namespace mrpt::opengl
Overview
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.
namespace opengl { // namespaces namespace mrpt::opengl::graph_tools; namespace mrpt::opengl::internal; namespace mrpt::opengl::stock_objects; // typedefs typedef Scene COpenGLScene; typedef Viewport COpenGLViewport; typedef std::deque<CRenderizable::Ptr> CListOpenGLObjects; typedef std::map<shader_id_t, std::multimap<float, RenderQueueElement>> RenderQueue; typedef uint8_t shader_id_t; typedef std::vector<shader_id_t> shader_list_t; typedef unsigned int texture_name_t; typedef int texture_unit_t; // enums enum CUBE_TEXTURE_FACE; enum TCullFace; enum TOpenGLFontStyle; enum predefined_voxel_sets_t; // structs struct DefaultShaderID; struct FrameBufferBinding; struct RenderQueueElement; struct RenderQueueStats; struct T2DTextData; struct TFontParams; struct TLightParameters; struct TRenderMatrices; struct TTriangle; struct texture_name_unit_t; // classes class Buffer; class CAngularObservationMesh; class CArrow; class CAssimpModel; class CAxis; class CBox; class CCamera; class CColorBar; class CCylinder; class CDisk; class CEllipsoid2D; class CEllipsoid3D; class CEllipsoidInverseDepth2D; class CEllipsoidInverseDepth3D; class CEllipsoidRangeBearing2D; class CFBORender; class CFrustum; template <int DIM> class CGeneralizedEllipsoidTemplate; class CGridPlaneXY; class CGridPlaneXZ; class CMesh; class CMesh3D; class CMeshFast; class COctoMapVoxels; template <class Derived> class COctreePointRenderer; class CPlanarLaserScan; class CPointCloud; class CPointCloudColoured; class CPolyhedron; class CRenderizable; class CRenderizableShaderPoints; class CRenderizableShaderText; class CRenderizableShaderTexturedTriangles; class CRenderizableShaderTriangles; class CRenderizableShaderWireFrame; class CSetOfLines; class CSetOfObjects; class CSetOfTexturedTriangles; class CSetOfTriangles; class CSimpleLine; class CSkyBox; class CSphere; class CText; class CText3D; class CTextMessageCapable; class CTexturedPlane; class CVectorField2D; class CVectorField3D; class FrameBuffer; template <int DEPTH_LUT_NUM_BITS = 18> class OpenGLDepth2LinearLUTs; class PLY_Exporter; class PLY_Importer; template <class POINTCLOUD> class PointCloudAdapter; template <> class PointCloudAdapter<mrpt::maps::CColouredPointsMap>; template <> class PointCloudAdapter<mrpt::opengl::CPointCloud>; template <> class PointCloudAdapter<mrpt::maps::CPointsMapXYZIRT>; template <> class PointCloudAdapter<mrpt::maps::CSimplePointsMap>; template <> class PointCloudAdapter<mrpt::opengl::CPointCloudColoured>; template <> class PointCloudAdapter<mrpt::maps::CPointsMap>; template <> class PointCloudAdapter<mrpt::maps::CWeightedPointsMap>; template <> class PointCloudAdapter<mrpt::maps::CPointsMapXYZI>; template <> class PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGB>>; template <> class PointCloudAdapter<mrpt::obs::CObservation3DRangeScan>; template <> class PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGBA>>; template <> class PointCloudAdapter<pcl::PointCloud<pcl::PointXYZ>>; class Program; class Scene; class Shader; class Texture; class VertexArrayObject; class Viewport; class Visualizable; class mrptEventGLPostRender; class mrptEventGLPreRender; // global variables static constexpr int MATERIAL_DIFFUSE_TEXTURE_UNIT = 0; static constexpr int SHADOW_MAP_TEXTURE_UNIT = 1; // global functions void enqueueForRendering( const mrpt::opengl::CListOpenGLObjects& objs, const mrpt::opengl::TRenderMatrices& state, RenderQueue& rq, const bool skipCullChecks, const bool is1stShadowMapPass, RenderQueueStats* stats = nullptr ); void processRenderQueue( const RenderQueue& rq, std::map<shader_id_t, mrpt::opengl::Program::Ptr>& shaders, const mrpt::opengl::TLightParameters& lights, const std::optional<unsigned int>& depthMapTextureId = std::nullopt ); template <class POSE_PDF> CSetOfObjects::Ptr posePDF2opengl(const POSE_PDF& o); mrpt::serialization::CArchive& operator >> (mrpt::serialization::CArchive& in, CPolyhedron::TPolyhedronEdge& o); mrpt::serialization::CArchive& operator << (mrpt::serialization::CArchive& out, const CPolyhedron::TPolyhedronEdge& o); mrpt::serialization::CArchive& operator >> (mrpt::serialization::CArchive& in, CPolyhedron::TPolyhedronFace& o); mrpt::serialization::CArchive& operator << (mrpt::serialization::CArchive& out, const CPolyhedron::TPolyhedronFace& o); template <class T> CSetOfLines::Ptr& operator << (CSetOfLines::Ptr& l, const T& s); CSetOfLines::Ptr& operator << (CSetOfLines::Ptr& l, const mrpt::math::TSegment3D& s); CSetOfObjects::Ptr& operator << (CSetOfObjects::Ptr& s, const CRenderizable::Ptr& r); template <class T> CSetOfObjects::Ptr& operator << (CSetOfObjects::Ptr& o, const std::vector<T>& v); template <class T> CSetOfTriangles::Ptr& operator << (CSetOfTriangles::Ptr& s, const T& t); CSetOfTriangles::Ptr& operator << (CSetOfTriangles::Ptr& s, const mrpt::opengl::TTriangle& t); Program::Ptr LoadDefaultShader(const shader_id_t id); void registerAllClasses_mrpt_opengl(); std::tuple<double, bool, bool> depthAndVisibleInView( const CRenderizable* obj, const mrpt::opengl::TRenderMatrices& objState, const bool skipCullChecks ); Scene::Ptr& operator << (Scene::Ptr& s, const CRenderizable::Ptr& r); template <class T> Scene::Ptr& operator << (Scene::Ptr& s, const std::vector<T>& v); texture_name_t getNewTextureNumber(); void releaseTextureName(const texture_name_t& t); 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 ); Viewport::Ptr& operator << (Viewport::Ptr& s, const CRenderizable::Ptr& r); Viewport::Ptr& operator << (Viewport::Ptr& s, const std::vector<CRenderizable::Ptr>& v); 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 ); } // namespace opengl
Typedefs
typedef std::deque<CRenderizable::Ptr> CListOpenGLObjects
A list of smart pointers to renderizable objects.
typedef std::vector<shader_id_t> shader_list_t
A list of shader IDs.
typedef int texture_unit_t
the “i” in GL_TEXTUREi
Global Functions
void enqueueForRendering( const mrpt::opengl::CListOpenGLObjects& objs, const mrpt::opengl::TRenderMatrices& state, RenderQueue& rq, const bool skipCullChecks, const bool is1stShadowMapPass, RenderQueueStats* stats = nullptr )
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).
Used by CSetOfObjects and Viewport
Parameters:
skipCullChecks |
Will be true if the render engine already checked that the object lies within the viewport area, so it is pointless to waste more time checking. |
See also:
processPendingRendering
void processRenderQueue( const RenderQueue& rq, std::map<shader_id_t, mrpt::opengl::Program::Ptr>& shaders, const mrpt::opengl::TLightParameters& lights, const std::optional<unsigned int>& depthMapTextureId = std::nullopt )
After enqueueForRendering(), actually executes the rendering tasks, grouped shader by shader.
Used by Viewport
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
mrpt::serialization::CArchive& operator >> (mrpt::serialization::CArchive& in, CPolyhedron::TPolyhedronEdge& o)
Reads a polyhedron edge from a binary stream.
mrpt::serialization::CArchive& operator << (mrpt::serialization::CArchive& out, const CPolyhedron::TPolyhedronEdge& o)
Writes a polyhedron edge to a binary stream.
mrpt::serialization::CArchive& operator >> (mrpt::serialization::CArchive& in, CPolyhedron::TPolyhedronFace& o)
Reads a polyhedron face from a binary stream.
mrpt::serialization::CArchive& operator << (mrpt::serialization::CArchive& out, const CPolyhedron::TPolyhedronFace& o)
Writes a polyhedron face to a binary stream.
template <class T> CSetOfLines::Ptr& operator << (CSetOfLines::Ptr& l, const T& s)
Inserts a set of segments into the list.
Allows call chaining.
See also:
mrpt::opengl::CSetOfLines::appendLines
CSetOfLines::Ptr& operator << (CSetOfLines::Ptr& l, const mrpt::math::TSegment3D& s)
Inserts a segment into the list.
Allows call chaining.
See also:
mrpt::opengl::CSetOfLines::appendLine(const TSegment &)
CSetOfObjects::Ptr& operator << (CSetOfObjects::Ptr& s, const CRenderizable::Ptr& r)
Inserts an object into the list.
Allows call chaining.
See also:
mrpt::opengl::CSetOfObjects::insert
template <class T> CSetOfObjects::Ptr& operator << (CSetOfObjects::Ptr& o, const std::vector<T>& v)
Inserts a set of objects into the list.
Allows call chaining.
See also:
mrpt::opengl::CSetOfObjects::insert
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 one to pass another CSetOfTriangles as argument.
Allows call chaining.
See also:
mrpt::opengl::CSetOfTriangles::insertTriangle
CSetOfTriangles::Ptr& operator << (CSetOfTriangles::Ptr& s, const mrpt::opengl::TTriangle& t)
Inserts a triangle into the list.
Allows call chaining.
See also:
mrpt::opengl::CSetOfTriangles::insertTriangle
Scene::Ptr& operator << (Scene::Ptr& s, const CRenderizable::Ptr& r)
Inserts an openGL object into a scene.
Allows call chaining.
See also:
template <class T> Scene::Ptr& operator << (Scene::Ptr& s, const std::vector<T>& v)
Inserts any iterable collection of openGL objects into a scene, allowing call chaining.
See also:
texture_name_t getNewTextureNumber()
Returns: [texture name, texture unit].
Viewport::Ptr& operator << (Viewport::Ptr& s, const CRenderizable::Ptr& r)
Inserts an openGL object into a viewport.
Allows call chaining.
See also:
mrpt::opengl::Viewport::insert
Viewport::Ptr& operator << (Viewport::Ptr& s, const std::vector<CRenderizable::Ptr>& v)
Inserts any iterable set of openGL objects into a viewport.
Allows call chaining.
See also: