mrpt::opengl::CPlanarLaserScan Class Reference

Detailed Description

This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface.

By default, all those three elements are drawn, but you can individually switch them on/off with:

• CPlanarLaserScan::enablePoints()
• CPlanarLaserScan::enableLine()
• CPlanarLaserScan::enableSurface()

To change the final result, more methods allow further customization of the 3D object (color of each element, etc.).

The scan is passed or updated through CPlanarLaserScan::setScan()

mrpt::opengl::CPlanarLaserScan

Note

The laser points are projected at the sensor pose as given in the "scan" object, so this CPlanarLaserScan object should be placed at the exact pose of the robot coordinates origin.

See also

mrpt::opengl::CPointCloud, opengl::COpenGLScene

Definition at line 57 of file CPlanarLaserScan.h.

#include <mrpt/opengl/CPlanarLaserScan.h>

Inheritance diagram for mrpt::opengl::CPlanarLaserScan:

Public Member Functions
	CPlanarLaserScan ()=default
	~CPlanarLaserScan () override=default
void	clear ()
	Clear the scan. More...
void	enablePoints (bool enable=true)
	Show or hides the scanned points. More...
void	enableLine (bool enable=true)
	Show or hides lines along all scanned points. More...
void	enableSurface (bool enable=true)
	Show or hides the scanned area as a 2D surface. More...
void	setLineColor (float R, float G, float B, float A=1.0f)
void	setPointsColor (float R, float G, float B, float A=1.0f)
void	setSurfaceColor (float R, float G, float B, float A=1.0f)
void	setScan (const mrpt::obs::CObservation2DRangeScan &scan)
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	setPointSize (float p)
	By default is 1.0. More...
float	getPointSize () const
void	enableVariablePointSize (bool enable=true)
	Enable/disable variable eye distance-dependent point size (default=true) More...
bool	isEnabledVariablePointSize () const
void	setVariablePointSize_k (float v)
	see CRenderizableShaderPoints for a discussion of this parameter. More...
float	getVariablePointSize_k () const
void	setVariablePointSize_DepthScale (float v)
	see CRenderizableShaderPoints for a discussion of this parameter. More...
float	getVariablePointSize_DepthScale () const
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 bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose. 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 void	initializeTextures () const
	Initializes all textures (loads them into opengl memory). 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...
void	freeOpenGLResources () override
	Free opengl buffers. 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_Triangles () override
	Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...
void	onUpdateBuffers_Points () override
	Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...
mrpt::math::TPoint3Df	getLocalRepresentativePoint () const override
	Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0]) 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	params_serialize (mrpt::serialization::CArchive &out) const
void	params_deserialize (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
mrpt::obs::CObservation2DRangeScan	m_scan
mrpt::maps::CSimplePointsMap	m_cache_points
bool	m_cache_valid {false}
float	m_line_R {1.f}
float	m_line_G {0.f}
float	m_line_B {0.f}
float	m_line_A {0.5f}
float	m_points_R {1.0f}
float	m_points_G {0.0f}
float	m_points_B {0.0f}
float	m_points_A {1.0f}
float	m_plane_R {0.01f}
float	m_plane_G {0.01f}
float	m_plane_B {0.6f}
float	m_plane_A {0.6f}
bool	m_enable_points {true}
bool	m_enable_line {true}
bool	m_enable_surface {true}
std::vector< mrpt::math::TPoint3Df >	m_vertex_buffer_data
std::vector< mrpt::img::TColor >	m_color_buffer_data
float	m_pointSize = 1.0f
bool	m_variablePointSize = true
float	m_variablePointSize_K = 0.1f
float	m_variablePointSize_DepthScale = 0.1f
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...
std::vector< mrpt::opengl::TTriangle >	m_triangles
	List of triangles. 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 ::CPlanarLaserScan >
using	ConstPtr = std::shared_ptr< const mrpt::opengl ::CPlanarLaserScan >
using	UniquePtr = std::unique_ptr< mrpt::opengl ::CPlanarLaserScan >
using	ConstUniquePtr = std::unique_ptr< const mrpt::opengl ::CPlanarLaserScan >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::opengl" "::" "CPlanarLaserScan"
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::CPlanarLaserScan::ConstPtr = std::shared_ptr<const mrpt::opengl :: CPlanarLaserScan >

Definition at line 61 of file CPlanarLaserScan.h.

ConstUniquePtr

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

Definition at line 61 of file CPlanarLaserScan.h.

Ptr

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

A type for the associated smart pointer

Definition at line 61 of file CPlanarLaserScan.h.

UniquePtr

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

Definition at line 61 of file CPlanarLaserScan.h.

Constructor & Destructor Documentation

CPlanarLaserScan()

mrpt::opengl::CPlanarLaserScan::CPlanarLaserScan ( )

default

~CPlanarLaserScan()

mrpt::opengl::CPlanarLaserScan::~CPlanarLaserScan ( )

overridedefault

Member Function Documentation

_GetBaseClass()

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

staticprotected

clear()

void CPlanarLaserScan::clear

(

)

Clear the scan.

Definition at line 22 of file CPlanarLaserScan.cpp.

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

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clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CPlanarLaserScan::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::CPlanarLaserScan::Create ( Args &&...  args )

inlinestatic

Definition at line 61 of file CPlanarLaserScan.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initLaserScansVisualization(), and mrpt::apps::ICP_SLAM_App_Base::run().

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CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 61 of file CPlanarLaserScan.h.

CreateObject()

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

static

CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 61 of file CPlanarLaserScan.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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enableLine()

void mrpt::opengl::CPlanarLaserScan::enableLine ( bool  enable = true )

inline

Show or hides lines along all scanned points.

See also

setLineWidth, setLineColor

Definition at line 101 of file CPlanarLaserScan.h.

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

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enablePoints()

void mrpt::opengl::CPlanarLaserScan::enablePoints ( bool  enable = true )

inline

Show or hides the scanned points.

See also

sePointsWidth, setPointsColor

Definition at line 93 of file CPlanarLaserScan.h.

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

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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.

enableSurface()

void mrpt::opengl::CPlanarLaserScan::enableSurface ( bool  enable = true )

inline

Show or hides the scanned area as a 2D surface.

See also

setSurfaceColor

Definition at line 108 of file CPlanarLaserScan.h.

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

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enableVariablePointSize()

void mrpt::opengl::CRenderizableShaderPoints::enableVariablePointSize ( bool  enable = true )

inlineinherited

Enable/disable variable eye distance-dependent point size (default=true)

Definition at line 63 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize.

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::CPlanarLaserScan::freeOpenGLResources ( )

inlineoverridevirtual

Free opengl buffers.

Implements mrpt::opengl::CRenderizable.

Definition at line 68 of file CPlanarLaserScan.h.

References mrpt::opengl::CRenderizableShaderTriangles::freeOpenGLResources(), mrpt::opengl::CRenderizableShaderWireFrame::freeOpenGLResources(), and mrpt::opengl::CRenderizableShaderPoints::freeOpenGLResources().

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getBoundingBox()

void CPlanarLaserScan::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 184 of file CPlanarLaserScan.cpp.

References bb_max, bb_min, mrpt::keep_max(), and mrpt::keep_min().

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getClassName()

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

inlinestatic

Definition at line 61 of file CPlanarLaserScan.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.

getLineWidth()

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

inlineinherited

Definition at line 48 of file CRenderizableShaderWireFrame.h.

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

getLocalRepresentativePoint()

mrpt::math::TPoint3Df CPlanarLaserScan::getLocalRepresentativePoint ( ) const

overridevirtual

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

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 227 of file CPlanarLaserScan.cpp.

References mrpt::d2f().

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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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getPointSize()

float mrpt::opengl::CRenderizableShaderPoints::getPointSize ( ) const

inlineinherited

Definition at line 59 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_pointSize.

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::CPlanarLaserScan::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableShaderPoints.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CPlanarLaserScan::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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getVariablePointSize_DepthScale()

float mrpt::opengl::CRenderizableShaderPoints::getVariablePointSize_DepthScale ( ) const

inlineinherited

Definition at line 80 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale.

getVariablePointSize_k()

float mrpt::opengl::CRenderizableShaderPoints::getVariablePointSize_k ( ) const

inlineinherited

Definition at line 73 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K.

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()

virtual void mrpt::opengl::CRenderizable::initializeTextures ( ) const

inlinevirtualinherited

Initializes all textures (loads them into opengl memory).

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

Definition at line 362 of file CRenderizable.h.

isAntiAliasingEnabled()

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

inlineinherited

Definition at line 54 of file CRenderizableShaderWireFrame.h.

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

isEnabledVariablePointSize()

bool mrpt::opengl::CRenderizableShaderPoints::isEnabledVariablePointSize ( ) const

inlineinherited

Definition at line 67 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize.

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.

Referenced by mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CRenderizableShaderTexturedTriangles::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CPointCloud::clear(), mrpt::opengl::CPointCloudColoured::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::CRenderizableShaderWireFrame::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CPointCloud::enableColorFromX(), mrpt::opengl::CPointCloud::enableColorFromY(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CPointCloud::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::enableDrawSolid3D(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), enableLine(), enablePoints(), mrpt::opengl::CPointCloud::enablePointSmooth(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CPointCloud::insertPoint(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CPointCloud::loadFromPointsList(), mrpt::opengl::CPointCloudColoured::loadFromPointsMap(), mrpt::opengl::CPointCloud::loadFromPointsMap(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::CPointCloudColoured::push_back(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CPointCloudColoured::resize(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CSimpleLine::serializeFrom(), mrpt::opengl::CTexturedPlane::serializeFrom(), mrpt::opengl::CSetOfTriangles::serializeFrom(), mrpt::opengl::CArrow::serializeFrom(), mrpt::opengl::CSphere::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CAxis::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CDisk::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CColorBar::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CMeshFast::serializeFrom(), mrpt::opengl::CMesh::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CText3D::serializeFrom(), mrpt::opengl::CAssimpModel::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CPointCloudColoured::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), mrpt::opengl::COctoMapVoxels::serializeFrom(), mrpt::opengl::CPointCloud::setAllPoints(), mrpt::opengl::CPointCloud::setAllPointsFast(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::CText::setFont(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CRenderizableShaderWireFrame::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CPointCloudColoured::setPoint(), mrpt::opengl::CPointCloud::setPoint(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CArrow::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CText::setString(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CAxis::setTickMarksLength(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::opengl::CSetOfLines::setVerticesPointSize(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setxMax(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setxMin(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setyMax(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::CMesh::setyMin(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::CMesh::setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CSetOfTriangles::updatePolygons(), mrpt::opengl::CMesh::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

onUpdateBuffers_Points()

void CPlanarLaserScan::onUpdateBuffers_Points ( )

overridevirtual

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

Implements mrpt::opengl::CRenderizableShaderPoints.

Definition at line 112 of file CPlanarLaserScan.cpp.

References mrpt::img::TColorf::asTColor(), mrpt::opengl::CRenderizableShaderPoints::m_color_buffer_data, and mrpt::opengl::CRenderizableShaderPoints::m_vertex_buffer_data.

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onUpdateBuffers_Triangles()

void CPlanarLaserScan::onUpdateBuffers_Triangles ( )

overridevirtual

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

Implements mrpt::opengl::CRenderizableShaderTriangles.

Definition at line 84 of file CPlanarLaserScan.cpp.

References mrpt::opengl::CRenderizableShaderTriangles::m_triangles.

onUpdateBuffers_Wireframe()

void CPlanarLaserScan::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 61 of file CPlanarLaserScan.cpp.

References mrpt::img::TColorf::asTColor(), mrpt::opengl::CRenderizableShaderWireFrame::m_color_buffer_data, and mrpt::opengl::CRenderizableShaderWireFrame::m_vertex_buffer_data.

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params_deserialize()

void CRenderizableShaderPoints::params_deserialize ( mrpt::serialization::CArchive &  in )

protectedinherited

Definition at line 115 of file CRenderizableShaderPoints.cpp.

References mrpt::opengl::CRenderizableShaderPoints::m_pointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::serialization::CArchive::ReadAs().

Referenced by mrpt::opengl::CSetOfLines::serializeFrom(), and mrpt::opengl::CPointCloudColoured::serializeFrom().

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params_serialize()

void CRenderizableShaderPoints::params_serialize ( mrpt::serialization::CArchive &  out ) const

protectedinherited

Definition at line 108 of file CRenderizableShaderPoints.cpp.

References mrpt::opengl::CRenderizableShaderPoints::m_pointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale, mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K, and out.

Referenced by mrpt::opengl::CSetOfLines::serializeTo(), and mrpt::opengl::CPointCloudColoured::serializeTo().

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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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render()

void CPlanarLaserScan::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 28 of file CPlanarLaserScan.cpp.

References mrpt::opengl::DefaultShaderID::POINTS, mrpt::opengl::CRenderizableShaderWireFrame::render(), mrpt::opengl::CRenderizableShaderTriangles::render(), mrpt::opengl::CRenderizableShaderPoints::render(), mrpt::opengl::CRenderizable::RenderContext::shader_id, mrpt::opengl::DefaultShaderID::TRIANGLES, and mrpt::opengl::DefaultShaderID::WIREFRAME.

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renderUpdateBuffers()

void CPlanarLaserScan::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 43 of file CPlanarLaserScan.cpp.

References mrpt::opengl::CRenderizableShaderWireFrame::renderUpdateBuffers(), mrpt::opengl::CRenderizableShaderTriangles::renderUpdateBuffers(), and mrpt::opengl::CRenderizableShaderPoints::renderUpdateBuffers().

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requiredShaders()

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

inlineoverridevirtual

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

See also

DefaultShaderID

Reimplemented from mrpt::opengl::CRenderizableShaderPoints.

Definition at line 75 of file CPlanarLaserScan.h.

References mrpt::opengl::DefaultShaderID::POINTS, mrpt::opengl::DefaultShaderID::TRIANGLES, and mrpt::opengl::DefaultShaderID::WIREFRAME.

serializeFrom() [1/2]

void CPlanarLaserScan::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 141 of file CPlanarLaserScan.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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 CPlanarLaserScan::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 130 of file CPlanarLaserScan.cpp.

serializeTo() [1/2]

void CPlanarLaserScan::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 131 of file CPlanarLaserScan.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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setLineColor()

void mrpt::opengl::CPlanarLaserScan::setLineColor ( float  R, float  G, float  B, float  A = 1.0f  )

inline

Definition at line 114 of file CPlanarLaserScan.h.

References G, m_line_A, m_line_B, m_line_G, m_line_R, and R.

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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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.

setPointsColor()

void mrpt::opengl::CPlanarLaserScan::setPointsColor ( float  R, float  G, float  B, float  A = 1.0f  )

inline

Definition at line 121 of file CPlanarLaserScan.h.

References G, m_points_A, m_points_B, m_points_G, m_points_R, and R.

setPointSize()

void mrpt::opengl::CRenderizableShaderPoints::setPointSize ( float  p )

inlineinherited

By default is 1.0.

See also

enableVariablePointSize()

Definition at line 58 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_pointSize.

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.

setScan()

void mrpt::opengl::CPlanarLaserScan::setScan ( const mrpt::obs::CObservation2DRangeScan &  scan )

inline

Definition at line 136 of file CPlanarLaserScan.h.

References m_cache_valid, m_scan, and mrpt::opengl::CRenderizable::notifyChange().

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setSurfaceColor()

void mrpt::opengl::CPlanarLaserScan::setSurfaceColor ( float  R, float  G, float  B, float  A = 1.0f  )

inline

Definition at line 128 of file CPlanarLaserScan.h.

References G, m_plane_A, m_plane_B, m_plane_G, m_plane_R, and R.

setVariablePointSize_DepthScale()

void mrpt::opengl::CRenderizableShaderPoints::setVariablePointSize_DepthScale ( float  v )

inlineinherited

see CRenderizableShaderPoints for a discussion of this parameter.

Definition at line 76 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale.

setVariablePointSize_k()

void mrpt::opengl::CRenderizableShaderPoints::setVariablePointSize_k ( float  v )

inlineinherited

see CRenderizableShaderPoints for a discussion of this parameter.

Definition at line 72 of file CRenderizableShaderPoints.h.

References mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K.

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.

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::CMesh, mrpt::opengl::CSetOfObjects, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::opengl::CTexturedPlane, mrpt::opengl::CDisk, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CEllipsoid2D, mrpt::opengl::CSphere, mrpt::opengl::CEllipsoid3D, and mrpt::opengl::CCylinder.

Definition at line 224 of file CRenderizable.cpp.

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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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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Member Data Documentation

className

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

static

Definition at line 61 of file CPlanarLaserScan.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_cache_points

mrpt::maps::CSimplePointsMap mrpt::opengl::CPlanarLaserScan::m_cache_points

mutableprotected

Definition at line 149 of file CPlanarLaserScan.h.

m_cache_valid

bool mrpt::opengl::CPlanarLaserScan::m_cache_valid {false}

mutableprotected

Definition at line 150 of file CPlanarLaserScan.h.

Referenced by setScan().

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.

Referenced by mrpt::opengl::CMeshFast::CMeshFast(), mrpt::opengl::CVectorField3D::CVectorField3D(), mrpt::opengl::CRenderizable::getColor(), mrpt::opengl::CRenderizable::getColor_u8(), mrpt::opengl::CRenderizable::getColorA(), mrpt::opengl::CRenderizable::getColorA_u8(), mrpt::opengl::CRenderizable::getColorB(), mrpt::opengl::CRenderizable::getColorB_u8(), mrpt::opengl::CRenderizable::getColorG(), mrpt::opengl::CRenderizable::getColorG_u8(), mrpt::opengl::CRenderizable::getColorR(), mrpt::opengl::CRenderizable::getColorR_u8(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Triangles(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Wireframe(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXZ::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXY::onUpdateBuffers_Wireframe(), mrpt::opengl::CRenderizable::setColorA_u8(), mrpt::opengl::CRenderizable::setColorB_u8(), mrpt::opengl::CRenderizable::setColorG_u8(), and mrpt::opengl::CRenderizable::setColorR_u8().

m_color_buffer_data [1/2]

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

mutableprotectedinherited

Definition at line 68 of file CRenderizableShaderWireFrame.h.

Referenced by mrpt::opengl::CAssimpModel::onUpdateBuffers_all(), mrpt::opengl::CColorBar::onUpdateBuffers_all(), mrpt::opengl::CAxis::onUpdateBuffers_Wireframe(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Wireframe(), mrpt::opengl::CBox::onUpdateBuffers_Wireframe(), mrpt::opengl::CMesh3D::onUpdateBuffers_Wireframe(), mrpt::opengl::CMesh::onUpdateBuffers_Wireframe(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Wireframe(), mrpt::opengl::CVectorField2D::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXZ::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXY::onUpdateBuffers_Wireframe(), mrpt::opengl::CFrustum::onUpdateBuffers_Wireframe(), onUpdateBuffers_Wireframe(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Wireframe(), and mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Wireframe().

m_color_buffer_data [2/2]

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

mutableprotectedinherited

Definition at line 95 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CAssimpModel::onUpdateBuffers_all(), mrpt::opengl::CMeshFast::onUpdateBuffers_Points(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CMesh3D::onUpdateBuffers_Points(), mrpt::opengl::CVectorField2D::onUpdateBuffers_Points(), onUpdateBuffers_Points(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Points(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Points(), and mrpt::opengl::CPointCloud::onUpdateBuffers_Points().

m_enable_line

bool mrpt::opengl::CPlanarLaserScan::m_enable_line {true}

protected

Definition at line 160 of file CPlanarLaserScan.h.

Referenced by enableLine().

m_enable_points

bool mrpt::opengl::CPlanarLaserScan::m_enable_points {true}

protected

Definition at line 159 of file CPlanarLaserScan.h.

Referenced by enablePoints().

m_enable_surface

bool mrpt::opengl::CPlanarLaserScan::m_enable_surface {true}

protected

Definition at line 161 of file CPlanarLaserScan.h.

Referenced by enableSurface().

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_line_A

float mrpt::opengl::CPlanarLaserScan::m_line_A {0.5f}

protected

Definition at line 152 of file CPlanarLaserScan.h.

Referenced by setLineColor().

m_line_B

float mrpt::opengl::CPlanarLaserScan::m_line_B {0.f}

protected

Definition at line 152 of file CPlanarLaserScan.h.

Referenced by setLineColor().

m_line_G

float mrpt::opengl::CPlanarLaserScan::m_line_G {0.f}

protected

Definition at line 152 of file CPlanarLaserScan.h.

Referenced by setLineColor().

m_line_R

float mrpt::opengl::CPlanarLaserScan::m_line_R {1.f}

protected

Definition at line 152 of file CPlanarLaserScan.h.

Referenced by setLineColor().

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_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_plane_A

float mrpt::opengl::CPlanarLaserScan::m_plane_A {0.6f}

protected

Definition at line 157 of file CPlanarLaserScan.h.

Referenced by setSurfaceColor().

m_plane_B

float mrpt::opengl::CPlanarLaserScan::m_plane_B {0.6f}

protected

Definition at line 157 of file CPlanarLaserScan.h.

Referenced by setSurfaceColor().

m_plane_G

float mrpt::opengl::CPlanarLaserScan::m_plane_G {0.01f}

protected

Definition at line 157 of file CPlanarLaserScan.h.

Referenced by setSurfaceColor().

m_plane_R

float mrpt::opengl::CPlanarLaserScan::m_plane_R {0.01f}

protected

Definition at line 157 of file CPlanarLaserScan.h.

Referenced by setSurfaceColor().

m_points_A

float mrpt::opengl::CPlanarLaserScan::m_points_A {1.0f}

protected

Definition at line 155 of file CPlanarLaserScan.h.

Referenced by setPointsColor().

m_points_B

float mrpt::opengl::CPlanarLaserScan::m_points_B {0.0f}

protected

Definition at line 154 of file CPlanarLaserScan.h.

Referenced by setPointsColor().

m_points_G

float mrpt::opengl::CPlanarLaserScan::m_points_G {0.0f}

protected

Definition at line 154 of file CPlanarLaserScan.h.

Referenced by setPointsColor().

m_points_R

float mrpt::opengl::CPlanarLaserScan::m_points_R {1.0f}

protected

Definition at line 154 of file CPlanarLaserScan.h.

Referenced by setPointsColor().

m_pointSize

float mrpt::opengl::CRenderizableShaderPoints::m_pointSize = 1.0f

protectedinherited

Definition at line 97 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CSetOfLines::CSetOfLines(), mrpt::opengl::CRenderizableShaderPoints::getPointSize(), mrpt::opengl::CSetOfLines::getVerticesPointSize(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::opengl::CRenderizableShaderPoints::params_serialize(), mrpt::opengl::CRenderizableShaderPoints::render(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CRenderizableShaderPoints::setPointSize(), and mrpt::opengl::CSetOfLines::setVerticesPointSize().

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.

Referenced by mrpt::opengl::CGridPlaneXY::getBoundingBox(), mrpt::opengl::CGridPlaneXZ::getBoundingBox(), mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPolyhedron::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPosePitchRad(), mrpt::opengl::CRenderizable::getPoseRef(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseRollRad(), mrpt::opengl::CRenderizable::getPoseX(), mrpt::opengl::CRenderizable::getPoseY(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CRenderizable::getPoseYawRad(), mrpt::opengl::CRenderizable::getPoseZ(), mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::renderUpdateBuffers(), mrpt::opengl::CRenderizable::setLocation(), and mrpt::opengl::CPolyhedron::traceRay().

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_scan

mrpt::obs::CObservation2DRangeScan mrpt::opengl::CPlanarLaserScan::m_scan

protected

Definition at line 148 of file CPlanarLaserScan.h.

Referenced by setScan().

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::CRenderizableShaderTriangles::m_triangles

mutableprotectedinherited

List of triangles.

See also

TTriangle

Definition at line 53 of file CRenderizableShaderTriangles.h.

Referenced by mrpt::opengl::CSetOfTriangles::begin(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::end(), mrpt::opengl::CSetOfTriangles::getTriangle(), mrpt::opengl::CSetOfTriangles::getTrianglesCount(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CAssimpModel::onUpdateBuffers_all(), mrpt::opengl::CColorBar::onUpdateBuffers_all(), mrpt::opengl::CArrow::onUpdateBuffers_Triangles(), mrpt::opengl::CCylinder::onUpdateBuffers_Triangles(), mrpt::opengl::CDisk::onUpdateBuffers_Triangles(), mrpt::opengl::CBox::onUpdateBuffers_Triangles(), mrpt::opengl::CMesh3D::onUpdateBuffers_Triangles(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Triangles(), mrpt::opengl::CVectorField2D::onUpdateBuffers_Triangles(), mrpt::opengl::CFrustum::onUpdateBuffers_Triangles(), onUpdateBuffers_Triangles(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Triangles(), mrpt::opengl::CSetOfTriangles::rbegin(), mrpt::opengl::CSetOfTriangles::rend(), mrpt::opengl::CRenderizableShaderTriangles::render(), and mrpt::opengl::CSetOfTriangles::reserve().

m_variablePointSize

bool mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize = true

protectedinherited

Definition at line 98 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CRenderizableShaderPoints::enableVariablePointSize(), mrpt::opengl::CRenderizableShaderPoints::isEnabledVariablePointSize(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::opengl::CRenderizableShaderPoints::params_serialize(), and mrpt::opengl::CRenderizableShaderPoints::render().

m_variablePointSize_DepthScale

float mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_DepthScale = 0.1f

protectedinherited

Definition at line 100 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CRenderizableShaderPoints::getVariablePointSize_DepthScale(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::opengl::CRenderizableShaderPoints::params_serialize(), mrpt::opengl::CRenderizableShaderPoints::render(), and mrpt::opengl::CRenderizableShaderPoints::setVariablePointSize_DepthScale().

m_variablePointSize_K

float mrpt::opengl::CRenderizableShaderPoints::m_variablePointSize_K = 0.1f

protectedinherited

Definition at line 99 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CRenderizableShaderPoints::getVariablePointSize_k(), mrpt::opengl::CRenderizableShaderPoints::params_deserialize(), mrpt::opengl::CRenderizableShaderPoints::params_serialize(), mrpt::opengl::CRenderizableShaderPoints::render(), and mrpt::opengl::CRenderizableShaderPoints::setVariablePointSize_k().

m_vertex_buffer_data [1/2]

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

mutableprotectedinherited

Definition at line 67 of file CRenderizableShaderWireFrame.h.

Referenced by mrpt::opengl::CAssimpModel::onUpdateBuffers_all(), mrpt::opengl::CColorBar::onUpdateBuffers_all(), mrpt::opengl::CAxis::onUpdateBuffers_Wireframe(), mrpt::opengl::CSimpleLine::onUpdateBuffers_Wireframe(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Wireframe(), mrpt::opengl::CBox::onUpdateBuffers_Wireframe(), mrpt::opengl::CMesh3D::onUpdateBuffers_Wireframe(), mrpt::opengl::CMesh::onUpdateBuffers_Wireframe(), mrpt::opengl::CPolyhedron::onUpdateBuffers_Wireframe(), mrpt::opengl::CVectorField2D::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXY::onUpdateBuffers_Wireframe(), mrpt::opengl::CGridPlaneXZ::onUpdateBuffers_Wireframe(), mrpt::opengl::CFrustum::onUpdateBuffers_Wireframe(), onUpdateBuffers_Wireframe(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Wireframe(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Wireframe(), and mrpt::opengl::CRenderizableShaderWireFrame::render().

m_vertex_buffer_data [2/2]

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

mutableprotectedinherited

Definition at line 94 of file CRenderizableShaderPoints.h.

Referenced by mrpt::opengl::CAssimpModel::onUpdateBuffers_all(), mrpt::opengl::CMeshFast::onUpdateBuffers_Points(), mrpt::opengl::CSetOfLines::onUpdateBuffers_Points(), mrpt::opengl::CMesh3D::onUpdateBuffers_Points(), mrpt::opengl::CVectorField2D::onUpdateBuffers_Points(), onUpdateBuffers_Points(), mrpt::opengl::CVectorField3D::onUpdateBuffers_Points(), mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Points(), and mrpt::opengl::CRenderizableShaderPoints::render().

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().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CPlanarLaserScan::runtimeClassId

staticprotected

Definition at line 61 of file CPlanarLaserScan.h.