Helios++
Helios software for LiDAR simulations
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Public Member Functions | |
VHStaticObjectXYZRGBAdapter (ScenePart &staticObj) | |
Constructor for the visual Helios static object adapter providing XYZ visualization with RGB color. More... | |
void | constructPolymesh () override |
void | vertexToMesh (Vertex const &vertex) override |
pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr | getPolymesh () const |
Obtain the polygon mesh representing the static object in a \(\mathbb{R}^{3}\) space with RGB color. More... | |
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VHStaticObjectAdapter (ScenePart &staticObj) | |
Constructor for the visual Helios static object adapter. More... | |
virtual void | buildPolymesh () |
Build the polygon mesh from static object primitives. This implies building corresponding vertices vector too. More... | |
virtual void | addTriangleToPolymesh (Primitive *primitive, int &offset) |
Function to add triangle primitives to the polymesh during building time. More... | |
virtual void | addVoxelToPolymesh (Primitive *primitive, int &offset) |
Function to add voxel primitives to the polymesh during building time. More... | |
ScenePart & | getStaticObj () |
Obtain the static object. More... | |
vector< pcl::Vertices > const & | getVertices () const |
Obtain the ordered vertices indices representing the static object. More... | |
string const & | getId () const |
Obtain the ID of the static object. More... | |
bool | isRenderingNormals () const |
Check whether the static object normals must be rendered or not. More... | |
void | setRenderingNormals (bool const renderingNormals) |
Enable or disable normals rendering for the static object. More... | |
Protected Attributes | |
pcl::PointCloud< pcl::PointXYZRGB >::Ptr | polymesh |
Polygon mesh representing the static object in a \(\mathbb{R}^{3}\) space with RGB color. | |
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ScenePart & | staticObj |
The adapted static object. More... | |
vector< pcl::Vertices > | vertices |
Static object vertices connection specification through ordered indices for visualization purposes. More... | |
bool | renderingNormals |
Specify if the static object normals must be rendered (true) or not (false) | |
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inline |
Constructor for the visual Helios static object adapter providing XYZ visualization with RGB color.
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overridevirtual |
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inline |
Obtain the polygon mesh representing the static object in a \(\mathbb{R}^{3}\) space with RGB color.
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overridevirtual |
Implements visualhelios::VHStaticObjectAdapter.