mrpt::opengl::COctoMapVoxels Class Reference

Detailed Description

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

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

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

This class draws these separate elements to represent an OctoMap:

• A grid representation of all cubes, as simple lines (occupied/free, leafs/nodes,... whatever). See:
  • showGridLines()
  • setGridLinesColor()
  • setGridLinesWidth()
  • push_back_GridCube()
• A number of voxel collections, drawn as cubes each having a different color (e.g. depending on the color scheme in the original mrpt::maps::COctoMap object). The meanning of each collection is user-defined, but you can use the constants VOXEL_SET_OCCUPIED, VOXEL_SET_FREESPACE for predefined meanings.
  • showVoxels()
  • push_back_Voxel()

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

mrpt::opengl::COctoMapVoxels

See also

opengl::COpenGLScene

Definition at line 59 of file COctoMapVoxels.h.

#include <mrpt/opengl/COctoMapVoxels.h>

Inheritance diagram for mrpt::opengl::COctoMapVoxels:

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

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

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) throw ()
void	operator delete[] (void *ptr) throw ()
void	operator delete (void *memory, void *ptr) throw ()
void *	operator new (size_t size, const std::nothrow_t &) throw ()
void	operator delete (void *ptr, const std::nothrow_t &) throw ()
void	clear ()
	Clears everything. More...
void	setVisualizationMode (visualization_mode_t mode)
	Select the visualization mode. More...
visualization_mode_t	getVisualizationMode () const
void	enableLights (bool enable)
	Can be used to enable/disable the effects of lighting in this object. More...
bool	areLightsEnabled () const
void	enableCubeTransparency (bool enable)
	By default, the alpha (transparency) component of voxel cubes is taken into account, but transparency can be disabled with this method. More...
bool	isCubeTransparencyEnabled () const
void	showGridLines (bool show)
	Shows/hides the grid lines. More...
bool	areGridLinesVisible () const
void	showVoxels (unsigned int voxel_set, bool show)
	Shows/hides the voxels (voxel_set is a 0-based index for the set of voxels to modify, e.g. More...
bool	areVoxelsVisible (unsigned int voxel_set) const
void	showVoxelsAsPoints (const bool enable)
	For quick renders: render voxels as points instead of cubes. More...
bool	areVoxelsShownAsPoints () const
void	setVoxelAsPointsSize (float pointSize)
	Only used when showVoxelsAsPoints() is enabled. More...
float	getVoxelAsPointsSize () const
void	setGridLinesWidth (float w)
	Sets the width of grid lines. More...
float	getGridLinesWidth () const
	Gets the width of grid lines. More...
void	setGridLinesColor (const mrpt::utils::TColor &color)
const mrpt::utils::TColor &	getGridLinesColor () const
size_t	getGridCubeCount () const
	Returns the total count of grid cubes. More...
size_t	getVoxelSetCount () const
	Returns the number of voxel sets. More...
size_t	getVoxelCount (const size_t set_index) const
	Returns the total count of voxels in one voxel set. More...
void	setBoundingBox (const mrpt::math::TPoint3D &bb_min, const mrpt::math::TPoint3D &bb_max)
	Manually changes the bounding box (normally the user doesn't need to call this) More...
void	resizeGridCubes (const size_t nCubes)
void	resizeVoxelSets (const size_t nVoxelSets)
void	resizeVoxels (const size_t set_index, const size_t nVoxels)
void	reserveGridCubes (const size_t nCubes)
void	reserveVoxels (const size_t set_index, const size_t nVoxels)
TGridCube &	getGridCubeRef (const size_t idx)
const TGridCube &	getGridCube (const size_t idx) const
TVoxel &	getVoxelRef (const size_t set_index, const size_t idx)
const TVoxel &	getVoxel (const size_t set_index, const size_t idx) const
void	push_back_GridCube (const TGridCube &c)
void	push_back_Voxel (const size_t set_index, const TVoxel &v)
void	sort_voxels_by_z ()
void	render_dl () const MRPT_OVERRIDE
	Render. More...
void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
	Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
template<class OCTOMAP >
void	setFromOctoMap (OCTOMAP &m)
	Sets the contents of the object from a mrpt::maps::COctoMap object. More...
CRenderizableDisplayList *	clone () 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 bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose. More...
virtual mxArray *	writeToMatlab () 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)
CRenderizable &	setColorR_u8 (const uint8_t r) MRPT_OVERRIDE
	Color components in the range [0,255]. More...
CRenderizable &	setColorG_u8 (const uint8_t g) MRPT_OVERRIDE
	Color components in the range [0,255]. More...
CRenderizable &	setColorB_u8 (const uint8_t b) MRPT_OVERRIDE
	Color components in the range [0,255]. More...
CRenderizable &	setColorA_u8 (const uint8_t a) MRPT_OVERRIDE
	Color components in the range [0,255]. More...
CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
	Changes the default object color. More...
CRenderizable &	setColor_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::string &	getName () 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
CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::poses::CPose2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::math::TPose2D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
CRenderizable &	setPose (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::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation. More...
CRenderizable &	setLocation (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...
CRenderizable &	setColorR (const double r)
	Color components in the range [0,1]. More...
CRenderizable &	setColorG (const double g)
	Color components in the range [0,1]. More...
CRenderizable &	setColorB (const double b)
	Color components in the range [0,1]. More...
CRenderizable &	setColorA (const double a)
	Color components in the range [0,1]. More...
CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1) More...
CRenderizable &	setScale (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...
CRenderizable &	setColor (const mrpt::utils::TColorf &c)
CRenderizable &	setColor (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::TColor &	getColor_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 void *	operator new (size_t size, void *ptr)
static void	renderTextBitmap (const char *str, void *fontStyle)
	This method is safe for calling from within ::render() methods. More...
static void	renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
static int	textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...

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

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

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

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

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

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

Member Typedef Documentation

ConstPtr

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

Definition at line 61 of file COctoMapVoxels.h.

Ptr

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

A typedef for the associated smart pointer

Definition at line 61 of file COctoMapVoxels.h.

Member Enumeration Documentation

visualization_mode_t

enum mrpt::opengl::COctoMapVoxels::visualization_mode_t

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

Set with setVisualizationMode()

Enumerator
COLOR_FROM_HEIGHT	Color goes from black (at the bottom) to the chosen color (at the top)
COLOR_FROM_OCCUPANCY	Color goes from black (occupied voxel) to the chosen color (free voxel)
TRANSPARENCY_FROM_OCCUPANCY	Transparency goes from opaque (occupied voxel) to transparent (free voxel).
TRANS_AND_COLOR_FROM_OCCUPANCY	Color goes from black (occupaid voxel) to the chosen color (free voxel) and they are transparent.
MIXED	Combination of COLOR_FROM_HEIGHT and TRANSPARENCY_FROM_OCCUPANCY.
FIXED	All cubes are of identical color.

Definition at line 65 of file COctoMapVoxels.h.

Constructor & Destructor Documentation

COctoMapVoxels()

COctoMapVoxels::COctoMapVoxels ( )

private

Constructor.

Ctor.

Definition at line 27 of file COctoMapVoxels.cpp.

~COctoMapVoxels()

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

inlineprivatevirtual

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

Definition at line 212 of file COctoMapVoxels.h.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::COctoMapVoxels::_GetBaseClass ( )

staticprotected

areGridLinesVisible()

bool mrpt::opengl::COctoMapVoxels::areGridLinesVisible ( ) const

inline

Definition at line 142 of file COctoMapVoxels.h.

areLightsEnabled()

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

inline

Definition at line 132 of file COctoMapVoxels.h.

areVoxelsShownAsPoints()

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

inline

Definition at line 150 of file COctoMapVoxels.h.

areVoxelsVisible()

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

inline

Definition at line 146 of file COctoMapVoxels.h.

References ASSERT_.

checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotectedinherited

Checks glGetError and throws an exception if an error situation is found.

Definition at line 277 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CGridPlaneXY::render_dl(), mrpt::opengl::CGridPlaneXZ::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

clear()

void COctoMapVoxels::clear

(

)

Clears everything.

Definition at line 40 of file COctoMapVoxels.cpp.

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

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

clone()

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

inlineinherited

Interface for the smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

Create()

static COctoMapVoxelsPtr mrpt::opengl::COctoMapVoxels::Create ( )

static

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getAs3DObject().

CreateObject()

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

static

duplicate()

virtual mrpt::utils::CObject* mrpt::opengl::COctoMapVoxels::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().

enableCubeTransparency()

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

inline

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

Definition at line 137 of file COctoMapVoxels.h.

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

enableLights()

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

inline

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

Definition at line 131 of file COctoMapVoxels.h.

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

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.

getBoundingBox()

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

virtual

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

Implements mrpt::opengl::CRenderizable.

Definition at line 323 of file COctoMapVoxels.cpp.

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.

getGridCube()

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

inline

Definition at line 182 of file COctoMapVoxels.h.

References ASSERTDEB_.

getGridCubeCount()

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

inline

Returns the total count of grid cubes.

Definition at line 165 of file COctoMapVoxels.h.

getGridCubeRef()

TGridCube& mrpt::opengl::COctoMapVoxels::getGridCubeRef ( const size_t  idx )

inline

Definition at line 181 of file COctoMapVoxels.h.

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

getGridLinesColor()

const mrpt::utils::TColor& mrpt::opengl::COctoMapVoxels::getGridLinesColor ( ) const

inline

Definition at line 162 of file COctoMapVoxels.h.

getGridLinesWidth()

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

inline

Gets the width of grid lines.

Definition at line 159 of file COctoMapVoxels.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::COctoMapVoxels::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().

getVisualizationMode()

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

inline

Definition at line 128 of file COctoMapVoxels.h.

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

getVoxel()

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

inline

Definition at line 185 of file COctoMapVoxels.h.

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

getVoxelAsPointsSize()

float mrpt::opengl::COctoMapVoxels::getVoxelAsPointsSize ( ) const

inline

Definition at line 154 of file COctoMapVoxels.h.

getVoxelCount()

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

inline

Returns the total count of voxels in one voxel set.

Definition at line 169 of file COctoMapVoxels.h.

References ASSERT_.

getVoxelRef()

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

inline

Definition at line 184 of file COctoMapVoxels.h.

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

getVoxelSetCount()

size_t mrpt::opengl::COctoMapVoxels::getVoxelSetCount ( ) const

inline

Returns the number of voxel sets.

Definition at line 167 of file COctoMapVoxels.h.

isCubeTransparencyEnabled()

bool mrpt::opengl::COctoMapVoxels::isCubeTransparencyEnabled ( ) const

inline

Definition at line 138 of file COctoMapVoxels.h.

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

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

operator delete() [1/3]

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

inline

Definition at line 61 of file COctoMapVoxels.h.

operator delete() [2/3]

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

inline

Definition at line 61 of file COctoMapVoxels.h.

operator delete() [3/3]

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

inline

Definition at line 61 of file COctoMapVoxels.h.

operator delete[]()

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

inline

Definition at line 61 of file COctoMapVoxels.h.

operator new() [1/3]

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

inlinestatic

Definition at line 61 of file COctoMapVoxels.h.

operator new() [2/3]

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

inline

Definition at line 61 of file COctoMapVoxels.h.

operator new() [3/3]

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

inline

Definition at line 61 of file COctoMapVoxels.h.

operator new[]()

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

inline

Definition at line 61 of file COctoMapVoxels.h.

push_back_GridCube()

void mrpt::opengl::COctoMapVoxels::push_back_GridCube ( const TGridCube &  c )

inline

Definition at line 187 of file COctoMapVoxels.h.

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

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

push_back_Voxel()

void mrpt::opengl::COctoMapVoxels::push_back_Voxel ( const size_t  set_index, const TVoxel &  v  )

inline

Definition at line 188 of file COctoMapVoxels.h.

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

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

readFromStream()

void COctoMapVoxels::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedvirtual

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

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception

On any error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 286 of file COctoMapVoxels.cpp.

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

readFromStreamRender()

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

inlineprotectedinherited

Definition at line 58 of file CRenderizableDisplayList.h.

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

Referenced by mrpt::opengl::CSimpleLine::readFromStream(), mrpt::opengl::CTexturedPlane::readFromStream(), mrpt::opengl::CGridPlaneXZ::readFromStream(), mrpt::opengl::CSetOfLines::readFromStream(), mrpt::opengl::CGridPlaneXY::readFromStream(), mrpt::opengl::CVectorField2D::readFromStream(), mrpt::opengl::CBox::readFromStream(), mrpt::opengl::CText3D::readFromStream(), mrpt::opengl::CVectorField3D::readFromStream(), and mrpt::opengl::CFrustum::readFromStream().

releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int  i )

staticprotectedinherited

Definition at line 102 of file CRenderizable.cpp.

References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.

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

render()

void CRenderizableDisplayList::render ( ) const

virtualinherited

Render the object, regenerating the display list if needed, otherwise just calling it.

Implements mrpt::opengl::CRenderizable.

Definition at line 81 of file CRenderizableDisplayList.cpp.

References TAuxDLData::getSingleton(), GL_COMPILE, GL_NO_ERROR, glCallList(), glDeleteLists(), glEndList(), glGenLists(), glGetError(), glNewList(), INVALID_DISPLAY_LIST_ID, mrpt::opengl::CRenderizableDisplayList::m_dl, mrpt::opengl::CRenderizableDisplayList::m_dl_recreate, mrpt::opengl::CRenderizableDisplayList::render_dl(), and mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache().

render_dl()

void COctoMapVoxels::render_dl ( ) const

virtual

Render.

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 98 of file COctoMapVoxels.cpp.

References mrpt::utils::TColor::A, mrpt::utils::TColor::B, mrpt::opengl::gl_utils::checkOpenGLError(), mrpt::utils::TColor::G, GL_BLEND, GL_COLOR_BUFFER_BIT, GL_DOUBLE, GL_FLOAT, GL_LIGHTING, GL_LINE_BIT, GL_LINE_SMOOTH, GL_LINES, GL_NORMAL_ARRAY, GL_ONE_MINUS_SRC_ALPHA, GL_POINTS, GL_SRC_ALPHA, GL_TRIANGLES, GL_UNSIGNED_BYTE, GL_VERTEX_ARRAY, glBegin(), glBlendFunc(), glColor4ub(), glDisable(), glDisableClientState(), glDrawElements(), glEnable(), glEnableClientState(), glEnd(), glLineWidth(), glNormalPointer(), glPointSize(), glPopAttrib(), glPushAttrib(), glVertex3f(), glVertexPointer(), mrpt::opengl::COctoMapVoxels::TGridCube::max, mrpt::utils::TColor::R, and mrpt::math::TPoint3D::x.

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.

reserveGridCubes()

void mrpt::opengl::COctoMapVoxels::reserveGridCubes ( const size_t  nCubes )

inline

Definition at line 178 of file COctoMapVoxels.h.

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

reserveVoxels()

void mrpt::opengl::COctoMapVoxels::reserveVoxels ( const size_t  set_index, const size_t  nVoxels  )

inline

Definition at line 179 of file COctoMapVoxels.h.

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

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

resizeGridCubes()

void mrpt::opengl::COctoMapVoxels::resizeGridCubes ( const size_t  nCubes )

inline

Definition at line 174 of file COctoMapVoxels.h.

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

resizeVoxels()

void mrpt::opengl::COctoMapVoxels::resizeVoxels ( const size_t  set_index, const size_t  nVoxels  )

inline

Definition at line 176 of file COctoMapVoxels.h.

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

resizeVoxelSets()

void mrpt::opengl::COctoMapVoxels::resizeVoxelSets ( const size_t  nVoxelSets )

inline

Definition at line 175 of file COctoMapVoxels.h.

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

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

setBoundingBox()

void COctoMapVoxels::setBoundingBox	(	const mrpt::math::TPoint3D &	bb_min,
		const mrpt::math::TPoint3D &	bb_max
	)

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

Definition at line 48 of file COctoMapVoxels.cpp.

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

setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf &  c )

inlineinherited

Parameters

c	Changes 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.

setFromOctoMap()

template<class OCTOMAP >

void mrpt::opengl::COctoMapVoxels::setFromOctoMap ( OCTOMAP &  m )

inline

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

Template Parameters

Typically,an

mrpt::maps::COctoMap object

Note

Declared as a template because in the library [mrpt-opengl] we don't have access to the library [mrpt-maps].

Definition at line 204 of file COctoMapVoxels.h.

setGridLinesColor()

void mrpt::opengl::COctoMapVoxels::setGridLinesColor ( const mrpt::utils::TColor &  color )

inline

Definition at line 161 of file COctoMapVoxels.h.

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

setGridLinesWidth()

void mrpt::opengl::COctoMapVoxels::setGridLinesWidth ( float  w )

inline

Sets the width of grid lines.

Definition at line 157 of file COctoMapVoxels.h.

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

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.

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

o	Set 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

o	Set 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.

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.

setVisualizationMode()

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

inline

Select the visualization mode.

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

Definition at line 125 of file COctoMapVoxels.h.

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

setVoxelAsPointsSize()

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

inline

Only used when showVoxelsAsPoints() is enabled.

Definition at line 153 of file COctoMapVoxels.h.

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

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().

showGridLines()

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

inline

Shows/hides the grid lines.

Definition at line 141 of file COctoMapVoxels.h.

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

showVoxels()

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

inline

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

VOXEL_SET_OCCUPIED, VOXEL_SET_FREESPACE)

Definition at line 145 of file COctoMapVoxels.h.

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

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

showVoxelsAsPoints()

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

inline

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

See also

setVoxelAsPointsSize

Definition at line 149 of file COctoMapVoxels.h.

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

sort_voxels_by_z()

void COctoMapVoxels::sort_voxels_by_z

(

)

Definition at line 338 of file COctoMapVoxels.cpp.

References sort_voxels_z().

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

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 CRenderizable::traceRay ( const mrpt::poses::CPose3D &  o, double &  dist  ) const

virtualinherited

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned

Reimplemented in mrpt::opengl::CPolyhedron, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CMesh, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSetOfObjects, mrpt::opengl::CEllipsoid, mrpt::opengl::CFrustum, mrpt::opengl::CTexturedPlane, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSphere, mrpt::opengl::C3DSScene, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::opengl::CDisk, mrpt::opengl::CCylinder, and mrpt::opengl::COpenGLStandardObject.

Definition at line 329 of file CRenderizable.cpp.

References MRPT_UNUSED_PARAM.

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 COctoMapVoxels::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedvirtual

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

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

Parameters

out	The output binary stream where object must be dumped.
getVersion	If 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::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 265 of file COctoMapVoxels.cpp.

References version.

writeToStreamRender()

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

protectedinherited

Definition at line 112 of file CRenderizable.cpp.

References mrpt::utils::TColor::A, mrpt::utils::TColor::B, mrpt::utils::TColor::G, mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizable::m_name, mrpt::opengl::CRenderizable::m_pose, mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, mrpt::opengl::CRenderizable::m_scale_z, mrpt::opengl::CRenderizable::m_show_name, mrpt::opengl::CRenderizable::m_visible, mrpt::poses::CPose3D::pitch(), mrpt::utils::TColor::R, mrpt::poses::CPose3D::roll(), mrpt::utils::CStream::WriteBuffer(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by mrpt::opengl::CSimpleLine::writeToStream(), mrpt::opengl::CTexturedPlane::writeToStream(), mrpt::opengl::CSetOfLines::writeToStream(), mrpt::opengl::CGridPlaneXY::writeToStream(), mrpt::opengl::CGridPlaneXZ::writeToStream(), mrpt::opengl::CVectorField2D::writeToStream(), mrpt::opengl::CBox::writeToStream(), mrpt::opengl::CText3D::writeToStream(), mrpt::opengl::CVectorField3D::writeToStream(), and mrpt::opengl::CFrustum::writeToStream().

Member Data Documentation

_init_COctoMapVoxels

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

staticprotected

Definition at line 61 of file COctoMapVoxels.h.

classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

classCOctoMapVoxels

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

static

Definition at line 61 of file COctoMapVoxels.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::COctoMapVoxels::classinfo

static

Definition at line 61 of file COctoMapVoxels.h.

m_bb_max

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

protected

Cached bounding boxes.

Definition at line 108 of file COctoMapVoxels.h.

m_bb_min

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

protected

Definition at line 108 of file COctoMapVoxels.h.

m_color

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

protectedinherited

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

Referenced by mrpt::opengl::CMesh3D::CMesh3D(), mrpt::opengl::CVectorField2D::CVectorField2D(), mrpt::opengl::CVectorField3D::CVectorField3D(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CText3D::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), mrpt::opengl::CRenderizable::setColor_u8(), and mrpt::opengl::CRenderizable::writeToStreamRender().

m_enable_cube_transparency

bool mrpt::opengl::COctoMapVoxels::m_enable_cube_transparency

protected

Definition at line 111 of file COctoMapVoxels.h.

m_enable_lighting

bool mrpt::opengl::COctoMapVoxels::m_enable_lighting

protected

Definition at line 110 of file COctoMapVoxels.h.

m_grid_color

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

protected

Definition at line 116 of file COctoMapVoxels.h.

m_grid_cubes

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

protected

Definition at line 106 of file COctoMapVoxels.h.

m_grid_width

float mrpt::opengl::COctoMapVoxels::m_grid_width

protected

Definition at line 115 of file COctoMapVoxels.h.

m_name

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

protectedinherited

Definition at line 52 of file CRenderizable.h.

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

m_pose

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

protectedinherited

6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

Definition at line 55 of file CRenderizable.h.

Referenced by mrpt::opengl::C3DSScene::getBoundingBox(), mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CBox::getBoundingBox(), mrpt::opengl::CSimpleLine::getBoundingBox(), mrpt::opengl::CTexturedPlane::getBoundingBox(), mrpt::opengl::CGridPlaneXY::getBoundingBox(), mrpt::opengl::CGridPlaneXZ::getBoundingBox(), mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CMesh3D::getBoundingBox(), mrpt::opengl::CVectorField2D::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CRenderizable::getPose(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), mrpt::opengl::CRenderizable::setPose(), mrpt::opengl::CTexturedPlane::traceRay(), and mrpt::opengl::CRenderizable::writeToStreamRender().

m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x

protectedinherited

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y

protectedinherited

Definition at line 56 of file CRenderizable.h.

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

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_grids

bool mrpt::opengl::COctoMapVoxels::m_show_grids

protected

Definition at line 114 of file COctoMapVoxels.h.

m_show_name

bool mrpt::opengl::CRenderizable::m_show_name

protectedinherited

Definition at line 53 of file CRenderizable.h.

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

m_showVoxelsAsPoints

bool mrpt::opengl::COctoMapVoxels::m_showVoxelsAsPoints

protected

Definition at line 112 of file COctoMapVoxels.h.

m_showVoxelsAsPointsSize

float mrpt::opengl::COctoMapVoxels::m_showVoxelsAsPointsSize

protected

Definition at line 113 of file COctoMapVoxels.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().

m_visual_mode

visualization_mode_t mrpt::opengl::COctoMapVoxels::m_visual_mode

protected

Definition at line 117 of file COctoMapVoxels.h.

m_voxel_sets

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

protected

Definition at line 105 of file COctoMapVoxels.h.