Merge branch 'develop'

jlblancoc · jlblancoc · commit 176440d322ad · 2025-08-31T11:14:31.000+02:00
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
@@ -19,16 +19,12 @@ jobs:
       matrix:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name: [
-            windows-2019,
-          ]
+        name: [windows-latest]
 
-        build_type: [
-            Release
-          ]
+        build_type: [Release]
         include:
-          - name: windows-2019
-            os: windows-2019
+          - name: windows-latest
+            os: windows-latest
             compiler: cl
             platform: 64
 
diff --git a/appveyor.yml b/appveyor.yml
@@ -1,5 +1,5 @@
 # version format
-version: 2.14.10-{branch}-build{build}
+version: 2.14.12-{branch}-build{build}
 
 os: Visual Studio 2019
 
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -1,5 +1,10 @@
 \page changelog Change Log
 
+# Version 2.14.12: Released Aug 31rd, 2025
+- Changes in libraries:
+  - \ref mrpt_opengl_grp
+    - New method mrpt::opengl::CPointCloudColoured::setAllPointsAlpha().
+
 # Version 2.14.11: Released May 31rd, 2025
 - BUG FIXES:
   - Fix build against all tf2 versions in all active ROS 2 distributions.
diff --git a/libs/opengl/include/mrpt/opengl/CPointCloud.h b/libs/opengl/include/mrpt/opengl/CPointCloud.h
@@ -23,9 +23,6 @@ namespace mrpt::opengl
  *
  * To load from a points-map, CPointCloud::loadFromPointsMap().
  *
- * This class uses smart optimizations while rendering to efficiently draw
- * clouds of millions of points, using octrees.
- *
  * ![mrpt::opengl::CPointCloud](preview_CPointCloud.png)
  *
  *  \sa opengl::CPlanarLaserScan, opengl::Scene,
diff --git a/libs/opengl/include/mrpt/opengl/CPointCloudColoured.h b/libs/opengl/include/mrpt/opengl/CPointCloudColoured.h
@@ -17,15 +17,10 @@
 
 namespace mrpt::opengl
 {
-/** A cloud of points, each one with an individual colour (R,G,B). The alpha
- * component is shared by all the points and is stored in the base member
- * m_color_A.
+/** A cloud of points, each one with an individual color (R,G,B,A).
  *
  * To load from a points-map, CPointCloudColoured::loadFromPointsMap().
  *
- * This class uses smart optimizations while rendering to efficiently draw
- * clouds of millions of points, using octrees.
- *
  * ![mrpt::opengl::CPointCloudColoured](preview_CPointCloudColoured.png)
  *
  * \sa opengl::Scene, opengl::CPointCloud
@@ -143,6 +138,16 @@ class CPointCloudColoured :
     m_point_colors[index].B = b;
     m_point_colors[index].A = a;
   }
+  /** Overwrites the alpha (transparency) channel for all existing points */
+  void setAllPointsAlpha(uint8_t alpha_channel)
+  {
+    std::unique_lock<std::shared_mutex> wfWriteLock(CRenderizableShaderPoints::m_pointsMtx.data);
+    for (auto& pt : m_point_colors)
+    {
+      pt.A = alpha_channel;
+    }
+    markAllPointsAsNew();
+  }
   /** Like \c getPointColor but without checking for out-of-index errors */
   void getPointColor_fast(size_t index, float& R, float& G, float& B) const
   {
diff --git a/version_prefix.txt b/version_prefix.txt
@@ -1,4 +1,4 @@
-2.14.11
+2.14.12
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically

Original file line number	Diff line number	Diff line change
`@@ -23,9 +23,6 @@ namespace mrpt::opengl`
`23`	`23`	`*`
`24`	`24`	`* To load from a points-map, CPointCloud::loadFromPointsMap().`
`25`	`25`	`*`
`26`		`- * This class uses smart optimizations while rendering to efficiently draw`
`27`		`- * clouds of millions of points, using octrees.`
`28`		`- *`
`29`	`26`	`* ![mrpt::opengl::CPointCloud](preview_CPointCloud.png)`
`30`	`27`	`*`
`31`	`28`	`* \sa opengl::CPlanarLaserScan, opengl::Scene,`
Original file line number	Diff line number	Diff line change
`@@ -17,15 +17,10 @@`
`17`	`17`
`18`	`18`	`namespace mrpt::opengl`
`19`	`19`	`{`
`20`		`-/** A cloud of points, each one with an individual colour (R,G,B). The alpha`
`21`		`- * component is shared by all the points and is stored in the base member`
`22`		`- * m_color_A.`
	`20`	`+/** A cloud of points, each one with an individual color (R,G,B,A).`
`23`	`21`	`*`
`24`	`22`	`* To load from a points-map, CPointCloudColoured::loadFromPointsMap().`
`25`	`23`	`*`
`26`		`- * This class uses smart optimizations while rendering to efficiently draw`
`27`		`- * clouds of millions of points, using octrees.`
`28`		`- *`
`29`	`24`	`* ![mrpt::opengl::CPointCloudColoured](preview_CPointCloudColoured.png)`
`30`	`25`	`*`
`31`	`26`	`* \sa opengl::Scene, opengl::CPointCloud`
`@@ -143,6 +138,16 @@ class CPointCloudColoured :`
`143`	`138`	`m_point_colors[index].B = b;`
`144`	`139`	`m_point_colors[index].A = a;`
`145`	`140`	`}`
	`141`	`+ /** Overwrites the alpha (transparency) channel for all existing points */`
	`142`	`+ void setAllPointsAlpha(uint8_t alpha_channel)`
	`143`	`+ {`
	`144`	`+ std::unique_lock<std::shared_mutex> wfWriteLock(CRenderizableShaderPoints::m_pointsMtx.data);`
	`145`	`+ for (auto& pt : m_point_colors)`
	`146`	`+ {`
	`147`	`+ pt.A = alpha_channel;`
	`148`	`+ }`
	`149`	`+ markAllPointsAsNew();`
	`150`	`+ }`
`146`	`151`	`/** Like \c getPointColor but without checking for out-of-index errors */`
`147`	`152`	`void getPointColor_fast(size_t index, float& R, float& G, float& B) const`
`148`	`153`	`{`
Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-2.14.11`
	`1`	`+2.14.12`
`2`	`2`	`# IMPORTANT: This file is parsed by CMake, don't add any comment to`
`3`	`3`	`# the first line.`
`4`	`4`	`# This file is used in both Windows and Linux scripts to automatically`