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nrt::graphics::PointCloudNormals Class Reference

#include <nrt/Graphics/Shapes.H>

Normals contained in a Point Cloud.

Parameters
scaleByCurvatureIf true, then the length of the normals will be equal to normallength * normal.curvature().
normallengthThe maximum length of the normals in meters.

Definition at line 491 of file Shapes.H.

Inheritance diagram for nrt::graphics::PointCloudNormals:
nrt::graphics::Shape

Public Member Functions

 PointCloudNormals (nrt::PointCloud2 const &pointcloud_=nrt::PointCloud2(), bool scaleByCurvature=false, float const normallength=0.01F, Eigen::Affine3f const &frame_=Eigen::Affine3f::Identity(), nrt::Duration const &lifetime_=nrt::forev(), nrt::graphics::Pen const &pen_=nrt::graphics::Pen(), nrt::graphics::Brush const &brush_=nrt::graphics::Brush())
 Constructor.
 
virtual ~PointCloudNormals ()
 Virtual destructor for safe inheritance.
 
virtual void render (nrt::graphics::ShapeRenderer &sr) const
 Render this shape into a ShapeRenderer (e.g., OpenGL window)
 
template<class Archive >
void serialize (Archive &ar)
 
- Public Member Functions inherited from nrt::graphics::Shape
 Shape (Eigen::Affine3f const &frame_=Eigen::Affine3f::Identity(), nrt::Duration const &lifetime_=nrt::forev(), nrt::graphics::Pen const &pen_=nrt::graphics::Pen(), nrt::graphics::Brush const &brush_=nrt::graphics::Brush())
 Constructor using a lifetime duration.
 
 Shape (Eigen::Affine3f const &frame_, nrt::Time const &endtime_, nrt::graphics::Pen const &pen_=nrt::graphics::Pen(), nrt::graphics::Brush const &brush_=nrt::graphics::Brush())
 Constructor using an end-of-life time point.
 
virtual ~Shape ()
 Virtual destructor for safe inheritance.
 
bool expired () const
 Returns true if this shape is past its lifetime.
 
template<class Archive >
void serialize (Archive &ar)
 Serialization.
 

Protected Attributes

nrt::PointCloud2 pointcloud
 
bool scaleByCurvature
 
float normallength
 
- Protected Attributes inherited from nrt::graphics::Shape
Eigen::Affine3f frame
 Coordinate frame of this shape.
 
nrt::Time endtime
 Time after which this shape should be discarded.
 
nrt::graphics::Pen pen
 Pen to use to draw edges.
 
nrt::graphics::Brush brush
 Brush to use to draw surfaces.
 

Additional Inherited Members

- Protected Member Functions inherited from nrt::graphics::Shape
bool prerender (nrt::graphics::ShapeRenderer &sr) const
 Set frame, pen, brush, etc, return false if dead.
 
void postrender (nrt::graphics::ShapeRenderer &sr) const
 End rendering of a given shape.
 

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