rviz::PointCloud Class Reference

A visual representation of a set of points. More...

#include <point_cloud.h>

Inheritance diagram for rviz::PointCloud:

Classes
struct	Point
	Representation of a point, with x/y/z position and r/g/b color. More...

Public Types
enum	RenderMode {   RM_POINTS, RM_SQUARES, RM_FLAT_SQUARES, RM_SPHERES,   RM_TILES, RM_BOXES }

Public Member Functions
virtual void	_notifyAttached (Ogre::Node *parent, bool isTagPoint=false)
virtual void	_notifyCurrentCamera (Ogre::Camera *camera)
virtual void	_updateRenderQueue (Ogre::RenderQueue *queue)
void	addPoints (Point *points, uint32_t num_points)
	Add points to this point cloud. More...
void	clear ()
	Clear all the points. More...
virtual const Ogre::AxisAlignedBox &	getBoundingBox () const
virtual float	getBoundingRadius () const
virtual const Ogre::String &	getMovableType () const
virtual unsigned short	getNumWorldTransforms () const
virtual void	getWorldTransforms (Ogre::Matrix4 *xform) const
	PointCloud ()
void	popPoints (uint32_t num_points)
	Remove a number of points from this point cloud. More...
void	setAlpha (float alpha, bool per_point_alpha=false)
void	setAutoSize (bool auto_size)
void	setColorByIndex (bool set)
void	setCommonDirection (const Ogre::Vector3 &vec)
	See Ogre::BillboardSet::setCommonDirection. More...
void	setCommonUpVector (const Ogre::Vector3 &vec)
	See Ogre::BillboardSet::setCommonUpVector. More...
void	setDimensions (float width, float height, float depth)
	Set the dimensions of the billboards used to render each point. More...
void	setHighlightColor (float r, float g, float b)
virtual void	setName (const std::string &name)
void	setPickColor (const Ogre::ColourValue &color)
void	setRenderMode (RenderMode mode)
	Set what type of rendering primitives should be used, currently points, billboards and boxes are supported. More...
	~PointCloud ()

Private Types
typedef std::vector< Point >	V_Point

Private Member Functions
PointCloudRenderablePtr	createRenderable (int num_points)
uint32_t	getVerticesPerPoint ()
void	regenerateAll ()
void	shrinkRenderables ()

Private Attributes
float	alpha_
Ogre::AxisAlignedBox	bounding_box_
	The bounding box of this point cloud. More...
float	bounding_radius_
	The bounding radius of this point cloud. More...
Ogre::MaterialPtr	box_material_
bool	color_by_index_
Ogre::Vector3	common_direction_
	See Ogre::BillboardSet::setCommonDirection. More...
Ogre::Vector3	common_up_vector_
	See Ogre::BillboardSet::setCommonUpVector. More...
Ogre::MaterialPtr	current_material_
bool	current_mode_supports_geometry_shader_
float	depth_
	depth More...
Ogre::MaterialPtr	flat_square_material_
float	height_
	height More...
Ogre::ColourValue	pick_color_
uint32_t	point_count_
	The number of points currently in points_. More...
Ogre::MaterialPtr	point_material_
V_Point	points_
	The list of points we're displaying. Allocates to a high-water-mark. More...
RenderMode	render_mode_
V_PointCloudRenderable	renderables_
Ogre::MaterialPtr	sphere_material_
Ogre::MaterialPtr	square_material_
Ogre::MaterialPtr	tile_material_
float	width_
	width More...

Static Private Attributes
static Ogre::String	sm_Type = "PointCloud"
	The "renderable type" used by Ogre. More...

Detailed Description

A visual representation of a set of points.

Displays a set of points using any number of Ogre BillboardSets. PointCloud is optimized for sets of points that change rapidly, rather than for large clouds that never change.

Most of the functions in PointCloud are not safe to call from any thread but the render thread. Exceptions are clear() and addPoints(), which are safe as long as we are not in the middle of a render (ie. Ogre::Root::renderOneFrame, or Ogre::RenderWindow::update)

Definition at line 98 of file point_cloud.h.

Member Typedef Documentation

typedef std::vector<Point> rviz::PointCloud::V_Point

private

Definition at line 206 of file point_cloud.h.

Member Enumeration Documentation

enum rviz::PointCloud::RenderMode

Enumerator
RM_POINTS
RM_SQUARES
RM_FLAT_SQUARES
RM_SPHERES
RM_TILES
RM_BOXES

Definition at line 101 of file point_cloud.h.

Constructor & Destructor Documentation

rviz::PointCloud::PointCloud

(

)

Definition at line 132 of file point_cloud.cpp.

rviz::PointCloud::~PointCloud

(

)

Definition at line 177 of file point_cloud.cpp.

Member Function Documentation

void rviz::PointCloud::_notifyAttached ( Ogre::Node *  parent, bool  isTagPoint = false  )

virtual

Definition at line 706 of file point_cloud.cpp.

void rviz::PointCloud::_notifyCurrentCamera ( Ogre::Camera *  camera )

virtual

Definition at line 691 of file point_cloud.cpp.

void rviz::PointCloud::_updateRenderQueue ( Ogre::RenderQueue *  queue )

virtual

Definition at line 696 of file point_cloud.cpp.

void rviz::PointCloud::addPoints	(	Point *	points,
		uint32_t	num_points
	)

Add points to this point cloud.

Parameters

points	An array of Point structures
num_points	The number of points in the array

Definition at line 446 of file point_cloud.cpp.

void rviz::PointCloud::clear

(

)

Clear all the points.

Definition at line 211 of file point_cloud.cpp.

PointCloudRenderablePtr rviz::PointCloud::createRenderable ( int  num_points )

private

Definition at line 765 of file point_cloud.cpp.

const Ogre::AxisAlignedBox & rviz::PointCloud::getBoundingBox ( void  ) const

virtual

Definition at line 196 of file point_cloud.cpp.

float rviz::PointCloud::getBoundingRadius ( void  ) const

virtual

Definition at line 201 of file point_cloud.cpp.

virtual const Ogre::String& rviz::PointCloud::getMovableType ( ) const

inlinevirtual

Definition at line 182 of file point_cloud.h.

virtual unsigned short rviz::PointCloud::getNumWorldTransforms ( ) const

inlinevirtual

Definition at line 186 of file point_cloud.h.

uint32_t rviz::PointCloud::getVerticesPerPoint ( )

private

Definition at line 711 of file point_cloud.cpp.

void rviz::PointCloud::getWorldTransforms ( Ogre::Matrix4 *  xform ) const

virtual

Definition at line 206 of file point_cloud.cpp.

void rviz::PointCloud::popPoints

(

uint32_t

num_points

)

Remove a number of points from this point cloud.

Parameters

num_points

The number of points to pop

Definition at line 624 of file point_cloud.cpp.

void rviz::PointCloud::regenerateAll ( )

private

Definition at line 231 of file point_cloud.cpp.

void rviz::PointCloud::setAlpha	(	float	alpha,
		bool	per_point_alpha = false
	)

set alpha blending

Parameters

alpha	global alpha value
per_point_alpha	indicates that each point will have an individual alpha value. if true, enables alpha blending regardless of the global alpha.

Definition at line 414 of file point_cloud.cpp.

void rviz::PointCloud::setAutoSize

(

bool

auto_size

)

Definition at line 362 of file point_cloud.cpp.

void rviz::PointCloud::setColorByIndex

(

bool

set

)

Definition at line 247 of file point_cloud.cpp.

void rviz::PointCloud::setCommonDirection

(

const Ogre::Vector3 &

vec

)

See Ogre::BillboardSet::setCommonDirection.

Definition at line 372 of file point_cloud.cpp.

void rviz::PointCloud::setCommonUpVector

(

const Ogre::Vector3 &

vec

)

See Ogre::BillboardSet::setCommonUpVector.

Definition at line 384 of file point_cloud.cpp.

void rviz::PointCloud::setDimensions	(	float	width,
		float	height,
		float	depth
	)

Set the dimensions of the billboards used to render each point.

Parameters

width	Width
height	Height

Note

width/height are only applicable to billboards and boxes, depth is only applicable to boxes

Definition at line 346 of file point_cloud.cpp.

void rviz::PointCloud::setHighlightColor	(	float	r,
		float	g,
		float	b
	)

Definition at line 253 of file point_cloud.cpp.

virtual void rviz::PointCloud::setName ( const std::string &  name )

inlinevirtual

Definition at line 194 of file point_cloud.h.

void rviz::PointCloud::setPickColor

(

const Ogre::ColourValue &

color

)

Definition at line 751 of file point_cloud.cpp.

void rviz::PointCloud::setRenderMode

(

RenderMode

mode

)

Set what type of rendering primitives should be used, currently points, billboards and boxes are supported.

Definition at line 265 of file point_cloud.cpp.

void rviz::PointCloud::shrinkRenderables ( )

private

Definition at line 674 of file point_cloud.cpp.

Member Data Documentation

float rviz::PointCloud::alpha_

private

Definition at line 224 of file point_cloud.h.

Ogre::AxisAlignedBox rviz::PointCloud::bounding_box_

private

The bounding box of this point cloud.

Definition at line 203 of file point_cloud.h.

float rviz::PointCloud::bounding_radius_

private

The bounding radius of this point cloud.

Definition at line 204 of file point_cloud.h.

Ogre::MaterialPtr rviz::PointCloud::box_material_

private

Definition at line 222 of file point_cloud.h.

bool rviz::PointCloud::color_by_index_

private

Definition at line 226 of file point_cloud.h.

Ogre::Vector3 rviz::PointCloud::common_direction_

private

See Ogre::BillboardSet::setCommonDirection.

Definition at line 214 of file point_cloud.h.

Ogre::Vector3 rviz::PointCloud::common_up_vector_

private

See Ogre::BillboardSet::setCommonUpVector.

Definition at line 215 of file point_cloud.h.

Ogre::MaterialPtr rviz::PointCloud::current_material_

private

Definition at line 223 of file point_cloud.h.

bool rviz::PointCloud::current_mode_supports_geometry_shader_

private

Definition at line 230 of file point_cloud.h.

float rviz::PointCloud::depth_

private

depth

Definition at line 213 of file point_cloud.h.

Ogre::MaterialPtr rviz::PointCloud::flat_square_material_

private

Definition at line 219 of file point_cloud.h.

float rviz::PointCloud::height_

private

height

Definition at line 212 of file point_cloud.h.

Ogre::ColourValue rviz::PointCloud::pick_color_

private

Definition at line 231 of file point_cloud.h.

uint32_t rviz::PointCloud::point_count_

private

The number of points currently in points_.

Definition at line 208 of file point_cloud.h.

Ogre::MaterialPtr rviz::PointCloud::point_material_

private

Definition at line 217 of file point_cloud.h.

V_Point rviz::PointCloud::points_

private

The list of points we're displaying. Allocates to a high-water-mark.

Definition at line 207 of file point_cloud.h.

RenderMode rviz::PointCloud::render_mode_

private

Definition at line 210 of file point_cloud.h.

V_PointCloudRenderable rviz::PointCloud::renderables_

private

Definition at line 228 of file point_cloud.h.

Ogre::String rviz::PointCloud::sm_Type = "PointCloud"

staticprivate

The "renderable type" used by Ogre.

Definition at line 233 of file point_cloud.h.

Ogre::MaterialPtr rviz::PointCloud::sphere_material_

private

Definition at line 220 of file point_cloud.h.

Ogre::MaterialPtr rviz::PointCloud::square_material_

private

Definition at line 218 of file point_cloud.h.

Ogre::MaterialPtr rviz::PointCloud::tile_material_

private

Definition at line 221 of file point_cloud.h.

float rviz::PointCloud::width_

private

width

Definition at line 211 of file point_cloud.h.

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The documentation for this class was generated from the following files:

• point_cloud.h
• point_cloud.cpp