Detailed Description

The namespace for 3D scene representation and rendering.

See also the summary page of the mrpt-opengl library for more info and thumbnails of many of the render primitive.

Namespaces
	graph_tools
	Tool functions for graphs of pose constraints.

	internal

	stock_objects
	A collection of pre-built 3D objects for quick insertion in opengl::COpenGLScene objects.

Classes
class	CAngularObservationMesh
	A mesh built from a set of 2D laser scan observations. More...

class	CArrow
	A 3D arrow. More...

class	CAssimpModel
	This class can load & render 3D models in a number of different formats (requires the library assimp). More...

class	CAxis
	Draw a 3D world axis, with coordinate marks at some regular interval. More...

class	CBox
	A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X, Y and Z (note that the object can be translated and rotated afterwards as any other CRenderizable object using the "object pose" in the base class). More...

class	CCamera
	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. More...

class	CColorBar
	A colorbar indicator. More...

class	CCylinder
	A cylinder or cone whose base lies in the XY plane. More...

class	CDisk
	A planar disk in the XY plane. More...

class	CEllipsoid2D
	A 2D ellipse on the XY plane, centered at the origin of this object pose. More...

class	CEllipsoid3D
	A 3D ellipsoid, centered at zero with respect to this object pose. More...

class	CEllipsoidInverseDepth2D
	An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw) variable. More...

class	CEllipsoidInverseDepth3D
	An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) variable. More...

class	CEllipsoidRangeBearing2D
	An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable. More...

class	CFBORender
	A class for rendering 3D scenes off-screen directly into an image using OpenGL extensions (glext). More...

class	CFrustum
	A solid or wireframe frustum in 3D (a rectangular truncated pyramid), with arbitrary (possibly assymetric) field-of-view angles. More...

class	CGeneralizedEllipsoidTemplate
	A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty shapes in either 2D or 3D. More...

class	CGridPlaneXY
	A grid of lines over the XY plane. More...

class	CGridPlaneXZ
	A grid of lines over the XZ plane. More...

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

class	CMesh3D
	A 3D mesh composed of Triangles and/or Quads. More...

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

class	COctoMapVoxels
	A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap). More...

class	COctreePointRenderer
	Template class that implements the data structure and algorithms for Octree-based efficient rendering. More...

class	COpenGLBuffer
	A wrapper for an OpenGL buffer object. More...

class	COpenGLScene
	This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives. More...

class	COpenGLVertexArrayObject
	A wrapper for an OpenGL vertex array object (VAO). More...

class	COpenGLViewport
	A viewport within a COpenGLScene, containing a set of OpenGL objects to render. More...

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

class	CPointCloud
	A cloud of points, all with the same color or each depending on its value along a particular coordinate axis. More...

class	CPointCloudColoured
	A cloud of points, each one with an individual colour (R,G,B). More...

class	CPolyhedron
	This class represents arbitrary polyhedra. More...

class	CRenderizable
	The base class of 3D objects that can be directly rendered through OpenGL. More...

class	CRenderizableShaderPoints
	Renderizable generic renderer for objects using the points shader. More...

class	CRenderizableShaderText
	Renderizable generic renderer for objects using the "text shader". More...

class	CRenderizableShaderTexturedTriangles
	Renderizable generic renderer for objects using the triangles-with-a-texture shader. More...

class	CRenderizableShaderTriangles
	Renderizable generic renderer for objects using the triangles shader. More...

class	CRenderizableShaderWireFrame
	Renderizable generic renderer for objects using the wireframe shader. More...

class	CSetOfLines
	A set of independent lines (or segments), one line with its own start and end positions (X,Y,Z). More...

class	CSetOfObjects
	A set of object, which are referenced to the coordinates framework established in this object. More...

class	CSetOfTexturedTriangles
	A set of textured triangles. More...

class	CSetOfTriangles
	A set of colored triangles, able to draw any solid, arbitrarily complex object without textures. More...

class	CSimpleLine
	A line segment. More...

class	CSphere
	A solid or wire-frame sphere. More...

class	CText
	A 2D text (bitmap rendering): it always "faces the observer" despite it's at some 3D location. More...

class	CText3D
	A 3D text (rendered with OpenGL primitives), with selectable font face and drawing style. More...

class	CTextMessageCapable
	Keeps a list of text messages which can be rendered to OpenGL contexts by graphic classes. More...

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

class	CVectorField2D
	A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid). More...

class	CVectorField3D
	A 3D vector field representation, consisting of points and arrows drawn at any spatial position. More...

struct	DefaultShaderID

class	mrptEventGLPostRender
	An event sent by an mrpt::opengl::COpenGLViewport after calling the scene OpenGL drawing primitives and before doing a glSwapBuffers. More...

class	mrptEventGLPreRender
	An event sent by an mrpt::opengl::COpenGLViewport just after clearing the viewport and setting the GL_PROJECTION matrix, and before calling the scene OpenGL drawing primitives. More...

class	PLY_Exporter
	A virtual base class that implements the capability of exporting 3D point clouds and faces to a file in the Stanford PLY format. More...

class	PLY_Importer
	A virtual base class that implements the capability of importing 3D point clouds and faces from a file in the Stanford PLY format. More...

class	PointCloudAdapter
	An adapter to different kinds of point cloud object. More...

class	PointCloudAdapter< mrpt::maps::CColouredPointsMap >
	Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CColouredPointsMap> mrpt_adapters_grp. More...

class	PointCloudAdapter< mrpt::maps::CPointsMap >
	Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CPointsMap> More...

class	PointCloudAdapter< mrpt::maps::CPointsMapXYZI >
	Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CPointsMapXYZI> mrpt_adapters_grp. More...

class	PointCloudAdapter< mrpt::maps::CSimplePointsMap >
	Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CSimplePointsMap> More...

class	PointCloudAdapter< mrpt::maps::CWeightedPointsMap >
	Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CWeightedPointsMap> mrpt_adapters_grp. More...

class	PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >
	Specialization mrpt::opengl::PointCloudAdapter<CObservation3DRangeScan> More...

class	PointCloudAdapter< mrpt::opengl::CPointCloud >
	Specialization mrpt::opengl::PointCloudAdapter<mrpt::opengl::CPointCloud> More...

class	PointCloudAdapter< mrpt::opengl::CPointCloudColoured >
	Specialization mrpt::opengl::PointCloudAdapter<mrpt::opengl::CPointCloudColoured> mrpt_adapters_grp. More...

class	PointCloudAdapter< pcl::PointCloud< pcl::PointXYZ > >
	Specialization mrpt::opengl::PointCloudAdapter<pcl::PointCloud<pcl::PointXYZ> > for an XYZ point cloud (without RGB) More...

class	PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >
	Specialization mrpt::opengl::PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGB> > for an XYZ point cloud with RGB. More...

class	PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >
	Specialization mrpt::opengl::PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGBA> > for an XYZ point cloud with RGB. More...

class	Program
	A resource handling helper for OpenGL Shader "programs". More...

struct	RenderQueueElement
	Each element in the queue to be rendered for each keyframe. More...

class	Shader
	A resource handling helper for OpenGL "Shader" compiled code fragment. More...

struct	T2DTextData
	An auxiliary struct for holding a list of text messages in some mrpt::opengl & mrpt::gui classes The font can be either a bitmapped or a vectorized font. More...

struct	TFontParams
	A description of a bitmapped or vectorized text font. More...

struct	TLightParameters
	Lighting parameters, mostly for triangle shaders. More...

struct	TRenderMatrices
	Rendering state related to the projection and model-view matrices. More...

struct	TTriangle
	A triangle (float coordinates) with RGBA colors (u8) and UV (texture coordinates) for each vertex. More...

Typedefs
using	CListOpenGLObjects = std::deque< CRenderizable::Ptr >
	A list of smart pointers to renderizable objects. More...

using	RenderQueue = std::map< shader_id_t, std::multimap< float, RenderQueueElement > >
	A queue for rendering, sorted by shader program to minimize changes of OpenGL shader programs while rendering a scene. More...

using	shader_id_t = uint8_t
	Type for IDs of shaders. More...

using	shader_list_t = std::vector< shader_id_t >
	A list of shader IDs. More...

Enumerations
enum	predefined_voxel_sets_t { VOXEL_SET_OCCUPIED = 0, VOXEL_SET_FREESPACE = 1 }

enum	TOpenGLFontStyle { FILL = 0, OUTLINE = 1, NICE = 2 }
	Different style for vectorized font rendering. More...

Functions
COpenGLScene::Ptr &	operator<< (COpenGLScene::Ptr &s, const CRenderizable::Ptr &r)
	Inserts an openGL object into a scene. More...

template<class T >
COpenGLScene::Ptr &	operator<< (COpenGLScene::Ptr &s, const std::vector< T > &v)
	Inserts any iterable collection of openGL objects into a scene, allowing call chaining. More...

COpenGLViewport::Ptr &	operator<< (COpenGLViewport::Ptr &s, const std::vector< CRenderizable::Ptr > &v)
	Inserts any iterable set of openGL objects into a viewport. More...

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, CPolyhedron::TPolyhedronEdge &o)
	Reads a polyhedron edge from a binary stream. More...

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const CPolyhedron::TPolyhedronEdge &o)
	Writes a polyhedron edge to a binary stream. More...

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, CPolyhedron::TPolyhedronFace &o)
	Reads a polyhedron face from a binary stream. More...

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const CPolyhedron::TPolyhedronFace &o)
	Writes a polyhedron face to a binary stream. More...

template<class T >
CSetOfLines::Ptr &	operator<< (CSetOfLines::Ptr &l, const T &s)
	Inserts a set of segments into the list. More...

template<>
CSetOfLines::Ptr &	operator<< (CSetOfLines::Ptr &l, const mrpt::math::TSegment3D &s)
	Inserts a segment into the list. More...

template<class T >
CSetOfObjects::Ptr &	operator<< (CSetOfObjects::Ptr &o, const std::vector< T > &v)
	Inserts a set of objects into the list. More...

template<class T >
CSetOfTriangles::Ptr &	operator<< (CSetOfTriangles::Ptr &s, const T &t)
	Inserts a set of triangles into the list; note that this method allows to pass another CSetOfTriangles as argument. More...

template<>
CSetOfTriangles::Ptr &	operator<< (CSetOfTriangles::Ptr &s, const mrpt::opengl::TTriangle &t)
	Inserts a triangle into the list. More...

Program::Ptr	LoadDefaultShader (const shader_id_t id)
	Loads a set of OpenGL Vertex+Fragment shaders from the default library available in mrpt::opengl. More...

mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, mrpt::opengl::TLightParameters &o)

mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const mrpt::opengl::TLightParameters &o)

CArchive &	operator<< (CArchive &out, const COctoMapVoxels::TInfoPerVoxelSet &a)

CArchive &	operator>> (CArchive &in, COctoMapVoxels::TInfoPerVoxelSet &a)

CArchive &	operator<< (CArchive &out, const COctoMapVoxels::TGridCube &a)

CArchive &	operator>> (CArchive &in, COctoMapVoxels::TGridCube &a)

CArchive &	operator<< (CArchive &out, const COctoMapVoxels::TVoxel &a)

CArchive &	operator>> (CArchive &in, COctoMapVoxels::TVoxel &a)

Miscellaneous rendering methods
void	enqueForRendering (const mrpt::opengl::CListOpenGLObjects &objs, const mrpt::opengl::TRenderMatrices &state, RenderQueue &rq)
	Processes, recursively, all objects in the list, classifying them by shader programs into a list suitable to be used within processPendingRendering() More...

void	processRenderQueue (const RenderQueue &rq, std::map< shader_id_t, mrpt::opengl::Program::Ptr > &shaders, const mrpt::opengl::TLightParameters &lights)
	After enqueForRendering(), actually executes the rendering tasks, grouped shader by shader. More...

Functions to obtain a 3D representation of a pose PDF
template<class POSE_PDF >
CSetOfObjects::Ptr	posePDF2opengl (const POSE_PDF &o)
	Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPosePDF::getAs3DObject. More...

Typedef Documentation

◆ CListOpenGLObjects

using mrpt::opengl::CListOpenGLObjects = typedef std::deque<CRenderizable::Ptr>

A list of smart pointers to renderizable objects.

Definition at line 376 of file CRenderizable.h.

◆ shader_list_t

using mrpt::opengl::shader_list_t = typedef std::vector<shader_id_t>

A list of shader IDs.

Definition at line 26 of file Shader.h.

Enumeration Type Documentation

◆ predefined_voxel_sets_t

enum mrpt::opengl::predefined_voxel_sets_t

Enumerator
VOXEL_SET_OCCUPIED
VOXEL_SET_FREESPACE

Definition at line 18 of file COctoMapVoxels.h.

◆ TOpenGLFontStyle

enum mrpt::opengl::TOpenGLFontStyle

Different style for vectorized font rendering.

See also: T2DTextData

Enumerator
FILL	renders glyphs as filled polygons
OUTLINE	renders glyphs as outlines with GL_LINES
NICE	This was "renders glyphs filled with antialiased outlines", but since antialiased is not properly implemented in mrtp2 since the port to OpenGL3, NICE is for now an alias for FILL.

Definition at line 19 of file opengl_fonts.h.

Function Documentation

◆ enqueForRendering()

void mrpt::mrpt::opengl::enqueForRendering	(	const mrpt::opengl::CListOpenGLObjects &	objs,
		const mrpt::opengl::TRenderMatrices &	state,
		RenderQueue &	rq
	)

Processes, recursively, all objects in the list, classifying them by shader programs into a list suitable to be used within processPendingRendering()

For each object in the list:

checks visibility of each object
update the MODELVIEW matrix according to its coordinates
call its ::render()
shows its name (if enabled).

Note: Used by CSetOfObjects and COpenGLViewport

See also: processPendingRendering

Definition at line 28 of file RenderQueue.cpp.

Referenced by mrpt::opengl::CAxis::enqueForRenderRecursive(), mrpt::opengl::CSetOfObjects::enqueForRenderRecursive(), mrpt::opengl::COpenGLViewport::renderImageMode(), mrpt::opengl::COpenGLViewport::renderNormalSceneMode(), mrpt::opengl::COpenGLViewport::renderTextMessages(), and mrpt::opengl::COpenGLViewport::renderViewportBorder().

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◆ operator<<() [1/14]

mrpt::serialization::CArchive & mrpt::opengl::operator<<	(	mrpt::serialization::CArchive &	out,
		const mrpt::opengl::TLightParameters &	o
	)

Definition at line 50 of file TLightParameters.cpp.

References out, and mrpt::opengl::TLightParameters::writeToStream().

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◆ operator<<() [2/14]

template<class T >

CSetOfTriangles::Ptr& mrpt::opengl::operator<<	(	CSetOfTriangles::Ptr &	s,
		const T &	t
	)

inline

Inserts a set of triangles into the list; note that this method allows to pass another CSetOfTriangles as argument.

Allows call chaining.

See also: mrpt::opengl::CSetOfTriangles::insertTriangle

Definition at line 163 of file CSetOfTriangles.h.

◆ operator<<() [3/14]

template<>

CSetOfTriangles::Ptr& mrpt::opengl::operator<<	(	CSetOfTriangles::Ptr &	s,
		const mrpt::opengl::TTriangle &	t
	)

inline

Inserts a triangle into the list.

Allows call chaining.

See also: mrpt::opengl::CSetOfTriangles::insertTriangle

Definition at line 172 of file CSetOfTriangles.h.

◆ operator<<() [4/14]

template<class T >

CSetOfObjects::Ptr& mrpt::opengl::operator<<	(	CSetOfObjects::Ptr &	o,
		const std::vector< T > &	v
	)

inline

Inserts a set of objects into the list.

Allows call chaining.

See also: mrpt::opengl::CSetOfObjects::insert

Definition at line 183 of file CSetOfObjects.h.

◆ operator<<() [5/14]

CArchive& mrpt::opengl::operator<<	(	CArchive &	out,
		const COctoMapVoxels::TInfoPerVoxelSet &	a
	)

Definition at line 220 of file COctoMapVoxels.cpp.

References out, mrpt::opengl::COctoMapVoxels::TInfoPerVoxelSet::visible, and mrpt::opengl::COctoMapVoxels::TInfoPerVoxelSet::voxels.

◆ operator<<() [6/14]

CArchive& mrpt::opengl::operator<<	(	CArchive &	out,
		const COctoMapVoxels::TGridCube &	a
	)

Definition at line 231 of file COctoMapVoxels.cpp.

References mrpt::opengl::COctoMapVoxels::TGridCube::max, mrpt::opengl::COctoMapVoxels::TGridCube::min, and out.

◆ operator<<() [7/14]

CArchive& mrpt::opengl::operator<<	(	CArchive &	out,
		const COctoMapVoxels::TVoxel &	a
	)

Definition at line 242 of file COctoMapVoxels.cpp.

References mrpt::opengl::COctoMapVoxels::TVoxel::color, mrpt::opengl::COctoMapVoxels::TVoxel::coords, out, and mrpt::opengl::COctoMapVoxels::TVoxel::side_length.

◆ operator<<() [8/14]

CSetOfObjects::Ptr & mrpt::opengl::operator<<	(	COpenGLScene::Ptr &	s,
		const CRenderizable::Ptr &	r
	)

inline

Inserts an openGL object into a scene.

Inserts an object into the list.

Inserts an openGL object into a viewport.

Allows call chaining.

See also: mrpt::opengl::COpenGLScene::insert

Allows call chaining.

See also: mrpt::opengl::COpenGLViewport::insert

Allows call chaining.

See also: mrpt::opengl::CSetOfObjects::insert

Definition at line 252 of file COpenGLScene.h.

◆ operator<<() [9/14]

template<class T >

CSetOfLines::Ptr& mrpt::opengl::operator<<	(	CSetOfLines::Ptr &	l,
		const T &	s
	)

inline

Inserts a set of segments into the list.

Allows call chaining.

See also: mrpt::opengl::CSetOfLines::appendLines

Definition at line 254 of file CSetOfLines.h.

◆ operator<<() [10/14]

template<class T >

COpenGLScene::Ptr& mrpt::opengl::operator<<	(	COpenGLScene::Ptr &	s,
		const std::vector< T > &	v
	)

inline

Inserts any iterable collection of openGL objects into a scene, allowing call chaining.

See also: mrpt::opengl::COpenGLScene::insert

Definition at line 261 of file COpenGLScene.h.

◆ operator<<() [11/14]

template<>

CSetOfLines::Ptr& mrpt::opengl::operator<<	(	CSetOfLines::Ptr &	l,
		const mrpt::math::TSegment3D &	s
	)

inline

Inserts a segment into the list.

Allows call chaining.

See also: mrpt::opengl::CSetOfLines::appendLine(const TSegment &)

Definition at line 263 of file CSetOfLines.h.

◆ operator<<() [12/14]

COpenGLViewport::Ptr& mrpt::opengl::operator<<	(	COpenGLViewport::Ptr &	s,
		const std::vector< CRenderizable::Ptr > &	v
	)

inline

Inserts any iterable set of openGL objects into a viewport.

Allows call chaining.

See also: mrpt::opengl::COpenGLViewport::insert

Definition at line 436 of file COpenGLViewport.h.

◆ operator<<() [13/14]

CArchive & mrpt::mrpt::opengl::operator<<	(	mrpt::serialization::CArchive &	out,
		const CPolyhedron::TPolyhedronEdge &	o
	)

Writes a polyhedron edge to a binary stream.

Definition at line 1917 of file CPolyhedron.cpp.

References out, mrpt::opengl::CPolyhedron::TPolyhedronEdge::v1, and mrpt::opengl::CPolyhedron::TPolyhedronEdge::v2.

◆ operator<<() [14/14]

CArchive & mrpt::mrpt::opengl::operator<<	(	mrpt::serialization::CArchive &	out,
		const CPolyhedron::TPolyhedronFace &	o
	)

Writes a polyhedron face to a binary stream.

Definition at line 1931 of file CPolyhedron.cpp.

References mrpt::opengl::CPolyhedron::TPolyhedronFace::normal, out, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

◆ operator>>() [1/6]

mrpt::serialization::CArchive & mrpt::opengl::operator>>	(	mrpt::serialization::CArchive &	in,
		mrpt::opengl::TLightParameters &	o
	)

Definition at line 44 of file TLightParameters.cpp.

References mrpt::opengl::TLightParameters::readFromStream().

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◆ operator>>() [2/6]

CArchive& mrpt::opengl::operator>>	(	CArchive &	in,
		COctoMapVoxels::TInfoPerVoxelSet &	a
	)

Definition at line 225 of file COctoMapVoxels.cpp.

References mrpt::opengl::COctoMapVoxels::TInfoPerVoxelSet::visible, and mrpt::opengl::COctoMapVoxels::TInfoPerVoxelSet::voxels.

◆ operator>>() [3/6]

CArchive& mrpt::opengl::operator>>	(	CArchive &	in,
		COctoMapVoxels::TGridCube &	a
	)

Definition at line 236 of file COctoMapVoxels.cpp.

References mrpt::opengl::COctoMapVoxels::TGridCube::max, and mrpt::opengl::COctoMapVoxels::TGridCube::min.

◆ operator>>() [4/6]

CArchive& mrpt::opengl::operator>>	(	CArchive &	in,
		COctoMapVoxels::TVoxel &	a
	)

Definition at line 247 of file COctoMapVoxels.cpp.

References mrpt::opengl::COctoMapVoxels::TVoxel::color, mrpt::opengl::COctoMapVoxels::TVoxel::coords, and mrpt::opengl::COctoMapVoxels::TVoxel::side_length.

◆ operator>>() [5/6]

CArchive & mrpt::mrpt::opengl::operator>>	(	mrpt::serialization::CArchive &	in,
		CPolyhedron::TPolyhedronEdge &	o
	)

Reads a polyhedron edge from a binary stream.

Definition at line 1910 of file CPolyhedron.cpp.

References mrpt::opengl::CPolyhedron::TPolyhedronEdge::v1, and mrpt::opengl::CPolyhedron::TPolyhedronEdge::v2.

◆ operator>>() [6/6]

CArchive & mrpt::mrpt::opengl::operator>>	(	mrpt::serialization::CArchive &	in,
		CPolyhedron::TPolyhedronFace &	o
	)

Reads a polyhedron face from a binary stream.

Definition at line 1924 of file CPolyhedron.cpp.

References mrpt::opengl::CPolyhedron::TPolyhedronFace::normal, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

◆ posePDF2opengl()

template<class POSE_PDF >

CSetOfObjects::Ptr mrpt::opengl::posePDF2opengl ( const POSE_PDF & o )

inline

Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPosePDF::getAs3DObject.

Definition at line 21 of file pose_pdfs.h.

References mrpt::opengl::CSetOfObjects::posePDF2opengl().

Referenced by mrpt::poses::CPointPDF::getAs3DObject(), mrpt::poses::CPose3DQuatPDF::getAs3DObject(), mrpt::poses::CPosePDF::getAs3DObject(), and mrpt::poses::CPose3DPDF::getAs3DObject().

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◆ processRenderQueue()

void mrpt::mrpt::opengl::processRenderQueue	(	const RenderQueue &	rq,
		std::map< shader_id_t, mrpt::opengl::Program::Ptr > &	shaders,
		const mrpt::opengl::TLightParameters &	lights
	)

After enqueForRendering(), actually executes the rendering tasks, grouped shader by shader.

Note: Used by COpenGLViewport

Definition at line 126 of file RenderQueue.cpp.

References ASSERT_, mrpt::math::CMatrixFixed< T, ROWS, COLS >::data(), mrpt::opengl::Program::hasUniform(), mrpt::opengl::CRenderizable::RenderContext::lights, MRPT_PROFILE_FUNC_START, mrpt::opengl::TRenderMatrices::mv_matrix, mrpt::opengl::RenderQueueElement::object, mrpt::opengl::TRenderMatrices::p_matrix, mrpt::opengl::TRenderMatrices::pmv_matrix, mrpt::opengl::Program::programId(), mrpt::opengl::CRenderizable::render(), mrpt::opengl::RenderQueueElement::renderState, mrpt::opengl::CRenderizable::RenderContext::shader, mrpt::opengl::CRenderizable::RenderContext::shader_id, mrpt::opengl::CRenderizable::RenderContext::state, and mrpt::opengl::Program::uniformId().

Referenced by mrpt::opengl::COpenGLViewport::renderImageMode(), mrpt::opengl::COpenGLViewport::renderNormalSceneMode(), mrpt::opengl::COpenGLViewport::renderTextMessages(), and mrpt::opengl::COpenGLViewport::renderViewportBorder().

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Detailed Description

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ CListOpenGLObjects

◆ shader_list_t

Enumeration Type Documentation

◆ predefined_voxel_sets_t

◆ TOpenGLFontStyle

Function Documentation

◆ enqueForRendering()

◆ operator<<() [1/14]

◆ operator<<() [2/14]

◆ operator<<() [3/14]

◆ operator<<() [4/14]

◆ operator<<() [5/14]

◆ operator<<() [6/14]

◆ operator<<() [7/14]

◆ operator<<() [8/14]

◆ operator<<() [9/14]

◆ operator<<() [10/14]

◆ operator<<() [11/14]

◆ operator<<() [12/14]

◆ operator<<() [13/14]

◆ operator<<() [14/14]

◆ operator>>() [1/6]

◆ operator>>() [2/6]

◆ operator>>() [3/6]

◆ operator>>() [4/6]

◆ operator>>() [5/6]

◆ operator>>() [6/6]

◆ posePDF2opengl()

◆ processRenderQueue()