Detailed Description

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

Used to store matrices that will be sent to shaders.

The homogeneous coordinates of a rendered point comes from:

p = p_matrix * mv_matrix * [x y z 1.0]'

Definition at line 25 of file TRenderMatrices.h.

#include <mrpt/opengl/TRenderMatrices.h>

Public Member Functions
	TRenderMatrices ()=default

void	computeProjectionMatrix (float zmin, float zmax)
	Uses is_projective , vw,vh, etc. More...

void	computeOrthoProjectionMatrix (float left, float right, float bottom, float top, float znear, float zfar)
	Especial case for custom parameters of Orthographic projection. More...

void	applyLookAt ()
	Updates the current p_matrix such that it "looks at" pointing, with up vector "up". More...

void	projectPoint (float x, float y, float z, float &proj_u, float &proj_v, float &proj_z_depth) const
	Computes the normalized coordinates (range=[0,1]) on the current rendering viewport of a point with local coordinates (wrt to the current model matrix) of (x,y,z). More...

void	projectPointPixels (float x, float y, float z, float &proj_u_px, float &proj_v_px, float &proj_depth) const
	Projects a point from global world coordinates into (u,v) pixel coordinates. More...

Public Attributes
mrpt::math::TPoint3D	eye = {0, 0, 0}
	The camera is here. More...

mrpt::math::TPoint3D	pointing = {0, 0, 0}
	The camera points to here. More...

mrpt::math::TPoint3D	up = {0, 0, 0}
	Up vector of the camera. More...

size_t	viewport_width = 640
	In pixels. More...

size_t	viewport_height = 480

double	FOV = 30.0f
	Vertical FOV in degrees. More...

double	azimuth = .0
	Camera elev & azimuth, in radians. More...

double	elev = .0

double	eyeDistance = 1.0f

bool	is_projective = true
	true: projective, false: ortho More...

mrpt::math::CMatrixFloat44	p_matrix
	Projection matrix, computed by renderNormalScene() from all the parameters above. More...

mrpt::math::CMatrixFloat44	mv_matrix
	Model-view matrix. More...

mrpt::math::CMatrixFloat44	pmv_matrix
	Result of p_matrix * mv_matrix. More...

Constructor & Destructor Documentation

◆ TRenderMatrices()

mrpt::opengl::TRenderMatrices::TRenderMatrices ( )

default

Member Function Documentation

◆ applyLookAt()

void TRenderMatrices::applyLookAt ( )

Updates the current p_matrix such that it "looks at" pointing, with up vector "up".

Replacement for deprecated OpenGL gluLookAt().

Definition at line 84 of file TRenderMatrices.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), ASSERT_, mrpt::math::crossProduct3D(), mrpt::d2f(), eye, p_matrix, pointing, mrpt::math::UNINITIALIZED_MATRIX, and up.

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◆ computeOrthoProjectionMatrix()

void TRenderMatrices::computeOrthoProjectionMatrix	(	float	left,
		float	right,
		float	bottom,
		float	top,
		float	znear,
		float	zfar
	)

Especial case for custom parameters of Orthographic projection.

Replacement for obsolete: glOrtho()

Definition at line 19 of file TRenderMatrices.cpp.

References ASSERT_ABOVE_, p_matrix, and mrpt::math::MatrixBase< Scalar, Derived >::setIdentity().

Referenced by computeProjectionMatrix(), and TEST().

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◆ computeProjectionMatrix()

void TRenderMatrices::computeProjectionMatrix	(	float	zmin,
		float	zmax
	)

Uses is_projective , vw,vh, etc.

and computes p_matrix. Replacement for obsolete: gluPerspective() and glOrtho()

Definition at line 35 of file TRenderMatrices.cpp.

References ASSERT_ABOVE_, ASSERT_ABOVEEQ_, computeOrthoProjectionMatrix(), mrpt::DEG2RAD(), eyeDistance, FOV, is_projective, p_matrix, mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), viewport_height, and viewport_width.

Referenced by TEST().

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◆ projectPoint()

void TRenderMatrices::projectPoint	(	float	x,
		float	y,
		float	z,
		float &	proj_u,
		float &	proj_v,
		float &	proj_z_depth
	)		const

Computes the normalized coordinates (range=[0,1]) on the current rendering viewport of a point with local coordinates (wrt to the current model matrix) of (x,y,z).

The output proj_z_depth is the real distance from the eye to the point.

Definition at line 138 of file TRenderMatrices.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), and pmv_matrix.

Referenced by projectPointPixels().

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