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

#include <point_cloud.h>

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.
void	clear ()
	Clear all the points.
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.
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.
void	setCommonUpVector (const Ogre::Vector3 &vec)
	See Ogre::BillboardSet::setCommonUpVector.
void	setDimensions (float width, float height, float depth)
	Set the dimensions of the billboards used to render each point.
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.
	~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.
float	bounding_radius_
	The bounding radius of this point cloud.
Ogre::ResourcePtr	box_material_
bool	color_by_index_
Ogre::Vector3	common_direction_
	See Ogre::BillboardSet::setCommonDirection.
Ogre::Vector3	common_up_vector_
	See Ogre::BillboardSet::setCommonUpVector.
Ogre::MaterialPtr	current_material_
bool	current_mode_supports_geometry_shader_
float	depth_
	depth
Ogre::ResourcePtr	flat_square_material_
float	height_
	height
Ogre::ColourValue	pick_color_
uint32_t	point_count_
	The number of points currently in points_.
Ogre::ResourcePtr	point_material_
V_Point	points_
	The list of points we're displaying. Allocates to a high-water-mark.
RenderMode	render_mode_
V_PointCloudRenderable	renderables_
Ogre::ResourcePtr	sphere_material_
Ogre::ResourcePtr	square_material_
Ogre::ResourcePtr	tile_material_
float	width_
	width
Static Private Attributes
static Ogre::String	sm_Type = "PointCloud"
	The "renderable type" used by Ogre.

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 97 of file point_cloud.h.

Member Typedef Documentation

typedef std::vector<Point> rviz::PointCloud::V_Point [private]

Definition at line 205 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 100 of file point_cloud.h.

Constructor & Destructor Documentation

rviz::PointCloud::PointCloud ( )

Definition at line 129 of file point_cloud.cpp.

rviz::PointCloud::~PointCloud ( )

Definition at line 168 of file point_cloud.cpp.

Member Function Documentation

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

Definition at line 696 of file point_cloud.cpp.

void rviz::PointCloud::_notifyCurrentCamera ( Ogre::Camera * camera ) [virtual]

Definition at line 681 of file point_cloud.cpp.

void rviz::PointCloud::_updateRenderQueue ( Ogre::RenderQueue * queue ) [virtual]

Definition at line 686 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 437 of file point_cloud.cpp.

void rviz::PointCloud::clear ( )

Clear all the points.

Definition at line 202 of file point_cloud.cpp.

PointCloudRenderablePtr rviz::PointCloud::createRenderable ( int num_points ) [private]

Definition at line 755 of file point_cloud.cpp.

const Ogre::AxisAlignedBox & rviz::PointCloud::getBoundingBox ( void ) const [virtual]

Definition at line 187 of file point_cloud.cpp.

float rviz::PointCloud::getBoundingRadius ( void ) const [virtual]

Definition at line 192 of file point_cloud.cpp.

virtual const Ogre::String& rviz::PointCloud::getMovableType ( void ) const [inline, virtual]

Definition at line 181 of file point_cloud.h.

virtual unsigned short rviz::PointCloud::getNumWorldTransforms ( ) const [inline, virtual]

Definition at line 185 of file point_cloud.h.

uint32_t rviz::PointCloud::getVerticesPerPoint ( ) [private]

Definition at line 701 of file point_cloud.cpp.

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

Definition at line 197 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 614 of file point_cloud.cpp.

void rviz::PointCloud::regenerateAll ( ) [private]

Definition at line 222 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 405 of file point_cloud.cpp.

void rviz::PointCloud::setAutoSize ( bool auto_size )

Definition at line 353 of file point_cloud.cpp.

void rviz::PointCloud::setColorByIndex ( bool set )

Definition at line 238 of file point_cloud.cpp.

void rviz::PointCloud::setCommonDirection ( const Ogre::Vector3 & vec )

See Ogre::BillboardSet::setCommonDirection.

Definition at line 363 of file point_cloud.cpp.

void rviz::PointCloud::setCommonUpVector ( const Ogre::Vector3 & vec )

See Ogre::BillboardSet::setCommonUpVector.

Definition at line 375 of file point_cloud.cpp.