#include <pointcloud.h>

类 PointCloud 继承关系图:

PointCloud 的协作图:

Public 成员函数
	PointCloud (int pointCount=1, int vertex_element_count=3, const std::shared_ptr< QOpenGLShaderProgram > &shaderProgram=NullRenderableObj)

	~PointCloud (void)

virtual GLenum	GetPrimitiveType (void) const

bool	FillData (const std::shared_ptr< const apollo::drivers::PointCloud > &pData)

Public 成员函数继承自 RenderableObject
	RenderableObject (int vertex_count=1, int vertex_element_count=3, const std::shared_ptr< QOpenGLShaderProgram > &shaderProgram=NullRenderableObj)

virtual	~RenderableObject (void)

virtual void	SetupExtraUniforms (void)

bool	is_renderable (void) const

void	set_is_renderable (bool b)

int	vertex_count (void) const

void	set_vertex_count (int vertexCount)

int	vertex_element_count (void) const

void	set_vertex_element_count (int vertexElementCount)

int	VertexBufferSize (void) const

void	set_shader_program (const std::shared_ptr< QOpenGLShaderProgram > &shaderProgram)

bool	haveShaderProgram (void)

bool	Init (std::shared_ptr< QOpenGLShaderProgram > &shaderProgram=NullRenderableObj)

void	Destroy (void)

void	Render (const QMatrix4x4 *mvp=nullptr)

额外继承的成员函数
静态 Public 成员函数继承自 RenderableObject
static std::shared_ptr< QOpenGLShaderProgram >	CreateShaderProgram (const QString &vertexShaderFileName, const QString &fragShaderFileName)

静态 Public 属性继承自 RenderableObject
static std::shared_ptr< QOpenGLShaderProgram >	NullRenderableObj

Protected 成员函数继承自 RenderableObject
virtual void	Draw (void)

virtual void	SetupAllAttrPointer (void)

Protected 属性继承自 RenderableObject
bool	is_init_

bool	is_renderable_

int	vertex_count_

int	vertex_element_count_

std::shared_ptr< QOpenGLShaderProgram >	shader_program_

QOpenGLVertexArrayObject	vao_

QOpenGLBuffer	vbo_

详细描述

在文件 pointcloud.h 第 26 行定义.

构造及析构函数说明

◆ PointCloud()

PointCloud::PointCloud	(	int	pointCount = `1`,
		int	vertex_element_count = `3`,
		const std::shared_ptr< QOpenGLShaderProgram > &	shaderProgram = `NullRenderableObj`
	)

explicit

在文件 pointcloud.cc 第 21 行定义.

24 : RenderableObject(pointCount, vertexElementCount, shaderProgram),

25 buffer_(nullptr) {}

RenderableObject

Definition renderable_object.h:25

◆ ~PointCloud()

PointCloud::~PointCloud ( void )

在文件 pointcloud.cc 第 27 行定义.

                            {
  if (buffer_) {
    delete[] buffer_;
    buffer_ = nullptr;
  }
}

成员函数说明

◆ FillData()

bool PointCloud::FillData ( const std::shared_ptr< const apollo::drivers::PointCloud > & pData )

在文件 pointcloud.cc 第 47 行定义.

                                                               {
  assert(vertex_count() == pdata->point_size());
  buffer_ = new GLfloat[vertex_count() * vertex_element_count()];
  if (buffer_) {
    GLfloat* tmp = buffer_;
 
    for (int i = 0; i < vertex_count(); ++i, tmp += vertex_element_count()) {
      const apollo::drivers::PointXYZIT& point = pdata->point(i);
      tmp[0] = point.x();
      tmp[1] = point.z();
      tmp[2] = -point.y();
      tmp[3] = static_cast<float>(point.intensity());
    }
    return true;
  }
  return false;
}

◆ GetPrimitiveType()

virtual GLenum PointCloud::GetPrimitiveType ( void ) const

inlinevirtual

实现了 RenderableObject.

在文件 pointcloud.h 第 33 行定义.

33{ return GL_POINTS; }

该类的文档由以下文件生成:

modules/tools/visualizer/pointcloud.h
modules/tools/visualizer/pointcloud.cc

Public 成员函数