Class PointsProxy

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class PointsProxy : public mrpt::opengl::PointsProxyBase

GPU-side proxy for rendering point clouds.

This proxy handles rendering of any CVisualObject that uses the POINTS shader, such as:

  • CPointCloud

  • CPointCloudColoured

  • Any object derived from VisualObjectParams_Points

The proxy manages:

  • Vertex buffer (3D positions)

  • Color buffer (per-vertex RGBA colors)

  • Point rendering parameters (size, variable sizing)

  • VAO for efficient attribute binding

Point rendering features:

  • Fixed point size or variable (distance-based) point size

  • Per-vertex colors

  • Alpha blending for transparency

Typical data flow:

  1. compile(): Upload initial point positions and colors to GPU

  2. updateBuffers(): Re-upload when points change

  3. render(): Draw points every frame

See also

PointsProxyBase, mrpt::viz::VisualObjectParams_Points

RenderableProxy Interface Implementation

virtual void compile(const mrpt::viz::CVisualObject *sourceObj) override

Initial compilation: uploads object data to GPU.

This is called once when the proxy is first created. It should:

  • Create OpenGL buffers (VBOs, VAOs, textures)

  • Upload initial vertex/color/normal/texture data

  • Cache any frequently-used values

Note

Must be called from OpenGL context thread

Note

After this call, the proxy should be ready to render

Parameters:

sourceObj – The abstract viz object (read-only access)

virtual void updateBuffers(const mrpt::viz::CVisualObject *sourceObj) override

Incremental update: refreshes GPU buffers with changed data.

This is called when the source object’s dirty flag is set (hasToUpdateBuffers() returns true). It should:

  • Re-upload only the changed data (vertices, colors, etc.)

  • Be as efficient as possible (don’t recompile everything)

Note

Must be called from OpenGL context thread

Note

Default implementation calls compile() - override for efficiency

Parameters:

sourceObj – The abstract viz object (read-only access)

virtual void render(const RenderContext &rc) const override

Renders this object using the provided context.

This is called every frame for visible objects. It should:

  • Bind appropriate buffers (VAO, VBO, textures)

  • Set shader uniforms (model matrix, material properties, etc.)

  • Issue draw calls (glDrawArrays, glDrawElements, etc.)

Note

Must be called from OpenGL context thread

Note

The shader program is already bound when this is called

Note

Common matrices (P, V, M) are already uploaded by CompiledViewport

Parameters:

rc – Rendering context (shader, matrices, lights)

inline virtual const char *typeName() const override

Returns a human-readable type name for this proxy. Used for debugging and logging.

Public Functions

PointsProxy() = default
~PointsProxy() override = default