struct mola::TSDF::TRenderOptions

Overview

Rendering options, used in getVisualizationInto()

#include <TSDF.h>

struct TRenderOptions: public mrpt::config::CLoadableOptions
{
    // fields

    float point_size = 2.0f;
    mrpt::img::TColorf points_color {.0f, .8f, .0f};
    mrpt::img::TColormap colormap = mrpt::img::cmHOT;
    std::string recolorize_by = "z";
    bool render_as_mesh = false;

    // methods

    void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& source,
        const std::string& section
        );

    void dumpToTextStream(std::ostream& out) const;
    void writeToStream(mrpt::serialization::CArchive& out) const;
    void readFromStream(mrpt::serialization::CArchive& in);
};

Fields

mrpt::img::TColorf points_color {.0f, .8f, .0f}

Used when colormap is cmNONE, and for the mesh.

mrpt::img::TColormap colormap = mrpt::img::cmHOT

Colormap for the surface points, or cmNONE for a uniform color.

std::string recolorize_by = "z"

Quantity the colormap is indexed by: “z” or “weight”.

bool render_as_mesh = false

Draw the zero level set as a shaded surface instead of as points. It is far prettier and far slower, so it is meant for figures and for a close look at a small map, not for a live run.