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mrpt::opengl::CVectorField3D Class Reference

Detailed Description

A 3D vector field representation, consisting of points and arrows drawn at any spatial position.

This opengl object has been created to represent scene flow, and hence both the vector field and the coordinates of the points at which the vector field is represented are stored in matrices because they are computed from intensity and depth images.

See Also
opengl::COpenGLScene
mrpt::opengl::CVectorField2D
preview_CVectorField2D.png

Definition at line 43 of file CVectorField3D.h.

#include <mrpt/opengl/CVectorField3D.h>

Inheritance diagram for mrpt::opengl::CVectorField3D:
Inheritance graph

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 ()
 Clear the matrices. More...
 
void setPointColor (const float R, const float G, const float B, const float A=1)
 Set the point color in the range [0,1]. More...
 
mrpt::utils::TColorf getPointColor () const
 Get the point color in the range [0,1]. More...
 
void setVectorFieldColor (const float R, const float G, const float B, const float A=1)
 Set the arrow color in the range [0,1]. More...
 
void getVectorFieldColor (mrpt::utils::TColorf Cmin, mrpt::utils::TColorf Cmax) const
 Get the motion field min and max colors (colormap) in the range [0,1]. More...
 
void setMotionFieldColormap (const float Rmin, const float Gmin, const float Bmin, const float Rmax, const float Gmax, const float Bmax, const float Amin=1, const float Amax=1)
 Set the motion field min and max colors (colormap) in the range [0,1]. More...
 
mrpt::utils::TColorf getVectorFieldColor () const
 Get the arrow color in the range [0,1]. More...
 
void setPointSize (const float p)
 Set the size with which points will be drawn. More...
 
float getPointSize () const
 Get the size with which points are drawn. More...
 
void setLineWidth (const float w)
 Set the width with which lines will be drawn. More...
 
float getLineWidth () const
 Get the width with which lines are drawn. More...
 
void setMaxSpeedForColor (const float s)
 Set the max speed associated for the color map ( m_still_color, m_maxspeed_color) More...
 
float getMaxSpeedForColor () const
 Get the max_speed with which lines are drawn. More...
 
void getVectorField (mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z) const
 Get the vector field in three independent matrices: Matrix_x, Matrix_y and Matrix_z. More...
 
void getVectorField (Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z) const
 
void getPointCoordinates (mrpt::math::CMatrixFloat &Coord_x, mrpt::math::CMatrixFloat &Coord_y, mrpt::math::CMatrixFloat &Coord_z) const
 Get the coordiantes of the points at which the vector field is plotted: Coord_x, Coord_y and Coord_z. More...
 
void getPointCoordinates (Eigen::MatrixXf &Coord_x, Eigen::MatrixXf &Coord_y, Eigen::MatrixXf &Coord_z) const
 
const mrpt::math::CMatrixFloatgetVectorField_x () const
 Get the "x" component of the vector field as a matrix. More...
 
mrpt::math::CMatrixFloatgetVectorField_x ()
 
const mrpt::math::CMatrixFloatgetVectorField_y () const
 Get the "y" component of the vector field as a matrix. More...
 
mrpt::math::CMatrixFloatgetVectorField_y ()
 
const mrpt::math::CMatrixFloatgetVectorField_z () const
 Get the "z" component of the vector field as a matrix. More...
 
mrpt::math::CMatrixFloatgetVectorField_z ()
 
void setVectorField (mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z)
 Set the vector field with Matrix_x, Matrix_y and Matrix_z. More...
 
void setVectorField (Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z)
 
void setPointCoordinates (mrpt::math::CMatrixFloat &Matrix_x, mrpt::math::CMatrixFloat &Matrix_y, mrpt::math::CMatrixFloat &Matrix_z)
 Set the coordinates of the points at which the vector field is plotted with Matrix_x, Matrix_y and Matrix_z. More...
 
void setPointCoordinates (Eigen::MatrixXf &Matrix_x, Eigen::MatrixXf &Matrix_y, Eigen::MatrixXf &Matrix_z)
 
void resize (size_t rows, size_t cols)
 Resizes the set. More...
 
size_t getColCount () const
 Returns the total count of rows used to represent the vector field. More...
 
size_t getRowCount () const
 Returns the total count of columns used to represent the vector field. More...
 
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...
 
void enableAntiAliasing (bool enable=true)
 
void enableColorFromModule (bool enable=true)
 
void enableShowPoints (bool enable=true)
 
bool isAntiAliasingEnabled () const
 
bool isColorFromModuleEnabled () const
 
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 CVectorField3DPtr Create (const mrpt::math::CMatrixFloat x_vf_ini, const mrpt::math::CMatrixFloat y_vf_ini, const mrpt::math::CMatrixFloat z_vf_ini, const mrpt::math::CMatrixFloat x_p_ini, const mrpt::math::CMatrixFloat y_p_ini, const mrpt::math::CMatrixFloat z_p_ini)
 Class factory. More...
 
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

mrpt::math::CMatrix x_vf
 X component of the vector field. More...
 
mrpt::math::CMatrix y_vf
 Y component of the vector field. More...
 
mrpt::math::CMatrix z_vf
 Z component of the vector field. More...
 
mrpt::math::CMatrix x_p
 X coordinate of the points at which the vector field is plotted. More...
 
mrpt::math::CMatrix y_p
 Y coordinate of the points at which the vector field is plotted. More...
 
mrpt::math::CMatrix z_p
 Z coordinate of the points at which the vector field is plotted. More...
 
float m_LineWidth
 By default it is 1.0. More...
 
float m_pointSize
 By default it is 1.0. More...
 
bool m_antiAliasing
 By default it is true. More...
 
bool m_colorFromModule
 By default it is false. More...
 
bool m_showPoints
 By default it is true. More...
 
mrpt::utils::TColor m_point_color
 
mrpt::utils::TColor m_field_color
 
mrpt::utils::TColor m_still_color
 Color associated to fields with null module. More...
 
mrpt::utils::TColor m_maxspeed_color
 Color associated to fields whose module is equal or larger than 'm_maxspeed'. More...
 
float m_maxspeed
 Value of the module of the motion field which will correspond to 'm_maxspeed_color'. More...
 
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

 CVectorField3D ()
 Constructor. More...
 
 CVectorField3D (mrpt::math::CMatrixFloat x_vf_ini, mrpt::math::CMatrixFloat y_vf_ini, mrpt::math::CMatrixFloat z_vf_ini, mrpt::math::CMatrixFloat x_p_ini, mrpt::math::CMatrixFloat y_p_ini, mrpt::math::CMatrixFloat z_p_ini)
 Constructor with a initial set of lines. More...
 
virtual ~CVectorField3D ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 

RTTI stuff

typedef CVectorField3DPtr Ptr
 
typedef CVectorField3DPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CVectorField3D
 
static mrpt::utils::TRuntimeClassId classCVectorField3D
 
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 CVectorField3DPtr Create ()
 

Member Typedef Documentation

typedef CVectorField3DPtr mrpt::opengl::CVectorField3D::ConstPtr

Definition at line 45 of file CVectorField3D.h.

typedef CVectorField3DPtr mrpt::opengl::CVectorField3D::Ptr

A typedef for the associated smart pointer

Definition at line 45 of file CVectorField3D.h.

Constructor & Destructor Documentation

CVectorField3D::CVectorField3D ( )
private

Constructor.

Definition at line 26 of file CVectorField3D.cpp.

CVectorField3D::CVectorField3D ( mrpt::math::CMatrixFloat  x_vf_ini,
mrpt::math::CMatrixFloat  y_vf_ini,
mrpt::math::CMatrixFloat  z_vf_ini,
mrpt::math::CMatrixFloat  x_p_ini,
mrpt::math::CMatrixFloat  y_p_ini,
mrpt::math::CMatrixFloat  z_p_ini 
)
private

Constructor with a initial set of lines.

Definition at line 37 of file CVectorField3D.cpp.

References mrpt::opengl::CRenderizable::m_color, m_field_color, m_maxspeed, m_maxspeed_color, m_point_color, m_still_color, x_p, x_vf, y_p, y_vf, z_p, and z_vf.

virtual mrpt::opengl::CVectorField3D::~CVectorField3D ( )
inlineprivatevirtual

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

Definition at line 283 of file CVectorField3D.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CVectorField3D::_GetBaseClass ( )
staticprotected
void CRenderizable::checkOpenGLError ( )
staticprotectedinherited
void mrpt::opengl::CVectorField3D::clear ( )
inline

Clear the matrices.

Definition at line 72 of file CVectorField3D.h.

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

CRenderizableDisplayList* mrpt::opengl::CRenderizableDisplayList::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

static CVectorField3DPtr mrpt::opengl::CVectorField3D::Create ( )
static
static CVectorField3DPtr mrpt::opengl::CVectorField3D::Create ( const mrpt::math::CMatrixFloat  x_vf_ini,
const mrpt::math::CMatrixFloat  y_vf_ini,
const mrpt::math::CMatrixFloat  z_vf_ini,
const mrpt::math::CMatrixFloat  x_p_ini,
const mrpt::math::CMatrixFloat  y_p_ini,
const mrpt::math::CMatrixFloat  z_p_ini 
)
static

Class factory.

static mrpt::utils::CObject* mrpt::opengl::CVectorField3D::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::opengl::CVectorField3D::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::CVectorField3D::enableAntiAliasing ( bool  enable = true)
inline
void mrpt::opengl::CVectorField3D::enableColorFromModule ( bool  enable = true)
inline
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 mrpt::opengl::CVectorField3D::enableShowPoints ( bool  enable = true)
inline
void CVectorField3D::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 203 of file CVectorField3D.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CRenderizable::m_pose, mrpt::math::TPoint3D::x, x_p, x_vf, mrpt::math::TPoint3D::y, y_p, y_vf, mrpt::math::TPoint3D::z, z_p, and z_vf.

size_t mrpt::opengl::CVectorField3D::getColCount ( ) const
inline

Returns the total count of rows used to represent the vector field.

Definition at line 254 of file CVectorField3D.h.

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.

float mrpt::opengl::CVectorField3D::getLineWidth ( ) const
inline

Get the width with which lines are drawn.

Definition at line 144 of file CVectorField3D.h.

float mrpt::opengl::CVectorField3D::getMaxSpeedForColor ( ) const
inline

Get the max_speed with which lines are drawn.

Definition at line 154 of file CVectorField3D.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::utils::TColorf mrpt::opengl::CVectorField3D::getPointColor ( ) const
inline

Get the point color in the range [0,1].

Definition at line 91 of file CVectorField3D.h.

void mrpt::opengl::CVectorField3D::getPointCoordinates ( mrpt::math::CMatrixFloat Coord_x,
mrpt::math::CMatrixFloat Coord_y,
mrpt::math::CMatrixFloat Coord_z 
) const
inline

Get the coordiantes of the points at which the vector field is plotted: Coord_x, Coord_y and Coord_z.

Definition at line 174 of file CVectorField3D.h.

void mrpt::opengl::CVectorField3D::getPointCoordinates ( Eigen::MatrixXf &  Coord_x,
Eigen::MatrixXf &  Coord_y,
Eigen::MatrixXf &  Coord_z 
) const
inline

Definition at line 180 of file CVectorField3D.h.

float mrpt::opengl::CVectorField3D::getPointSize ( ) const
inline

Get the size with which points are drawn.

By default 1.0

Definition at line 134 of file CVectorField3D.h.

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.

size_t mrpt::opengl::CVectorField3D::getRowCount ( ) const
inline

Returns the total count of columns used to represent the vector field.

Definition at line 257 of file CVectorField3D.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CVectorField3D::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().

void mrpt::opengl::CVectorField3D::getVectorField ( mrpt::math::CMatrixFloat Matrix_x,
mrpt::math::CMatrixFloat Matrix_y,
mrpt::math::CMatrixFloat Matrix_z 
) const
inline

Get the vector field in three independent matrices: Matrix_x, Matrix_y and Matrix_z.

Definition at line 159 of file CVectorField3D.h.

void mrpt::opengl::CVectorField3D::getVectorField ( Eigen::MatrixXf &  Matrix_x,
Eigen::MatrixXf &  Matrix_y,
Eigen::MatrixXf &  Matrix_z 
) const
inline

Definition at line 165 of file CVectorField3D.h.

const mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField3D::getVectorField_x ( ) const
inline

Get the "x" component of the vector field as a matrix.

Definition at line 187 of file CVectorField3D.h.

mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField3D::getVectorField_x ( )
inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 189 of file CVectorField3D.h.

const mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField3D::getVectorField_y ( ) const
inline

Get the "y" component of the vector field as a matrix.

Definition at line 192 of file CVectorField3D.h.

mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField3D::getVectorField_y ( )
inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 194 of file CVectorField3D.h.

const mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField3D::getVectorField_z ( ) const
inline

Get the "z" component of the vector field as a matrix.

Definition at line 197 of file CVectorField3D.h.

mrpt::math::CMatrixFloat& mrpt::opengl::CVectorField3D::getVectorField_z ( )
inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 199 of file CVectorField3D.h.

void mrpt::opengl::CVectorField3D::getVectorFieldColor ( mrpt::utils::TColorf  Cmin,
mrpt::utils::TColorf  Cmax 
) const
inline

Get the motion field min and max colors (colormap) in the range [0,1].

Definition at line 105 of file CVectorField3D.h.

mrpt::utils::TColorf mrpt::opengl::CVectorField3D::getVectorFieldColor ( ) const
inline

Get the arrow color in the range [0,1].

Definition at line 124 of file CVectorField3D.h.

bool mrpt::opengl::CVectorField3D::isAntiAliasingEnabled ( ) const
inline

Definition at line 274 of file CVectorField3D.h.

bool mrpt::opengl::CVectorField3D::isColorFromModuleEnabled ( ) const
inline

Definition at line 275 of file CVectorField3D.h.

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(), clear(), mrpt::opengl::CPlanarLaserScan::clear(), mrpt::opengl::COctoMapVoxels::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(), enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CColorBar::enableDepthTest(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), 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(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::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(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::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(), readFromStream(), mrpt::opengl::CEllipsoidInverseDepth3D::readFromStream(), mrpt::opengl::CFrustum::readFromStream(), mrpt::opengl::COctoMapVoxels::readFromStream(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::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::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::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::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CGridPlaneXY::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(), setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CMesh::setMask(), setMaxSpeedForColor(), 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(), setPointColor(), setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), 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(), setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::opengl::CSetOfLines::setVerticesPointSize(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::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(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::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::CVectorField3D::operator delete ( void ptr)
throw (
)
inline

Definition at line 45 of file CVectorField3D.h.

void mrpt::opengl::CVectorField3D::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 45 of file CVectorField3D.h.

void mrpt::opengl::CVectorField3D::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 45 of file CVectorField3D.h.

void mrpt::opengl::CVectorField3D::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 45 of file CVectorField3D.h.

static void* mrpt::opengl::CVectorField3D::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 45 of file CVectorField3D.h.

void* mrpt::opengl::CVectorField3D::operator new ( size_t  size)
inline

Definition at line 45 of file CVectorField3D.h.

void* mrpt::opengl::CVectorField3D::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 45 of file CVectorField3D.h.

void* mrpt::opengl::CVectorField3D::operator new[] ( size_t  size)
inline

Definition at line 45 of file CVectorField3D.h.

void CVectorField3D::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 179 of file CVectorField3D.cpp.

References m_antiAliasing, m_field_color, m_LineWidth, m_point_color, m_pointSize, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::opengl::CRenderizableDisplayList::readFromStreamRender(), x_p, x_vf, y_p, y_vf, z_p, and z_vf.

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited
void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited
void CRenderizableDisplayList::render ( ) const
virtualinherited
void CVectorField3D::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::CVectorField3D::resize ( size_t  rows,
size_t  cols 
)
inline

Resizes the set.

Definition at line 247 of file CVectorField3D.h.

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

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.

void mrpt::opengl::CVectorField3D::setLineWidth ( const float  w)
inline

Set the width with which lines will be drawn.

Definition at line 139 of file CVectorField3D.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::CVectorField3D::setMaxSpeedForColor ( const float  s)
inline

Set the max speed associated for the color map ( m_still_color, m_maxspeed_color)

Definition at line 149 of file CVectorField3D.h.

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

void mrpt::opengl::CVectorField3D::setMotionFieldColormap ( const float  Rmin,
const float  Gmin,
const float  Bmin,
const float  Rmax,
const float  Gmax,
const float  Bmax,
const float  Amin = 1,
const float  Amax = 1 
)
inline

Set the motion field min and max colors (colormap) in the range [0,1].

Definition at line 114 of file CVectorField3D.h.

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

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

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

void mrpt::opengl::CVectorField3D::setPointColor ( const float  R,
const float  G,
const float  B,
const float  A = 1 
)
inline

Set the point color in the range [0,1].

Definition at line 82 of file CVectorField3D.h.

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

void mrpt::opengl::CVectorField3D::setPointCoordinates ( mrpt::math::CMatrixFloat Matrix_x,
mrpt::math::CMatrixFloat Matrix_y,
mrpt::math::CMatrixFloat Matrix_z 
)
inline

Set the coordinates of the points at which the vector field is plotted with Matrix_x, Matrix_y and Matrix_z.

Definition at line 225 of file CVectorField3D.h.

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

void mrpt::opengl::CVectorField3D::setPointCoordinates ( Eigen::MatrixXf &  Matrix_x,
Eigen::MatrixXf &  Matrix_y,
Eigen::MatrixXf &  Matrix_z 
)
inline
void mrpt::opengl::CVectorField3D::setPointSize ( const float  p)
inline

Set the size with which points will be drawn.

By default 1.0

Definition at line 129 of file CVectorField3D.h.

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

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::CVectorField3D::setVectorField ( mrpt::math::CMatrixFloat Matrix_x,
mrpt::math::CMatrixFloat Matrix_y,
mrpt::math::CMatrixFloat Matrix_z 
)
inline

Set the vector field with Matrix_x, Matrix_y and Matrix_z.

Definition at line 204 of file CVectorField3D.h.

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

void mrpt::opengl::CVectorField3D::setVectorField ( Eigen::MatrixXf &  Matrix_x,
Eigen::MatrixXf &  Matrix_y,
Eigen::MatrixXf &  Matrix_z 
)
inline
void mrpt::opengl::CVectorField3D::setVectorFieldColor ( const float  R,
const float  G,
const float  B,
const float  A = 1 
)
inline

Set the arrow color in the range [0,1].

Definition at line 96 of file CVectorField3D.h.

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

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.

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().

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 CVectorField3D::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 157 of file CVectorField3D.cpp.

References m_antiAliasing, m_field_color, m_LineWidth, m_point_color, m_pointSize, mrpt::opengl::CRenderizable::writeToStreamRender(), x_p, x_vf, y_p, y_vf, z_p, and z_vf.

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

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CVectorField3D::_init_CVectorField3D
staticprotected

Definition at line 45 of file CVectorField3D.h.

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

Definition at line 128 of file CObject.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.

mrpt::utils::TRuntimeClassId mrpt::opengl::CVectorField3D::classCVectorField3D
static

Definition at line 45 of file CVectorField3D.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CVectorField3D::classinfo
static

Definition at line 45 of file CVectorField3D.h.

bool mrpt::opengl::CVectorField3D::m_antiAliasing
protected

By default it is true.

Definition at line 57 of file CVectorField3D.h.

Referenced by readFromStream(), render_dl(), and writeToStream().

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited
bool mrpt::opengl::CVectorField3D::m_colorFromModule
protected

By default it is false.

Definition at line 58 of file CVectorField3D.h.

Referenced by render_dl().

mrpt::utils::TColor mrpt::opengl::CVectorField3D::m_field_color
protected

Definition at line 62 of file CVectorField3D.h.

Referenced by CVectorField3D(), readFromStream(), render_dl(), and writeToStream().

float mrpt::opengl::CVectorField3D::m_LineWidth
protected

By default it is 1.0.

Definition at line 55 of file CVectorField3D.h.

Referenced by readFromStream(), render_dl(), and writeToStream().

float mrpt::opengl::CVectorField3D::m_maxspeed
protected

Value of the module of the motion field which will correspond to 'm_maxspeed_color'.

Definition at line 66 of file CVectorField3D.h.

Referenced by CVectorField3D(), and render_dl().

mrpt::utils::TColor mrpt::opengl::CVectorField3D::m_maxspeed_color
protected

Color associated to fields whose module is equal or larger than 'm_maxspeed'.

Definition at line 65 of file CVectorField3D.h.

Referenced by CVectorField3D(), and render_dl().

std::string mrpt::opengl::CRenderizable::m_name
protectedinherited
mrpt::utils::TColor mrpt::opengl::CVectorField3D::m_point_color
protected

Definition at line 61 of file CVectorField3D.h.

Referenced by CVectorField3D(), readFromStream(), render_dl(), and writeToStream().

float mrpt::opengl::CVectorField3D::m_pointSize
protected

By default it is 1.0.

Definition at line 56 of file CVectorField3D.h.

Referenced by readFromStream(), render_dl(), and writeToStream().

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::CRenderizable::m_show_name
protectedinherited
bool mrpt::opengl::CVectorField3D::m_showPoints
protected

By default it is true.

Definition at line 59 of file CVectorField3D.h.

Referenced by render_dl().

mrpt::utils::TColor mrpt::opengl::CVectorField3D::m_still_color
protected

Color associated to fields with null module.

Definition at line 64 of file CVectorField3D.h.

Referenced by CVectorField3D(), and render_dl().

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().

mrpt::math::CMatrix mrpt::opengl::CVectorField3D::x_p
protected

X coordinate of the points at which the vector field is plotted.

Definition at line 51 of file CVectorField3D.h.

Referenced by CVectorField3D(), getBoundingBox(), readFromStream(), render_dl(), and writeToStream().

mrpt::math::CMatrix mrpt::opengl::CVectorField3D::x_vf
protected

X component of the vector field.

Definition at line 47 of file CVectorField3D.h.

Referenced by CVectorField3D(), getBoundingBox(), readFromStream(), render_dl(), and writeToStream().

mrpt::math::CMatrix mrpt::opengl::CVectorField3D::y_p
protected

Y coordinate of the points at which the vector field is plotted.

Definition at line 52 of file CVectorField3D.h.

Referenced by CVectorField3D(), getBoundingBox(), readFromStream(), render_dl(), and writeToStream().

mrpt::math::CMatrix mrpt::opengl::CVectorField3D::y_vf
protected

Y component of the vector field.

Definition at line 48 of file CVectorField3D.h.

Referenced by CVectorField3D(), getBoundingBox(), readFromStream(), render_dl(), and writeToStream().

mrpt::math::CMatrix mrpt::opengl::CVectorField3D::z_p
protected

Z coordinate of the points at which the vector field is plotted.

Definition at line 53 of file CVectorField3D.h.

Referenced by CVectorField3D(), getBoundingBox(), readFromStream(), render_dl(), and writeToStream().

mrpt::math::CMatrix mrpt::opengl::CVectorField3D::z_vf
protected

Z component of the vector field.

Definition at line 49 of file CVectorField3D.h.

Referenced by CVectorField3D(), getBoundingBox(), readFromStream(), render_dl(), and writeToStream().




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