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mrpt::opengl::CMesh Class Reference

Detailed Description

A planar (XY) grid where each cell has an associated height and, optionally, a texture map.

A typical usage example would be an elevation map or a 3D model of a terrain.

See also
opengl::COpenGLScene
mrpt::opengl::CMesh
preview_CMesh.png

Definition at line 40 of file CMesh.h.

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:
Inheritance graph

Classes

struct  TTriangleVertexIndices
 

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 setGridLimits (float xmin, float xmax, float ymin, float ymax)
 
void getGridLimits (float &xmin, float &xmax, float &ymin, float &ymax) const
 
void enableTransparency (bool v)
 
void enableWireFrame (bool v)
 
void enableColorFromZ (bool v, mrpt::utils::TColormap colorMap=mrpt::utils::cmHOT)
 
void setZ (const mrpt::math::CMatrixTemplateNumeric< float > &in_Z)
 This method sets the matrix of heights for each position (cell) in the mesh grid. More...
 
void getZ (mrpt::math::CMatrixFloat &out) const
 Returns a reference to the internal Z matrix, allowing changing it efficiently. More...
 
void getMask (mrpt::math::CMatrixFloat &out) const
 Returns a reference to the internal mask matrix, allowing changing it efficiently. More...
 
void setMask (const mrpt::math::CMatrixTemplateNumeric< float > &in_mask)
 This method sets the boolean mask of valid heights for each position (cell) in the mesh grid. More...
 
void setUV (const mrpt::math::CMatrixTemplateNumeric< float > &in_U, const mrpt::math::CMatrixTemplateNumeric< float > &in_V)
 Sets the (u,v) texture coordinates (in range [0,1]) for each cell. More...
 
float getXMin () const
 
float getXMax () const
 
float getYMin () const
 
float getYMax () const
 
void setXMin (const float nxm)
 
void setXMax (const float nxm)
 
void setYMin (const float nym)
 
void setYMax (const float nym)
 
void getXBounds (float &min, float &max) const
 
void getYBounds (float &min, float &max) const
 
void setXBounds (const float min, const float max)
 
void setYBounds (const float min, const float max)
 
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 assignImage (const mrpt::utils::CImage &img)
 Assigns a texture image, and disable transparency. More...
 
void assignImageAndZ (const mrpt::utils::CImage &img, const mrpt::math::CMatrixTemplateNumeric< float > &in_Z)
 Assigns a texture image and Z simultaneously, and disable transparency. More...
 
void adjustGridToImageAR ()
 Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction. More...
 
bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
 Trace ray. More...
 
CRenderizableDisplayListclone () const
 Interface for the smart pointer class. More...
 
void render () const MRPT_OVERRIDE
 Render the object, regenerating the display list if needed, otherwise just calling it. 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...
 
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...
 
RTTI classes and functions
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...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static CMeshPtr Create (bool enableTransparency, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
 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 updateColorsMatrix () const
 Called internally to assure C is updated. More...
 
void updateTriangles () const
 Called internally to assure the triangle list is updated. More...
 
void updatePolygons () const
 
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::utils::CImage m_textureImage
 
bool m_enableTransparency
 
bool m_colorFromZ
 
bool m_isWireFrame
 
bool m_isImage
 
math::CMatrix Z
 Z(x,y): Z-coordinate of the point (x,y) More...
 
math::CMatrix mask
 
math::CMatrix U
 
math::CMatrix V
 Texture coordinates. More...
 
math::CMatrix C
 Grayscale Color [0,1] for each cell, updated by updateColorsMatrix. More...
 
math::CMatrix C_r
 Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...
 
math::CMatrix C_g
 Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...
 
math::CMatrix C_b
 Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...
 
mrpt::utils::TColormap m_colorMap
 Used when m_colorFromZ is true. More...
 
bool m_modified_Z
 Whether C is not up-to-date wrt to Z. More...
 
bool m_modified_Image
 Whether C is not up-to-date wrt to the texture image. More...
 
float xMin
 
float xMax
 
float yMin
 
float yMax
 Mesh bounds. More...
 
std::vector< std::pair< CSetOfTriangles::TTriangle, TTriangleVertexIndices > > actualMesh
 List of triangles in the mesh. More...
 
std::vector< std::pair< mrpt::math::TPoint3D, size_t > > vertex_normals
 The accumulated normals & counts for each vertex, so normals can be averaged. More...
 
bool trianglesUpToDate
 Whether the actual mesh needs to be recalculated. More...
 
bool polygonsUpToDate
 
std::vector< mrpt::math::TPolygonWithPlanetmpPolys
 
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

 CMesh (bool enableTransparency=false, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
 Constructor. More...
 
virtual ~CMesh ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 

RTTI stuff

typedef CMeshPtr Ptr
 
typedef CMeshPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CMesh
 
static mrpt::utils::TRuntimeClassId classCMesh
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () 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 CMeshPtr Create ()
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 42 of file CMesh.h.

◆ Ptr

typedef CMeshPtr mrpt::opengl::CMesh::Ptr

A typedef for the associated smart pointer

Definition at line 42 of file CMesh.h.

Constructor & Destructor Documentation

◆ CMesh()

CMesh::CMesh ( bool  enableTransparency = false,
float  xMin = 0.0f,
float  xMax = 0.0f,
float  yMin = 0.0f,
float  yMax = 0.0f 
)
private

Constructor.

Definition at line 29 of file CMesh.cpp.

◆ ~CMesh()

CMesh::~CMesh ( )
privatevirtual

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

Definition at line 48 of file CMesh.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CMesh::_GetBaseClass ( )
staticprotected

◆ adjustGridToImageAR()

void mrpt::opengl::CMesh::adjustGridToImageAR ( )
inline

Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction.

Definition at line 179 of file CMesh.h.

References ASSERT_, mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), and mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ assignImage()

void CMesh::assignImage ( const mrpt::utils::CImage img)

Assigns a texture image, and disable transparency.

Definition at line 296 of file CMesh.cpp.

References MRPT_END, MRPT_START, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ assignImageAndZ()

void CMesh::assignImageAndZ ( const mrpt::utils::CImage img,
const mrpt::math::CMatrixTemplateNumeric< float > &  in_Z 
)

Assigns a texture image and Z simultaneously, and disable transparency.

Definition at line 324 of file CMesh.cpp.

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

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited

◆ clone()

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

Interface for the smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

◆ Create() [1/2]

static CMeshPtr mrpt::opengl::CMesh::Create ( )
static

◆ Create() [2/2]

CMeshPtr CMesh::Create ( bool  enableTransparency,
float  xMin = 0.0f,
float  xMax = 0.0f,
float  yMin = 0.0f,
float  yMax = 0.0f 
)
static

Class factory.

Definition at line 53 of file CMesh.cpp.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::opengl::CMesh::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::opengl::CMesh::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ enableColorFromZ()

void mrpt::opengl::CMesh::enableColorFromZ ( bool  v,
mrpt::utils::TColormap  colorMap = mrpt::utils::cmHOT 
)
inline

◆ enableShowName()

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.

◆ enableTransparency()

void mrpt::opengl::CMesh::enableTransparency ( bool  v)
inline

◆ enableWireFrame()

void mrpt::opengl::CMesh::enableWireFrame ( bool  v)
inline

◆ getBoundingBox()

void CMesh::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 542 of file CMesh.cpp.

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

◆ getColor()

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().

◆ getColor_u8()

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.

◆ getColorA()

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().

◆ getColorA_u8()

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

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

◆ getColorB()

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().

◆ getColorB_u8()

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

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

◆ getColorG()

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().

◆ getColorG_u8()

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

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

◆ getColorR()

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().

◆ getColorR_u8()

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

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

◆ getGridLimits()

void mrpt::opengl::CMesh::getGridLimits ( float &  xmin,
float &  xmax,
float &  ymin,
float &  ymax 
) const
inline

Definition at line 85 of file CMesh.h.

◆ getMask()

void mrpt::opengl::CMesh::getMask ( mrpt::math::CMatrixFloat out) const
inline

Returns a reference to the internal mask matrix, allowing changing it efficiently.

Definition at line 109 of file CMesh.h.

◆ getName()

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().

◆ getNewTextureNumber()

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().

◆ getPose()

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.

◆ getPosePitch()

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().

◆ getPosePitchRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

◆ getPoseRef()

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().

◆ getPoseRoll()

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().

◆ getPoseRollRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

◆ getPoseX()

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

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

◆ getPoseY()

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

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

◆ getPoseYaw()

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().

◆ getPoseYawRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

◆ getPoseZ()

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

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

◆ getScaleX()

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().

◆ getScaleY()

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().

◆ getScaleZ()

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().

◆ getXBounds()

void mrpt::opengl::CMesh::getXBounds ( float &  min,
float &  max 
) const
inline

Definition at line 139 of file CMesh.h.

References min.

◆ getXMax()

float mrpt::opengl::CMesh::getXMax ( ) const
inline

Definition at line 120 of file CMesh.h.

◆ getXMin()

float mrpt::opengl::CMesh::getXMin ( ) const
inline

Definition at line 119 of file CMesh.h.

◆ getYBounds()

void mrpt::opengl::CMesh::getYBounds ( float &  min,
float &  max 
) const
inline

Definition at line 143 of file CMesh.h.

References min.

◆ getYMax()

float mrpt::opengl::CMesh::getYMax ( ) const
inline

Definition at line 122 of file CMesh.h.

◆ getYMin()

float mrpt::opengl::CMesh::getYMin ( ) const
inline

Definition at line 121 of file CMesh.h.

◆ getZ()

void mrpt::opengl::CMesh::getZ ( mrpt::math::CMatrixFloat out) const
inline

Returns a reference to the internal Z matrix, allowing changing it efficiently.

Definition at line 104 of file CMesh.h.

◆ isShowNameEnabled()

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().

◆ isVisible()

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().

◆ notifyChange()

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(), adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CMeshFast::assignImage(), assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CMeshFast::assignImageAndZ(), 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(), 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(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), 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(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMesh3D::enableTransparency(), enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), 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::CCylinder::readFromStream(), mrpt::opengl::C3DSScene::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(), 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(), 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(), mrpt::opengl::CVectorField3D::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::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), 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::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(), 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(), 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(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), setXBounds(), mrpt::opengl::CMeshFast::setXMax(), setXMax(), mrpt::opengl::CMeshFast::setXMin(), setXMin(), mrpt::opengl::CMeshFast::setYBounds(), setYBounds(), mrpt::opengl::CMeshFast::setYMax(), setYMax(), mrpt::opengl::CMeshFast::setYMin(), setYMin(), setZ(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), updateColorsMatrix(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), updatePolygons(), mrpt::opengl::CSetOfTriangles::updatePolygons(), and updateTriangles().

◆ operator delete() [1/3]

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

Definition at line 42 of file CMesh.h.

◆ operator delete() [2/3]

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

Definition at line 42 of file CMesh.h.

◆ operator delete() [3/3]

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

Definition at line 42 of file CMesh.h.

◆ operator delete[]()

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

Definition at line 42 of file CMesh.h.

◆ operator new() [1/3]

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

Definition at line 42 of file CMesh.h.

◆ operator new() [2/3]

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

Definition at line 42 of file CMesh.h.

◆ operator new() [3/3]

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

Definition at line 42 of file CMesh.h.

◆ operator new[]()

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

Definition at line 42 of file CMesh.h.

◆ readFromStream()

void CMesh::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 377 of file CMesh.cpp.

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

◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited

◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

◆ render()

void CRenderizableDisplayList::render ( ) const
virtualinherited

◆ render_dl()

void CMesh::render_dl ( ) const
virtual

◆ renderTextBitmap() [1/2]

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().

◆ renderTextBitmap() [2/2]

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(), and MRPT_UNUSED_PARAM.

◆ setColor() [1/2]

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.

◆ setColor() [2/2]

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.

References R.

◆ setColor_u8() [1/2]

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().

◆ setColor_u8() [2/2]

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 R, and mrpt::opengl::CRenderizable::setColor_u8().

◆ setColorA()

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.

◆ setColorA_u8()

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().

◆ setColorB()

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.

◆ setColorB_u8()

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.

◆ setColorG()

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.

◆ setColorG_u8()

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.

◆ setColorR()

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.

◆ setColorR_u8()

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.

◆ setGridLimits()

void mrpt::opengl::CMesh::setGridLimits ( float  xmin,
float  xmax,
float  ymin,
float  ymax 
)
inline

Definition at line 78 of file CMesh.h.

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

◆ setLocation() [1/2]

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.

◆ setLocation() [2/2]

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.

◆ setMask()

void CMesh::setMask ( const mrpt::math::CMatrixTemplateNumeric< float > &  in_mask)

This method sets the boolean mask of valid heights for each position (cell) in the mesh grid.

Definition at line 502 of file CMesh.cpp.

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

◆ setName()

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

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

◆ setPose() [1/6]

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.

◆ setPose() [2/6]

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.

◆ setPose() [3/6]

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.

◆ setPose() [4/6]

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.

◆ setPose() [5/6]

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().

◆ setPose() [6/6]

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().

◆ setScale() [1/2]

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().

◆ setScale() [2/2]

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.

◆ setUV()

void CMesh::setUV ( const mrpt::math::CMatrixTemplateNumeric< float > &  in_U,
const mrpt::math::CMatrixTemplateNumeric< float > &  in_V 
)

Sets the (u,v) texture coordinates (in range [0,1]) for each cell.

Definition at line 509 of file CMesh.cpp.

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

◆ setVisibility()

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.

◆ setXBounds()

void mrpt::opengl::CMesh::setXBounds ( const float  min,
const float  max 
)
inline

◆ setXMax()

void mrpt::opengl::CMesh::setXMax ( const float  nxm)
inline

Definition at line 127 of file CMesh.h.

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

◆ setXMin()

void mrpt::opengl::CMesh::setXMin ( const float  nxm)
inline

Definition at line 123 of file CMesh.h.

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

◆ setYBounds()

void mrpt::opengl::CMesh::setYBounds ( const float  min,
const float  max 
)
inline

◆ setYMax()

void mrpt::opengl::CMesh::setYMax ( const float  nym)
inline

Definition at line 135 of file CMesh.h.

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

◆ setYMin()

void mrpt::opengl::CMesh::setYMin ( const float  nym)
inline

Definition at line 131 of file CMesh.h.

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

◆ setZ()

void CMesh::setZ ( const mrpt::math::CMatrixTemplateNumeric< float > &  in_Z)

This method sets the matrix of heights for each position (cell) in the mesh grid.

Definition at line 490 of file CMesh.cpp.

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

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

◆ should_skip_display_list_cache()

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().

◆ textBitmapWidth()

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().

◆ traceRay()

bool CMesh::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
virtual

Trace ray.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 516 of file CMesh.cpp.

References mrpt::math::traceRay().

◆ updateColorsMatrix()

void CMesh::updateColorsMatrix ( ) const
protected

Called internally to assure C is updated.

Definition at line 419 of file CMesh.cpp.

References mrpt::mrpt::utils::keep_max(), mrpt::mrpt::utils::keep_min(), mrpt::opengl::CRenderizableDisplayList::notifyChange(), and val.

◆ updatePolygons()

void CMesh::updatePolygons ( ) const
protected

◆ updateTriangles()

void CMesh::updateTriangles ( ) const
protected

◆ writeToMatlab()

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.

◆ writeToStream()

void CMesh::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 352 of file CMesh.cpp.

References version.

◆ writeToStreamRender()

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

Member Data Documentation

◆ _init_CMesh

mrpt::utils::CLASSINIT mrpt::opengl::CMesh::_init_CMesh
staticprotected

Definition at line 42 of file CMesh.h.

◆ actualMesh

std::vector<std::pair<CSetOfTriangles::TTriangle,TTriangleVertexIndices> > mrpt::opengl::CMesh::actualMesh
mutableprotected

List of triangles in the mesh.

Definition at line 71 of file CMesh.h.

◆ C

math::CMatrix mrpt::opengl::CMesh::C
mutableprotected

Grayscale Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 56 of file CMesh.h.

◆ C_b

math::CMatrix mrpt::opengl::CMesh::C_b
mutableprotected

Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 59 of file CMesh.h.

◆ C_g

math::CMatrix mrpt::opengl::CMesh::C_g
mutableprotected

Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 58 of file CMesh.h.

◆ C_r

math::CMatrix mrpt::opengl::CMesh::C_r
mutableprotected

Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 57 of file CMesh.h.

◆ classCMesh

mrpt::utils::TRuntimeClassId mrpt::opengl::CMesh::classCMesh
static

Definition at line 42 of file CMesh.h.

◆ classCObject

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

Definition at line 118 of file CObject.h.

◆ classCRenderizable

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

Definition at line 46 of file CRenderizable.h.

◆ classCRenderizableDisplayList

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

Definition at line 38 of file CRenderizableDisplayList.h.

◆ classCSerializable

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

Definition at line 42 of file CSerializable.h.

◆ classinfo

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

Definition at line 42 of file CMesh.h.

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited

◆ m_colorFromZ

bool mrpt::opengl::CMesh::m_colorFromZ
protected

Definition at line 49 of file CMesh.h.

◆ m_colorMap

mrpt::utils::TColormap mrpt::opengl::CMesh::m_colorMap
protected

Used when m_colorFromZ is true.

Definition at line 61 of file CMesh.h.

◆ m_enableTransparency

bool mrpt::opengl::CMesh::m_enableTransparency
protected

Definition at line 48 of file CMesh.h.

◆ m_isImage

bool mrpt::opengl::CMesh::m_isImage
protected

Definition at line 51 of file CMesh.h.

◆ m_isWireFrame

bool mrpt::opengl::CMesh::m_isWireFrame
protected

Definition at line 50 of file CMesh.h.

◆ m_modified_Image

bool mrpt::opengl::CMesh::m_modified_Image
mutableprotected

Whether C is not up-to-date wrt to the texture image.

Definition at line 64 of file CMesh.h.

◆ m_modified_Z

bool mrpt::opengl::CMesh::m_modified_Z
mutableprotected

Whether C is not up-to-date wrt to Z.

Definition at line 63 of file CMesh.h.

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name
protectedinherited

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited

◆ m_scale_z

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().

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited

◆ m_textureImage

mrpt::utils::CImage mrpt::opengl::CMesh::m_textureImage
protected

Definition at line 46 of file CMesh.h.

◆ m_visible

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().

◆ mask

math::CMatrix mrpt::opengl::CMesh::mask
protected

Definition at line 54 of file CMesh.h.

◆ polygonsUpToDate

bool mrpt::opengl::CMesh::polygonsUpToDate
mutableprotected

Definition at line 74 of file CMesh.h.

◆ tmpPolys

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CMesh::tmpPolys
mutableprotected

Definition at line 75 of file CMesh.h.

◆ trianglesUpToDate

bool mrpt::opengl::CMesh::trianglesUpToDate
mutableprotected

Whether the actual mesh needs to be recalculated.

Definition at line 73 of file CMesh.h.

◆ U

math::CMatrix mrpt::opengl::CMesh::U
protected

Definition at line 55 of file CMesh.h.

◆ V

math::CMatrix mrpt::opengl::CMesh::V
protected

Texture coordinates.

Definition at line 55 of file CMesh.h.

◆ vertex_normals

std::vector<std::pair<mrpt::math::TPoint3D,size_t> > mrpt::opengl::CMesh::vertex_normals
mutableprotected

The accumulated normals & counts for each vertex, so normals can be averaged.

Definition at line 72 of file CMesh.h.

◆ xMax

float mrpt::opengl::CMesh::xMax
protected

Definition at line 70 of file CMesh.h.

◆ xMin

float mrpt::opengl::CMesh::xMin
protected

Definition at line 70 of file CMesh.h.

◆ yMax

float mrpt::opengl::CMesh::yMax
protected

Mesh bounds.

Definition at line 70 of file CMesh.h.

◆ yMin

float mrpt::opengl::CMesh::yMin
protected

Definition at line 70 of file CMesh.h.

◆ Z

math::CMatrix mrpt::opengl::CMesh::Z
protected

Z(x,y): Z-coordinate of the point (x,y)

Definition at line 53 of file CMesh.h.




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