Detailed Description

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

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

See also: opengl::COpenGLScene

mrpt::opengl::CMesh

Definition at line 37 of file CMesh.h.

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:

Classes
struct	TTriangleVertexIndices

Public Member Functions
	CMesh (bool enableTransparency=false, float xMin=-1.0f, float xMax=1.0f, float yMin=-1.0f, float yMax=1.0f)

virtual	~CMesh () override

template<typename T >
void	setGridLimits (T xMin, T xMax, T yMin, T yMax)

void	getGridLimits (float &xMin, float &xMax, float &yMin, float &yMax) const

void	enableTransparency (bool v)

void	enableWireFrame (bool v)

void	enableColorFromZ (bool v, mrpt::img::TColormap colorMap=mrpt::img::cmHOT)

void	setZ (const mrpt::math::CMatrixDynamic< float > &in_Z)
	This method sets the matrix of heights for each position (cell) in the mesh grid. More...

void	getZ (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal Z matrix, allowing changing it efficiently. More...

void	getMask (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal mask matrix, allowing changing it efficiently. More...

void	setMask (const mrpt::math::CMatrixDynamic< float > &in_mask)
	This method sets the boolean mask of valid heights for each position (cell) in the mesh grid. More...

float	getxMin () const

float	getxMax () const

float	getyMin () const

float	getyMax () const

void	setxMin (const float nxm)

void	setxMax (const float nxm)

void	setyMin (const float nym)

void	setyMax (const float nym)

void	getXBounds (float &min, float &max) const

void	getYBounds (float &min, float &max) const

void	setXBounds (const float min, const float max)

void	setYBounds (const float min, const float max)

void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
	Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...

void	assignImage (const mrpt::img::CImage &img)
	Assigns a texture image. More...

void	assignImageAndZ (const mrpt::img::CImage &img, const mrpt::math::CMatrixDynamic< float > &in_Z)
	Assigns a texture image and Z simultaneously, and disable transparency. More...

void	adjustGridToImageAR ()
	Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction. More...

bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const override
	Trace ray. More...

void	assignImage (const mrpt::img::CImage &img, const mrpt::img::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 (mrpt::img::CImage &&img, mrpt::img::CImage &&imgAlpha)
	Similar to assignImage, but the passed images are moved in (move semantic). More...

void	assignImage (mrpt::img::CImage &&img)
	Similar to assignImage, but with move semantics. More...

bool	isLightEnabled () const

void	enableLight (bool enable=true)

virtual void	initializeTextures () const override
	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...

const mrpt::img::CImage &	getTextureImage () const

const mrpt::img::CImage &	getTextureAlphaImage () const

void	enableTextureLinearInterpolation (bool enable)
	Enable linear interpolation of textures (default=false, use nearest pixel) More...

virtual void	enqueForRenderRecursive ([[maybe_unused]] const mrpt::opengl::TRenderMatrices &state, [[maybe_unused]] RenderQueue &rq) const
	Process all children objects recursively, if the object is a container. More...

void	updateBuffers () const
	Calls renderUpdateBuffers() and clear the flag that is set with notifyChange() More...

void	notifyChange () const
	Call to enable calling renderUpdateBuffers() before the next render() rendering iteration. More...

bool	hasToUpdateBuffers () const
	Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering. More...

virtual mrpt::math::TPoint3Df	getLocalRepresentativePoint () const
	Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0]) More...

void	setLocalRepresentativePoint (const mrpt::math::TPoint3Df &p)
	See getLocalRepresentativePoint() More...

mrpt::opengl::CText &	labelObject () const
	Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object. 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...

void	setLineWidth (float w)

float	getLineWidth () const

void	enableAntiAliasing (bool enable=true)

bool	isAntiAliasingEnabled () const

Renderizable shader API virtual methods
void	render (const RenderContext &rc) const override
	Implements the rendering of 3D objects in each class derived from CRenderizable. More...

void	renderUpdateBuffers () const override
	Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc. More...

virtual shader_list_t	requiredShaders () const override
	Returns the ID of the OpenGL shader program required to render this class. More...

void	onUpdateBuffers_Wireframe () override
	Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...

void	onUpdateBuffers_TexturedTriangles () override
	Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...

void	freeOpenGLResources () override
	Free opengl buffers. 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...

float	getColorR () const
	Color components in the range [0,1]. More...

float	getColorG () const
	Color components in the range [0,1]. More...

float	getColorB () const
	Color components in the range [0,1]. More...

float	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 float r)
	Color components in the range [0,1]. More...

CRenderizable &	setColorG (const float g)
	Color components in the range [0,1]. More...

CRenderizable &	setColorB (const float b)
	Color components in the range [0,1]. More...

CRenderizable &	setColorA (const float a)
	Color components in the range [0,1]. More...

virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255]. 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::img::TColorf	getColor () const
	Returns the object color property as a TColorf. More...

CRenderizable &	setColor (const mrpt::img::TColorf &c)
	Changes the default object color. More...

CRenderizable &	setColor (float R, float G, float B, float A=1)
	Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...

const mrpt::img::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...

virtual CRenderizable &	setColor_u8 (const mrpt::img::TColor &c)

CRenderizable &	setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
	Set the color components of this object (R,G,B,Alpha, in the range 0-255) More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Protected Member Functions
void	updateColorsMatrix () const
	Called internally to assure C is updated. More...

void	updateTriangles () const
	Called internally to assure the triangle list is updated. More...

void	updatePolygons () const

void	writeToStreamTexturedObject (mrpt::serialization::CArchive &out) const

void	readFromStreamTexturedObject (mrpt::serialization::CArchive &in)

void	writeToStreamRender (mrpt::serialization::CArchive &out) const

void	readFromStreamRender (mrpt::serialization::CArchive &in)

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
bool	m_enableTransparency

bool	m_colorFromZ {false}

bool	m_isWireFrame {false}

bool	m_isImage {false}

math::CMatrixF	Z
	Z(x,y): Z-coordinate of the point (x,y) More...

math::CMatrixF	mask

math::CMatrixF	C
	Grayscale Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrixF	C_r
	Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrixF	C_g
	Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrixF	C_b
	Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

mrpt::img::TColormap	m_colorMap {mrpt::img::cmHOT}
	Used when m_colorFromZ is true. More...

bool	m_modified_Z {true}
	Whether C is not up-to-date wrt to Z. More...

bool	m_modified_Image {false}
	Whether C is not up-to-date wrt to the texture image. More...

float	m_xMin
	Mesh bounds. More...

float	m_xMax

float	m_yMin

float	m_yMax

std::vector< std::pair< mrpt::opengl::TTriangle, TTriangleVertexIndices > >	actualMesh
	List of triangles in the mesh. More...

std::vector< std::pair< mrpt::math::TPoint3D, size_t > >	vertex_normals
	The accumulated normals & counts for each vertex, so normals can be averaged. More...

bool	m_trianglesUpToDate {false}
	Whether the actual mesh needs to be recalculated. More...

bool	m_polygonsUpToDate {false}
	Whether the polygon mesh (auxiliary structure for ray tracing) needs to be recalculated. More...

std::vector< mrpt::math::TPolygonWithPlane >	tmpPolys

std::vector< mrpt::opengl::TTriangle >	m_triangles
	List of triangles. More...

std::string	m_name

bool	m_show_name {false}

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

mrpt::poses::CPose3D	m_pose
	6D pose wrt the parent coordinate reference. More...

float	m_scale_x {1}
	Scale components to apply to the object (default=1) More...

float	m_scale_y {1}

float	m_scale_z {1}

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

bool	m_outdatedBuffers = true

mrpt::math::TPoint3Df	m_representativePoint {0, 0, 0}

std::shared_ptr< mrpt::opengl::CText >	m_label_obj
	Optional pointer to a mrpt::opengl::CText. More...

float	m_lineWidth = 1.0f

bool	m_antiAliasing = false

std::vector< mrpt::math::TPoint3Df >	m_vertex_buffer_data

std::vector< mrpt::img::TColor >	m_color_buffer_data

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::opengl ::CMesh >

using	ConstPtr = std::shared_ptr< const mrpt::opengl ::CMesh >

using	UniquePtr = std::unique_ptr< mrpt::opengl ::CMesh >

using	ConstUniquePtr = std::unique_ptr< const mrpt::opengl ::CMesh >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::opengl" "::" "CMesh"

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

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

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

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::opengl::CMesh::ConstPtr = std::shared_ptr<const mrpt::opengl :: CMesh >

Definition at line 40 of file CMesh.h.

◆ ConstUniquePtr

using mrpt::opengl::CMesh::ConstUniquePtr = std::unique_ptr<const mrpt::opengl :: CMesh >

Definition at line 40 of file CMesh.h.

◆ Ptr

using mrpt::opengl::CMesh::Ptr = std::shared_ptr< mrpt::opengl :: CMesh >

A type for the associated smart pointer

Definition at line 40 of file CMesh.h.

◆ UniquePtr

using mrpt::opengl::CMesh::UniquePtr = std::unique_ptr< mrpt::opengl :: CMesh >

Definition at line 40 of file CMesh.h.

Constructor & Destructor Documentation

◆ CMesh()

CMesh::CMesh	(	bool	enableTransparency = `false`,
		float	xMin = `-1.0f`,
		float	xMax = `1.0f`,
		float	yMin = `-1.0f`,
		float	yMax = `1.0f`
	)

Definition at line 30 of file CMesh.cpp.

◆ ~CMesh()

CMesh::~CMesh ( )

overridevirtualdefault

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CMesh::_GetBaseClass ( )

staticprotected

◆ adjustGridToImageAR()

void CMesh::adjustGridToImageAR ( )

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

Definition at line 609 of file CMesh.cpp.

References ASSERT_, getHeight(), and mrpt::opengl::CRenderizable::notifyChange().

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◆ assignImage() [1/4]

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

inherited

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 168 of file CRenderizableShaderTexturedTriangles.cpp.

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

Referenced by assignImage(), and assignImageAndZ().

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◆ assignImage() [2/4]

void CRenderizableShaderTexturedTriangles::assignImage	(	mrpt::img::CImage &&	img,
		mrpt::img::CImage &&	imgAlpha
	)

inherited

Similar to assignImage, but the passed images are moved in (move semantic).

Definition at line 202 of file CRenderizableShaderTexturedTriangles.cpp.

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

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◆ assignImage() [3/4]

void CRenderizableShaderTexturedTriangles::assignImage ( mrpt::img::CImage && img )

inherited

Similar to assignImage, but with move semantics.

Definition at line 219 of file CRenderizableShaderTexturedTriangles.cpp.

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

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◆ assignImage() [4/4]

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

Assigns a texture image.

Definition at line 374 of file CMesh.cpp.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::assignImage(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), MRPT_END, MRPT_START, and mrpt::opengl::CRenderizable::notifyChange().

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◆ assignImageAndZ()

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

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

Definition at line 395 of file CMesh.cpp.

References ASSERT_, mrpt::opengl::CRenderizableShaderTexturedTriangles::assignImage(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), MRPT_END, MRPT_START, mrpt::opengl::CRenderizable::notifyChange(), and mrpt::math::CMatrixDynamic< T >::rows().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CMesh::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::opengl::CMesh::Create ( Args &&... args )

inlinestatic

Definition at line 40 of file CMesh.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::opengl::CMesh::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 40 of file CMesh.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::opengl::CMesh::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::opengl::CMesh::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 40 of file CMesh.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ enableAntiAliasing()

void mrpt::opengl::CRenderizableShaderWireFrame::enableAntiAliasing ( bool enable = true )

inlineinherited

Definition at line 49 of file CRenderizableShaderWireFrame.h.

References mrpt::opengl::CRenderizableShaderWireFrame::m_antiAliasing, and mrpt::opengl::CRenderizable::notifyChange().

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◆ enableColorFromZ()

void mrpt::opengl::CMesh::enableColorFromZ	(	bool	v,
		mrpt::img::TColormap	colorMap = `mrpt::img::cmHOT`
	)

inline

Definition at line 102 of file CMesh.h.

References m_colorFromZ, m_colorMap, and mrpt::opengl::CRenderizable::notifyChange().

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

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◆ enableLight()

void mrpt::opengl::CRenderizableShaderTexturedTriangles::enableLight ( bool enable = true )

inlineinherited

Definition at line 71 of file CRenderizableShaderTexturedTriangles.h.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::m_enableLight.

◆ 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 90 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

◆ enableTextureLinearInterpolation()

void mrpt::opengl::CRenderizableShaderTexturedTriangles::enableTextureLinearInterpolation ( bool enable )

inlineinherited

Enable linear interpolation of textures (default=false, use nearest pixel)

Definition at line 91 of file CRenderizableShaderTexturedTriangles.h.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::m_textureInterpolate.

◆ enableTransparency()

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

inline

Definition at line 92 of file CMesh.h.

References m_enableTransparency, and mrpt::opengl::CRenderizable::notifyChange().

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

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◆ enableWireFrame()

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

inline

Definition at line 97 of file CMesh.h.

References m_isWireFrame, and mrpt::opengl::CRenderizable::notifyChange().

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

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◆ enqueForRenderRecursive()

virtual void mrpt::opengl::CRenderizable::enqueForRenderRecursive	(	[[maybe_unused] ] const mrpt::opengl::TRenderMatrices &	state,
		[[maybe_unused] ] RenderQueue &	rq
	)		const

inlinevirtualinherited

Process all children objects recursively, if the object is a container.

Definition at line 285 of file CRenderizable.h.

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

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◆ freeOpenGLResources()

void mrpt::opengl::CMesh::freeOpenGLResources ( )

inlineoverridevirtual

Free opengl buffers.

Implements mrpt::opengl::CRenderizable.

Definition at line 61 of file CMesh.h.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::freeOpenGLResources(), and mrpt::opengl::CRenderizableShaderWireFrame::freeOpenGLResources().

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◆ getBoundingBox()

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

overridevirtual

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 593 of file CMesh.cpp.

References bb_max, and bb_min.

◆ getClassName()

static constexpr auto mrpt::opengl::CMesh::getClassName ( )

inlinestatic

Definition at line 40 of file CMesh.h.

◆ getColor()

mrpt::img::TColorf mrpt::opengl::CRenderizable::getColor ( ) const

inlineinherited

Returns the object color property as a TColorf.

Definition at line 229 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().

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◆ getColor_u8()

const mrpt::img::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const

inlineinherited

Returns the object color property as a TColor.

Definition at line 248 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

◆ getColorA()

float mrpt::opengl::CRenderizable::getColorA ( ) const

inlineinherited

Color components in the range [0,1].

Definition at line 164 of file CRenderizable.h.

References mrpt::img::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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◆ getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 172 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

◆ getColorB()

float mrpt::opengl::CRenderizable::getColorB ( ) const

inlineinherited

Color components in the range [0,1].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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◆ getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 170 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

◆ getColorG()

float mrpt::opengl::CRenderizable::getColorG ( ) const

inlineinherited

Color components in the range [0,1].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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◆ getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 168 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

◆ getColorR()

float mrpt::opengl::CRenderizable::getColorR ( ) const

inlineinherited

Color components in the range [0,1].

Definition at line 158 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, mrpt::img::TColor::R, and mrpt::u8tof().

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◆ getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 166 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

◆ getGridLimits()

void mrpt::opengl::CMesh::getGridLimits	(	float &	xMin,
		float &	xMax,
		float &	yMin,
		float &	yMax
	)		const

inline

Definition at line 84 of file CMesh.h.

References m_xMax, m_xMin, m_yMax, and m_yMin.

◆ getLineWidth()

float mrpt::opengl::CRenderizableShaderWireFrame::getLineWidth ( ) const

inlineinherited

Definition at line 48 of file CRenderizableShaderWireFrame.h.

References mrpt::opengl::CRenderizableShaderWireFrame::m_lineWidth.

◆ getLocalRepresentativePoint()

virtual mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::getLocalRepresentativePoint ( ) const

inlinevirtualinherited

Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0])

Reimplemented in mrpt::opengl::CPlanarLaserScan.

Definition at line 341 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_representativePoint.

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

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◆ getMask()

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

inline

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

Definition at line 119 of file CMesh.h.

References mask, and out.

◆ getName()

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

inlineinherited

Returns the name of the object.

Definition at line 75 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

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

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◆ getPose()

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

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 223 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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◆ getPosePitch()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 148 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::RAD2DEG().

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◆ getPosePitchRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 154 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::pitch().

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◆ 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 117 of file CRenderizable.h.

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

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

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◆ getPoseRoll()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 150 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::roll().

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◆ getPoseRollRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 156 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::roll().

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◆ getPoseX()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 140 of file CRenderizable.h.

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

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◆ getPoseY()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 142 of file CRenderizable.h.

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

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◆ getPoseYaw()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 146 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::yaw().

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◆ getPoseYawRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 152 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::yaw().

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◆ getPoseZ()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 144 of file CRenderizable.h.

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

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableShaderTexturedTriangles.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CMesh::GetRuntimeClassIdStatic ( )

static

◆ getScaleX()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 223 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x.

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

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◆ getScaleY()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_y.

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

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◆ getScaleZ()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_z.

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

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◆ getTextureAlphaImage()

const mrpt::img::CImage& mrpt::opengl::CRenderizableShaderTexturedTriangles::getTextureAlphaImage ( ) const

inlineinherited

Definition at line 84 of file CRenderizableShaderTexturedTriangles.h.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::m_textureImageAlpha.

◆ getTextureImage()

const mrpt::img::CImage& mrpt::opengl::CRenderizableShaderTexturedTriangles::getTextureImage ( ) const

inlineinherited

Definition at line 82 of file CRenderizableShaderTexturedTriangles.h.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::m_textureImage.

◆ getXBounds()

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

inline

Definition at line 152 of file CMesh.h.

References m_xMax, and m_xMin.

◆ getxMax()

float mrpt::opengl::CMesh::getxMax ( ) const

inline

Definition at line 125 of file CMesh.h.

References m_xMax.

◆ getxMin()

float mrpt::opengl::CMesh::getxMin ( ) const

inline

Definition at line 124 of file CMesh.h.

References m_xMin.

◆ getYBounds()

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

inline

Definition at line 157 of file CMesh.h.

References m_yMax, and m_yMin.

◆ getyMax()

float mrpt::opengl::CMesh::getyMax ( ) const

inline

Definition at line 127 of file CMesh.h.

References m_yMax.

◆ getyMin()

float mrpt::opengl::CMesh::getyMin ( ) const

inline

Definition at line 126 of file CMesh.h.

References m_yMin.

◆ getZ()

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

inline

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

Definition at line 116 of file CMesh.h.

References out, and Z.

◆ hasToUpdateBuffers()

bool mrpt::opengl::CRenderizable::hasToUpdateBuffers ( ) const

inlineinherited

Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering.

Definition at line 324 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers.

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

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◆ initializeTextures()

void CRenderizableShaderTexturedTriangles::initializeTextures ( ) const

overridevirtualinherited

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.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 263 of file CRenderizableShaderTexturedTriangles.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::img::D8U, mrpt::opengl::internal::data, mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::dump_to_pool(), mrpt::system::CTimeLogger::enter(), mrpt::format(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), mrpt::img::IMG_INTERP_LINEAR, mrpt::system::CTimeLogger::leave(), reserveDataBuffer(), and THROW_EXCEPTION.

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◆ isAntiAliasingEnabled()

bool mrpt::opengl::CRenderizableShaderWireFrame::isAntiAliasingEnabled ( ) const

inlineinherited

Definition at line 54 of file CRenderizableShaderWireFrame.h.

References mrpt::opengl::CRenderizableShaderWireFrame::m_antiAliasing.

◆ isLightEnabled()

bool mrpt::opengl::CRenderizableShaderTexturedTriangles::isLightEnabled ( ) const

inlineinherited

Definition at line 70 of file CRenderizableShaderTexturedTriangles.h.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::m_enableLight.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const

inlineinherited

See also: enableShowName

Definition at line 92 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

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

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◆ isVisible()

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

inlineinherited

Is the object visible?

See also: setVisibility

Definition at line 76 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

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

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◆ labelObject()

CText & CRenderizable::labelObject ( ) const

inherited

Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object.

See also: enableShowName()

Definition at line 238 of file CRenderizable.cpp.

References mrpt::opengl::CText::setString().

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

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◆ notifyChange()

void mrpt::opengl::CRenderizable::notifyChange ( ) const

inlineinherited

Call to enable calling renderUpdateBuffers() before the next render() rendering iteration.

Definition at line 315 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers.

◆ onUpdateBuffers_TexturedTriangles()

void CMesh::onUpdateBuffers_TexturedTriangles ( )

overridevirtual

Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields.

Implements mrpt::opengl::CRenderizableShaderTexturedTriangles.

Definition at line 339 of file CMesh.cpp.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::m_triangles, mrpt::opengl::TTriangle::vertices, and mrpt::opengl::CMesh::TTriangleVertexIndices::vind.

◆ onUpdateBuffers_Wireframe()

void CMesh::onUpdateBuffers_Wireframe ( )

overridevirtual

Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields.

Implements mrpt::opengl::CRenderizableShaderWireFrame.

Definition at line 314 of file CMesh.cpp.

References mrpt::opengl::TTriangle::a(), mrpt::opengl::TTriangle::b(), mrpt::opengl::TTriangle::g(), mrpt::opengl::CRenderizableShaderWireFrame::m_color_buffer_data, mrpt::opengl::CRenderizableShaderWireFrame::m_vertex_buffer_data, mrpt::opengl::TTriangle::r(), mrpt::opengl::TTriangle::x(), mrpt::opengl::TTriangle::y(), and mrpt::opengl::TTriangle::z().

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◆ readFromStreamRender()

void CRenderizable::readFromStreamRender ( mrpt::serialization::CArchive & in )

protectedinherited

Definition at line 99 of file CRenderizable.cpp.

References mrpt::obs::gnss::pitch, mrpt::serialization::CArchive::ReadBuffer(), mrpt::obs::gnss::roll, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), and mrpt::opengl::CFrustum::serializeFrom().

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◆ readFromStreamTexturedObject()

void CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject ( mrpt::serialization::CArchive & in )

protectedinherited

Definition at line 523 of file CRenderizableShaderTexturedTriangles.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::opengl::CRenderizable::notifyChange().

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◆ render()

void CMesh::render ( const RenderContext & rc ) const

overridevirtual

Implements the rendering of 3D objects in each class derived from CRenderizable.

This can be called more than once (one per required shader program) if the object registered several shaders.

See also: renderUpdateBuffers

Implements mrpt::opengl::CRenderizable.

Definition at line 293 of file CMesh.cpp.

References mrpt::opengl::CRenderizableShaderWireFrame::render(), mrpt::opengl::CRenderizableShaderTexturedTriangles::render(), mrpt::opengl::CRenderizable::RenderContext::shader_id, mrpt::opengl::DefaultShaderID::TEXTURED_TRIANGLES, and mrpt::opengl::DefaultShaderID::WIREFRAME.

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◆ renderUpdateBuffers()

void CMesh::renderUpdateBuffers ( ) const

overridevirtual

Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc.

before they are sent for rendering in render()

Implements mrpt::opengl::CRenderizable.

Definition at line 306 of file CMesh.cpp.

References mrpt::opengl::CRenderizableShaderWireFrame::renderUpdateBuffers(), and mrpt::opengl::CRenderizableShaderTexturedTriangles::renderUpdateBuffers().

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◆ requiredShaders()

virtual shader_list_t mrpt::opengl::CMesh::requiredShaders ( ) const

inlineoverridevirtual

Returns the ID of the OpenGL shader program required to render this class.

See also: DefaultShaderID

Reimplemented from mrpt::opengl::CRenderizableShaderTexturedTriangles.

Definition at line 53 of file CMesh.h.

References mrpt::opengl::DefaultShaderID::TEXTURED_TRIANGLES, and mrpt::opengl::DefaultShaderID::WIREFRAME.

◆ serializeFrom() [1/2]

void CMesh::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 436 of file CMesh.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::opengl::CRenderizable::notifyChange().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CMesh::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 420 of file CMesh.cpp.

◆ serializeTo() [1/2]

void CMesh::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 421 of file CMesh.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setColor() [1/2]

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

inlineinherited

Changes the default object color.

Returns: a ref to this

Definition at line 234 of file CRenderizable.h.

References mrpt::img::TColorf::A, mrpt::img::TColorf::B, mrpt::f2u8(), mrpt::img::TColorf::G, mrpt::img::TColorf::R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor	(	float	R,
		float	G,
		float	B,
		float	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 242 of file CRenderizable.h.

References mrpt::f2u8(), G, R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [1/2]

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::img::TColor & c )

virtualinherited

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 229 of file CRenderizable.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, and mrpt::img::TColor::R.

Referenced by mrpt::opengl::CRenderizable::setColor(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

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

inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-255)

Returns: a ref to this

Definition at line 254 of file CRenderizable.h.

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

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◆ setColorA()

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const float a )

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 180 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorA_u8().

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◆ setColorA_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorA_u8 ( const uint8_t a )

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 200 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject(), mrpt::opengl::CRenderizable::setColorA(), and mrpt::opengl::CSetOfObjects::setColorA_u8().

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◆ setColorB()

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const float b )

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 178 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorB_u8().

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◆ setColorB_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorB_u8 ( const uint8_t b )

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 194 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::CRenderizable::setColorB(), and mrpt::opengl::CSetOfObjects::setColorB_u8().

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◆ setColorG()

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const float g )

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 176 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorG_u8().

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◆ setColorG_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorG_u8 ( const uint8_t g )

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 188 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::CRenderizable::setColorG(), and mrpt::opengl::CSetOfObjects::setColorG_u8().

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◆ setColorR()

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const float r )

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 174 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorR_u8().

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◆ setColorR_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorR_u8 ( const uint8_t r )

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 182 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

Referenced by mrpt::opengl::CRenderizable::setColorR(), and mrpt::opengl::CSetOfObjects::setColorR_u8().

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◆ setGridLimits()

template<typename T >

void mrpt::opengl::CMesh::setGridLimits	(	T	xMin,
		T	xMax,
		T	yMin,
		T	yMax
	)

inline

Definition at line 75 of file CMesh.h.

References m_xMax, m_xMin, m_yMax, m_yMin, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setLineWidth()

void mrpt::opengl::CRenderizableShaderWireFrame::setLineWidth ( float w )

inlineinherited

Definition at line 43 of file CRenderizableShaderWireFrame.h.

References mrpt::opengl::CRenderizableShaderWireFrame::m_lineWidth, and mrpt::opengl::CRenderizable::notifyChange().

Referenced by mrpt::opengl::CAxis::CAxis(), mrpt::opengl::CBox::CBox(), mrpt::opengl::CFrustum::CFrustum(), and mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Wireframe().

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◆ setLocalRepresentativePoint()

void mrpt::opengl::CRenderizable::setLocalRepresentativePoint ( const mrpt::math::TPoint3Df & p )

inlineinherited

See getLocalRepresentativePoint()

Definition at line 347 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_representativePoint.

◆ 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 121 of file CRenderizable.h.

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

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◆ 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 131 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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◆ setMask()

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

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

Definition at line 559 of file CMesh.cpp.

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

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◆ setName()

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

inlineinherited

Changes the name of the object.

Definition at line 73 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

◆ 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 189 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::setCurrentCameraFromPose().

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◆ 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 194 of file CRenderizable.cpp.

◆ 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 199 of file CRenderizable.cpp.

◆ 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 204 of file CRenderizable.cpp.

◆ 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)

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 211 of file CRenderizable.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ 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)

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 217 of file CRenderizable.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ 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 208 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ 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 215 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ setVisibility()

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

inlineinherited

Set object visibility (default=true)

See also: isVisible

Definition at line 81 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

◆ setXBounds()

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

inline

Definition at line 162 of file CMesh.h.

References m_trianglesUpToDate, m_xMax, m_xMin, and mrpt::opengl::CRenderizable::notifyChange().

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

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◆ setxMax()

void mrpt::opengl::CMesh::setxMax ( const float nxm )

inline

Definition at line 134 of file CMesh.h.

References m_trianglesUpToDate, m_xMax, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setxMin()

void mrpt::opengl::CMesh::setxMin ( const float nxm )

inline

Definition at line 128 of file CMesh.h.

References m_trianglesUpToDate, m_xMin, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setYBounds()

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

inline

Definition at line 169 of file CMesh.h.

References m_trianglesUpToDate, m_yMax, m_yMin, and mrpt::opengl::CRenderizable::notifyChange().

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

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◆ setyMax()

void mrpt::opengl::CMesh::setyMax ( const float nym )

inline

Definition at line 146 of file CMesh.h.

References m_trianglesUpToDate, m_yMax, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setyMin()

void mrpt::opengl::CMesh::setyMin ( const float nym )

inline

Definition at line 140 of file CMesh.h.

References m_trianglesUpToDate, m_yMin, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setZ()

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

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

Definition at line 547 of file CMesh.cpp.

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

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

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◆ traceRay()

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

overridevirtual

Trace ray.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 566 of file CMesh.cpp.

References mrpt::math::traceRay().

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◆ updateBuffers()

void mrpt::opengl::CRenderizable::updateBuffers ( ) const

inlineinherited

Calls renderUpdateBuffers() and clear the flag that is set with notifyChange()

Definition at line 307 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers, and mrpt::opengl::CRenderizable::renderUpdateBuffers().

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

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◆ updateColorsMatrix()

void CMesh::updateColorsMatrix ( ) const

protected

Called internally to assure C is updated.

Definition at line 476 of file CMesh.cpp.

References mrpt::keep_max(), mrpt::keep_min(), mrpt::math::normalize(), mrpt::opengl::CRenderizable::notifyChange(), and val.

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◆ updatePolygons()

void CMesh::updatePolygons ( ) const

protected

Definition at line 581 of file CMesh.cpp.

References createPolygonFromTriangle(), and mrpt::opengl::CRenderizable::notifyChange().

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◆ updateTriangles()

void CMesh::updateTriangles ( ) const

protected

Called internally to assure the triangle list is updated.

List of triangles in the mesh
The accumulated normals & counts for each vertex, so normals can be averaged.

Definition at line 56 of file CMesh.cpp.

References mrpt::opengl::TTriangle::a(), ASSERT_, ASSERT_ABOVE_, mrpt::opengl::TTriangle::b(), mrpt::img::TColorf::B, mrpt::img::colormap(), mrpt::f2u8(), mrpt::opengl::TTriangle::g(), mrpt::img::TColorf::G, mrpt::opengl::CRenderizable::notifyChange(), mrpt::opengl::TTriangle::r(), mrpt::img::TColorf::R, mrpt::math::TPoint3D_< T >::unitarize(), mrpt::opengl::CMesh::TTriangleVertexIndices::vind, mrpt::opengl::TTriangle::x(), mrpt::opengl::TTriangle::y(), and mrpt::opengl::TTriangle::z().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( mrpt::serialization::CArchive & out ) const

protectedinherited

Definition at line 44 of file CRenderizable.cpp.

References out.

Referenced by mrpt::opengl::CGridPlaneXY::serializeTo(), mrpt::opengl::CGridPlaneXZ::serializeTo(), mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), and mrpt::opengl::CFrustum::serializeTo().

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◆ writeToStreamTexturedObject()

void CRenderizableShaderTexturedTriangles::writeToStreamTexturedObject ( mrpt::serialization::CArchive & out ) const

protectedinherited

Definition at line 512 of file CRenderizableShaderTexturedTriangles.cpp.

References out.

Member Data Documentation

◆ actualMesh

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

mutableprotected

List of triangles in the mesh.

Definition at line 242 of file CMesh.h.

◆ C

math::CMatrixF mrpt::opengl::CMesh::C

mutableprotected

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

Definition at line 211 of file CMesh.h.

◆ C_b

math::CMatrixF mrpt::opengl::CMesh::C_b

mutableprotected

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

Definition at line 220 of file CMesh.h.

◆ C_g

math::CMatrixF mrpt::opengl::CMesh::C_g

mutableprotected

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

Definition at line 217 of file CMesh.h.

◆ C_r

math::CMatrixF mrpt::opengl::CMesh::C_r

mutableprotected

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

Definition at line 214 of file CMesh.h.

◆ className

constexpr const char* mrpt::opengl::CMesh::className = "mrpt::opengl" "::" "CMesh"

static

Definition at line 40 of file CMesh.h.

◆ m_antiAliasing

bool mrpt::opengl::CRenderizableShaderWireFrame::m_antiAliasing = false

protectedinherited

Definition at line 66 of file CRenderizableShaderWireFrame.h.

Referenced by mrpt::opengl::CSetOfLines::CSetOfLines(), mrpt::opengl::CRenderizableShaderWireFrame::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CRenderizableShaderWireFrame::isAntiAliasingEnabled(), mrpt::opengl::CVectorField2D::isAntiAliasingEnabled(), mrpt::opengl::CSetOfLines::isAntiAliasingEnabled(), mrpt::opengl::CVectorField3D::isAntiAliasingEnabled(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeTo(), mrpt::opengl::CGridPlaneXZ::serializeTo(), mrpt::opengl::CSetOfLines::serializeTo(), and mrpt::opengl::CVectorField3D::serializeTo().

◆ m_color

mrpt::img::TColor mrpt::opengl::CRenderizable::m_color

protectedinherited

Color components in the range [0,255].

Definition at line 59 of file CRenderizable.h.

◆ m_color_buffer_data

std::vector<mrpt::img::TColor> mrpt::opengl::CRenderizableShaderWireFrame::m_color_buffer_data

mutableprotectedinherited

Definition at line 68 of file CRenderizableShaderWireFrame.h.

◆ m_colorFromZ

bool mrpt::opengl::CMesh::m_colorFromZ {false}

protected

Definition at line 202 of file CMesh.h.

Referenced by enableColorFromZ().

◆ m_colorMap

mrpt::img::TColormap mrpt::opengl::CMesh::m_colorMap {mrpt::img::cmHOT}

protected

Used when m_colorFromZ is true.

Definition at line 223 of file CMesh.h.

Referenced by enableColorFromZ().

◆ m_enableTransparency

bool mrpt::opengl::CMesh::m_enableTransparency

protected

Definition at line 201 of file CMesh.h.

Referenced by enableTransparency().

◆ m_isImage

bool mrpt::opengl::CMesh::m_isImage {false}

protected

Definition at line 204 of file CMesh.h.

◆ m_isWireFrame

bool mrpt::opengl::CMesh::m_isWireFrame {false}

protected

Definition at line 203 of file CMesh.h.

Referenced by enableWireFrame().

◆ m_label_obj

std::shared_ptr<mrpt::opengl::CText> mrpt::opengl::CRenderizable::m_label_obj

mutableprotectedinherited

Optional pointer to a mrpt::opengl::CText.

Definition at line 372 of file CRenderizable.h.

◆ m_lineWidth

float mrpt::opengl::CRenderizableShaderWireFrame::m_lineWidth = 1.0f

protectedinherited

Definition at line 65 of file CRenderizableShaderWireFrame.h.

Referenced by mrpt::opengl::CSetOfLines::CSetOfLines(), mrpt::opengl::CRenderizableShaderWireFrame::getLineWidth(), mrpt::opengl::CBox::getLineWidth(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeTo(), mrpt::opengl::CGridPlaneXZ::serializeTo(), mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), mrpt::opengl::CFrustum::serializeTo(), mrpt::opengl::CRenderizableShaderWireFrame::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), and mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_writeToStream().

◆ m_modified_Image

bool mrpt::opengl::CMesh::m_modified_Image {false}

mutableprotected

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

Definition at line 228 of file CMesh.h.

◆ m_modified_Z

bool mrpt::opengl::CMesh::m_modified_Z {true}

mutableprotected

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

Definition at line 226 of file CMesh.h.

◆ m_name

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

protectedinherited

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getName(), and mrpt::opengl::CRenderizable::setName().

◆ m_outdatedBuffers

bool mrpt::opengl::CRenderizable::m_outdatedBuffers = true

protectedinherited

Definition at line 368 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::hasToUpdateBuffers(), mrpt::opengl::CRenderizable::notifyChange(), and mrpt::opengl::CRenderizable::updateBuffers().

◆ m_polygonsUpToDate

bool mrpt::opengl::CMesh::m_polygonsUpToDate {false}

mutableprotected

Whether the polygon mesh (auxiliary structure for ray tracing) needs to be recalculated.

Definition at line 250 of file CMesh.h.

◆ 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 62 of file CRenderizable.h.

◆ m_representativePoint

mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::m_representativePoint {0, 0, 0}

protectedinherited

Definition at line 369 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getLocalRepresentativePoint(), and mrpt::opengl::CRenderizable::setLocalRepresentativePoint().

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x {1}

protectedinherited

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

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleX(), and mrpt::opengl::CRenderizable::setScale().

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y {1}

protectedinherited

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleY(), and mrpt::opengl::CRenderizable::setScale().

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z {1}

protectedinherited

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleZ(), and mrpt::opengl::CRenderizable::setScale().

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name {false}

protectedinherited

Definition at line 57 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::enableShowName(), and mrpt::opengl::CRenderizable::isShowNameEnabled().

◆ m_triangles

std::vector<mrpt::opengl::TTriangle> mrpt::opengl::CRenderizableShaderTexturedTriangles::m_triangles

mutableprotectedinherited

List of triangles.

See also: TTriangle

Definition at line 98 of file CRenderizableShaderTexturedTriangles.h.

Referenced by mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::CSetOfTexturedTriangles::getTrianglesCount(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CTexturedPlane::onUpdateBuffers_TexturedTriangles(), and onUpdateBuffers_TexturedTriangles().

◆ m_trianglesUpToDate

bool mrpt::opengl::CMesh::m_trianglesUpToDate {false}

mutableprotected

Whether the actual mesh needs to be recalculated.

Definition at line 247 of file CMesh.h.

Referenced by setXBounds(), setxMax(), setxMin(), setYBounds(), setyMax(), and setyMin().

◆ m_vertex_buffer_data

std::vector<mrpt::math::TPoint3Df> mrpt::opengl::CRenderizableShaderWireFrame::m_vertex_buffer_data

mutableprotectedinherited

Definition at line 67 of file CRenderizableShaderWireFrame.h.

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible {true}

protectedinherited

Is the object visible? (default=true)

Definition at line 66 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::isVisible(), and mrpt::opengl::CRenderizable::setVisibility().

◆ m_xMax

float mrpt::opengl::CMesh::m_xMax

protected

Definition at line 238 of file CMesh.h.

Referenced by getGridLimits(), getXBounds(), getxMax(), setGridLimits(), setXBounds(), and setxMax().

◆ m_xMin

float mrpt::opengl::CMesh::m_xMin

protected

Mesh bounds.

Definition at line 238 of file CMesh.h.

Referenced by getGridLimits(), getXBounds(), getxMin(), setGridLimits(), setXBounds(), and setxMin().

◆ m_yMax

float mrpt::opengl::CMesh::m_yMax

protected

Definition at line 238 of file CMesh.h.

Referenced by getGridLimits(), getYBounds(), getyMax(), setGridLimits(), setYBounds(), and setyMax().

◆ m_yMin

float mrpt::opengl::CMesh::m_yMin

protected

Definition at line 238 of file CMesh.h.

Referenced by getGridLimits(), getYBounds(), getyMin(), setGridLimits(), setYBounds(), and setyMin().

◆ mask

math::CMatrixF mrpt::opengl::CMesh::mask

protected

Definition at line 208 of file CMesh.h.

Referenced by getMask().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CMesh::runtimeClassId

staticprotected

Definition at line 40 of file CMesh.h.

◆ tmpPolys

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

mutableprotected

Definition at line 251 of file CMesh.h.

◆ vertex_normals

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

mutableprotected

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

Definition at line 245 of file CMesh.h.

◆ Z

math::CMatrixF mrpt::opengl::CMesh::Z

protected

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

Definition at line 207 of file CMesh.h.

Referenced by getZ().

Detailed Description

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CMesh()

◆ ~CMesh()

Member Function Documentation

◆ _GetBaseClass()

◆ adjustGridToImageAR()

◆ assignImage() [1/4]

◆ assignImage() [2/4]

◆ assignImage() [3/4]

◆ assignImage() [4/4]

◆ assignImageAndZ()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ enableAntiAliasing()

◆ enableColorFromZ()

◆ enableLight()

◆ enableShowName()

◆ enableTextureLinearInterpolation()

◆ enableTransparency()

◆ enableWireFrame()

◆ enqueForRenderRecursive()

◆ freeOpenGLResources()

◆ getBoundingBox()

◆ getClassName()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getGridLimits()

◆ getLineWidth()

◆ getLocalRepresentativePoint()

◆ getMask()

◆ getName()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ getTextureAlphaImage()

◆ getTextureImage()

◆ getXBounds()

◆ getxMax()

◆ getxMin()

◆ getYBounds()

◆ getyMax()

◆ getyMin()

◆ getZ()

◆ hasToUpdateBuffers()