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]	nearDist	Output parameter for the near distance.
[out]	farDist	Output 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

cameraPos	camera position in global coordinates
cameraYAxis	camera up vector in global coordinates
cameraZAxis	camera NEGATIVE viewing direction vector in global coordinates
visiblePoints	address of buffer of resulting visible points in right-handed coordinate system defined by position, y axis and z axis.
numPoints	number of detected visible points
final	true 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.