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mrpt::opengl::CCamera Class Reference

Detailed Description

A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camera parameters set in COpenGLViewport::m_camera.

A camera can be defined to provide a projective or orthogonal view of the world by setting the member CCamera::m_projectiveModel.

See also
opengl::COpenGLScene

Definition at line 30 of file CCamera.h.

#include <mrpt/opengl/CCamera.h>

Inheritance diagram for mrpt::opengl::CCamera:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
void setPointingAt (float x, float y, float z)
 
template<class POSEORPOINT >
void setPointingAt (const POSEORPOINT &p)
 
void setPointingAt (const mrpt::math::TPoint3D &p)
 
float getPointingAtX () const
 
float getPointingAtY () const
 
float getPointingAtZ () const
 
void setZoomDistance (float z)
 
float getZoomDistance () const
 
float getAzimuthDegrees () const
 
float getElevationDegrees () const
 
void setAzimuthDegrees (float ang)
 
void setElevationDegrees (float ang)
 
void setProjectiveModel (bool v=true)
 Enable/Disable projective mode (vs. More...
 
void setOrthogonal (bool v=true)
 Enable/Disable orthogonal mode (vs. More...
 
void set6DOFMode (bool v)
 Set 6DOFMode, if enabled camera is set according to its pose (default=false). More...
 
bool isProjective () const
 
bool isOrthogonal () const
 
bool is6DOFMode () const
 
void setProjectiveFOVdeg (float ang)
 Field-of-View in degs, only when projectiveModel=true (default=30 deg). More...
 
float getProjectiveFOVdeg () const
 Field-of-View in degs, only when projectiveModel=true (default=30 deg). More...
 
void render () const override
 Render does nothing here. More...
 
virtual void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
 In this class, returns a fixed box (max,max,max), (-max,-max,-max). More...
 
 CCamera ()
 Constructor. More...
 
virtual ~CCamera ()
 Private, virtual destructor: only can be deleted from smart pointers. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Simulation of ray-trace, given a pose. 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...
 
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...
 
virtual CRenderizablesetColorR_u8 (const uint8_t r)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorG_u8 (const uint8_t g)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorB_u8 (const uint8_t b)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorA_u8 (const uint8_t a)
 Color components in the range [0,255]. 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::img::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::img::TColorf &c)
 Changes the default object color. More...
 
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::img::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 
virtual CRenderizablesetColor_u8 (const mrpt::img::TColor &c)
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Set the color components of this object (R,G,B,Alpha, in the range 0-255) More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 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 voidoperator new (size_t size, void *ptr)
 
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...
 

Protected Member Functions

void writeToStreamRender (mrpt::serialization::CArchive &out) const
 
void readFromStreamRender (mrpt::serialization::CArchive &in)
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 

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_pointingX
 
float m_pointingY
 
float m_pointingZ
 
float m_distanceZoom
 
float m_azimuthDeg
 
float m_elevationDeg
 
bool m_projectiveModel
 If set to true (default), camera model is projective, otherwise, it's orthogonal. More...
 
float m_projectiveFOVdeg
 Field-of-View in degs, only when projectiveModel=true (default=30 deg). More...
 
bool m_6DOFMode
 If set to true, camera pose is used when rendering the viewport. More...
 
std::string m_name
 
bool m_show_name
 
mrpt::img::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. More...
 
float m_scale_x
 Scale components to apply to the object (default=1) More...
 
float m_scale_y
 
float m_scale_z
 
bool m_visible
 Is the object visible? (default=true) More...
 

Friends

class COpenGLViewport
 

RTTI stuff

using Ptr = std::shared_ptr< CCamera >
 
using ConstPtr = std::shared_ptr< const CCamera >
 
using UniquePtr = std::unique_ptr< CCamera >
 
using ConstUniquePtr = std::unique_ptr< const CCamera >
 
static mrpt::rtti::CLASSINIT _init_CCamera
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CCamera"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::rtti::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 34 of file CCamera.h.

◆ ConstUniquePtr

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

Definition at line 34 of file CCamera.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 34 of file CCamera.h.

◆ UniquePtr

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

Definition at line 34 of file CCamera.h.

Constructor & Destructor Documentation

◆ CCamera()

CCamera::CCamera ( )

Constructor.

Definition at line 28 of file CCamera.cpp.

◆ ~CCamera()

virtual mrpt::opengl::CCamera::~CCamera ( )
inlinevirtual

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

Definition at line 111 of file CCamera.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CCamera::_GetBaseClass ( )
staticprotected

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited

◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CCamera::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::opengl::CCamera::Create ( Args &&...  args)
inlinestatic

Definition at line 34 of file CCamera.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::opengl::CCamera::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::opengl::CCamera::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 34 of file CCamera.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr 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 169 of file CObject.h.

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

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

◆ 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 85 of file CRenderizable.h.

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

◆ getAzimuthDegrees()

float mrpt::opengl::CCamera::getAzimuthDegrees ( ) const
inline

Definition at line 74 of file CCamera.h.

References m_azimuthDeg.

◆ getBoundingBox()

void CCamera::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
overridevirtual

In this class, returns a fixed box (max,max,max), (-max,-max,-max).

Implements mrpt::opengl::CRenderizable.

Definition at line 74 of file CCamera.cpp.

◆ getClassName()

static constexpr auto mrpt::opengl::CCamera::getClassName ( )
inlinestatic

Definition at line 34 of file CCamera.h.

◆ getColor()

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

Returns the object color property as a TColorf.

Definition at line 234 of file CRenderizable.h.

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

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

◆ getColor_u8()

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

Returns the object color property as a TColor.

Definition at line 254 of file CRenderizable.h.

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

◆ getColorA()

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

Color components in the range [0,1].

Definition at line 157 of file CRenderizable.h.

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

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 165 of file CRenderizable.h.

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

◆ getColorB()

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

Color components in the range [0,1].

Definition at line 155 of file CRenderizable.h.

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

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 163 of file CRenderizable.h.

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

◆ getColorG()

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

Color components in the range [0,1].

Definition at line 153 of file CRenderizable.h.

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

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 161 of file CRenderizable.h.

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

◆ getColorR()

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

Color components in the range [0,1].

Definition at line 151 of file CRenderizable.h.

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

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 159 of file CRenderizable.h.

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

◆ getElevationDegrees()

float mrpt::opengl::CCamera::getElevationDegrees ( ) const
inline

Definition at line 75 of file CCamera.h.

References m_elevationDeg.

◆ getName()

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

Returns the name of the object.

Definition at line 70 of file CRenderizable.h.

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

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 71 of file CRenderizable.cpp.

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

◆ getPointingAtX()

float mrpt::opengl::CCamera::getPointingAtX ( ) const
inline

Definition at line 69 of file CCamera.h.

References m_pointingX.

◆ getPointingAtY()

float mrpt::opengl::CCamera::getPointingAtY ( ) const
inline

Definition at line 70 of file CCamera.h.

References m_pointingY.

◆ getPointingAtZ()

float mrpt::opengl::CCamera::getPointingAtZ ( ) const
inline

Definition at line 71 of file CCamera.h.

References m_pointingZ.

◆ getPose()

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

Returns the 3D pose of the object as TPose3D.

Definition at line 343 of file CRenderizable.cpp.

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

◆ getPosePitch()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 141 of file CRenderizable.h.

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

◆ getPosePitchRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 147 of file CRenderizable.h.

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

◆ 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 111 of file CRenderizable.h.

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

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 143 of file CRenderizable.h.

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

◆ getPoseRollRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 149 of file CRenderizable.h.

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

◆ getPoseX()

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

Translation relative to parent coordinate origin.

Definition at line 133 of file CRenderizable.h.

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

◆ getPoseY()

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

Translation relative to parent coordinate origin.

Definition at line 135 of file CRenderizable.h.

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

◆ getPoseYaw()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 139 of file CRenderizable.h.

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

◆ getPoseYawRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 145 of file CRenderizable.h.

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

◆ getPoseZ()

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

Translation relative to parent coordinate origin.

Definition at line 137 of file CRenderizable.h.

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

◆ getProjectiveFOVdeg()

float mrpt::opengl::CCamera::getProjectiveFOVdeg ( ) const
inline

Field-of-View in degs, only when projectiveModel=true (default=30 deg).

Definition at line 98 of file CCamera.h.

References m_projectiveFOVdeg.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CCamera::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizable.

◆ GetRuntimeClassIdStatic()

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

◆ getScaleX()

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

Get the current scaling factor in one axis.

Definition at line 228 of file CRenderizable.h.

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

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 230 of file CRenderizable.h.

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

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 232 of file CRenderizable.h.

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

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

◆ getZoomDistance()

float mrpt::opengl::CCamera::getZoomDistance ( ) const
inline

Definition at line 73 of file CCamera.h.

References m_distanceZoom.

◆ is6DOFMode()

bool mrpt::opengl::CCamera::is6DOFMode ( ) const
inline

Definition at line 92 of file CCamera.h.

References m_6DOFMode.

◆ isOrthogonal()

bool mrpt::opengl::CCamera::isOrthogonal ( ) const
inline

Definition at line 91 of file CCamera.h.

References m_projectiveModel.

◆ isProjective()

bool mrpt::opengl::CCamera::isProjective ( ) const
inline

Definition at line 90 of file CCamera.h.

References m_projectiveModel.

◆ isShowNameEnabled()

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

◆ isVisible()

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

Is the object visible?

See also
setVisibility

Definition at line 71 of file CRenderizable.h.

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

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

◆ operator delete() [1/3]

void mrpt::opengl::CCamera::operator delete ( void ptr,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 34 of file CCamera.h.

◆ operator delete() [2/3]

void mrpt::opengl::CCamera::operator delete ( void ptr)
inlinenoexcept

Definition at line 34 of file CCamera.h.

◆ operator delete() [3/3]

void mrpt::opengl::CCamera::operator delete ( void memory,
void ptr 
)
inlinenoexcept

Definition at line 34 of file CCamera.h.

◆ operator delete[]()

void mrpt::opengl::CCamera::operator delete[] ( void ptr)
inlinenoexcept

Definition at line 34 of file CCamera.h.

◆ operator new() [1/3]

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

Definition at line 34 of file CCamera.h.

◆ operator new() [2/3]

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

Definition at line 34 of file CCamera.h.

◆ operator new() [3/3]

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

Definition at line 34 of file CCamera.h.

◆ operator new[]()

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

Definition at line 34 of file CCamera.h.

◆ readFromStreamRender()

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

◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

◆ render()

void mrpt::opengl::CCamera::render ( ) const
inlineoverridevirtual

Render does nothing here.

Implements mrpt::opengl::CRenderizable.

Definition at line 100 of file CCamera.h.

◆ 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 367 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 318 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.

◆ serializeFrom()

void CCamera::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

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

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

Parameters
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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 50 of file CCamera.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CCamera::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

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

Implements mrpt::serialization::CSerializable.

Definition at line 41 of file CCamera.cpp.

◆ serializeTo()

void CCamera::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

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

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

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 42 of file CCamera.cpp.

◆ set6DOFMode()

void mrpt::opengl::CCamera::set6DOFMode ( bool  v)
inline

Set 6DOFMode, if enabled camera is set according to its pose (default=false).

Conventionally, eye is set looking towards the positive direction of Z axis. Up is set as the Y axis. In this mode azimuth/elevation are ignored.

Definition at line 89 of file CCamera.h.

References m_6DOFMode.

◆ setAzimuthDegrees()

void mrpt::opengl::CCamera::setAzimuthDegrees ( float  ang)
inline

Definition at line 76 of file CCamera.h.

References m_azimuthDeg.

Referenced by mrpt::gui::CGlCanvasBase::updateCameraParams().

◆ setColor() [1/2]

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

Changes the default object color.

Returns
a ref to this

Definition at line 239 of file CRenderizable.h.

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

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

◆ 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 248 of file CRenderizable.h.

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

◆ setColor_u8() [1/2]

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

◆ setColor_u8() [2/2]

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

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

Returns
a ref to this

Definition at line 260 of file CRenderizable.h.

References G, 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 182 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorA_u8().

◆ setColorA_u8()

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

◆ 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 177 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorB_u8().

◆ setColorB_u8()

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

◆ 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 172 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorG_u8().

◆ setColorG_u8()

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

◆ 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 167 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorR_u8().

◆ setColorR_u8()

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

◆ setElevationDegrees()

void mrpt::opengl::CCamera::setElevationDegrees ( float  ang)
inline

Definition at line 77 of file CCamera.h.

References m_elevationDeg.

Referenced by mrpt::gui::CGlCanvasBase::updateCameraParams().

◆ 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 114 of file CRenderizable.h.

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

◆ 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 124 of file CRenderizable.h.

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

◆ setName()

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

Changes the name of the object.

Definition at line 68 of file CRenderizable.h.

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

◆ setOrthogonal()

void mrpt::opengl::CCamera::setOrthogonal ( bool  v = true)
inline

Enable/Disable orthogonal mode (vs.

projective)

Definition at line 81 of file CCamera.h.

References m_projectiveModel.

◆ setPointingAt() [1/3]

void mrpt::opengl::CCamera::setPointingAt ( float  x,
float  y,
float  z 
)
inline

Definition at line 50 of file CCamera.h.

References m_pointingX, m_pointingY, and m_pointingZ.

Referenced by setPointingAt(), and mrpt::gui::CGlCanvasBase::updateCameraParams().

◆ setPointingAt() [2/3]

template<class POSEORPOINT >
void mrpt::opengl::CCamera::setPointingAt ( const POSEORPOINT &  p)
inline

Definition at line 58 of file CCamera.h.

References m_pointingX, m_pointingY, and m_pointingZ.

◆ setPointingAt() [3/3]

void mrpt::opengl::CCamera::setPointingAt ( const mrpt::math::TPoint3D p)
inline

Definition at line 64 of file CCamera.h.

References setPointingAt().

◆ 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 309 of file CRenderizable.cpp.

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

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

◆ 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 314 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 319 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 324 of file CRenderizable.cpp.

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

◆ setPose() [5/6]

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

◆ setPose() [6/6]

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

◆ setProjectiveFOVdeg()

void mrpt::opengl::CCamera::setProjectiveFOVdeg ( float  ang)
inline

Field-of-View in degs, only when projectiveModel=true (default=30 deg).

Definition at line 95 of file CCamera.h.

References m_projectiveFOVdeg.

Referenced by mrpt::gui::CGlCanvasBase::updateCameraParams().

◆ setProjectiveModel()

void mrpt::opengl::CCamera::setProjectiveModel ( bool  v = true)
inline

Enable/Disable projective mode (vs.

orthogonal)

Definition at line 79 of file CCamera.h.

References m_projectiveModel.

Referenced by mrpt::gui::CGlCanvasBase::updateCameraParams().

◆ 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 213 of file CRenderizable.h.

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

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 220 of file CRenderizable.h.

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

◆ setVisibility()

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

Set object visibility (default=true)

See also
isVisible

Definition at line 76 of file CRenderizable.h.

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

◆ setZoomDistance()

void mrpt::opengl::CCamera::setZoomDistance ( float  z)
inline

Definition at line 72 of file CCamera.h.

References m_distanceZoom.

Referenced by mrpt::gui::CGlCanvasBase::updateCameraParams().

◆ 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 376 of file CRenderizable.cpp.

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

◆ traceRay()

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

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

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

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

Definition at line 70 of file CSerializable.h.

◆ writeToStreamRender()

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

Friends And Related Function Documentation

◆ COpenGLViewport

friend class COpenGLViewport
friend

Definition at line 32 of file CCamera.h.

Member Data Documentation

◆ _init_CCamera

mrpt::rtti::CLASSINIT mrpt::opengl::CCamera::_init_CCamera
staticprotected

Definition at line 34 of file CCamera.h.

◆ className

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

Definition at line 34 of file CCamera.h.

◆ m_6DOFMode

bool mrpt::opengl::CCamera::m_6DOFMode
protected

If set to true, camera pose is used when rendering the viewport.

Definition at line 47 of file CCamera.h.

Referenced by is6DOFMode(), and set6DOFMode().

◆ m_azimuthDeg

float mrpt::opengl::CCamera::m_azimuthDeg
protected

Definition at line 38 of file CCamera.h.

Referenced by getAzimuthDegrees(), and setAzimuthDegrees().

◆ m_color

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

◆ m_distanceZoom

float mrpt::opengl::CCamera::m_distanceZoom
protected

◆ m_elevationDeg

float mrpt::opengl::CCamera::m_elevationDeg
protected

Definition at line 38 of file CCamera.h.

Referenced by getElevationDegrees(), and setElevationDegrees().

◆ m_name

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

◆ m_pointingX

float mrpt::opengl::CCamera::m_pointingX
protected

Definition at line 36 of file CCamera.h.

Referenced by getPointingAtX(), and setPointingAt().

◆ m_pointingY

float mrpt::opengl::CCamera::m_pointingY
protected

Definition at line 36 of file CCamera.h.

Referenced by getPointingAtY(), and setPointingAt().

◆ m_pointingZ

float mrpt::opengl::CCamera::m_pointingZ
protected

Definition at line 36 of file CCamera.h.

Referenced by getPointingAtZ(), and setPointingAt().

◆ 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 57 of file CRenderizable.h.

Referenced by mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CBox::getBoundingBox(), mrpt::opengl::CSimpleLine::getBoundingBox(), mrpt::opengl::CTexturedPlane::getBoundingBox(), mrpt::opengl::CGridPlaneXY::getBoundingBox(), mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CGridPlaneXZ::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::opengl::CPolyhedron::getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField2D::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CRenderizable::getPose(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPosePitchRad(), mrpt::opengl::CRenderizable::getPoseRef(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseRollRad(), mrpt::opengl::CRenderizable::getPoseX(), mrpt::opengl::CRenderizable::getPoseY(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CRenderizable::getPoseYawRad(), mrpt::opengl::CRenderizable::getPoseZ(), mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CRenderizable::setPose(), mrpt::opengl::CTexturedPlane::traceRay(), mrpt::opengl::CPolyhedron::traceRay(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_projectiveFOVdeg

float mrpt::opengl::CCamera::m_projectiveFOVdeg
protected

Field-of-View in degs, only when projectiveModel=true (default=30 deg).

Definition at line 45 of file CCamera.h.

Referenced by getProjectiveFOVdeg(), and setProjectiveFOVdeg().

◆ m_projectiveModel

bool mrpt::opengl::CCamera::m_projectiveModel
protected

If set to true (default), camera model is projective, otherwise, it's orthogonal.

Definition at line 42 of file CCamera.h.

Referenced by isOrthogonal(), isProjective(), setOrthogonal(), and setProjectiveModel().

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CCamera::runtimeClassId
staticprotected

Definition at line 34 of file CCamera.h.




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