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

void	_updateRenderQueue (Ogre::RenderQueue *queue) override

void	addPoints (Point *points, uint32_t num_points)
	Add points to this point cloud. More...

void	clear ()
	Clear all the points. More...

const Ogre::AxisAlignedBox &	getBoundingBox () const override

float	getBoundingRadius () const override

const Ogre::String &	getMovableType () const override

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...

void	visitRenderables (Ogre::Renderable::Visitor *visitor, bool debugRenderables) override

	~PointCloud () override

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 vertex and geometry shaders. 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 108 of file point_cloud.h.

Member Typedef Documentation

◆ V_Point

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

private

Definition at line 222 of file point_cloud.h.

Member Enumeration Documentation

◆ RenderMode

enum rviz::PointCloud::RenderMode

Enumerator
RM_POINTS
RM_SQUARES
RM_FLAT_SQUARES
RM_SPHERES
RM_TILES
RM_BOXES

Definition at line 111 of file point_cloud.h.

Constructor & Destructor Documentation

◆ PointCloud()

rviz::PointCloud::PointCloud ( )

Definition at line 92 of file point_cloud.cpp.

◆ ~PointCloud()

rviz::PointCloud::~PointCloud ( )

override

Definition at line 137 of file point_cloud.cpp.

Member Function Documentation

◆ _notifyAttached()

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

override

Definition at line 658 of file point_cloud.cpp.

◆ _updateRenderQueue()

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

override

Definition at line 648 of file point_cloud.cpp.

◆ addPoints()

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 400 of file point_cloud.cpp.

◆ clear()

void rviz::PointCloud::clear ( )

Clear all the points.

Definition at line 164 of file point_cloud.cpp.

◆ createRenderable()

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

private

Definition at line 717 of file point_cloud.cpp.

◆ getBoundingBox()

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

override

Definition at line 149 of file point_cloud.cpp.

◆ getBoundingRadius()

float rviz::PointCloud::getBoundingRadius ( ) const

override

Definition at line 154 of file point_cloud.cpp.

◆ getMovableType()

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

inlineoverride

Definition at line 193 of file point_cloud.h.

◆ getNumWorldTransforms()

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

inlinevirtual

Definition at line 200 of file point_cloud.h.

◆ getVerticesPerPoint()

uint32_t rviz::PointCloud::getVerticesPerPoint ( )

private

Definition at line 663 of file point_cloud.cpp.

◆ getWorldTransforms()

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

virtual

Definition at line 159 of file point_cloud.cpp.

◆ popPoints()

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 581 of file point_cloud.cpp.

◆ regenerateAll()

void rviz::PointCloud::regenerateAll ( )

private

Definition at line 184 of file point_cloud.cpp.

◆ setAlpha()

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 368 of file point_cloud.cpp.

◆ setAutoSize()

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

Definition at line 316 of file point_cloud.cpp.

◆ setColorByIndex()

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

Definition at line 200 of file point_cloud.cpp.

◆ setCommonDirection()

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

See Ogre::BillboardSet::setCommonDirection.

Definition at line 326 of file point_cloud.cpp.

◆ setCommonUpVector()

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

See Ogre::BillboardSet::setCommonUpVector.

Definition at line 338 of file point_cloud.cpp.

◆ setDimensions()

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 300 of file point_cloud.cpp.

◆ setHighlightColor()

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

Definition at line 206 of file point_cloud.cpp.

◆ setName()

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

inlinevirtual

Definition at line 208 of file point_cloud.h.

◆ setPickColor()

void rviz::PointCloud::setPickColor ( const Ogre::ColourValue & color )

Definition at line 703 of file point_cloud.cpp.

◆ setRenderMode()

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 218 of file point_cloud.cpp.

◆ shrinkRenderables()

void rviz::PointCloud::shrinkRenderables ( )

private

Definition at line 631 of file point_cloud.cpp.

◆ visitRenderables()

void rviz::PointCloud::visitRenderables	(	Ogre::Renderable::Visitor *	visitor,
		bool	debugRenderables
	)

override

Definition at line 741 of file point_cloud.cpp.

Member Data Documentation

◆ alpha_

float rviz::PointCloud::alpha_

private

Definition at line 240 of file point_cloud.h.

◆ bounding_box_

Ogre::AxisAlignedBox rviz::PointCloud::bounding_box_

private

The bounding box of this point cloud.

Definition at line 219 of file point_cloud.h.

◆ bounding_radius_

float rviz::PointCloud::bounding_radius_

private

The bounding radius of this point cloud.

Definition at line 220 of file point_cloud.h.

◆ box_material_

Ogre::MaterialPtr rviz::PointCloud::box_material_

private

Definition at line 238 of file point_cloud.h.

◆ color_by_index_

bool rviz::PointCloud::color_by_index_

private

Definition at line 242 of file point_cloud.h.

◆ common_direction_

Ogre::Vector3 rviz::PointCloud::common_direction_

private

See Ogre::BillboardSet::setCommonDirection.

Definition at line 230 of file point_cloud.h.

◆ common_up_vector_

Ogre::Vector3 rviz::PointCloud::common_up_vector_

private

See Ogre::BillboardSet::setCommonUpVector.

Definition at line 231 of file point_cloud.h.

◆ current_material_

Ogre::MaterialPtr rviz::PointCloud::current_material_

private

Definition at line 239 of file point_cloud.h.

◆ current_mode_supports_geometry_shader_

bool rviz::PointCloud::current_mode_supports_geometry_shader_

private

Definition at line 246 of file point_cloud.h.

◆ depth_

float rviz::PointCloud::depth_

private

depth

Definition at line 229 of file point_cloud.h.

◆ flat_square_material_

Ogre::MaterialPtr rviz::PointCloud::flat_square_material_

private

Definition at line 235 of file point_cloud.h.

◆ height_

float rviz::PointCloud::height_

private

height

Definition at line 228 of file point_cloud.h.

◆ pick_color_

Ogre::ColourValue rviz::PointCloud::pick_color_

private

Definition at line 247 of file point_cloud.h.

◆ point_count_

uint32_t rviz::PointCloud::point_count_

private

The number of points currently in points_.

Definition at line 224 of file point_cloud.h.

◆ point_material_

Ogre::MaterialPtr rviz::PointCloud::point_material_

private

Definition at line 233 of file point_cloud.h.

◆ points_

V_Point rviz::PointCloud::points_

private

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

Definition at line 223 of file point_cloud.h.

◆ render_mode_

RenderMode rviz::PointCloud::render_mode_

private

Definition at line 226 of file point_cloud.h.

◆ renderables_

V_PointCloudRenderable rviz::PointCloud::renderables_

private

Definition at line 244 of file point_cloud.h.

◆ sm_Type

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

staticprivate

The "renderable type" used by Ogre.

Definition at line 249 of file point_cloud.h.

◆ sphere_material_

Ogre::MaterialPtr rviz::PointCloud::sphere_material_

private

Definition at line 236 of file point_cloud.h.

◆ square_material_

Ogre::MaterialPtr rviz::PointCloud::square_material_

private

Definition at line 234 of file point_cloud.h.

◆ tile_material_

Ogre::MaterialPtr rviz::PointCloud::tile_material_

private

Definition at line 237 of file point_cloud.h.

◆ width_

float rviz::PointCloud::width_

private

width

Definition at line 227 of file point_cloud.h.

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

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ V_Point

Member Enumeration Documentation

◆ RenderMode

Constructor & Destructor Documentation

◆ PointCloud()

◆ ~PointCloud()

Member Function Documentation

◆ _notifyAttached()

◆ _updateRenderQueue()

◆ addPoints()

◆ clear()

◆ createRenderable()

◆ getBoundingBox()

◆ getBoundingRadius()

◆ getMovableType()

◆ getNumWorldTransforms()

◆ getVerticesPerPoint()

◆ getWorldTransforms()

◆ popPoints()

◆ regenerateAll()

◆ setAlpha()

◆ setAutoSize()

◆ setColorByIndex()

◆ setCommonDirection()

◆ setCommonUpVector()

◆ setDimensions()

◆ setHighlightColor()

◆ setName()

◆ setPickColor()

◆ setRenderMode()

◆ shrinkRenderables()

◆ visitRenderables()

Member Data Documentation

◆ alpha_

◆ bounding_box_

◆ bounding_radius_

◆ box_material_

◆ color_by_index_

◆ common_direction_

◆ common_up_vector_

◆ current_material_

◆ current_mode_supports_geometry_shader_

◆ depth_

◆ flat_square_material_

◆ height_

◆ pick_color_

◆ point_count_

◆ point_material_

◆ points_

◆ render_mode_

◆ renderables_

◆ sm_Type

◆ sphere_material_

◆ square_material_

◆ tile_material_

◆ width_