raisim::PointCloud

struct · #include <raisim/server/Visuals.hpp>

Point cloud streamed by RaisimServer. Create with RaisimServer::addPointCloud(); the server owns it. position and color must have the same size when the frame is serialized.

Public member functions

serialize

server::BoundedWriter serialize(server::BoundedWriter data) const

Internal: write this cloud to a server frame (wire format). Fatal if position and color differ in size.

Parameters

Parameter	Description
data (in)	output position; throws server::SerializationError if the cloud does not fit

Returns the next write position

lockMutex

void lockMutex()

Lock this point cloud's mutex. Note: the server does NOT take this mutex when serializing point clouds; use RaisimServer::lockVisualizationServerMutex() to synchronize with the server. Same as lock().

lock

void lock()

Lock the mutex (BasicLockable interface for std::lock_guard / std::unique_lock).

try_lock

bool try_lock()

Returns true if the mutex was acquired without blocking (Lockable interface).

unlockMutex

void unlockMutex()

Unlock the mutex locked by lockMutex(). Same as unlock().

unlock

void unlock()

Unlock the mutex (BasicLockable interface).

resize

void resize(size_t size)

Resize both position and color. New points start at the origin with opaque red color.

Parameters

Parameter	Description
size (in)	number of points

Public attributes

name

std::string name

Point cloud name for lookup in the server.

pointSize

float pointSize

Point size in meters (the rayrai viewer maps it to a clamped pixel size).

position

std::vector<Vec<3>> position

Point positions in world coordinates.

color

std::vector<Vec<4>> color

Point colors (RGBA).

visualTag

uint32_t visualTag

Visualizer tag assigned by the server.

mutex_

std::mutex mutex_

Mutex guarding point cloud updates.