Go to the documentation of this file.
10 #ifndef opengl_COctoMapVoxels_H
11 #define opengl_COctoMapVoxels_H
146 inline bool areVoxelsVisible(
unsigned int voxel_set)
const {
ASSERT_(voxel_set<m_voxel_sets.size())
return m_voxel_sets[voxel_set].visible; }
169 inline size_t getVoxelCount(
const size_t set_index)
const {
ASSERT_(set_index<m_voxel_sets.size())
return m_voxel_sets[set_index].voxels.size(); }
190 void sort_voxels_by_z();
203 template <class OCTOMAP>
204 void setFromOctoMap(OCTOMAP &m) {
205 m.getAsOctoMapVoxels(*
this);
void showGridLines(bool show)
Shows/hides the grid lines.
bool isCubeTransparencyEnabled() const
bool areVoxelsVisible(unsigned int voxel_set) const
mrpt::math::TPoint3D m_bb_min
void enableLights(bool enable)
Can be used to enable/disable the effects of lighting in this object.
Color goes from black (occupied voxel) to the chosen color (free voxel)
Transparency goes from opaque (occupied voxel) to transparent (free voxel).
mrpt::utils::TColor color
The info of each grid block.
A renderizable object suitable for rendering with OpenGL's display lists.
bool m_showVoxelsAsPoints
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated)
void resizeVoxelSets(const size_t nVoxelSets)
const TVoxel & getVoxel(const size_t set_index, const size_t idx) const
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
size_t getGridCubeCount() const
Returns the total count of grid cubes.
bool areVoxelsShownAsPoints() const
TVoxel & getVoxelRef(const size_t set_index, const size_t idx)
void enableCubeTransparency(bool enable)
By default, the alpha (transparency) component of voxel cubes is taken into account,...
void reserveVoxels(const size_t set_index, const size_t nVoxels)
std::vector< TVoxel > voxels
float getVoxelAsPointsSize() const
void push_back_GridCube(const TGridCube &c)
void setGridLinesWidth(float w)
Sets the width of grid lines.
visualization_mode_t
The different coloring schemes, which modulate the generic mrpt::opengl::CRenderizable object color.
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
void setVoxelAsPointsSize(float pointSize)
Only used when showVoxelsAsPoints() is enabled.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
mrpt::utils::TColor m_grid_color
void showVoxels(unsigned int voxel_set, bool show)
Shows/hides the voxels (voxel_set is a 0-based index for the set of voxels to modify,...
bool areLightsEnabled() const
Color goes from black (at the bottom) to the chosen color (at the top)
Combination of COLOR_FROM_HEIGHT and TRANSPARENCY_FROM_OCCUPANCY.
void reserveGridCubes(const size_t nCubes)
const TGridCube & getGridCube(const size_t idx) const
visualization_mode_t m_visual_mode
size_t getVoxelCount(const size_t set_index) const
Returns the total count of voxels in one voxel set.
A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).
bool areGridLinesVisible() const
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
TGridCube & getGridCubeRef(const size_t idx)
void resizeGridCubes(const size_t nCubes)
virtual ~COctoMapVoxels()
Private, virtual destructor: only can be deleted from smart pointers.
std::vector< TGridCube > m_grid_cubes
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setVisualizationMode(visualization_mode_t mode)
Select the visualization mode.
void push_back_Voxel(const size_t set_index, const TVoxel &v)
float m_showVoxelsAsPointsSize
float getGridLinesWidth() const
Gets the width of grid lines.
void setGridLinesColor(const mrpt::utils::TColor &color)
void resizeVoxels(const size_t set_index, const size_t nVoxels)
size_t getVoxelSetCount() const
Returns the number of voxel sets.
bool m_enable_cube_transparency
TVoxel(const mrpt::math::TPoint3D &coords_, const double side_length_, mrpt::utils::TColor color_)
void showVoxelsAsPoints(const bool enable)
For quick renders: render voxels as points instead of cubes.
std::deque< TInfoPerVoxelSet > m_voxel_sets
const mrpt::utils::TColor & getGridLinesColor() const
Color goes from black (occupaid voxel) to the chosen color (free voxel) and they are transparent.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
mrpt::math::TPoint3D coords
TGridCube(const mrpt::math::TPoint3D &min_, const mrpt::math::TPoint3D &max_)
The info of each of the voxels.
visualization_mode_t getVisualizationMode() const
Page generated by Doxygen 1.8.16 for MRPT 1.4.0 SVN: at Mon Oct 14 22:32:58 UTC 2019 | | |