Visualizer for voxel grids of with voxel type VoxelT. More...

#include <VisionX/libraries/VoxelGridCore/Visualizer.hpp>

Classes
struct	VoxelVisuData
	Information about a voxel about to-be-drawn. More...

Public Member Functions
void	clearLayer ()
	Clear the layer.

void	clearVoxelLayer (bool sleep=false)
	Clear the voxel layer.

void	draw (const VoxelGrid< VoxelT > &grid)
	Draw the voxel grid.

void	drawBoundingEdges (const VoxelGrid< VoxelT > &grid)
	Draw the bounding edges of the voxel grid.

void	drawStructure (const VoxelGrid< VoxelT > &grid, float lineWidth=1, const armarx::DrawColor &colorEdges={0,.5, 1, 1}, const armarx::DrawColor &colorStructure={0, 1, 1, 1}, bool drawOriginVoxel=false)
	Draw the bounding edges of the voxel grid.

	operator bool () const

void	setDebugDrawer (const armarx::DebugDrawerInterfacePrx &debugDrawer)
	Set the debug drawer.

void	setLayer (const std::string &layer)
	Set the layer name.

	Visualizer ()
	Default constructor.

	Visualizer (const armarx::DebugDrawerTopic &drawer, const std::string &voxelLayer="VoxelGrid")
	Initialize with debug drawer and voxel grid.

virtual	~Visualizer ()
	Virtual destructor.

Protected Member Functions
armarx::DebugDrawerTopic &	drawer ()
	Get the debug drawer.

const armarx::DebugDrawerTopic &	drawer () const

virtual void	drawVoxel (const VoxelVisuData &visu)
	Draw a voxel.

std::string	getVoxelLayer () const
	Get the layer name.

virtual bool	isVisible (const VoxelVisuData &visu) const
	Indicate whether a voxel shall be drawn.

Detailed Description

template<typename VoxelT>
class visionx::voxelgrid::Visualizer< VoxelT >

Visualizer for voxel grids of with voxel type VoxelT.

Definition at line 43 of file Visualizer.hpp.

Constructor & Destructor Documentation

◆ Visualizer() [1/2]

template<typename VT>

Visualizer ( )

Default constructor.

Definition at line 155 of file Visualizer.hpp.

◆ Visualizer() [2/2]

template<typename VT>

Visualizer	(	const armarx::DebugDrawerTopic &	drawer,
		const std::string &	voxelLayer = "VoxelGrid" )

Initialize with debug drawer and voxel grid.

Definition at line 160 of file Visualizer.hpp.

◆ ~Visualizer()

template<typename VoxelT>

virtual ~Visualizer ( )

inlinevirtual

Virtual destructor.

Reimplemented in Visualizer, and Visualizer.

Definition at line 53 of file Visualizer.hpp.

Member Function Documentation

◆ clearLayer()

template<typename VT>

void clearLayer ( )

Clear the layer.

Definition at line 171 of file Visualizer.hpp.

◆ clearVoxelLayer()

template<typename VT>

void clearVoxelLayer ( bool sleep = false )

Clear the voxel layer.

Definition at line 178 of file Visualizer.hpp.

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◆ draw()

template<typename VoxelT>

void draw ( const VoxelGrid< VoxelT > & grid )

Draw the voxel grid.

Definition at line 399 of file Visualizer.hpp.

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◆ drawBoundingEdges()

template<typename VoxelT>

void drawBoundingEdges ( const VoxelGrid< VoxelT > & grid )

Draw the bounding edges of the voxel grid.

Definition at line 185 of file Visualizer.hpp.

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◆ drawer() [1/2]

template<typename VoxelT>

armarx::DebugDrawerTopic & drawer ( )

inlineprotected

Get the debug drawer.

Definition at line 124 of file Visualizer.hpp.

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◆ drawer() [2/2]

template<typename VoxelT>

const armarx::DebugDrawerTopic & drawer ( ) const

inlineprotected

Definition at line 130 of file Visualizer.hpp.

◆ drawStructure()

template<typename VoxelT>

void drawStructure	(	const VoxelGrid< VoxelT > &	grid,
		float	lineWidth = 1,
		const armarx::DrawColor &	colorEdges = {0, .5, 1, 1},
		const armarx::DrawColor &	colorStructure = {0, 1, 1, 1},
		bool	drawOriginVoxel = false )

Draw the bounding edges of the voxel grid.

Definition at line 246 of file Visualizer.hpp.

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◆ drawVoxel()

template<typename VoxelT>

void drawVoxel ( const VoxelVisuData & visu )

protectedvirtual

Draw a voxel.

Definition at line 428 of file Visualizer.hpp.

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◆ getVoxelLayer()

template<typename VoxelT>

std::string getVoxelLayer ( ) const

inlineprotected

Get the layer name.

Definition at line 137 of file Visualizer.hpp.

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◆ isVisible()

template<typename VoxelT>

virtual bool isVisible ( const VoxelVisuData & visu ) const

inlineprotectedvirtual

Indicate whether a voxel shall be drawn.

Voxels for which this method returns false are not passed to drawVoxel().

Reimplemented in Visualizer, and Visualizer.

Definition at line 113 of file Visualizer.hpp.

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◆ operator bool()

template<typename VoxelT>

operator bool ( ) const

inline

Definition at line 89 of file Visualizer.hpp.

◆ setDebugDrawer()

template<typename VoxelT>

void setDebugDrawer ( const armarx::DebugDrawerInterfacePrx & debugDrawer )

inline

Set the debug drawer.

Definition at line 77 of file Visualizer.hpp.

◆ setLayer()

template<typename VoxelT>

void setLayer ( const std::string & layer )

inline

Set the layer name.

Definition at line 84 of file Visualizer.hpp.

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

VisionX/libraries/VoxelGridCore/Visualizer.hpp

Classes

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Visualizer() [1/2]

◆ Visualizer() [2/2]

◆ ~Visualizer()

Member Function Documentation

◆ clearLayer()

◆ clearVoxelLayer()

◆ draw()

◆ drawBoundingEdges()

◆ drawer() [1/2]

◆ drawer() [2/2]

◆ drawStructure()

◆ drawVoxel()

◆ getVoxelLayer()

◆ isVisible()

◆ operator bool()

◆ setDebugDrawer()

◆ setLayer()