Detailed Description

A base class for all OpenGL objects with loadable textures.

See also: opengl::COpenGLScene, opengl::CTexturedPlane, opengl::CSetOfTexturedTriangles

Definition at line 29 of file CTexturedObject.h.

#include <mrpt/opengl/CTexturedObject.h>

Inheritance diagram for mrpt::opengl::CTexturedObject:

Public Member Functions
void	assignImage (const mrpt::utils::CImage &img, const mrpt::utils::CImage &imgAlpha)
	Assigns a texture and a transparency image, and enables transparency (If the images are not 2^N x 2^M, they will be internally filled to its dimensions to be powers of two) More...

void	assignImage (const mrpt::utils::CImage &img)
	Assigns a texture image, and disable transparency. More...

void	assignImage_fast (mrpt::utils::CImage &img, mrpt::utils::CImage &imgAlpha)
	Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer. More...

void	assignImage_fast (mrpt::utils::CImage &img)
	Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer. More...

void	loadTextureInOpenGL () const
	VERY IMPORTANT: If you use a multi-thread application, you MUST call this from the same thread that will later destruct the object in order to the OpenGL texture memory to be correctly deleted. More...

virtual void	render_dl () const MRPT_OVERRIDE
	Derived classes must implement this method to the render the 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 void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const =0
	Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. 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...

virtual CObject *	duplicate () const =0
	Returns a copy of the object, indepently of its 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	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
	CTexturedObject ()

virtual	~CTexturedObject ()

void	unloadTexture ()

virtual void	render_pre () const

virtual void	render_post () const

virtual void	render_texturedobj () const =0
	Must be implemented by derived classes. More...

void	writeToStreamTexturedObject (mrpt::utils::CStream &out) const

void	readFromStreamTexturedObject (mrpt::utils::CStream &in)

void	writeToStreamRender (utils::CStream &out) const

virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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
unsigned int	m_glTextureName

bool	m_texture_is_loaded

mrpt::utils::CImage	m_textureImage

mrpt::utils::CImage	m_textureImageAlpha

bool	m_enableTransparency
	Of the texture using "m_textureImageAlpha". More...

int	r_width

int	r_height
	Size of the texture image, rounded up to next power of 2. More...

int	m_pad_x_right

int	m_pad_y_bottom
	The size of the fill in pixels in the textured image, w.r.t the image passed by the user. More...

std::string	m_name

bool	m_show_name

mrpt::utils::TColor	m_color
	Color components in the range [0,255]. More...

mrpt::poses::CPose3D	m_pose
	6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More...

float	m_scale_x

float	m_scale_y

float	m_scale_z
	Scale components to apply to the object (default=1) More...

bool	m_visible
	Is the object visible? (default=true) More...

RTTI stuff
typedef CTexturedObjectPtr	Ptr

typedef CTexturedObjectPtr	ConstPtr

static const mrpt::utils::TRuntimeClassId	classCTexturedObject

class	mrpt::utils::CStream

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

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

Member Typedef Documentation

◆ ConstPtr

typedef CTexturedObjectPtr mrpt::opengl::CTexturedObject::ConstPtr

Definition at line 31 of file CTexturedObject.h.

◆ Ptr

typedef CTexturedObjectPtr mrpt::opengl::CTexturedObject::Ptr

Definition at line 31 of file CTexturedObject.h.

Constructor & Destructor Documentation

◆ CTexturedObject()

CTexturedObject::CTexturedObject ( )

protected

Definition at line 57 of file CTexturedObject.cpp.

◆ ~CTexturedObject()

CTexturedObject::~CTexturedObject ( )

protectedvirtual

Definition at line 441 of file CTexturedObject.cpp.

References unloadTexture().

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ assignImage() [1/2]

void CTexturedObject::assignImage	(	const mrpt::utils::CImage &	img,
		const mrpt::utils::CImage &	imgAlpha
	)

Assigns a texture and a transparency image, and enables transparency (If the images are not 2^N x 2^M, they will be internally filled to its dimensions to be powers of two)

Note: Images are copied, the original ones can be deleted.

Definition at line 67 of file CTexturedObject.cpp.

References m_enableTransparency, m_textureImage, m_textureImageAlpha, MRPT_END, MRPT_START, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and unloadTexture().

Referenced by mrpt::opengl::CTexturedPlane::readFromStream(), and readFromStreamTexturedObject().

◆ assignImage() [2/2]

void CTexturedObject::assignImage ( const mrpt::utils::CImage & img )

Assigns a texture image, and disable transparency.

Note: Images are copied, the original ones can be deleted.

Definition at line 90 of file CTexturedObject.cpp.

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

◆ assignImage_fast() [1/2]

void CTexturedObject::assignImage_fast	(	mrpt::utils::CImage &	img,
		mrpt::utils::CImage &	imgAlpha
	)

Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer.

Definition at line 110 of file CTexturedObject.cpp.

References mrpt::utils::CImage::copyFastFrom(), m_enableTransparency, m_textureImage, m_textureImageAlpha, MRPT_END, MRPT_START, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and unloadTexture().

◆ assignImage_fast() [2/2]

void CTexturedObject::assignImage_fast ( mrpt::utils::CImage & img )

Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer.

Definition at line 132 of file CTexturedObject.cpp.

References mrpt::utils::CImage::copyFastFrom(), m_enableTransparency, m_textureImage, MRPT_END, MRPT_START, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and unloadTexture().

◆ 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 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(), render_post(), render_pre(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ clone()

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

inlineinherited

Interface for the smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

◆ duplicate()

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

pure virtualinherited

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

Referenced by mrpt::poses::CPoseRandomSampler::CPoseRandomSampler(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), mrpt::poses::CPoseRandomSampler::operator=(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

◆ 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().

◆ 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()

virtual void mrpt::opengl::CRenderizable::getBoundingBox	(	mrpt::math::TPoint3D &	bb_min,
		mrpt::math::TPoint3D &	bb_max
	)		const

pure virtualinherited

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

Implemented in mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CVectorField3D, mrpt::opengl::CSetOfLines, mrpt::opengl::CVectorField2D, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::opengl::CCylinder, mrpt::opengl::CPolyhedron, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CMesh3D, mrpt::opengl::CSetOfObjects, mrpt::opengl::CFrustum, mrpt::opengl::CEllipsoid, mrpt::opengl::CCamera, mrpt::opengl::CText3D, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CTexturedPlane, mrpt::opengl::CAxis, mrpt::opengl::CColorBar, mrpt::opengl::CSimpleLine, mrpt::opengl::CArrow, mrpt::opengl::CSphere, mrpt::opengl::CText, mrpt::opengl::CBox, mrpt::opengl::CDisk, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::COpenGLStandardObject, mrpt::opengl::CAssimpModel, and mrpt::opengl::C3DSScene.

◆ 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.

◆ 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 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::CTexturedObject::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

Reimplemented in mrpt::opengl::CSetOfTexturedTriangles, and mrpt::opengl::CTexturedPlane.

◆ 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().

◆ 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().

◆ loadTextureInOpenGL()

void CTexturedObject::loadTextureInOpenGL ( ) const

VERY IMPORTANT: If you use a multi-thread application, you MUST call this from the same thread that will later destruct the object in order to the OpenGL texture memory to be correctly deleted.

Calling this method more than once has no effects. If you use one thread, this method will be automatically called when rendering, so there is no need to explicitly call it.

Definition at line 177 of file CTexturedObject.cpp.

References ASSERT_, mrpt::opengl::CRenderizable::checkOpenGLError(), CTexturedObject_MemPoolData::data, mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::dump_to_pool(), mrpt::utils::CTimeLogger::enter(), mrpt::format(), mrpt::mrpt::format(), mrpt::utils::CImage::get_unsafe(), mrpt::utils::CImage::getChannelsOrder(), mrpt::utils::CImage::getHeight(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), mrpt::opengl::CRenderizable::getNewTextureNumber(), mrpt::utils::CImage::getRowStride(), mrpt::utils::CImage::getWidth(), GL_BGR, GL_BGRA, GL_LINEAR, GL_LUMINANCE, GL_LUMINANCE_ALPHA, GL_MAX_TEXTURE_SIZE, GL_NEAREST, GL_REPEAT, GL_RGB, GL_RGBA, GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_TEXTURE_MIN_FILTER, GL_TEXTURE_WRAP_S, GL_TEXTURE_WRAP_T, GL_UNPACK_ALIGNMENT, GL_UNPACK_ROW_LENGTH, GL_UNSIGNED_BYTE, glBindTexture(), glGetIntegerv(), glPixelStorei(), glTexImage2D(), glTexParameterf(), mrpt::utils::CImage::isColor(), mrpt::utils::CTimeLogger::leave(), CTexturedObject_MemPoolParams::len, m_enableTransparency, m_glTextureName, m_pad_x_right, m_pad_y_bottom, m_texture_is_loaded, m_textureImage, m_textureImageAlpha, r_height, r_width, reserveDataBuffer(), mrpt::utils::CImage::scaleHalf(), and THROW_EXCEPTION.

Referenced by render_pre().

◆ 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.

◆ readFromStream()

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

protectedpure virtualinherited

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

◆ 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::CGridPlaneXY::readFromStream(), mrpt::opengl::CGridPlaneXZ::readFromStream(), mrpt::opengl::CSetOfLines::readFromStream(), mrpt::opengl::CVectorField2D::readFromStream(), mrpt::opengl::CBox::readFromStream(), mrpt::opengl::CText3D::readFromStream(), mrpt::opengl::CVectorField3D::readFromStream(), and mrpt::opengl::CFrustum::readFromStream().

◆ readFromStreamTexturedObject()

void CTexturedObject::readFromStreamTexturedObject ( mrpt::utils::CStream & in )

protected

Definition at line 541 of file CTexturedObject.cpp.

References assignImage(), m_enableTransparency, m_textureImage, m_textureImageAlpha, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and version.

Referenced by mrpt::opengl::CTexturedPlane::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 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 CTexturedObject::render_dl ( ) const

virtual

Derived classes must implement this method to the render the object.

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 473 of file CTexturedObject.cpp.

References GL_NO_ERROR, glGetError(), render_post(), render_pre(), and render_texturedobj().

◆ render_post()

void CTexturedObject::render_post ( ) const

protectedvirtual

Definition at line 514 of file CTexturedObject.cpp.

References mrpt::utils::TColor::A, mrpt::opengl::CRenderizable::checkOpenGLError(), GL_BLEND, GL_DEPTH_TEST, GL_ONE, GL_TEXTURE_2D, GL_ZERO, glBlendFunc(), glDisable(), glEnable(), mrpt::opengl::CRenderizable::m_color, m_enableTransparency, MRPT_END, and MRPT_START.

Referenced by render_dl().

◆ render_pre()

void CTexturedObject::render_pre ( ) const

protectedvirtual

Definition at line 489 of file CTexturedObject.cpp.

References mrpt::utils::TColor::A, mrpt::opengl::CRenderizable::checkOpenGLError(), GL_BLEND, GL_DEPTH_TEST, GL_ONE_MINUS_SRC_ALPHA, GL_SRC_ALPHA, GL_TEXTURE_2D, glBlendFunc(), glDisable(), glEnable(), loadTextureInOpenGL(), mrpt::opengl::CRenderizable::m_color, m_enableTransparency, MRPT_END, and MRPT_START.

Referenced by render_dl().

◆ render_texturedobj()

virtual void mrpt::opengl::CTexturedObject::render_texturedobj ( ) const

protectedpure virtual

Must be implemented by derived classes.

Implemented in mrpt::opengl::CSetOfTexturedTriangles, and mrpt::opengl::CTexturedPlane.

Referenced by render_dl().

◆ 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

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.

◆ 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.

◆ 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 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.

◆ unloadTexture()

void CTexturedObject::unloadTexture ( )

protected

Definition at line 449 of file CTexturedObject.cpp.

References m_glTextureName, m_texture_is_loaded, and mrpt::opengl::CRenderizable::releaseTextureName().

Referenced by assignImage(), assignImage_fast(), and ~CTexturedObject().

◆ 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()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

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

Referenced by mrpt::utils::CStream::WriteObject().

◆ writeToStreamRender()

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

protectedinherited

Definition at line 112 of file CRenderizable.cpp.

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

◆ writeToStreamTexturedObject()

void CTexturedObject::writeToStreamTexturedObject ( mrpt::utils::CStream & out ) const

protected

Definition at line 463 of file CTexturedObject.cpp.

References m_enableTransparency, m_textureImage, and m_textureImageAlpha.

Referenced by mrpt::opengl::CTexturedPlane::writeToStream().

Friends And Related Function Documentation

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 31 of file CTexturedObject.h.

Member Data Documentation

◆ 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.

◆ classCTexturedObject

const mrpt::utils::TRuntimeClassId mrpt::opengl::CTexturedObject::classCTexturedObject

static

Definition at line 31 of file CTexturedObject.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(), render_post(), render_pre(), mrpt::opengl::CRenderizable::setColor_u8(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_enableTransparency

bool mrpt::opengl::CTexturedObject::m_enableTransparency

mutableprotected

Of the texture using "m_textureImageAlpha".

Definition at line 38 of file CTexturedObject.h.

Referenced by assignImage(), assignImage_fast(), loadTextureInOpenGL(), mrpt::opengl::CTexturedPlane::readFromStream(), readFromStreamTexturedObject(), render_post(), render_pre(), and writeToStreamTexturedObject().

◆ m_glTextureName

unsigned int mrpt::opengl::CTexturedObject::m_glTextureName

mutableprotected

Definition at line 34 of file CTexturedObject.h.

Referenced by loadTextureInOpenGL(), and unloadTexture().

◆ 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_pad_x_right

int mrpt::opengl::CTexturedObject::m_pad_x_right

mutableprotected

Definition at line 40 of file CTexturedObject.h.

Referenced by loadTextureInOpenGL(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ m_pad_y_bottom

int mrpt::opengl::CTexturedObject::m_pad_y_bottom

mutableprotected

The size of the fill in pixels in the textured image, w.r.t the image passed by the user.

Definition at line 40 of file CTexturedObject.h.

Referenced by loadTextureInOpenGL(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ 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.

◆ 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_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_texture_is_loaded

bool mrpt::opengl::CTexturedObject::m_texture_is_loaded

mutableprotected

Definition at line 35 of file CTexturedObject.h.

Referenced by loadTextureInOpenGL(), and unloadTexture().

◆ m_textureImage

mrpt::utils::CImage mrpt::opengl::CTexturedObject::m_textureImage

mutableprotected

Definition at line 36 of file CTexturedObject.h.

Referenced by assignImage(), assignImage_fast(), loadTextureInOpenGL(), mrpt::opengl::CTexturedPlane::readFromStream(), readFromStreamTexturedObject(), and writeToStreamTexturedObject().

◆ m_textureImageAlpha

mrpt::utils::CImage mrpt::opengl::CTexturedObject::m_textureImageAlpha

mutableprotected

Definition at line 37 of file CTexturedObject.h.

Referenced by assignImage(), assignImage_fast(), loadTextureInOpenGL(), mrpt::opengl::CTexturedPlane::readFromStream(), readFromStreamTexturedObject(), and writeToStreamTexturedObject().

◆ 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().

◆ r_height

int mrpt::opengl::CTexturedObject::r_height

mutableprotected

Size of the texture image, rounded up to next power of 2.

Definition at line 39 of file CTexturedObject.h.

Referenced by loadTextureInOpenGL(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ r_width

int mrpt::opengl::CTexturedObject::r_width

mutableprotected

Definition at line 39 of file CTexturedObject.h.

Referenced by loadTextureInOpenGL(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

Detailed Description

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CTexturedObject()

◆ ~CTexturedObject()

Member Function Documentation

◆ _GetBaseClass()

◆ assignImage() [1/2]

◆ assignImage() [2/2]

◆ assignImage_fast() [1/2]

◆ assignImage_fast() [2/2]

◆ checkOpenGLError()

◆ clone()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ enableShowName()

◆ getBoundingBox()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getName()

◆ getNewTextureNumber()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ isShowNameEnabled()

◆ isVisible()

◆ loadTextureInOpenGL()

◆ notifyChange()

◆ readFromStream()

◆ readFromStreamRender()

◆ readFromStreamTexturedObject()

◆ releaseTextureName()

◆ render()

◆ render_dl()

◆ render_post()

◆ render_pre()

◆ render_texturedobj()

◆ renderTextBitmap() [1/2]

◆ renderTextBitmap() [2/2]

◆ setColor() [1/2]

◆ setColor() [2/2]

◆ setColor_u8() [1/2]

◆ setColor_u8() [2/2]

◆ setColorA()

◆ setColorA_u8()

◆ setColorB()

◆ setColorB_u8()

◆ setColorG()

◆ setColorG_u8()

◆ setColorR()

◆ setColorR_u8()