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New class "CMeshFast" added to opengl module. It draws a pseudo-mesh using points instead of lines and triangles to reduce the rendering computational effort.
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‎doc/design_of_images/preview_CMeshFast.png‎

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‎doc/doxygen-pages/lib_mrpt_opengl.h‎

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<tr> <td> mrpt::opengl::CGridPlaneXY </td> <td> \image html preview_CGridPlaneXY.png </td> </tr>
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<tr> <td> mrpt::opengl::CGridPlaneXZ </td> <td> \image html preview_CGridPlaneXZ.png </td> </tr>
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<tr> <td> mrpt::opengl::CMesh </td> <td> \image html preview_CMesh.png </td> </tr>
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<tr> <td> mrpt::opengl::CMeshFast </td> <td> \image html preview_CMeshFast.png </td> </tr>
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<tr> <td> mrpt::opengl::CPointCloud </td> <td> \image html preview_CPointCloud.png </td> </tr>
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<tr> <td> mrpt::opengl::CPointCloudColoured </td> <td> \image html preview_CPointCloudColoured.png </td> </tr>
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<tr> <td> mrpt::opengl::CPolyhedron </td> <td> \image html preview_CPolyhedron.png </td> </tr>

‎libs/opengl/include/mrpt/opengl.h‎

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#include <mrpt/opengl/CGridPlaneXY.h>
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#include <mrpt/opengl/CGridPlaneXZ.h>
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#include <mrpt/opengl/CMesh.h>
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#include <mrpt/opengl/CMeshFast.h>
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#include <mrpt/opengl/CPointCloud.h>
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#include <mrpt/opengl/CPointCloudColoured.h>
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#include <mrpt/opengl/CSetOfLines.h>

‎libs/opengl/include/mrpt/opengl/CMeshFast.h‎

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/* +---------------------------------------------------------------------------+
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| The Mobile Robot Programming Toolkit (MRPT) |
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| |
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| http://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2013, Individual contributors, see AUTHORS file |
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| Copyright (c) 2005-2013, MAPIR group, University of Malaga |
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| Copyright (c) 2012-2013, University of Almeria |
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| All rights reserved. |
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| |
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| Redistribution and use in source and binary forms, with or without |
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| modification, are permitted provided that the following conditions are |
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| met: |
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| * Redistributions of source code must retain the above copyright |
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| notice, this list of conditions and the following disclaimer. |
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| * Redistributions in binary form must reproduce the above copyright |
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| notice, this list of conditions and the following disclaimer in the |
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| documentation and/or other materials provided with the distribution. |
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| * Neither the name of the copyright holders nor the |
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| names of its contributors may be used to endorse or promote products |
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| derived from this software without specific prior written permission.|
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| |
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| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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| 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED |
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| TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR|
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| PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE |
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| FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL|
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| DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR|
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| SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
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| HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, |
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| STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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| ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| POSSIBILITY OF SUCH DAMAGE. |
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+---------------------------------------------------------------------------+ */
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#ifndef opengl_CMeshFast_H
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#define opengl_CMeshFast_H
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#include <mrpt/opengl/CRenderizableDisplayList.h>
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#include <mrpt/math/CMatrix.h>
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#include <mrpt/utils/CImage.h>
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#include <mrpt/utils/color_maps.h>
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namespace mrpt
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{
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namespace opengl
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{
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class OPENGL_IMPEXP CMeshFast;
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// This must be added to any CSerializable derived class:
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DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CMeshFast, CRenderizableDisplayList, OPENGL_IMPEXP )
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/** A planar (XY) grid where each cell has an associated height and, optionally, a texture map.
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* To make it faster to render, instead of drawing lines and triangles it draws a point at each
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* gridcell.
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* A typical usage example would be an elevation map or a 3D model of a terrain.
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* \sa opengl::COpenGLScene
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*
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* <div align="center">
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* <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
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* <tr> <td> mrpt::opengl::CMesh </td> <td> \image html preview_CMeshFast.png </td> </tr>
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* </table>
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* </div>
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*
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* \ingroup mrpt_opengl_grp
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*/
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class OPENGL_IMPEXP CMeshFast : public CRenderizableDisplayList
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{
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DEFINE_SERIALIZABLE( CMeshFast )
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protected:
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mrpt::utils::CImage m_textureImage;
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bool m_enableTransparency;
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bool m_colorFromZ;
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bool m_isImage;
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mutable math::CMatrix X; //!< X(x,y): X-coordinate of the point (x,y)
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mutable math::CMatrix Y; //!< Y(x,y): Y-coordinate of the point (x,y)
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mutable math::CMatrix Z; //!< Z(x,y): Z-coordinate of the point (x,y)
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mutable math::CMatrix C; //!< Grayscale Color [0,1] for each cell, updated by updateColorsMatrix
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mutable math::CMatrix C_r; //!< Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix
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mutable math::CMatrix C_g; //!< Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix
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mutable math::CMatrix C_b; //!< Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix
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mrpt::utils::TColormap m_colorMap; //!< Used when m_colorFromZ is true
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float m_pointSize; //!< By default is 1.0
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bool m_pointSmooth; //!< Default: false
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mutable bool m_modified_Z; //!< Whether C is not up-to-date wrt to Z
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mutable bool m_modified_Image; //!< Whether C is not up-to-date wrt to the texture image
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void updateColorsMatrix() const; //!< Called internally to assure C is updated.
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void updatePoints() const;
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float xMin,xMax,yMin,yMax; //!< Mesh bounds
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mutable bool pointsUpToDate; //!<Whether the coordinates of the points needs to be recalculated
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public:
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inline void setPointSize(float p) { m_pointSize=p; } //!< By default is 1.0
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inline float getPointSize() const { return m_pointSize; }
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inline void enablePointSmooth(bool enable=true) { m_pointSmooth=enable; }
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inline void disablePointSmooth() { m_pointSmooth=false; }
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void setGridLimits(float xmin,float xmax, float ymin, float ymax)
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{
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xMin=xmin; xMax = xmax;
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yMin=ymin; yMax = ymax;
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CRenderizableDisplayList::notifyChange();
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}
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void getGridLimits(float &xmin,float &xmax, float &ymin, float &ymax) const
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{
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xmin=xMin; xmax=xMax;
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ymin=yMin; ymax=yMax;
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}
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void enableTransparency( bool v ) { m_enableTransparency = v; CRenderizableDisplayList::notifyChange(); }
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void enableColorFromZ( bool v, mrpt::utils::TColormap colorMap = mrpt::utils::cmJET )
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{
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m_colorFromZ = v;
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m_colorMap = colorMap;
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CRenderizableDisplayList::notifyChange();
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}
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/** This method sets the matrix of heights for each position (cell) in the mesh grid */
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void setZ( const mrpt::math::CMatrixTemplateNumeric<float> &in_Z );
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/** Returns a reference to the internal Z matrix, allowing changing it efficiently */
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inline void getZ(mrpt::math::CMatrixFloat &out) const { out=Z; }
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inline float getXMin() const { return xMin; }
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inline float getXMax() const { return xMax; }
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inline float getYMin() const { return yMin; }
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inline float getYMax() const { return yMax; }
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inline void setXMin(const float &nxm) {
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xMin=nxm;
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pointsUpToDate=false; CRenderizableDisplayList::notifyChange();
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}
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inline void setXMax(const float &nxm) {
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xMax=nxm;
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pointsUpToDate=false; CRenderizableDisplayList::notifyChange();
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}
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inline void setYMin(const float &nym) {
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yMin=nym;
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pointsUpToDate=false; CRenderizableDisplayList::notifyChange();
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}
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inline void setYMax(const float &nym) {
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yMax=nym;
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pointsUpToDate=false; CRenderizableDisplayList::notifyChange();
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}
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inline void getXBounds(float &min,float &max) const {
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min=xMin;
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max=xMax;
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}
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inline void getYBounds(float &min,float &max) const {
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min=yMin;
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max=yMax;
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}
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inline void setXBounds(const float &min,const float &max) {
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xMin=min;
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xMax=max;
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pointsUpToDate=false; CRenderizableDisplayList::notifyChange();
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}
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inline void setYBounds(const float &min,const float &max) {
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yMin=min;
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yMax=max;
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pointsUpToDate=false; CRenderizableDisplayList::notifyChange();
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}
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/** Class factory */
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static CMeshFastPtr Create(bool enableTransparency, float xMin = -1.0f, float xMax = 1.0f, float yMin = -1.0f, float yMax = 1.0f )
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{
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return CMeshFastPtr( new CMeshFast( enableTransparency, xMin ,xMax , yMin ,yMax ) );
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}
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/** Render
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*/
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void render_dl() const;
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/** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
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virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const;
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/** Assigns a texture image, and disable transparency.
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*/
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void assignImage(const mrpt::utils::CImage& img );
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/** Assigns a texture image and Z simultaneously, and disable transparency.
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*/
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void assignImageAndZ( const mrpt::utils::CImage& img, const mrpt::math::CMatrixTemplateNumeric<float> &in_Z);
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/** Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction.
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*/
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inline void adjustGridToImageAR() {
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ASSERT_(m_isImage);
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const float ycenter = 0.5*(yMin+yMax);
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const float xwidth = xMax - xMin;
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const float newratio = float(m_textureImage.getWidth())/float(m_textureImage.getHeight());
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yMax = ycenter + 0.5*newratio*xwidth;
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yMin = ycenter - 0.5*newratio*xwidth;
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CRenderizableDisplayList::notifyChange();
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}
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private:
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/** Constructor
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*/
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CMeshFast( bool enableTransparency = false, float xMin = -1.0f, float xMax = 1.0f, float yMin = -1.0f, float yMax = 1.0f ) :
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m_textureImage(0,0),
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m_enableTransparency(enableTransparency),
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m_colorFromZ(false),
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m_isImage(false),
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X(0,0), Y(0,0), Z(0,0), C(0,0), C_r(0,0), C_g(0,0), C_b(0,0),
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m_colorMap( mrpt::utils::cmJET ),
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m_modified_Z(true),
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m_modified_Image(false),
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xMin(xMin), xMax(xMax), yMin(yMin), yMax(yMax),
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pointsUpToDate(false)
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{
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m_color.A = 255;
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m_color.R = 0;
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m_color.G = 0;
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m_color.B = 150;
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}
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/** Private, virtual destructor: only can be deleted from smart pointers */
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virtual ~CMeshFast() { }
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};
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} // end namespace
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} // End of namespace
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#endif

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