SCENE C++ API  2.0.22
Public Member Functions | List of all members
LSPointCloudRenderer Class Reference

Interface class to perform rendering of a point cloud. More...

#include <lspointcloudrenderer.h>

+ Inheritance diagram for LSPointCloudRenderer:

Public Member Functions

void setResolution (uint16_t resolution[2])
 Sets the resolution of the framebuffer of this renderer. More...
 
void getResolution (uint16_t resolution[2]) const
 Retrieves currently configured framebuffer resolution. More...
 
void setPerspectiveCamera (double horizontalFOV)
 Activates perspective projection and sets the horizontal field of view (in radians). More...
 
double getPerspectiveFieldOfView () const
 Returns the horizontal field of view in radians. More...
 
void setOrthographicCamera (double horizontalRange)
 Activates orthographic projection and sets the horizontal view range (in meters) of the view. More...
 
double getOrthographicViewRange () const
 Returns the horizontal range (in meters) of the view for orthographic projection. More...
 
void getNearFar (double &nearDist, double &farDist) const
 Retrieves the near and far distance of the renderer camera. More...
 
void setNearFar (double nearDist, double farDist)
 Sets the near and far distance of the renderer camera. More...
 
bool getPerspectiveProjection () const
 Returns whether perspective (true) or orthographic (false) projection is active. More...
 
void queryVisiblePoints (const Eigen::Vector3d &cameraPos, const Eigen::Vector3d &cameraYAxis, const Eigen::Vector3d &cameraZAxis, LSPointXYZFRGBA **visiblePoints, size_t &numPoints, bool &final)
 Determines the visible points of this point cloud under the given camera configuration. More...
 

Additional Inherited Members

- Protected Member Functions inherited from LSRefType
void ref () const
 Increments the internal reference counter. More...
 
void unref () const
 Decrements the internal reference counter. More...
 

Detailed Description

Interface class to perform rendering of a point cloud.

Version
SCENE API Version 2.0.0.

Member Function Documentation

◆ setResolution()

void setResolution ( uint16_t  resolution[2])

Sets the resolution of the framebuffer of this renderer.

Order of parameters is first x dimension, then y dimension.

Version
SCENE API Version 2.0.14.

◆ getResolution()

void getResolution ( uint16_t  resolution[2]) const

Retrieves currently configured framebuffer resolution.

Order of parameters is first x dimension, then y dimension.

Version
SCENE API Version 2.0.14.

◆ setPerspectiveCamera()

void setPerspectiveCamera ( double  horizontalFOV)

Activates perspective projection and sets the horizontal field of view (in radians).

Version
SCENE API Version 2.0.14.

◆ getPerspectiveFieldOfView()

double getPerspectiveFieldOfView ( ) const

Returns the horizontal field of view in radians.

Version
SCENE API Version 2.0.14.

◆ setOrthographicCamera()

void setOrthographicCamera ( double  horizontalRange)

Activates orthographic projection and sets the horizontal view range (in meters) of the view.

Version
SCENE API Version 2.0.14.

◆ getOrthographicViewRange()

double getOrthographicViewRange ( ) const

Returns the horizontal range (in meters) of the view for orthographic projection.

Version
SCENE API Version 2.0.14.

◆ getNearFar()

void getNearFar ( double &  nearDist,
double &  farDist 
) const

Retrieves the near and far distance of the renderer camera.

Parameters
[out]nearDistOutput parameter for the near distance.
[out]farDistOutput parameter for the far distance.
Version
SCENE API Version 2.0.14.

◆ setNearFar()

void setNearFar ( double  nearDist,
double  farDist 
)

Sets the near and far distance of the renderer camera.

Version
SCENE API Version 2.0.14.

◆ getPerspectiveProjection()

bool getPerspectiveProjection ( ) const

Returns whether perspective (true) or orthographic (false) projection is active.

Version
SCENE API Version 2.0.14.

◆ queryVisiblePoints()

void queryVisiblePoints ( const Eigen::Vector3d &  cameraPos,
const Eigen::Vector3d &  cameraYAxis,
const Eigen::Vector3d &  cameraZAxis,
LSPointXYZFRGBA **  visiblePoints,
size_t &  numPoints,
bool &  final 
)

Determines the visible points of this point cloud under the given camera configuration.

Parameters
cameraPoscamera position in global coordinates
cameraYAxiscamera up vector in global coordinates
cameraZAxiscamera NEGATIVE viewing direction vector in global coordinates
visiblePointsaddress of buffer of resulting visible points in right-handed coordinate system defined by position, y axis and z axis.
numPointsnumber of detected visible points
finaltrue if the rendering is final, false if further calls might reveal more points because not yet all points have been loaded.
Version
SCENE API Version 2.0.14.