#include <RobotAPI/components/ArViz/Client/elements/PointCloud.h>

Inheritance diagram for PointCloud:

Public Member Functions
PointCloud &	addPoint (ColoredPoint const &p)

template<class PointT>
PointCloud &	addPoint (const PointT &p)
	Add a point with its "natural" color.

template<class PointT>
PointCloud &	addPoint (const PointT &p, bool colorByLabel)
	Add a colored or labeled point.

template<class PointT>
PointCloud &	addPoint (const PointT &p, Color color)
	Add a point in the given color.

PointCloud &	addPoint (float x, float y, float z)

template<typename ColorCoeff = int>
PointCloud &	addPoint (float x, float y, float z, ColorCoeff r, ColorCoeff g, ColorCoeff b, ColorCoeff a=255)

PointCloud &	addPoint (float x, float y, float z, const data::Color &color)

PointCloud &	addPoint (float x, float y, float z, const simox::Color &color)

PointCloud &	addPoint (float x, float y, float z, std::size_t id, int alpha=255)

PointCloud &	addPointUnchecked (ColoredPoint const &p)

PointCloud &	checkFinite (bool enabled=true)
	Enable or disable checking whether points are finite when adding them (disabled by default).

PointCloud &	clear ()

	ElementOps (std::string const &id)

template<class PointCloudT>
PointCloud &	pointCloud (const PointCloudT &cloud)
	Draw a point cloud.

template<class PointCloudT>
PointCloud &	pointCloud (const PointCloudT &cloud, bool colorByLabel)
	Draw a point cloud.

template<class PointCloudT>
PointCloud &	pointCloud (const PointCloudT &cloud, Color color)
	Draw a unicolored point cloud with given color.

template<class PointCloudT, class ColorFuncT>
PointCloud &	pointCloud (const PointCloudT &cloud, const ColorFuncT &colorFunc)
	Draw a colored point cloud with custom colors.

template<class PointCloudT>
PointCloud &	pointCloud (const PointCloudT &cloud, const std::vector< int > &indices)
	Draw a point cloud with given indices.

template<class PointCloudT>
PointCloud &	pointCloud (const PointCloudT &cloud, const std::vector< int > &indices, bool colorByLabel)
	Draw a point cloud with given indices.

template<class PointCloudT>
PointCloud &	pointCloud (const PointCloudT &cloud, const std::vector< int > &indices, Color color)
	Draw a unicolored point cloud with given color and indices.

template<class PointCloudT, class ColorFuncT>
PointCloud &	pointCloud (const PointCloudT &cloud, const std::vector< int > &indices, const ColorFuncT &colorFunc)
	Draw a colored point cloud with custom colors and given indices.

template<class PointCloudT, class ScalarFuncT>
PointCloud &	pointCloud (const PointCloudT &pointCloud, const simox::ColorMap &colorMap, const ScalarFuncT &scalarFunc)
	Draw a colored point cloud with using a color map.

template<class PointCloudT, class ScalarFuncT>
PointCloud &	pointCloud (const PointCloudT &pointCloud, const std::vector< int > &indices, const simox::ColorMap &colorMap, const ScalarFuncT &scalarFunc)
	Draw a colored point cloud with using a color map and given indices.

PointCloud &	points (std::vector< ColoredPoint > const &ps)

PointCloud &	pointSizeInPixels (float s)

template<class PointCloudT, class PointFunc>
PointCloud &	setPointCloud (const PointCloudT &cloud, const PointFunc &pointFunc, bool clear=true)
	Set the point cloud from a `pcl::PointCloud`.

template<class PointCloudT, class PointFunc>
PointCloud &	setPointCloud (const PointCloudT &cloud, const std::vector< int > &indices, const PointFunc &pointFunc, bool clear=true)
	Set the point cloud from a `pcl::PointCloud`.

PointCloud &	transparency (float t)

Public Member Functions inherited from ElementOps< PointCloud, data::ElementPointCloud >
PointCloud &	color (Color color)

PointCloud &	color (Ts &&... ts)

PointCloud &	colorGlasbeyLUT (std::size_t id, int alpha=255)

	ElementOps (std::string const &id)

PointCloud &	enable (InteractionDescription const &interactionDescription)

PointCloud &	hide ()

PointCloud &	id (const std::string &id)

PointCloud &	orientation (Eigen::Matrix3f const &ori)

PointCloud &	orientation (Eigen::Quaternionf const &ori)

PointCloud &	orientation (float r, float p, float y)

PointCloud &	overrideMaterial (bool value)

Eigen::Matrix4f	pose () const

PointCloud &	pose (const Eigen::Affine3f &pose)

PointCloud &	pose (Eigen::Matrix4f const &pose)

PointCloud &	pose (Eigen::Vector3f const &position, Eigen::Matrix3f const &orientation)

PointCloud &	pose (Eigen::Vector3f const &position, Eigen::Quaternionf const &orientation)

PointCloud &	position (Eigen::Vector3f const &pos)

PointCloud &	position (float x, float y, float z)

PointCloud &	scale (Eigen::Vector3f scale)

PointCloud &	scale (float s)

PointCloud &	scale (float x, float y, float z)

PointCloud &	show ()

PointCloud &	transformPose (Eigen::Matrix4f const &p)

PointCloud &	visible (bool visible)

Additional Inherited Members
Public Attributes inherited from ElementOps< PointCloud, data::ElementPointCloud >
IceInternal::Handle< data::ElementPointCloud >	data_

Detailed Description

Definition at line 19 of file PointCloud.h.

Member Function Documentation

◆ addPoint() [1/9]

PointCloud & addPoint ( ColoredPoint const & p )

inline

Definition at line 81 of file PointCloud.h.

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◆ addPoint() [2/9]

template<class PointT>

PointCloud & addPoint ( const PointT & p )

inline

Add a point with its "natural" color.

If the point has label, the corresponding Glasbey color is used. If the point has r, g, b, a (but no label, its RGBA is used. Otherwise, its color will be grey.

Parameters

p	Point with members `x, y, z`, optionally `label`, optionally `r, g, b, a`.

Definition at line 165 of file PointCloud.h.

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◆ addPoint() [3/9]

template<class PointT>

PointCloud & addPoint	(	const PointT &	p,
		bool	colorByLabel )

inline

Add a colored or labeled point.

Parameters

p	Point with members `x, y, z, r, g, b, a, label`.
colorByLabel	Whether to color the point by label (true) or by its RGBA (false).

Definition at line 189 of file PointCloud.h.

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◆ addPoint() [4/9]

template<class PointT>

PointCloud & addPoint	(	const PointT &	p,
		Color	color )

inline

Add a point in the given color.

Definition at line 149 of file PointCloud.h.

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◆ addPoint() [5/9]

PointCloud & addPoint	(	float	x,
		float	y,
		float	z )

inline

Definition at line 131 of file PointCloud.h.

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◆ addPoint() [6/9]

template<typename ColorCoeff = int>

PointCloud & addPoint	(	float	x,
		float	y,
		float	z,
		ColorCoeff	r,
		ColorCoeff	g,
		ColorCoeff	b,
		ColorCoeff	a = 255 )

inline

Definition at line 119 of file PointCloud.h.

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◆ addPoint() [7/9]

PointCloud & addPoint	(	float	x,
		float	y,
		float	z,
		const data::Color &	color )

inline

Definition at line 101 of file PointCloud.h.

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◆ addPoint() [8/9]

PointCloud & addPoint	(	float	x,
		float	y,
		float	z,
		const simox::Color &	color )

inline

Definition at line 112 of file PointCloud.h.

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◆ addPoint() [9/9]

PointCloud & addPoint	(	float	x,
		float	y,
		float	z,
		std::size_t	id,
		int	alpha = 255 )

inline

Definition at line 137 of file PointCloud.h.

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◆ addPointUnchecked()

PointCloud & addPointUnchecked ( ColoredPoint const & p )

inline

Definition at line 92 of file PointCloud.h.

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◆ checkFinite()

PointCloud & checkFinite ( bool enabled = true )

inline

Enable or disable checking whether points are finite when adding them (disabled by default).

Call this function (with no argument or true) before adding points to enable checking.

Non-finite points can break visualization (e.g. produce a white screen), so enable this if your point cloud may contain non-finite points.

See also: isfinite()

Definition at line 38 of file PointCloud.h.

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◆ clear()

PointCloud & clear ( )

inline

Definition at line 62 of file PointCloud.h.

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◆ ElementOps()

ElementOps ( std::string const & id )

inline

Definition at line 119 of file ElementOps.h.

◆ pointCloud() [1/10]

template<class PointCloudT>

PointCloud & pointCloud ( const PointCloudT & cloud )

inline

Draw a point cloud.

Definition at line 206 of file PointCloud.h.

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◆ pointCloud() [2/10]

template<class PointCloudT>

PointCloud & pointCloud	(	const PointCloudT &	cloud,
		bool	colorByLabel )

inline

Draw a point cloud.

Definition at line 231 of file PointCloud.h.

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◆ pointCloud() [3/10]

template<class PointCloudT>

PointCloud & pointCloud	(	const PointCloudT &	cloud,
		Color	color )

inline

Draw a unicolored point cloud with given color.

Definition at line 222 of file PointCloud.h.

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◆ pointCloud() [4/10]

template<class PointCloudT, class ColorFuncT>

PointCloud & pointCloud	(	const PointCloudT &	cloud,
		const ColorFuncT &	colorFunc )

inline

Draw a colored point cloud with custom colors.

The color of a point is specified by colorFunc, which must be a callable taking an element of pointCloud and returning its color as viz::Color or simox::Color.

Definition at line 267 of file PointCloud.h.

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◆ pointCloud() [5/10]

template<class PointCloudT>

PointCloud & pointCloud	(	const PointCloudT &	cloud,
		const std::vector< int > &	indices )

inline

Draw a point cloud with given indices.

Definition at line 214 of file PointCloud.h.

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◆ pointCloud() [6/10]

template<class PointCloudT>

PointCloud & pointCloud	(	const PointCloudT &	cloud,
		const std::vector< int > &	indices,
		bool	colorByLabel )

inline

Draw a point cloud with given indices.

Definition at line 240 of file PointCloud.h.

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◆ pointCloud() [7/10]

template<class PointCloudT>

PointCloud & pointCloud	(	const PointCloudT &	cloud,
		const std::vector< int > &	indices,
		Color	color )

inline

Draw a unicolored point cloud with given color and indices.

Definition at line 251 of file PointCloud.h.

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◆ pointCloud() [8/10]

template<class PointCloudT, class ColorFuncT>

PointCloud & pointCloud	(	const PointCloudT &	cloud,
		const std::vector< int > &	indices,
		const ColorFuncT &	colorFunc )

inline

Draw a colored point cloud with custom colors and given indices.

Definition at line 278 of file PointCloud.h.

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◆ pointCloud() [9/10]

template<class PointCloudT, class ScalarFuncT>

PointCloud & pointCloud	(	const PointCloudT &	pointCloud,
		const simox::ColorMap &	colorMap,
		const ScalarFuncT &	scalarFunc )

inline

Draw a colored point cloud with using a color map.

The color of a point is specified by colorMap and scalarFunc. scalarFunc must be a callable taking an element of pointCloud and returning a scalar value which is passed to colorMap to retrieve the point's color.

Definition at line 297 of file PointCloud.h.

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◆ pointCloud() [10/10]

template<class PointCloudT, class ScalarFuncT>

PointCloud & pointCloud	(	const PointCloudT &	pointCloud,
		const std::vector< int > &	indices,
		const simox::ColorMap &	colorMap,
		const ScalarFuncT &	scalarFunc )

inline

Draw a colored point cloud with using a color map and given indices.

Definition at line 311 of file PointCloud.h.

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◆ points()

PointCloud & points ( std::vector< ColoredPoint > const & ps )

inline

Definition at line 69 of file PointCloud.h.

◆ pointSizeInPixels()

PointCloud & pointSizeInPixels ( float s )

inline

Definition at line 53 of file PointCloud.h.

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◆ setPointCloud() [1/2]

template<class PointCloudT, class PointFunc>

PointCloud & setPointCloud	(	const PointCloudT &	cloud,
		const PointFunc &	pointFunc,
		bool	clear = true )

inline

Set the point cloud from a pcl::PointCloud.

Parameters

cloud	The point cloud.
pointFunc	A function processing each point, taking an element of `cloud`.
checkFinite	Enable or disable checking whether points are finite (enabled by default). Points containing infinity can break visualization (e.g. produce a white screen).
clear	Whether to clear the point cloud beforehand (true by default).

Returns: *this

Definition at line 338 of file PointCloud.h.

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◆ setPointCloud() [2/2]

template<class PointCloudT, class PointFunc>

PointCloud & setPointCloud	(	const PointCloudT &	cloud,
		const std::vector< int > &	indices,
		const PointFunc &	pointFunc,
		bool	clear = true )

inline

Set the point cloud from a pcl::PointCloud.

Parameters

cloud	The source point cloud.
indices	The indices to add.
pointFunc	A function processing each point, taking an element of each `indices` and `cloud`.
checkFinite	Enable or disable checking whether points are finite (enabled by default). Points containing infinity can break visualization (e.g. produce a white screen).
clear	Whether to clear the point cloud beforehand (true by default).

Returns: *this

Definition at line 367 of file PointCloud.h.

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◆ transparency()

PointCloud & transparency ( float t )

inline

Definition at line 45 of file PointCloud.h.

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

RobotAPI/components/ArViz/Client/elements/PointCloud.h

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ addPoint() [1/9]

◆ addPoint() [2/9]

◆ addPoint() [3/9]

◆ addPoint() [4/9]

◆ addPoint() [5/9]

◆ addPoint() [6/9]

◆ addPoint() [7/9]

◆ addPoint() [8/9]

◆ addPoint() [9/9]

◆ addPointUnchecked()

◆ checkFinite()

◆ clear()

◆ ElementOps()

◆ pointCloud() [1/10]

◆ pointCloud() [2/10]

◆ pointCloud() [3/10]

◆ pointCloud() [4/10]

◆ pointCloud() [5/10]

◆ pointCloud() [6/10]

◆ pointCloud() [7/10]

◆ pointCloud() [8/10]

◆ pointCloud() [9/10]

◆ pointCloud() [10/10]

◆ points()

◆ pointSizeInPixels()

◆ setPointCloud() [1/2]

◆ setPointCloud() [2/2]

◆ transparency()