Detailed Description

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

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

See also: opengl::COpenGLScene

mrpt::opengl::CMesh

Definition at line 40 of file CMesh.h.

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:

Classes
struct	TTriangleVertexIndices

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

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

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

void	setGridLimits (float xmin, float xmax, float ymin, float ymax)

void	getGridLimits (float &xmin, float &xmax, float &ymin, float &ymax) const

void	enableTransparency (bool v)

void	enableWireFrame (bool v)

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

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

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

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

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

void	setUV (const mrpt::math::CMatrixTemplateNumeric< float > &in_U, const mrpt::math::CMatrixTemplateNumeric< float > &in_V)
	Sets the (u,v) texture coordinates (in range [0,1]) for each cell. More...

float	getXMin () const

float	getXMax () const

float	getYMin () const

float	getYMax () const

void	setXMin (const float nxm)

void	setXMax (const float nxm)

void	setYMin (const float nym)

void	setYMax (const float nym)

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

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

void	setXBounds (const float min, const float max)

void	setYBounds (const float min, const float max)

void	render_dl () const MRPT_OVERRIDE
	Render. More...

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

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

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

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

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

CRenderizableDisplayList *	clone () const
	Interface for the smart pointer class. More...

void	render () const MRPT_OVERRIDE
	Render the object, regenerating the display list if needed, otherwise just calling it. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
CRenderizable &	setColorR_u8 (const uint8_t r) MRPT_OVERRIDE
	Color components in the range [0,255]. More...

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

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

CRenderizable &	setColorA_u8 (const uint8_t a) MRPT_OVERRIDE
	Color components in the range [0,255]. More...

CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
	Changes the default object color. More...

CRenderizable &	setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
	Color components in the range [0,255]. More...

Changes the appearance of the object to render
void	setName (const std::string &n)
	Changes the name of the object. More...

const std::string &	getName () const
	Returns the name of the object. More...

bool	isVisible () const
	Is the object visible? More...

void	setVisibility (bool visible=true)
	Set object visibility (default=true) More...

void	enableShowName (bool showName=true)
	Enables or disables showing the name of the object as a label when rendering. More...

bool	isShowNameEnabled () const

CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPose2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose2D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPoint2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

mrpt::math::TPose3D	getPose () const
	Returns the 3D pose of the object as TPose3D. More...

const mrpt::poses::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...

CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation. More...

CRenderizable &	setLocation (const mrpt::math::TPoint3D &p)
	Changes the location of the object, keeping untouched the orientation. More...

double	getPoseX () const
	Translation relative to parent coordinate origin. More...

double	getPoseY () const
	Translation relative to parent coordinate origin. More...

double	getPoseZ () const
	Translation relative to parent coordinate origin. More...

double	getPoseYaw () const
	Rotation relative to parent coordinate origin, in DEGREES. More...

double	getPosePitch () const
	Rotation relative to parent coordinate origin, in DEGREES. More...

double	getPoseRoll () const
	Rotation relative to parent coordinate origin, in DEGREES. More...

double	getPoseYawRad () const
	Rotation relative to parent coordinate origin, in radians. More...

double	getPosePitchRad () const
	Rotation relative to parent coordinate origin, in radians. More...

double	getPoseRollRad () const
	Rotation relative to parent coordinate origin, in radians. More...

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

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

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

double	getColorA () const
	Color components in the range [0,1]. More...

uint8_t	getColorR_u8 () const
	Color components in the range [0,255]. More...

uint8_t	getColorG_u8 () const
	Color components in the range [0,255]. More...

uint8_t	getColorB_u8 () const
	Color components in the range [0,255]. More...

uint8_t	getColorA_u8 () const
	Color components in the range [0,255]. More...

CRenderizable &	setColorR (const double r)
	Color components in the range [0,1]. More...

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

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

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

CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1) More...

CRenderizable &	setScale (float sx, float sy, float sz)
	Scale to apply to the object in each axis (default=1) More...

float	getScaleX () const
	Get the current scaling factor in one axis. More...

float	getScaleY () const
	Get the current scaling factor in one axis. More...

float	getScaleZ () const
	Get the current scaling factor in one axis. More...

mrpt::utils::TColorf	getColor () const
	Returns the object color property as a TColorf. More...

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

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

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

RTTI classes and functions
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static CMeshPtr	Create (bool enableTransparency, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	Class factory. More...

static void	renderTextBitmap (const char str, void fontStyle)
	This method is safe for calling from within ::render() methods. More...

static void	renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...

static int	textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizableDisplayList

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizable

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

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

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

void	updatePolygons () const

void	writeToStreamRender (utils::CStream &out) const

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

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Methods accesible or implemented by derived classes
EIGEN_STRONG_INLINE void	notifyChange () const
	Must be called to notify that the object has changed (so, the display list must be updated) More...

virtual bool	should_skip_display_list_cache () const
	Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More...

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

Static Protected Member Functions
static void	checkOpenGLError ()
	Checks glGetError and throws an exception if an error situation is found. More...

static unsigned int	getNewTextureNumber ()
	Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...

static void	releaseTextureName (unsigned int i)

Protected Attributes
mrpt::utils::CImage	m_textureImage

bool	m_enableTransparency

bool	m_colorFromZ

bool	m_isWireFrame

bool	m_isImage

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

math::CMatrix	mask

math::CMatrix	U

math::CMatrix	V
	Texture coordinates. More...

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

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

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

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

mrpt::utils::TColormap	m_colorMap
	Used when m_colorFromZ is true. More...

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

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

float	xMin

float	xMax

float	yMin

float	yMax
	Mesh bounds. More...

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

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

bool	trianglesUpToDate
	Whether the actual mesh needs to be recalculated. More...

bool	polygonsUpToDate

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

std::string	m_name

bool	m_show_name

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

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

float	m_scale_x

float	m_scale_y

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

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

Private Member Functions
	CMesh (bool enableTransparency=false, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	Constructor. More...

virtual	~CMesh ()
	Private, virtual destructor: only can be deleted from smart pointers. More...

RTTI stuff
typedef CMeshPtr	Ptr

typedef CMeshPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CMesh

static mrpt::utils::TRuntimeClassId	classCMesh

static const mrpt::utils::TRuntimeClassId *	classinfo

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

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

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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

static CMeshPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CMeshPtr mrpt::opengl::CMesh::ConstPtr

Definition at line 42 of file CMesh.h.

◆ Ptr

typedef CMeshPtr mrpt::opengl::CMesh::Ptr

A typedef for the associated smart pointer

Definition at line 42 of file CMesh.h.

Constructor & Destructor Documentation

◆ CMesh()

CMesh::CMesh	(	bool	enableTransparency = `false`,
		float	xMin = `0.0f`,
		float	xMax = `0.0f`,
		float	yMin = `0.0f`,
		float	yMax = `0.0f`
	)

private

Constructor.

Definition at line 29 of file CMesh.cpp.

◆ ~CMesh()

CMesh::~CMesh ( )

privatevirtual

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

Definition at line 48 of file CMesh.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ adjustGridToImageAR()

void mrpt::opengl::CMesh::adjustGridToImageAR ( )

inline

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

Definition at line 179 of file CMesh.h.

References ASSERT_, mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), and mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ assignImage()

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

Assigns a texture image, and disable transparency.

Definition at line 296 of file CMesh.cpp.

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

◆ assignImageAndZ()

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

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

Definition at line 324 of file CMesh.cpp.

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

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotectedinherited

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

Definition at line 277 of file CRenderizable.cpp.

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

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

◆ clone()

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

inlineinherited

Interface for the smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

◆ Create() [1/2]

static CMeshPtr mrpt::opengl::CMesh::Create ( )

static

Referenced by mrpt::maps::CHeightGridMap2D::getAs3DObject().

◆ Create() [2/2]

CMeshPtr CMesh::Create	(	bool	enableTransparency,
		float	xMin = `0.0f`,
		float	xMax = `0.0f`,
		float	yMin = `0.0f`,
		float	yMax = `0.0f`
	)

static

Class factory.

Definition at line 53 of file CMesh.cpp.

◆ CreateObject()

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

static

◆ duplicate()

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

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ enableColorFromZ()

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

inline

Definition at line 93 of file CMesh.h.

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

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

◆ enableShowName()

void mrpt::opengl::CRenderizable::enableShowName ( bool showName = true )

inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 69 of file CRenderizable.h.

◆ enableTransparency()

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

inline

Definition at line 91 of file CMesh.h.

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

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

◆ enableWireFrame()

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

inline

Definition at line 92 of file CMesh.h.

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

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

◆ getBoundingBox()

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

virtual

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

Implements mrpt::opengl::CRenderizable.

Definition at line 542 of file CMesh.cpp.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ getColor()

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

inlineinherited

Returns the object color property as a TColorf.

Definition at line 126 of file CRenderizable.h.

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

◆ getColor_u8()

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

inlineinherited

Returns the object color property as a TColor.

Definition at line 135 of file CRenderizable.h.

◆ getColorA()

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

inlineinherited

Color components in the range [0,1].

Definition at line 102 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

◆ getColorB()

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

inlineinherited

Color components in the range [0,1].

Definition at line 101 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

◆ getColorG()

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

inlineinherited

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

◆ getColorR()

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

inlineinherited

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

◆ getGridLimits()

void mrpt::opengl::CMesh::getGridLimits	(	float &	xmin,
		float &	xmax,
		float &	ymin,
		float &	ymax
	)		const

inline

Definition at line 85 of file CMesh.h.

◆ getMask()

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

inline

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

Definition at line 109 of file CMesh.h.

◆ getName()

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

inlineinherited

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getNewTextureNumber()

unsigned int CRenderizable::getNewTextureNumber ( )

staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

Returns the lowest, free texture name.

Definition at line 77 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

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

◆ getPose()

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

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 321 of file CRenderizable.cpp.

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

◆ getPosePitch()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 93 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

◆ getPosePitchRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

◆ getPoseRef()

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const

inlineinherited

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 81 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getPoseRoll()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 94 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

◆ getPoseRollRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

◆ getPoseX()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

◆ getPoseY()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

◆ getPoseYaw()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

◆ getPoseYawRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

◆ getPoseZ()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

◆ getScaleX()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getScaleY()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 122 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getScaleZ()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 123 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ getXBounds()

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

inline

Definition at line 139 of file CMesh.h.

References min.

◆ getXMax()

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

inline

Definition at line 120 of file CMesh.h.

◆ getXMin()

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

inline

Definition at line 119 of file CMesh.h.

◆ getYBounds()

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

inline

Definition at line 143 of file CMesh.h.

References min.

◆ getYMax()

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

inline

Definition at line 122 of file CMesh.h.

◆ getYMin()

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

inline

Definition at line 121 of file CMesh.h.

◆ getZ()

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

inline

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

Definition at line 104 of file CMesh.h.

◆ isShowNameEnabled()

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

inlineinherited

See also: enableShowName

Definition at line 70 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ isVisible()

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

inlineinherited

Is the object visible?

See also: setVisibility

Definition at line 66 of file CRenderizable.h.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

◆ notifyChange()

EIGEN_STRONG_INLINE void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const

inlineprotectedinherited

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 49 of file CRenderizableDisplayList.h.

◆ operator delete() [1/3]

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

inline

Definition at line 42 of file CMesh.h.

◆ operator delete() [2/3]

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

inline

Definition at line 42 of file CMesh.h.

◆ operator delete() [3/3]

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

inline

Definition at line 42 of file CMesh.h.

◆ operator delete[]()

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

inline

Definition at line 42 of file CMesh.h.

◆ operator new() [1/3]

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

inlinestatic

Definition at line 42 of file CMesh.h.

◆ operator new() [2/3]

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

inline

Definition at line 42 of file CMesh.h.

◆ operator new() [3/3]

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

inline

Definition at line 42 of file CMesh.h.

◆ operator new[]()

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

inline

Definition at line 42 of file CMesh.h.

◆ readFromStream()

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

protectedvirtual

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

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 377 of file CMesh.cpp.

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

◆ readFromStreamRender()

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

inlineprotectedinherited

Definition at line 58 of file CRenderizableDisplayList.h.

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

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

◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int i )

staticprotectedinherited

Definition at line 102 of file CRenderizable.cpp.

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

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

◆ render()

void CRenderizableDisplayList::render ( ) const

virtualinherited

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

Implements mrpt::opengl::CRenderizable.

Definition at line 81 of file CRenderizableDisplayList.cpp.

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

◆ render_dl()

void CMesh::render_dl ( ) const

virtual

Render.

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 251 of file CMesh.cpp.

References GL_BLEND, GL_COLOR_MATERIAL, GL_DEPTH_TEST, GL_LIGHTING, GL_LINE_LOOP, GL_NORMALIZE, GL_ONE_MINUS_SRC_ALPHA, GL_SMOOTH, GL_SRC_ALPHA, GL_TRIANGLES, glBegin(), glBlendFunc(), glColor4f(), glDisable(), glEnable(), glEnd(), glNormal3f(), glShadeModel(), glVertex3f(), and mrpt::opengl::CMesh::TTriangleVertexIndices::vind.

◆ renderTextBitmap() [1/2]

void CRenderizable::renderTextBitmap	(	const char *	str,
		void *	fontStyle
	)

staticinherited

This method is safe for calling from within ::render() methods.

See also: renderTextBitmap, mrpt::opengl::gl_utils; renderTextBitmap

Definition at line 351 of file CRenderizable.cpp.

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

◆ renderTextBitmap() [2/2]

void CRenderizable::renderTextBitmap	(	int	screen_x,
		int	screen_y,
		const std::string &	str,
		float	color_r = `1`,
		float	color_g = `1`,
		float	color_b = `1`,
		mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)

staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
See also
renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

Definition at line 286 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), and MRPT_UNUSED_PARAM.

◆ setColor() [1/2]

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

inlineinherited

Parameters

c	Changes the default object color

Returns: a ref to this

Definition at line 127 of file CRenderizable.h.

◆ setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor	(	double	R,
		double	G,
		double	B,
		double	A = `1`
	)

inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns: a ref to this

Definition at line 133 of file CRenderizable.h.

References R.

◆ setColor_u8() [1/2]

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor & c )

inlinevirtualinherited

Changes the default object color.

Returns: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 86 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

◆ setColor_u8() [2/2]

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

inlineinherited

Color components in the range [0,255].

Returns: a ref to this

Definition at line 87 of file CRenderizableDisplayList.h.

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

◆ setColorA()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 112 of file CRenderizable.h.

◆ setColorA_u8()

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

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 85 of file CRenderizableDisplayList.h.

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

◆ setColorB()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 111 of file CRenderizable.h.

◆ setColorB_u8()

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

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 84 of file CRenderizableDisplayList.h.

◆ setColorG()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 110 of file CRenderizable.h.

◆ setColorG_u8()

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

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 83 of file CRenderizableDisplayList.h.

◆ setColorR()

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

inlineinherited

Color components in the range [0,1].

Returns: a ref to this

Definition at line 109 of file CRenderizable.h.

◆ setColorR_u8()

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

inlinevirtualinherited

Color components in the range [0,255].

Returns: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 82 of file CRenderizableDisplayList.h.

◆ setGridLimits()

void mrpt::opengl::CMesh::setGridLimits	(	float	xmin,
		float	xmax,
		float	ymin,
		float	ymax
	)

inline

Definition at line 78 of file CMesh.h.

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

◆ setLocation() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation	(	double	x,
		double	y,
		double	z
	)

inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns: a ref to this

Definition at line 84 of file CRenderizable.h.

◆ setLocation() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D & p )

inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns: a ref to this

Definition at line 87 of file CRenderizable.h.

◆ setMask()

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

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

Definition at line 502 of file CMesh.cpp.

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

◆ setName()

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

inlineinherited

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

◆ setPose() [1/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D & o )

inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 285 of file CRenderizable.cpp.

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

◆ setPose() [2/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D & o )

inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 290 of file CRenderizable.cpp.

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

◆ setPose() [3/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D & o )

inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 295 of file CRenderizable.cpp.

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

◆ setPose() [4/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D & o )

inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 300 of file CRenderizable.cpp.

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

◆ setPose() [5/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint3D & o )

inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters

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

Definition at line 306 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ setPose() [6/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D & o )

inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Parameters

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

Definition at line 311 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ setScale() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float s )

inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns: a ref to this

Definition at line 119 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::CText3D().

◆ setScale() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale	(	float	sx,
		float	sy,
		float	sz
	)

inlineinherited

Scale to apply to the object in each axis (default=1)

Returns: a ref to this

Definition at line 120 of file CRenderizable.h.

◆ setUV()

void CMesh::setUV	(	const mrpt::math::CMatrixTemplateNumeric< float > &	in_U,
		const mrpt::math::CMatrixTemplateNumeric< float > &	in_V
	)

Sets the (u,v) texture coordinates (in range [0,1]) for each cell.

Definition at line 509 of file CMesh.cpp.

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

◆ setVisibility()

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

inlineinherited

Set object visibility (default=true)

See also: isVisible

Definition at line 67 of file CRenderizable.h.

◆ setXBounds()

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

inline

Definition at line 147 of file CMesh.h.

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

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

◆ setXMax()

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

inline

Definition at line 127 of file CMesh.h.

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

◆ setXMin()

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

inline

Definition at line 123 of file CMesh.h.

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

◆ setYBounds()

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

inline

Definition at line 152 of file CMesh.h.

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

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

◆ setYMax()

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

inline

Definition at line 135 of file CMesh.h.

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

◆ setYMin()

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

inline

Definition at line 131 of file CMesh.h.

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

◆ setZ()

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

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

Definition at line 490 of file CMesh.cpp.

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

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

◆ should_skip_display_list_cache()

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const

inlineprotectedvirtualinherited

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 56 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CRenderizableDisplayList::render().

◆ textBitmapWidth()

int CRenderizable::textBitmapWidth	(	const std::string &	str,
		mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)

staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also: renderTextBitmap, mrpt::opengl::gl_utils; renderTextBitmap

Definition at line 359 of file CRenderizable.cpp.

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

◆ traceRay()

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

virtual

Trace ray.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 516 of file CMesh.cpp.

References mrpt::math::traceRay().

◆ updateColorsMatrix()

void CMesh::updateColorsMatrix ( ) const

protected

Called internally to assure C is updated.

Definition at line 419 of file CMesh.cpp.

References mrpt::mrpt::utils::keep_max(), mrpt::mrpt::utils::keep_min(), mrpt::opengl::CRenderizableDisplayList::notifyChange(), and val.

◆ updatePolygons()

void CMesh::updatePolygons ( ) const

protected

Definition at line 532 of file CMesh.cpp.

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

◆ updateTriangles()

void CMesh::updateTriangles ( ) const

protected

Called internally to assure the triangle list is updated.

Definition at line 57 of file CMesh.cpp.

References mrpt::opengl::CSetOfTriangles::TTriangle::a, ASSERT_, mrpt::opengl::CSetOfTriangles::TTriangle::b, mrpt::utils::colormap(), mrpt::opengl::CSetOfTriangles::TTriangle::g, mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::opengl::CSetOfTriangles::TTriangle::r, mrpt::opengl::CMesh::TTriangleVertexIndices::vind, mrpt::opengl::CSetOfTriangles::TTriangle::x, mrpt::opengl::CSetOfTriangles::TTriangle::y, and mrpt::opengl::CSetOfTriangles::TTriangle::z.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

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

protectedvirtual

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

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

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 352 of file CMesh.cpp.

References version.

◆ writeToStreamRender()

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

protectedinherited

Definition at line 112 of file CRenderizable.cpp.

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

Member Data Documentation

◆ _init_CMesh

mrpt::utils::CLASSINIT mrpt::opengl::CMesh::_init_CMesh

staticprotected

Definition at line 42 of file CMesh.h.

◆ actualMesh

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

mutableprotected

List of triangles in the mesh.

Definition at line 71 of file CMesh.h.

◆ C

math::CMatrix mrpt::opengl::CMesh::C

mutableprotected

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

Definition at line 56 of file CMesh.h.

◆ C_b

math::CMatrix mrpt::opengl::CMesh::C_b

mutableprotected

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

Definition at line 59 of file CMesh.h.

◆ C_g

math::CMatrix mrpt::opengl::CMesh::C_g

mutableprotected

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

Definition at line 58 of file CMesh.h.

◆ C_r

math::CMatrix mrpt::opengl::CMesh::C_r

mutableprotected

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

Definition at line 57 of file CMesh.h.

◆ classCMesh

mrpt::utils::TRuntimeClassId mrpt::opengl::CMesh::classCMesh

static

Definition at line 42 of file CMesh.h.

◆ classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

◆ classCRenderizable

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable

staticinherited

Definition at line 46 of file CRenderizable.h.

◆ classCRenderizableDisplayList

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizableDisplayList::classCRenderizableDisplayList

staticinherited

Definition at line 38 of file CRenderizableDisplayList.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CMesh::classinfo

static

Definition at line 42 of file CMesh.h.

◆ m_color

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

protectedinherited

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

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

◆ m_colorFromZ

bool mrpt::opengl::CMesh::m_colorFromZ

protected

Definition at line 49 of file CMesh.h.

◆ m_colorMap

mrpt::utils::TColormap mrpt::opengl::CMesh::m_colorMap

protected

Used when m_colorFromZ is true.

Definition at line 61 of file CMesh.h.

◆ m_enableTransparency

bool mrpt::opengl::CMesh::m_enableTransparency

protected

Definition at line 48 of file CMesh.h.

◆ m_isImage

bool mrpt::opengl::CMesh::m_isImage

protected

Definition at line 51 of file CMesh.h.

◆ m_isWireFrame

bool mrpt::opengl::CMesh::m_isWireFrame

protected

Definition at line 50 of file CMesh.h.

◆ m_modified_Image

bool mrpt::opengl::CMesh::m_modified_Image

mutableprotected

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

Definition at line 64 of file CMesh.h.

◆ m_modified_Z

bool mrpt::opengl::CMesh::m_modified_Z

mutableprotected

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

Definition at line 63 of file CMesh.h.

◆ m_name

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

protectedinherited

Definition at line 52 of file CRenderizable.h.

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

◆ m_pose

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

protectedinherited

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

Definition at line 55 of file CRenderizable.h.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x

protectedinherited

Definition at line 56 of file CRenderizable.h.

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

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y

protectedinherited

Definition at line 56 of file CRenderizable.h.

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

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z

protectedinherited

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

Definition at line 56 of file CRenderizable.h.

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

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name

protectedinherited

Definition at line 53 of file CRenderizable.h.

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

◆ m_textureImage

mrpt::utils::CImage mrpt::opengl::CMesh::m_textureImage

protected

Definition at line 46 of file CMesh.h.

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible

protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.

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

◆ mask

math::CMatrix mrpt::opengl::CMesh::mask

protected

Definition at line 54 of file CMesh.h.

◆ polygonsUpToDate

bool mrpt::opengl::CMesh::polygonsUpToDate

mutableprotected

Definition at line 74 of file CMesh.h.

◆ tmpPolys

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

mutableprotected

Definition at line 75 of file CMesh.h.

◆ trianglesUpToDate

bool mrpt::opengl::CMesh::trianglesUpToDate

mutableprotected

Whether the actual mesh needs to be recalculated.

Definition at line 73 of file CMesh.h.

◆ U

math::CMatrix mrpt::opengl::CMesh::U

protected

Definition at line 55 of file CMesh.h.

◆ V

math::CMatrix mrpt::opengl::CMesh::V

protected

Texture coordinates.

Definition at line 55 of file CMesh.h.

◆ vertex_normals

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

mutableprotected

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

Definition at line 72 of file CMesh.h.

◆ xMax

float mrpt::opengl::CMesh::xMax

protected

Definition at line 70 of file CMesh.h.

◆ xMin

float mrpt::opengl::CMesh::xMin

protected

Definition at line 70 of file CMesh.h.

◆ yMax

float mrpt::opengl::CMesh::yMax

protected

Mesh bounds.

Definition at line 70 of file CMesh.h.

◆ yMin

float mrpt::opengl::CMesh::yMin

protected

Definition at line 70 of file CMesh.h.

◆ Z

math::CMatrix mrpt::opengl::CMesh::Z

protected

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

Definition at line 53 of file CMesh.h.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CMesh()

◆ ~CMesh()

Member Function Documentation

◆ _GetBaseClass()

◆ adjustGridToImageAR()

◆ assignImage()

◆ assignImageAndZ()

◆ checkOpenGLError()

◆ clone()

◆ Create() [1/2]

◆ Create() [2/2]

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ enableColorFromZ()

◆ enableShowName()

◆ enableTransparency()

◆ enableWireFrame()

◆ getBoundingBox()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getGridLimits()

◆ getMask()

◆ getName()

◆ getNewTextureNumber()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ getXBounds()

◆ getXMax()

◆ getXMin()

◆ getYBounds()

◆ getYMax()

◆ getYMin()

◆ getZ()

◆ isShowNameEnabled()

◆ isVisible()

◆ notifyChange()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()