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mrpt::opengl::CTexturedPlane Class Reference

Detailed Description

A 2D plane in the XY plane with a texture image.

See Also
opengl::COpenGLScene

Definition at line 27 of file CTexturedPlane.h.

#include <mrpt/opengl/CTexturedPlane.h>

Inheritance diagram for mrpt::opengl::CTexturedPlane:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
void setTextureCornerCoords (float tex_x_min, float tex_x_max, float tex_y_min, float tex_y_max)
 Set the texture coordinates of the four corners (in the range 0-1). More...
 
void setPlaneCorners (float xMin, float xMax, float yMin, float yMax)
 Set the coordinates of the four corners that define the plane on the XY plane. More...
 
void getPlaneCorners (float &xMin, float &xMax, float &yMin, float &yMax) const
 Get the coordinates of the four corners that define the plane on the XY plane. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
 Simulation of ray-trace, given a pose. More...
 
virtual 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, const mrpt::utils::CImage &imgAlpha)
 Assigns a texture and a transparency image, and enables transparency (If the images are not 2^N x 2^M, they will be internally filled to its dimensions to be powers of two) More...
 
void assignImage (const mrpt::utils::CImage &img)
 Assigns a texture image, and disable transparency. More...
 
void assignImage_fast (mrpt::utils::CImage &img, mrpt::utils::CImage &imgAlpha)
 Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer. More...
 
void assignImage_fast (mrpt::utils::CImage &img)
 Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer. More...
 
void loadTextureInOpenGL () const
 VERY IMPORTANT: If you use a multi-thread application, you MUST call this from the same thread that will later destruct the object in order to the OpenGL texture memory to be correctly deleted. More...
 
virtual void render_dl () const MRPT_OVERRIDE
 Derived classes must implement this method to the render the object. More...
 
CRenderizableDisplayListclone () const
 Interface for the stlplus smart pointer class. More...
 
void render () const MRPT_OVERRIDE
 Render the object, regenerating the display list if needed, otherwise just calling it. More...
 
virtual mxArraywriteToMatlab () 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...
 
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...
 
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
CRenderizablesetColorR_u8 (const uint8_t r) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorG_u8 (const uint8_t g) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorB_u8 (const uint8_t b) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColorA_u8 (const uint8_t a) MRPT_OVERRIDE
 Color components in the range [0,255]. More...
 
CRenderizablesetColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
 Changes the default object color. More...
 
CRenderizablesetColor_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::stringgetName () 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
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (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::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (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...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (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...
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (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::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static CTexturedPlanePtr Create (float x_min, float x_max, float y_min, float y_max)
 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 
classCTexturedObject
 
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 updatePoly () const
 
void unloadTexture ()
 
void render_texturedobj () const MRPT_OVERRIDE
 Must be implemented by derived classes. More...
 
virtual void render_pre () const
 
virtual void render_post () const
 
void writeToStreamTexturedObject (mrpt::utils::CStream &out) const
 
void readFromStreamTexturedObject (mrpt::utils::CStream &in)
 
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

float m_tex_x_min
 
float m_tex_x_max
 
float m_tex_y_min
 
float m_tex_y_max
 
float m_xMin
 
float m_xMax
 
float m_yMin
 
float m_yMax
 
bool polygonUpToDate
 
std::vector
< mrpt::math::TPolygonWithPlane
tmpPoly
 Used for ray-tracing. More...
 
unsigned int m_glTextureName
 
bool m_texture_is_loaded
 
mrpt::utils::CImage m_textureImage
 
mrpt::utils::CImage m_textureImageAlpha
 
bool m_enableTransparency
 Of the texture using "m_textureImageAlpha". More...
 
int r_width
 
int r_height
 Size of the texture image, rounded up to next power of 2. More...
 
int m_pad_x_right
 
int m_pad_y_bottom
 The size of the fill in pixels in the textured image, w.r.t the image passed by the user. More...
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. More...
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1) More...
 
bool m_visible
 Is the object visible? (default=true) More...
 

Private Member Functions

 CTexturedPlane (float x_min=-1, float x_max=1, float y_min=-1, float y_max=1)
 Constructor. More...
 
virtual ~CTexturedPlane ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 

RTTI stuff

typedef CTexturedPlanePtr Ptr
 
typedef CTexturedPlanePtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CTexturedPlane
 
static mrpt::utils::TRuntimeClassId classCTexturedPlane
 
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CTexturedPlanePtr Create ()
 

Member Typedef Documentation

typedef CTexturedPlanePtr mrpt::opengl::CTexturedPlane::ConstPtr

Definition at line 29 of file CTexturedPlane.h.

typedef CTexturedPlanePtr mrpt::opengl::CTexturedPlane::Ptr

A typedef for the associated smart pointer

Definition at line 29 of file CTexturedPlane.h.

Constructor & Destructor Documentation

CTexturedPlane::CTexturedPlane ( float  x_min = -1,
float  x_max = 1,
float  y_min = -1,
float  y_max = 1 
)
private

Constructor.

Definition at line 39 of file CTexturedPlane.cpp.

References m_xMax, m_xMin, m_yMax, and m_yMin.

CTexturedPlane::~CTexturedPlane ( )
privatevirtual

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

Definition at line 58 of file CTexturedPlane.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CTexturedPlane::_GetBaseClass ( )
staticprotected
void CTexturedObject::assignImage ( const mrpt::utils::CImage img,
const mrpt::utils::CImage imgAlpha 
)
inherited

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

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

Definition at line 67 of file CTexturedObject.cpp.

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

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

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

Assigns a texture image, and disable transparency.

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

Definition at line 90 of file CTexturedObject.cpp.

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

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

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

Definition at line 132 of file CTexturedObject.cpp.

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

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited
CRenderizableDisplayList* mrpt::opengl::CRenderizableDisplayList::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

static CTexturedPlanePtr mrpt::opengl::CTexturedPlane::Create ( )
static
CTexturedPlanePtr CTexturedPlane::Create ( float  x_min,
float  x_max,
float  y_min,
float  y_max 
)
static

Class factory.

Definition at line 28 of file CTexturedPlane.cpp.

static mrpt::utils::CObject* mrpt::opengl::CTexturedPlane::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::opengl::CTexturedPlane::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::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 140 of file CObject.h.

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

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.

void CTexturedPlane::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 186 of file CTexturedPlane.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CRenderizable::m_pose, m_xMax, m_xMin, m_yMax, m_yMin, min, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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().

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.

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().

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

Color components in the range [0,255].

Definition at line 107 of file CRenderizable.h.

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().

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

Color components in the range [0,255].

Definition at line 106 of file CRenderizable.h.

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().

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

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

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().

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

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

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().

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().

void mrpt::opengl::CTexturedPlane::getPlaneCorners ( float &  xMin,
float &  xMax,
float &  yMin,
float &  yMax 
) const
inline

Get the coordinates of the four corners that define the plane on the XY plane.

Definition at line 65 of file CTexturedPlane.h.

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.

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().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 96 of file CRenderizable.h.

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().

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().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 97 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 90 of file CRenderizable.h.

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().

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

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

Translation relative to parent coordinate origin.

Definition at line 91 of file CRenderizable.h.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CTexturedObject.

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().

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().

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().

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().

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().

void CTexturedObject::loadTextureInOpenGL ( ) const
inherited

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

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

Definition at line 177 of file CTexturedObject.cpp.

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

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

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.

Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::C3DSScene::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CPlanarLaserScan::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CColorBar::enableDepthTest(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::C3DSScene::evaluateAnimation(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::C3DSScene::loadFrom3DSFile(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::COpenGLStandardObject::readFromStream(), mrpt::opengl::CSimpleLine::readFromStream(), readFromStream(), mrpt::opengl::C3DSScene::readFromStream(), mrpt::opengl::CCylinder::readFromStream(), mrpt::opengl::CSetOfTriangles::readFromStream(), mrpt::opengl::CColorBar::readFromStream(), mrpt::opengl::CArrow::readFromStream(), mrpt::opengl::CAxis::readFromStream(), mrpt::opengl::CDisk::readFromStream(), mrpt::opengl::CSphere::readFromStream(), mrpt::opengl::CGridPlaneXY::readFromStream(), mrpt::opengl::CGridPlaneXZ::readFromStream(), mrpt::opengl::CSetOfLines::readFromStream(), mrpt::opengl::CBox::readFromStream(), mrpt::opengl::CVectorField2D::readFromStream(), mrpt::opengl::CMesh::readFromStream(), mrpt::opengl::CEllipsoidRangeBearing2D::readFromStream(), mrpt::opengl::CMeshFast::readFromStream(), mrpt::opengl::CAssimpModel::readFromStream(), mrpt::opengl::CEllipsoid::readFromStream(), mrpt::opengl::CText3D::readFromStream(), mrpt::opengl::CEllipsoidInverseDepth2D::readFromStream(), mrpt::opengl::CVectorField3D::readFromStream(), mrpt::opengl::CEllipsoidInverseDepth3D::readFromStream(), mrpt::opengl::CFrustum::readFromStream(), mrpt::opengl::COctoMapVoxels::readFromStream(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), 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::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CGeneralizedCylinder::setClosed(), 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::CEllipsoid::setCovMatrix(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::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::CSimpleLine::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), setTextureCornerCoords(), mrpt::opengl::CMesh::setUV(), 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::CGeneralizedCylinder::setVisibleSections(), 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::CMesh::setZ(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CMesh::updatePolygons(), mrpt::opengl::CSetOfTriangles::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

void mrpt::opengl::CTexturedPlane::operator delete ( void ptr)
throw (
)
inline

Definition at line 29 of file CTexturedPlane.h.

void mrpt::opengl::CTexturedPlane::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 29 of file CTexturedPlane.h.

void mrpt::opengl::CTexturedPlane::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 29 of file CTexturedPlane.h.

void mrpt::opengl::CTexturedPlane::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 29 of file CTexturedPlane.h.

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

Definition at line 29 of file CTexturedPlane.h.

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

Definition at line 29 of file CTexturedPlane.h.

void* mrpt::opengl::CTexturedPlane::operator new ( size_t  size)
inline

Definition at line 29 of file CTexturedPlane.h.

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

Definition at line 29 of file CTexturedPlane.h.

void CTexturedPlane::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 121 of file CTexturedPlane.cpp.

References mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CTexturedObject::m_enableTransparency, mrpt::opengl::CTexturedObject::m_textureImage, mrpt::opengl::CTexturedObject::m_textureImageAlpha, m_xMax, m_xMin, m_yMax, m_yMin, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::opengl::CRenderizableDisplayList::readFromStreamRender(), and mrpt::opengl::CTexturedObject::readFromStreamTexturedObject().

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited
void CTexturedObject::readFromStreamTexturedObject ( mrpt::utils::CStream in)
protectedinherited
void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited
void CRenderizableDisplayList::render ( ) const
virtualinherited
void CTexturedObject::render_dl ( ) const
virtualinherited
void CTexturedObject::render_post ( ) const
protectedvirtualinherited
void CTexturedObject::render_pre ( ) const
protectedvirtualinherited
void CTexturedPlane::render_texturedobj ( ) const
protectedvirtual
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().

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(), int(), and MRPT_UNUSED_PARAM.

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 127 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

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.

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().

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

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.

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().

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.

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.

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.

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.

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.

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.

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.

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.

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

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

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

void mrpt::opengl::CTexturedPlane::setPlaneCorners ( float  xMin,
float  xMax,
float  yMin,
float  yMax 
)
inline

Set the coordinates of the four corners that define the plane on the XY plane.

Definition at line 56 of file CTexturedPlane.h.

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

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.

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.

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.

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.

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
oSet 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().

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
oSet 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().

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().

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.

void mrpt::opengl::CTexturedPlane::setTextureCornerCoords ( float  tex_x_min,
float  tex_x_max,
float  tex_y_min,
float  tex_y_max 
)
inline

Set the texture coordinates of the four corners (in the range 0-1).

Definition at line 46 of file CTexturedPlane.h.

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

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.

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().

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().

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

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 from mrpt::opengl::CRenderizable.

Definition at line 168 of file CTexturedPlane.cpp.

References mrpt::opengl::CRenderizable::m_pose, polygonUpToDate, tmpPoly, mrpt::math::traceRay(), and updatePoly().

void mrpt::opengl::CTexturedPlane::unloadTexture ( )
protected
void CTexturedPlane::updatePoly ( ) const
protected

Definition at line 173 of file CTexturedPlane.cpp.

References m_xMax, m_xMin, m_yMax, m_yMin, polygonUpToDate, and tmpPoly.

Referenced by traceRay().

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.

void CTexturedPlane::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 102 of file CTexturedPlane.cpp.

References m_xMax, m_xMin, m_yMax, m_yMin, mrpt::opengl::CRenderizable::writeToStreamRender(), and mrpt::opengl::CTexturedObject::writeToStreamTexturedObject().

void CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited
void CTexturedObject::writeToStreamTexturedObject ( mrpt::utils::CStream out) const
protectedinherited

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::opengl::CTexturedPlane::_init_CTexturedPlane
staticprotected

Definition at line 29 of file CTexturedPlane.h.

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

Definition at line 128 of file CObject.h.

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

Definition at line 46 of file CRenderizable.h.

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

Definition at line 38 of file CRenderizableDisplayList.h.

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

Definition at line 42 of file CSerializable.h.

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

Definition at line 31 of file CTexturedObject.h.

mrpt::utils::TRuntimeClassId mrpt::opengl::CTexturedPlane::classCTexturedPlane
static

Definition at line 29 of file CTexturedPlane.h.

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CTexturedPlane::classinfo
static

Definition at line 29 of file CTexturedPlane.h.

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited
bool mrpt::opengl::CTexturedObject::m_enableTransparency
mutableprotectedinherited
unsigned int mrpt::opengl::CTexturedObject::m_glTextureName
mutableprotectedinherited
std::string mrpt::opengl::CRenderizable::m_name
protectedinherited
int mrpt::opengl::CTexturedObject::m_pad_x_right
mutableprotectedinherited
int mrpt::opengl::CTexturedObject::m_pad_y_bottom
mutableprotectedinherited

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

Definition at line 40 of file CTexturedObject.h.

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

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited
float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited
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().

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited
float mrpt::opengl::CTexturedPlane::m_tex_x_max
mutableprotected

Definition at line 31 of file CTexturedPlane.h.

Referenced by render_texturedobj().

float mrpt::opengl::CTexturedPlane::m_tex_x_min
mutableprotected

Definition at line 31 of file CTexturedPlane.h.

Referenced by render_texturedobj().

float mrpt::opengl::CTexturedPlane::m_tex_y_max
mutableprotected

Definition at line 32 of file CTexturedPlane.h.

Referenced by render_texturedobj().

float mrpt::opengl::CTexturedPlane::m_tex_y_min
mutableprotected

Definition at line 32 of file CTexturedPlane.h.

Referenced by render_texturedobj().

bool mrpt::opengl::CTexturedObject::m_texture_is_loaded
mutableprotectedinherited
mrpt::utils::CImage mrpt::opengl::CTexturedObject::m_textureImage
mutableprotectedinherited
mrpt::utils::CImage mrpt::opengl::CTexturedObject::m_textureImageAlpha
mutableprotectedinherited
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().

float mrpt::opengl::CTexturedPlane::m_xMax
protected
float mrpt::opengl::CTexturedPlane::m_xMin
protected
float mrpt::opengl::CTexturedPlane::m_yMax
protected
float mrpt::opengl::CTexturedPlane::m_yMin
protected
bool mrpt::opengl::CTexturedPlane::polygonUpToDate
mutableprotected

Definition at line 37 of file CTexturedPlane.h.

Referenced by traceRay(), and updatePoly().

int mrpt::opengl::CTexturedObject::r_height
mutableprotectedinherited

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

Definition at line 39 of file CTexturedObject.h.

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

int mrpt::opengl::CTexturedObject::r_width
mutableprotectedinherited
std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CTexturedPlane::tmpPoly
mutableprotected

Used for ray-tracing.

Definition at line 38 of file CTexturedPlane.h.

Referenced by traceRay(), and updatePoly().




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