8 C_b

mrpt::img::TColormap m_colorMap = {mrpt::img::cmJET}

Used when m_colorFromZ is true

mutable bool m_modified_Z = {true}

Whether C is not up-to-date wrt to Z

mutable bool m_modified_Image = {false}

Whether C is not up-to-date wrt to the texture image

float xMin

Mesh bounds

float xMax

float yMin

float yMax

mutable bool pointsUpToDate = {false}

Whether the coordinates of the points needs to be recalculated