class mrpt::viz::CMesh

Python API: mrpt.viz.CMesh

Overview

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.

The height of each cell/pixel is provided via an elevation Z matrix, where the z coordinate of the grid cell (x,y) is given by Z(x,y) (not Z(y,x)!!), that is:

Z column count = number of cells in direction “+y”
Z row count = number of cells in direction “+x”

Since MRPT 2.7.0, the texture can be wrapped over the mesh using setMeshTextureExtension().

See also:

opengl::Scene

#include <mrpt/viz/CMesh.h>

class CMesh:
    public mrpt::viz::CVisualObject,
    public mrpt::viz::VisualObjectParams_TexturedTriangles,
    public mrpt::viz::VisualObjectParams_Lines
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::viz ::CMesh> Ptr;
    typedef std::shared_ptr<const mrpt::viz ::CMesh> ConstPtr;
    typedef std::unique_ptr<mrpt::viz ::CMesh> UniquePtr;
    typedef std::unique_ptr<const mrpt::viz ::CMesh> ConstUniquePtr;

    // structs

    struct TTriangleVertexIndices;

    // fields

    static constexpr const char* className = "mrpt::viz" "::" "CMesh";

    // construction

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

    // methods

    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;
    virtual mrpt::rtti::CObject* clone() const;

    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 setMeshTextureExtension(float textureSize_x, float textureSize_y);

    void getMeshTextureExtension(
        float& textureSize_x,
        float& textureSize_y
        ) 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);
    void getZ(mrpt::math::CMatrixFloat& out) const;
    void getMask(mrpt::math::CMatrixFloat& out) const;
    void setMask(const mrpt::math::CMatrixDynamic<float>& in_mask);
    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
        );

    virtual void updateBuffers() const;
    virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const;
    void assignImage(const mrpt::img::CImage& img);
    void assignImageAndZ(const mrpt::img::CImage& img, const mrpt::math::CMatrixDynamic<float>& in_Z);
    void adjustGridToImageAR();
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CVisualObject> Ptr;
    typedef std::shared_ptr<const CVisualObject> ConstPtr;

    // structs

    struct BuffersVersion;
    struct ChangeCounter;
    struct PoseAndScale;
    struct State;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void setName(const std::string& n);
    std::string getName() const;
    bool isVisible() const;
    void setVisibility(bool visible = true);
    bool castShadows() const;
    void castShadows(bool doCast);
    void enableShowName(bool showName = true);
    bool isShowNameEnabled() const;
    CVisualObject& setPose(const mrpt::poses::CPose3D& o);
    CVisualObject& setPose(const mrpt::poses::CPose2D& o);
    CVisualObject& setPose(const mrpt::math::TPose3D& o);
    CVisualObject& setPose(const mrpt::math::TPose2D& o);
    CVisualObject& setPose(const mrpt::poses::CPoint3D& o);
    CVisualObject& setPose(const mrpt::poses::CPoint2D& o);
    mrpt::math::TPose3D getPose() const;
    PoseAndScale getPoseAndScale() const;
    mrpt::poses::CPose3D getCPose() const;
    CVisualObject& setLocation(double x, double y, double z);
    CVisualObject& setLocation(const mrpt::math::TPoint3D& p);
    mrpt::img::TColorf getColor() const;
    mrpt::img::TColor getColor_u8() const;
    CVisualObject& setColorA(const float a);
    virtual CVisualObject& setColorA_u8(const uint8_t a);
    float materialShininess() const;
    void materialShininess(float shininess);
    float materialSpecularExponent() const;
    void materialSpecularExponent(float exponent);
    mrpt::img::TColorf materialEmissive() const;
    void materialEmissive(const mrpt::img::TColorf& color);
    CVisualObject& setScale(float s);
    CVisualObject& setScale(float sx, float sy, float sz);
    float getScaleX() const;
    float getScaleY() const;
    float getScaleZ() const;
    CVisualObject& setColor(const mrpt::img::TColorf& c);
    CVisualObject& setColor(float R, float G, float B, float A = 1);
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    CVisualObject& setColor_u8(uint8_t R, uint8_t G, uint8_t B, uint8_t A = 255);
    virtual bool cullElegible() const;
    virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const;
    virtual bool isCompositeObject() const;
    virtual const std::deque<std::shared_ptr<CVisualObject>>& getInternalChildren() const;
    void notifyChange() const;
    void notifyTransformChange() const;
    void clearChangedFlag() const;
    void notifyBBoxChange() const;
    bool hasToUpdateBuffers() const;
    uint64_t dataVersion() const;
    uint64_t transformVersion() const;
    bool hasToUpdateBuffersSince(uint64_t sinceVersion) const;
    void updateBuffersIfNeeded() const;
    virtual void updateBuffers() const;
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    auto getBoundingBox() const;
    auto getBoundingBoxLocal() const;
    auto getBoundingBoxLocalf() const;
    virtual mrpt::math::TPoint3Df getLocalRepresentativePoint() const;
    void setLocalRepresentativePoint(const mrpt::math::TPoint3Df& p);
    mrpt::viz::CText& labelObject() const;
    std::shared_ptr<mrpt::viz::CText> labelObjectPtr() const;
    const auto& shaderTexturedTrianglesBuffer() const;
    auto& shaderTexturedTrianglesBufferMutex() const;
    void assignImage(const mrpt::img::CImage& img, const mrpt::img::CImage& imgAlpha);
    void assignImage(const mrpt::img::CImage& img);
    void assignImage(mrpt::img::CImage&& img, mrpt::img::CImage&& imgAlpha);
    void assignImage(mrpt::img::CImage&& img);
    bool isLightEnabled() const;
    void enableLight(bool enable = true);
    void cullFaces(const TCullFace& cf);
    TCullFace cullFaces() const;
    const mrpt::img::CImage& getTextureImage() const;
    const mrpt::img::CImage& getTextureAlphaImage() const;
    bool textureImageHasBeenAssigned() const;
    void setAlphaMode(TAlphaMode mode);
    TAlphaMode alphaMode() const;
    void setAlphaCutoff(float cutoff);
    float alphaCutoff() const;
    float effectiveAlphaCutoff() const;
    void assignNormalMap(const mrpt::img::CImage& img);
    void assignNormalMap(mrpt::img::CImage&& img);
    const mrpt::img::CImage& getNormalMapImage() const;
    bool normalMapHasBeenAssigned() const;
    void assignEmissiveMap(const mrpt::img::CImage& img);
    void assignEmissiveMap(mrpt::img::CImage&& img);
    const mrpt::img::CImage& getEmissiveMapImage() const;
    bool emissiveMapHasBeenAssigned() const;
    void enableTextureLinearInterpolation(bool enable);
    bool textureLinearInterpolation() const;
    void enableTextureMipMap(bool enable);
    bool textureMipMap() const;
    const auto& shaderLinesVertexPointBuffer() const;
    const auto& shaderLinesVertexColorBuffer() const;
    auto& shaderLinesBufferMutex() const;
    void setLineWidth(float w);
    float getLineWidth() const;
    void enableAntiAliasing(bool enable = true);
    bool isAntiAliasingEnabled() const;

Typedefs

typedef std::shared_ptr<mrpt::viz ::CMesh> Ptr

A type for the associated smart pointer.

Methods

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

Returns information about the class of an object in runtime.

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

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

void setMeshTextureExtension(float textureSize_x, float textureSize_y)

Sets the texture physical size (in “meters) using to wrap it over the mesh extension.

The default (0) means texture size is equal to whole grid extension.

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

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

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

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

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

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

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.

virtual void updateBuffers() const

Called by the rendering system to update internal geometry buffers.

Derived classes should override this to populate their data buffers (triangles, points, lines) when the object geometry changes.

This is called automatically when hasToUpdateBuffers() returns true, which happens after notifyChange() was called.

The base implementation does nothing; derived classes should override.

Thread safety: implementations should lock the appropriate mutexes when writing to shared buffers.

virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const

Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates.

This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.