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mrpt::opengl::COctoMapVoxels Class Reference

Detailed Description

A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).

This class is sort of equivalent to octovis::OcTreeDrawer from the octomap package, but relying on MRPT's CRenderizableDisplayList so there's no need to manually cache the rendering of OpenGL primitives.

Normally users call mrpt::maps::COctoMap::getAs3DObject() to obtain a generic mrpt::opengl::CSetOfObjects which insides holds an instance of COctoMapVoxels. You can also alternativelly call COctoMapVoxels::setFromOctoMap(), so you can tune the display parameters, colors, etc. As with any other mrpt::opengl class, all object coordinates refer to some frame of reference which is relative to the object parent and can be changed with mrpt::opengl::CRenderizable::setPose()

This class draws these separate elements to represent an OctoMap:

Several coloring schemes can be selected with setVisualizationMode(). See COctoMapVoxels::visualization_mode_t

mrpt::opengl::COctoMapVoxels
preview_COctoMapVoxels.png
See Also
opengl::COpenGLScene

Definition at line 59 of file COctoMapVoxels.h.

#include <mrpt/opengl/COctoMapVoxels.h>

Inheritance diagram for mrpt::opengl::COctoMapVoxels:
Inheritance graph

Classes

struct  TGridCube
 The info of each grid block. More...
 
struct  TInfoPerVoxelSet
 
struct  TVoxel
 The info of each of the voxels. More...
 

Public Types

enum  visualization_mode_t {
  COLOR_FROM_HEIGHT, COLOR_FROM_OCCUPANCY, TRANSPARENCY_FROM_OCCUPANCY, TRANS_AND_COLOR_FROM_OCCUPANCY,
  MIXED, FIXED
}
 The different coloring schemes, which modulate the generic mrpt::opengl::CRenderizable object color. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
void clear ()
 Clears everything. More...
 
void setVisualizationMode (visualization_mode_t mode)
 Select the visualization mode. More...
 
visualization_mode_t getVisualizationMode () const
 
void enableLights (bool enable)
 Can be used to enable/disable the effects of lighting in this object. More...
 
bool areLightsEnabled () const
 
void enableCubeTransparency (bool enable)
 By default, the alpha (transparency) component of voxel cubes is taken into account, but transparency can be disabled with this method. More...
 
bool isCubeTransparencyEnabled () const
 
void showGridLines (bool show)
 Shows/hides the grid lines. More...
 
bool areGridLinesVisible () const
 
void showVoxels (unsigned int voxel_set, bool show)
 Shows/hides the voxels (voxel_set is a 0-based index for the set of voxels to modify, e.g. More...
 
bool areVoxelsVisible (unsigned int voxel_set) const
 
void showVoxelsAsPoints (const bool enable)
 For quick renders: render voxels as points instead of cubes. More...
 
bool areVoxelsShownAsPoints () const
 
void setVoxelAsPointsSize (float pointSize)
 Only used when showVoxelsAsPoints() is enabled. More...
 
float getVoxelAsPointsSize () const
 
void setGridLinesWidth (float w)
 Sets the width of grid lines. More...
 
float getGridLinesWidth () const
 Gets the width of grid lines. More...
 
void setGridLinesColor (const mrpt::utils::TColor &color)
 
const mrpt::utils::TColorgetGridLinesColor () const
 
size_t getGridCubeCount () const
 Returns the total count of grid cubes. More...
 
size_t getVoxelSetCount () const
 Returns the number of voxel sets. More...
 
size_t getVoxelCount (const size_t set_index) const
 Returns the total count of voxels in one voxel set. More...
 
void setBoundingBox (const mrpt::math::TPoint3D &bb_min, const mrpt::math::TPoint3D &bb_max)
 Manually changes the bounding box (normally the user doesn't need to call this) More...
 
void resizeGridCubes (const size_t nCubes)
 
void resizeVoxelSets (const size_t nVoxelSets)
 
void resizeVoxels (const size_t set_index, const size_t nVoxels)
 
void reserveGridCubes (const size_t nCubes)
 
void reserveVoxels (const size_t set_index, const size_t nVoxels)
 
TGridCubegetGridCubeRef (const size_t idx)
 
const TGridCubegetGridCube (const size_t idx) const
 
TVoxelgetVoxelRef (const size_t set_index, const size_t idx)
 
const TVoxelgetVoxel (const size_t set_index, const size_t idx) const
 
void push_back_GridCube (const TGridCube &c)
 
void push_back_Voxel (const size_t set_index, const TVoxel &v)
 
void sort_voxels_by_z ()
 
void render_dl () const MRPT_OVERRIDE
 Render. More...
 
void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
 
template<class OCTOMAP >
void setFromOctoMap (OCTOMAP &m)
 Sets the contents of the object from a mrpt::maps::COctoMap object. More...
 
CRenderizableDisplayListclone () const
 Interface for the stlplus smart pointer class. More...
 
void render () const MRPT_OVERRIDE
 Render the object, regenerating the display list if needed, otherwise just calling it. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Simulation of ray-trace, given a pose. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
CRenderizablesetColorR_u8 (const uint8_t r) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorG_u8 (const uint8_t g) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorB_u8 (const uint8_t b) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorA_u8 (const uint8_t a) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
 Changes the default object color. More...
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Color components in the range [0,255]. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () const
 Returns the name of the object. More...
 
bool isVisible () const
 Is the object visible? More...
 
void setVisibility (bool visible=true)
 Set object visibility (default=true) More...
 
void enableShowName (bool showName=true)
 Enables or disables showing the name of the object as a label when rendering. More...
 
bool isShowNameEnabled () const
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
mrpt::math::TPose3D getPose () const
 Returns the 3D pose of the object as TPose3D. More...
 
const mrpt::poses::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (const mrpt::math::TPoint3D &p)
 Changes the location of the object, keeping untouched the orientation. More...
 
double getPoseX () const
 Translation relative to parent coordinate origin. More...
 
double getPoseY () const
 Translation relative to parent coordinate origin. More...
 
double getPoseZ () const
 Translation relative to parent coordinate origin. More...
 
double getPoseYaw () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPosePitch () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseRoll () const
 Rotation relative to parent coordinate origin, in DEGREES. More...
 
double getPoseYawRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPosePitchRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getPoseRollRad () const
 Rotation relative to parent coordinate origin, in radians. More...
 
double getColorR () const
 Color components in the range [0,1]. More...
 
double getColorG () const
 Color components in the range [0,1]. More...
 
double getColorB () const
 Color components in the range [0,1]. More...
 
double getColorA () const
 Color components in the range [0,1]. More...
 
uint8_t getColorR_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorG_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorB_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorA_u8 () const
 Color components in the range [0,255]. More...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (float sx, float sy, float sz)
 Scale to apply to the object in each axis (default=1) More...
 
float getScaleX () const
 Get the current scaling factor in one axis. More...
 
float getScaleY () const
 Get the current scaling factor in one axis. More...
 
float getScaleZ () const
 Get the current scaling factor in one axis. More...
 
mrpt::utils::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (double R, double G, double B, double A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...
 
const mrpt::utils::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within ::render() methods. More...
 
static void renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
 
static int textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCRenderizableDisplayList
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCRenderizable
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

void writeToStreamRender (utils::CStream &out) const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 
Methods accesible or implemented by derived classes
EIGEN_STRONG_INLINE void notifyChange () const
 Must be called to notify that the object has changed (so, the display list must be updated) More...
 
virtual bool should_skip_display_list_cache () const
 Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More...
 
void readFromStreamRender (mrpt::utils::CStream &in)
 

Static Protected Member Functions

static void checkOpenGLError ()
 Checks glGetError and throws an exception if an error situation is found. More...
 
static unsigned int getNewTextureNumber ()
 Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

std::deque< TInfoPerVoxelSetm_voxel_sets
 
std::vector< TGridCubem_grid_cubes
 
mrpt::math::TPoint3D m_bb_min
 
mrpt::math::TPoint3D m_bb_max
 Cached bounding boxes. More...
 
bool m_enable_lighting
 
bool m_enable_cube_transparency
 
bool m_showVoxelsAsPoints
 
float m_showVoxelsAsPointsSize
 
bool m_show_grids
 
float m_grid_width
 
mrpt::utils::TColor m_grid_color
 
visualization_mode_t m_visual_mode
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More...
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1) More...
 
bool m_visible
 Is the object visible? (default=true) More...
 

Private Member Functions

 COctoMapVoxels ()
 Constructor. More...
 
virtual ~COctoMapVoxels ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 

RTTI stuff

typedef COctoMapVoxelsPtr Ptr
 
typedef COctoMapVoxelsPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_COctoMapVoxels
 
static mrpt::utils::TRuntimeClassId classCOctoMapVoxels
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static COctoMapVoxelsPtr Create ()
 

Member Typedef Documentation

typedef COctoMapVoxelsPtr mrpt::opengl::COctoMapVoxels::ConstPtr

Definition at line 61 of file COctoMapVoxels.h.

typedef COctoMapVoxelsPtr mrpt::opengl::COctoMapVoxels::Ptr

A typedef for the associated smart pointer

Definition at line 61 of file COctoMapVoxels.h.

Member Enumeration Documentation

The different coloring schemes, which modulate the generic mrpt::opengl::CRenderizable object color.

Set with setVisualizationMode()

Enumerator
COLOR_FROM_HEIGHT 

Color goes from black (at the bottom) to the chosen color (at the top)

COLOR_FROM_OCCUPANCY 

Color goes from black (occupied voxel) to the chosen color (free voxel)

TRANSPARENCY_FROM_OCCUPANCY 

Transparency goes from opaque (occupied voxel) to transparent (free voxel).

TRANS_AND_COLOR_FROM_OCCUPANCY 

Color goes from black (occupaid voxel) to the chosen color (free voxel) and they are transparent.

MIXED 

Combination of COLOR_FROM_HEIGHT and TRANSPARENCY_FROM_OCCUPANCY.

FIXED 

All cubes are of identical color.

Definition at line 65 of file COctoMapVoxels.h.

Constructor & Destructor Documentation

COctoMapVoxels::COctoMapVoxels ( )
private

Constructor.

Ctor.

Definition at line 27 of file COctoMapVoxels.cpp.

virtual mrpt::opengl::COctoMapVoxels::~COctoMapVoxels ( )
inlineprivatevirtual

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 212 of file COctoMapVoxels.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::COctoMapVoxels::_GetBaseClass ( )
staticprotected
bool mrpt::opengl::COctoMapVoxels::areGridLinesVisible ( ) const
inline

Definition at line 142 of file COctoMapVoxels.h.

bool mrpt::opengl::COctoMapVoxels::areLightsEnabled ( ) const
inline

Definition at line 132 of file COctoMapVoxels.h.

bool mrpt::opengl::COctoMapVoxels::areVoxelsShownAsPoints ( ) const
inline

Definition at line 150 of file COctoMapVoxels.h.

bool mrpt::opengl::COctoMapVoxels::areVoxelsVisible ( unsigned int  voxel_set) const
inline

Definition at line 146 of file COctoMapVoxels.h.

References ASSERT_.

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited
void COctoMapVoxels::clear ( )
CRenderizableDisplayList* mrpt::opengl::CRenderizableDisplayList::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

static COctoMapVoxelsPtr mrpt::opengl::COctoMapVoxels::Create ( )
static
static mrpt::utils::CObject* mrpt::opengl::COctoMapVoxels::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::opengl::COctoMapVoxels::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

void mrpt::opengl::COctoMapVoxels::enableCubeTransparency ( bool  enable)
inline

By default, the alpha (transparency) component of voxel cubes is taken into account, but transparency can be disabled with this method.

Definition at line 137 of file COctoMapVoxels.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::COctoMapVoxels::enableLights ( bool  enable)
inline

Can be used to enable/disable the effects of lighting in this object.

Definition at line 131 of file COctoMapVoxels.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CRenderizable::enableShowName ( bool  showName = true)
inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 69 of file CRenderizable.h.

void COctoMapVoxels::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
virtual

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

Implements mrpt::opengl::CRenderizable.

Definition at line 323 of file COctoMapVoxels.cpp.

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 126 of file CRenderizable.h.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), and mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels().

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 135 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorA ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 102 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorB ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 101 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorG ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorR ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

const TGridCube& mrpt::opengl::COctoMapVoxels::getGridCube ( const size_t  idx) const
inline

Definition at line 182 of file COctoMapVoxels.h.

References ASSERTDEB_.

size_t mrpt::opengl::COctoMapVoxels::getGridCubeCount ( ) const
inline

Returns the total count of grid cubes.

Definition at line 165 of file COctoMapVoxels.h.

TGridCube& mrpt::opengl::COctoMapVoxels::getGridCubeRef ( const size_t  idx)
inline
const mrpt::utils::TColor& mrpt::opengl::COctoMapVoxels::getGridLinesColor ( ) const
inline

Definition at line 162 of file COctoMapVoxels.h.

float mrpt::opengl::COctoMapVoxels::getGridLinesWidth ( ) const
inline

Gets the width of grid lines.

Definition at line 159 of file COctoMapVoxels.h.

const std::string& mrpt::opengl::CRenderizable::getName ( ) const
inlineinherited

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

unsigned int CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

Returns the lowest, free texture name.

Definition at line 77 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL().

mrpt::math::TPose3D CRenderizable::getPose ( ) const
inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 321 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

double mrpt::opengl::CRenderizable::getPosePitch ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 93 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const
inlineinherited

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 81 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 94 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseX ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseY ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseZ ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::COctoMapVoxels::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

float mrpt::opengl::CRenderizable::getScaleX ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

float mrpt::opengl::CRenderizable::getScaleY ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 122 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

float mrpt::opengl::CRenderizable::getScaleZ ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 123 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

visualization_mode_t mrpt::opengl::COctoMapVoxels::getVisualizationMode ( ) const
inline

Definition at line 128 of file COctoMapVoxels.h.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels().

const TVoxel& mrpt::opengl::COctoMapVoxels::getVoxel ( const size_t  set_index,
const size_t  idx 
) const
inline
float mrpt::opengl::COctoMapVoxels::getVoxelAsPointsSize ( ) const
inline

Definition at line 154 of file COctoMapVoxels.h.

size_t mrpt::opengl::COctoMapVoxels::getVoxelCount ( const size_t  set_index) const
inline

Returns the total count of voxels in one voxel set.

Definition at line 169 of file COctoMapVoxels.h.

References ASSERT_.

TVoxel& mrpt::opengl::COctoMapVoxels::getVoxelRef ( const size_t  set_index,
const size_t  idx 
)
inline
size_t mrpt::opengl::COctoMapVoxels::getVoxelSetCount ( ) const
inline

Returns the number of voxel sets.

Definition at line 167 of file COctoMapVoxels.h.

bool mrpt::opengl::COctoMapVoxels::isCubeTransparencyEnabled ( ) const
inline
bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See Also
enableShowName

Definition at line 70 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

bool mrpt::opengl::CRenderizable::isVisible ( ) const
inlineinherited

Is the object visible?

See Also
setVisibility

Definition at line 66 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

EIGEN_STRONG_INLINE void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const
inlineprotectedinherited

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 49 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::C3DSScene::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CPlanarLaserScan::clear(), clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), enableCubeTransparency(), mrpt::opengl::CColorBar::enableDepthTest(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::C3DSScene::evaluateAnimation(), getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), getVoxel(), getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::C3DSScene::loadFrom3DSFile(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), push_back_GridCube(), push_back_Voxel(), mrpt::opengl::COpenGLStandardObject::readFromStream(), mrpt::opengl::CSimpleLine::readFromStream(), mrpt::opengl::CTexturedPlane::readFromStream(), mrpt::opengl::C3DSScene::readFromStream(), mrpt::opengl::CCylinder::readFromStream(), mrpt::opengl::CSetOfTriangles::readFromStream(), mrpt::opengl::CColorBar::readFromStream(), mrpt::opengl::CArrow::readFromStream(), mrpt::opengl::CAxis::readFromStream(), mrpt::opengl::CDisk::readFromStream(), mrpt::opengl::CSphere::readFromStream(), mrpt::opengl::CGridPlaneXY::readFromStream(), mrpt::opengl::CGridPlaneXZ::readFromStream(), mrpt::opengl::CSetOfLines::readFromStream(), mrpt::opengl::CBox::readFromStream(), mrpt::opengl::CVectorField2D::readFromStream(), mrpt::opengl::CMesh::readFromStream(), mrpt::opengl::CEllipsoidRangeBearing2D::readFromStream(), mrpt::opengl::CMeshFast::readFromStream(), mrpt::opengl::CAssimpModel::readFromStream(), mrpt::opengl::CEllipsoid::readFromStream(), mrpt::opengl::CText3D::readFromStream(), mrpt::opengl::CEllipsoidInverseDepth2D::readFromStream(), mrpt::opengl::CVectorField3D::readFromStream(), mrpt::opengl::CEllipsoidInverseDepth3D::readFromStream(), mrpt::opengl::CFrustum::readFromStream(), readFromStream(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), resizeGridCubes(), resizeVoxels(), resizeVoxelSets(), mrpt::opengl::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CEllipsoid::setCovMatrix(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), setGridLinesColor(), setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CMesh::setUV(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::opengl::CSetOfLines::setVerticesPointSize(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), setVisualizationMode(), setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMesh::setZ(), mrpt::opengl::CMeshFast::setZ(), showGridLines(), showVoxels(), showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CMesh::updatePolygons(), mrpt::opengl::CSetOfTriangles::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

void mrpt::opengl::COctoMapVoxels::operator delete ( void ptr)
throw (
)
inline

Definition at line 61 of file COctoMapVoxels.h.

void mrpt::opengl::COctoMapVoxels::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 61 of file COctoMapVoxels.h.

void mrpt::opengl::COctoMapVoxels::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 61 of file COctoMapVoxels.h.

void mrpt::opengl::COctoMapVoxels::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 61 of file COctoMapVoxels.h.

static void* mrpt::opengl::COctoMapVoxels::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 61 of file COctoMapVoxels.h.

void* mrpt::opengl::COctoMapVoxels::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 61 of file COctoMapVoxels.h.

void* mrpt::opengl::COctoMapVoxels::operator new ( size_t  size)
inline

Definition at line 61 of file COctoMapVoxels.h.

void* mrpt::opengl::COctoMapVoxels::operator new[] ( size_t  size)
inline

Definition at line 61 of file COctoMapVoxels.h.

void mrpt::opengl::COctoMapVoxels::push_back_GridCube ( const TGridCube c)
inline
void mrpt::opengl::COctoMapVoxels::push_back_Voxel ( const size_t  set_index,
const TVoxel v 
)
inline
void COctoMapVoxels::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 286 of file COctoMapVoxels.cpp.

References COLOR_FROM_OCCUPANCY, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited
void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited
void CRenderizableDisplayList::render ( ) const
virtualinherited
void COctoMapVoxels::render_dl ( ) const
virtual
void CRenderizable::renderTextBitmap ( const char *  str,
void fontStyle 
)
staticinherited

This method is safe for calling from within ::render() methods.

See Also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 351 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::renderTextBitmap().

void CRenderizable::renderTextBitmap ( int  screen_x,
int  screen_y,
const std::string str,
float  color_r = 1,
float  color_g = 1,
float  color_b = 1,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

  • Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
  • The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
    See Also
    renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

Definition at line 286 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), int(), and MRPT_UNUSED_PARAM.

void mrpt::opengl::COctoMapVoxels::reserveGridCubes ( const size_t  nCubes)
inline
void mrpt::opengl::COctoMapVoxels::reserveVoxels ( const size_t  set_index,
const size_t  nVoxels 
)
inline
void mrpt::opengl::COctoMapVoxels::resizeGridCubes ( const size_t  nCubes)
inline
void mrpt::opengl::COctoMapVoxels::resizeVoxels ( const size_t  set_index,
const size_t  nVoxels 
)
inline
void mrpt::opengl::COctoMapVoxels::resizeVoxelSets ( const size_t  nVoxelSets)
inline
void COctoMapVoxels::setBoundingBox ( const mrpt::math::TPoint3D bb_min,
const mrpt::math::TPoint3D bb_max 
)

Manually changes the bounding box (normally the user doesn't need to call this)

Definition at line 48 of file COctoMapVoxels.cpp.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), and mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels().

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 127 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

CRenderizable& mrpt::opengl::CRenderizable::setColor ( double  R,
double  G,
double  B,
double  A = 1 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 133 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor c)
inlinevirtualinherited

Changes the default object color.

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 86 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inlineinherited

Color components in the range [0,255].

Returns
a ref to this

Definition at line 87 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double  a)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 112 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t  a)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 85 of file CRenderizableDisplayList.h.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double  b)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 111 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t  b)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 84 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double  g)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 110 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t  g)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 83 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double  r)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 109 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t  r)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 82 of file CRenderizableDisplayList.h.

template<class OCTOMAP >
void mrpt::opengl::COctoMapVoxels::setFromOctoMap ( OCTOMAP &  m)
inline

Sets the contents of the object from a mrpt::maps::COctoMap object.

Template Parameters
Typically,anmrpt::maps::COctoMap object
Note
Declared as a template because in the library [mrpt-opengl] we don't have access to the library [mrpt-maps].

Definition at line 204 of file COctoMapVoxels.h.

void mrpt::opengl::COctoMapVoxels::setGridLinesColor ( const mrpt::utils::TColor color)
inline
void mrpt::opengl::COctoMapVoxels::setGridLinesWidth ( float  w)
inline

Sets the width of grid lines.

Definition at line 157 of file COctoMapVoxels.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( double  x,
double  y,
double  z 
)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 84 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 87 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::opengl::CRenderizable::setName ( const std::string n)
inlineinherited

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 285 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 290 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 295 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 300 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 306 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters
oSet the 3D pose from a mrpt::poses::CPose3D object

Definition at line 311 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  s)
inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns
a ref to this

Definition at line 119 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::CText3D().

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  sx,
float  sy,
float  sz 
)
inlineinherited

Scale to apply to the object in each axis (default=1)

Returns
a ref to this

Definition at line 120 of file CRenderizable.h.

void mrpt::opengl::CRenderizable::setVisibility ( bool  visible = true)
inlineinherited

Set object visibility (default=true)

See Also
isVisible

Definition at line 67 of file CRenderizable.h.

void mrpt::opengl::COctoMapVoxels::setVisualizationMode ( visualization_mode_t  mode)
inline

Select the visualization mode.

To have any effect, this method has to be called before loading the octomap.

Definition at line 125 of file COctoMapVoxels.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize ( float  pointSize)
inline

Only used when showVoxelsAsPoints() is enabled.

Definition at line 153 of file COctoMapVoxels.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const
inlineprotectedvirtualinherited

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 56 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CRenderizableDisplayList::render().

void mrpt::opengl::COctoMapVoxels::showGridLines ( bool  show)
inline

Shows/hides the grid lines.

Definition at line 141 of file COctoMapVoxels.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void mrpt::opengl::COctoMapVoxels::showVoxels ( unsigned int  voxel_set,
bool  show 
)
inline

Shows/hides the voxels (voxel_set is a 0-based index for the set of voxels to modify, e.g.

VOXEL_SET_OCCUPIED, VOXEL_SET_FREESPACE)

Definition at line 145 of file COctoMapVoxels.h.

References ASSERT_, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), and mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels().

void mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints ( const bool  enable)
inline

For quick renders: render voxels as points instead of cubes.

See Also
setVoxelAsPointsSize

Definition at line 149 of file COctoMapVoxels.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

void COctoMapVoxels::sort_voxels_by_z ( )
int CRenderizable::textBitmapWidth ( const std::string str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See Also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 359 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::textBitmapWidth().

bool CRenderizable::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
virtualinherited
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void COctoMapVoxels::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 265 of file COctoMapVoxels.cpp.

void CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::COctoMapVoxels::_init_COctoMapVoxels
staticprotected

Definition at line 61 of file COctoMapVoxels.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::COctoMapVoxels::classCOctoMapVoxels
static

Definition at line 61 of file COctoMapVoxels.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
staticinherited

Definition at line 46 of file CRenderizable.h.

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizableDisplayList::classCRenderizableDisplayList
staticinherited

Definition at line 38 of file CRenderizableDisplayList.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::COctoMapVoxels::classinfo
static

Definition at line 61 of file COctoMapVoxels.h.

mrpt::math::TPoint3D mrpt::opengl::COctoMapVoxels::m_bb_max
protected

Cached bounding boxes.

Definition at line 108 of file COctoMapVoxels.h.

mrpt::math::TPoint3D mrpt::opengl::COctoMapVoxels::m_bb_min
protected

Definition at line 108 of file COctoMapVoxels.h.

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited
bool mrpt::opengl::COctoMapVoxels::m_enable_cube_transparency
protected

Definition at line 111 of file COctoMapVoxels.h.

bool mrpt::opengl::COctoMapVoxels::m_enable_lighting
protected

Definition at line 110 of file COctoMapVoxels.h.

mrpt::utils::TColor mrpt::opengl::COctoMapVoxels::m_grid_color
protected

Definition at line 116 of file COctoMapVoxels.h.

std::vector<TGridCube> mrpt::opengl::COctoMapVoxels::m_grid_cubes
protected

Definition at line 106 of file COctoMapVoxels.h.

float mrpt::opengl::COctoMapVoxels::m_grid_width
protected

Definition at line 115 of file COctoMapVoxels.h.

std::string mrpt::opengl::CRenderizable::m_name
protectedinherited
mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

Scale components to apply to the object (default=1)

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

bool mrpt::opengl::COctoMapVoxels::m_show_grids
protected

Definition at line 114 of file COctoMapVoxels.h.

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited
bool mrpt::opengl::COctoMapVoxels::m_showVoxelsAsPoints
protected

Definition at line 112 of file COctoMapVoxels.h.

float mrpt::opengl::COctoMapVoxels::m_showVoxelsAsPointsSize
protected

Definition at line 113 of file COctoMapVoxels.h.

bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

visualization_mode_t mrpt::opengl::COctoMapVoxels::m_visual_mode
protected

Definition at line 117 of file COctoMapVoxels.h.

std::deque<TInfoPerVoxelSet> mrpt::opengl::COctoMapVoxels::m_voxel_sets
protected

Definition at line 105 of file COctoMapVoxels.h.




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