Detailed Description

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

A typical usage example would be an elevation map or a 3D model of a terrain.

See also: opengl::COpenGLScene

mrpt::opengl::CMesh

Definition at line 39 of file CMesh.h.

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:

Classes
struct	TTriangleVertexIndices

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

void	setGridLimits (float xmin, float xmax, float ymin, float ymax)

void	getGridLimits (float &xmin, float &xmax, float &ymin, float &ymax) const

void	enableTransparency (bool v)

void	enableWireFrame (bool v)

void	enableColorFromZ (bool v, mrpt::utils::TColormap colorMap=mrpt::utils::cmHOT)

void	setZ (const mrpt::math::CMatrixTemplateNumeric< float > &in_Z)
	This method sets the matrix of heights for each position (cell) in the mesh grid. More...

void	getZ (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal Z matrix, allowing changing it efficiently. More...

void	getMask (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal mask matrix, allowing changing it efficiently. More...

void	setMask (const mrpt::math::CMatrixTemplateNumeric< float > &in_mask)
	This method sets the boolean mask of valid heights for each position (cell) in the mesh grid. More...

void	setUV (const mrpt::math::CMatrixTemplateNumeric< float > &in_U, const mrpt::math::CMatrixTemplateNumeric< float > &in_V)
	Sets the (u,v) texture coordinates (in range [0,1]) for each cell. More...

float	getXMin () const

float	getXMax () const

float	getYMin () const

float	getYMax () const

void	setXMin (const float nxm)

void	setXMax (const float nxm)

void	setYMin (const float nym)

void	setYMax (const float nym)

void	getXBounds (float &min, float &max) const

void	getYBounds (float &min, float &max) const

void	setXBounds (const float min, const float max)

void	setYBounds (const float min, const float max)

void	render_dl () const override
	Render. More...

void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const 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)
	Assigns a texture image, and disable transparency. More...

void	assignImageAndZ (const mrpt::utils::CImage &img, const mrpt::math::CMatrixTemplateNumeric< float > &in_Z)
	Assigns a texture image and Z simultaneously, and disable transparency. More...

void	adjustGridToImageAR ()
	Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction. More...

bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const override
	Trace ray. More...

	CMesh (bool enableTransparency=false, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	Constructor. More...

virtual	~CMesh ()
	Private, virtual destructor: only can be deleted from smart pointers. More...

void	render () const override
	Render the object, regenerating the display list if needed, otherwise just calling it. More...

virtual mxArray *	writeToMatlab () 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 (methods from
CRenderizable that need to be redefined)
CRenderizable &	setColorR_u8 (const uint8_t r) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorG_u8 (const uint8_t g) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorB_u8 (const uint8_t b) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorA_u8 (const uint8_t a) override
	Color components in the range [0,255]. More...

CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c) override
	Changes the default object color. More...

CRenderizable &	setColor_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::string &	getName () 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

CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPose2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose2D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (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::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...

CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation. More...

CRenderizable &	setLocation (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...

CRenderizable &	setColorR (const double r)
	Color components in the range [0,1]. More...

CRenderizable &	setColorG (const double g)
	Color components in the range [0,1]. More...

CRenderizable &	setColorB (const double b)
	Color components in the range [0,1]. More...

CRenderizable &	setColorA (const double a)
	Color components in the range [0,1]. More...

CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1) More...

CRenderizable &	setScale (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...

CRenderizable &	setColor (const mrpt::utils::TColorf &c)
	Changes the default object color. More...

CRenderizable &	setColor (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::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...

RTTI classes and functions
mrpt::utils::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 void *	operator new (size_t size, void *ptr)

static CMesh::Ptr	Create (bool enableTransparency, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	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...

Protected Member Functions
void	updateColorsMatrix () const
	Called internally to assure C is updated. More...

void	updateTriangles () const
	Called internally to assure the triangle list is updated. More...

void	updatePolygons () const

void	writeToStreamRender (utils::CStream &out) const

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	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
mrpt::utils::CImage	m_textureImage

bool	m_enableTransparency

bool	m_colorFromZ

bool	m_isWireFrame

bool	m_isImage

math::CMatrix	Z
	Z(x,y): Z-coordinate of the point (x,y) More...

math::CMatrix	mask

math::CMatrix	U
	Texture coordinates. More...

math::CMatrix	V

math::CMatrix	C
	Grayscale Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrix	C_r
	Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrix	C_g
	Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrix	C_b
	Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

mrpt::utils::TColormap	m_colorMap
	Used when m_colorFromZ is true. More...

bool	m_modified_Z
	Whether C is not up-to-date wrt to Z. More...

bool	m_modified_Image
	Whether C is not up-to-date wrt to the texture image. More...

float	xMin
	Mesh bounds. More...

float	xMax

float	yMin

float	yMax

std::vector< std::pair< CSetOfTriangles::TTriangle, TTriangleVertexIndices > >	actualMesh
	List of triangles in the mesh. More...

std::vector< std::pair< mrpt::math::TPoint3D, size_t > >	vertex_normals
	The accumulated normals & counts for each vertex, so normals can be averaged. More...

bool	trianglesUpToDate
	Whether the actual mesh needs to be recalculated. More...

bool	polygonsUpToDate

std::vector< mrpt::math::TPolygonWithPlane >	tmpPolys

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. 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...

RTTI stuff
using	Ptr = std::shared_ptr< CMesh >

using	ConstPtr = std::shared_ptr< const CMesh >

static mrpt::utils::CLASSINIT	_init_CMesh

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CMesh"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::opengl::CMesh::ConstPtr = std::shared_ptr<const CMesh >

Definition at line 41 of file CMesh.h.

◆ Ptr

using mrpt::opengl::CMesh::Ptr = std::shared_ptr< CMesh >

A typedef for the associated smart pointer

Definition at line 41 of file CMesh.h.

Constructor & Destructor Documentation

◆ CMesh()

CMesh::CMesh	(	bool	enableTransparency = `false`,
		float	xMin = `0.0f`,
		float	xMax = `0.0f`,
		float	yMin = `0.0f`,
		float	yMax = `0.0f`
	)

Constructor.

Definition at line 29 of file CMesh.cpp.

◆ ~CMesh()

CMesh::~CMesh ( )

virtual

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

Definition at line 59 of file CMesh.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CMesh::_GetBaseClass ( )

staticprotected

◆ adjustGridToImageAR()

void mrpt::opengl::CMesh::adjustGridToImageAR ( )

inline

Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction.

Definition at line 240 of file CMesh.h.

References ASSERT_, mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), m_isImage, m_textureImage, mrpt::opengl::CRenderizableDisplayList::notifyChange(), xMax, xMin, yMax, and yMin.

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◆ assignImage()

void CMesh::assignImage ( const mrpt::utils::CImage & img )

Assigns a texture image, and disable transparency.

Definition at line 347 of file CMesh.cpp.

References MRPT_END, MRPT_START, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ assignImageAndZ()

void CMesh::assignImageAndZ	(	const mrpt::utils::CImage &	img,
		const mrpt::math::CMatrixTemplateNumeric< float > &	in_Z
	)

Assigns a texture image and Z simultaneously, and disable transparency.

Definition at line 372 of file CMesh.cpp.

References ASSERT_, MRPT_END, MRPT_START, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotectedinherited

Checks glGetError and throws an exception if an error situation is found.

Definition at line 302 of file CRenderizable.cpp.

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

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◆ clone()

virtual mrpt::utils::CObject* mrpt::opengl::CMesh::clone ( ) const

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create() [1/2]

template<typename... Args>

static Ptr mrpt::opengl::CMesh::Create ( Args &&... args )

inlinestatic

Definition at line 41 of file CMesh.h.

◆ Create() [2/2]

static CMesh::Ptr mrpt::opengl::CMesh::Create	(	bool	enableTransparency,
		float	xMin = `0.0f`,
		float	xMax = `0.0f`,
		float	yMin = `0.0f`,
		float	yMax = `0.0f`
	)

static

Class factory.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::opengl::CMesh::CreateObject ( )

static

◆ enableColorFromZ()

void mrpt::opengl::CMesh::enableColorFromZ	(	bool	v,
		mrpt::utils::TColormap	colorMap = `mrpt::utils::cmHOT`
	)

inline

Definition at line 132 of file CMesh.h.

References m_colorFromZ, m_colorMap, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ 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.

◆ enableTransparency()

void mrpt::opengl::CMesh::enableTransparency ( bool v )

inline

Definition at line 122 of file CMesh.h.

References m_enableTransparency, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ enableWireFrame()

void mrpt::opengl::CMesh::enableWireFrame ( bool v )

inline

Definition at line 127 of file CMesh.h.

References m_isWireFrame, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ getBoundingBox()

void CMesh::getBoundingBox	(	mrpt::math::TPoint3D &	bb_min,
		mrpt::math::TPoint3D &	bb_max
	)		const

overridevirtual

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 599 of file CMesh.cpp.

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

◆ getColor()

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const

inlineinherited

Returns the object color property as a TColorf.

Definition at line 243 of file CRenderizable.h.

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

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

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◆ getColor_u8()

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const

inlineinherited

Returns the object color property as a TColor.

Definition at line 263 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 166 of file CRenderizable.h.

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

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

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◆ getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 174 of file CRenderizable.h.

References mrpt::utils::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 164 of file CRenderizable.h.

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

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

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◆ getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 172 of file CRenderizable.h.

References mrpt::utils::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 162 of file CRenderizable.h.

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

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

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◆ getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 170 of file CRenderizable.h.

References mrpt::utils::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 160 of file CRenderizable.h.

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

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

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◆ getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 168 of file CRenderizable.h.

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

◆ getGridLimits()

void mrpt::opengl::CMesh::getGridLimits	(	float &	xmin,
		float &	xmax,
		float &	ymin,
		float &	ymax
	)		const

inline

Definition at line 114 of file CMesh.h.

References xMax, xMin, yMax, and yMin.

◆ getMask()

void mrpt::opengl::CMesh::getMask ( mrpt::math::CMatrixFloat & out ) const

inline

Returns a reference to the internal mask matrix, allowing changing it efficiently.

Definition at line 149 of file CMesh.h.

References mask.

◆ 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().

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◆ 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 73 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().

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◆ getPose()

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

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 347 of file CRenderizable.cpp.

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

◆ getPosePitch()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 144 of file CRenderizable.h.

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

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◆ getPosePitchRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 156 of file CRenderizable.h.

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

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◆ 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().

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◆ getPoseRoll()

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 149 of file CRenderizable.h.

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

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◆ getPoseRollRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 158 of file CRenderizable.h.

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

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◆ 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().

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◆ 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().

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◆ 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::mrpt::utils::RAD2DEG(), and mrpt::poses::CPose3D::yaw().

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◆ getPoseYawRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 154 of file CRenderizable.h.

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

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◆ 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.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::opengl::CMesh::GetRuntimeClassIdStatic ( )

static

◆ getScaleX()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 237 of file CRenderizable.h.

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

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

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◆ getScaleY()

float mrpt::opengl::CRenderizable::getScaleY ( ) const

inlineinherited

Get the current scaling factor in one axis.

Definition at line 239 of file CRenderizable.h.

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

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

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◆ getScaleZ()

float mrpt::opengl::CRenderizable::getScaleZ ( ) const

inlineinherited

Get the current scaling factor in one axis.

Definition at line 241 of file CRenderizable.h.

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

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

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◆ getXBounds()

void mrpt::opengl::CMesh::getXBounds	(	float &	min,
		float &	max
	)		const

inline

Definition at line 187 of file CMesh.h.

References min, xMax, and xMin.

◆ getXMax()

float mrpt::opengl::CMesh::getXMax ( ) const

inline

Definition at line 160 of file CMesh.h.

References xMax.

◆ getXMin()

float mrpt::opengl::CMesh::getXMin ( ) const

inline

Definition at line 159 of file CMesh.h.

References xMin.

◆ getYBounds()

void mrpt::opengl::CMesh::getYBounds	(	float &	min,
		float &	max
	)		const

inline

Definition at line 192 of file CMesh.h.

References min, yMax, and yMin.

◆ getYMax()

float mrpt::opengl::CMesh::getYMax ( ) const

inline

Definition at line 162 of file CMesh.h.

References yMax.

◆ getYMin()

float mrpt::opengl::CMesh::getYMin ( ) const

inline

Definition at line 161 of file CMesh.h.

References yMin.

◆ getZ()

void mrpt::opengl::CMesh::getZ ( mrpt::math::CMatrixFloat & out ) const

inline

Returns a reference to the internal Z matrix, allowing changing it efficiently.

Definition at line 146 of file CMesh.h.

References Z.

◆ isShowNameEnabled()

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

inlineinherited

See also: enableShowName

Definition at line 87 of file CRenderizable.h.

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

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

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◆ 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().

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◆ notifyChange()

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 57 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::m_dl_recreate.

◆ operator delete() [1/3]

void mrpt::opengl::CMesh::operator delete ( void * ptr )

inlinenoexcept

Definition at line 41 of file CMesh.h.

◆ operator delete() [2/3]

void mrpt::opengl::CMesh::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 41 of file CMesh.h.

◆ operator delete() [3/3]

void mrpt::opengl::CMesh::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 41 of file CMesh.h.

◆ operator delete[]()

void mrpt::opengl::CMesh::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 41 of file CMesh.h.

◆ operator new() [1/3]

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

inlinestatic

Definition at line 41 of file CMesh.h.

◆ operator new() [2/3]

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

inlinenoexcept

Definition at line 41 of file CMesh.h.

◆ operator new() [3/3]

void* mrpt::opengl::CMesh::operator new ( size_t size )

inline

Definition at line 41 of file CMesh.h.

◆ operator new[]()

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

inline

Definition at line 41 of file CMesh.h.

◆ readFromStream()

void CMesh::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

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

in	The input binary stream where the object data must read from.
version	The 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::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 426 of file CMesh.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream & in )

inlineprotectedinherited

Definition at line 65 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::readFromStreamRender().

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◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int i )

staticprotectedinherited

Definition at line 101 of file CRenderizable.cpp.

References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.

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

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◆ render()

void CRenderizableDisplayList::render ( ) const

overridevirtualinherited

Render the object, regenerating the display list if needed, otherwise just calling it.

Implements mrpt::opengl::CRenderizable.

Definition at line 81 of file CRenderizableDisplayList.cpp.

References TAuxDLData::getSingleton(), GL_COMPILE, GL_NO_ERROR, glCallList(), glDeleteLists(), glEndList(), glGenLists(), glGetError(), glNewList(), INVALID_DISPLAY_LIST_ID, mrpt::opengl::CRenderizableDisplayList::m_dl, mrpt::opengl::CRenderizableDisplayList::m_dl_recreate, mrpt::opengl::CRenderizableDisplayList::render_dl(), and mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache().

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◆ render_dl()

void CMesh::render_dl ( ) const

overridevirtual

Render.

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 294 of file CMesh.cpp.

References GL_BLEND, GL_COLOR_MATERIAL, GL_DEPTH_TEST, GL_LIGHTING, GL_LINE_LOOP, GL_NORMALIZE, GL_ONE_MINUS_SRC_ALPHA, GL_SMOOTH, GL_SRC_ALPHA, GL_TRIANGLES, glBegin(), glBlendFunc(), glColor4f(), glDisable(), glEnable(), glEnd(), glNormal3f(), glShadeModel(), glVertex3f(), and mrpt::opengl::CMesh::TTriangleVertexIndices::vind.

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◆ 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 380 of file CRenderizable.cpp.

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

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◆ 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 315 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.

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◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf & c )

inlineinherited

Changes the default object color.

Returns: a ref to this

Definition at line 248 of file CRenderizable.h.

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

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

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◆ 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 257 of file CRenderizable.h.

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

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◆ setColor_u8() [1/2]

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor & c )

inlineoverridevirtualinherited

Changes the default object color.

Returns: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 113 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

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 120 of file CRenderizableDisplayList.h.

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

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◆ 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 191 of file CRenderizable.h.

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

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◆ setColorA_u8()

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t a )

inlineoverridevirtualinherited

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 106 of file CRenderizableDisplayList.h.

References mrpt::utils::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ 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 186 of file CRenderizable.h.

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

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◆ setColorB_u8()

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t b )

inlineoverridevirtualinherited

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 99 of file CRenderizableDisplayList.h.

References mrpt::utils::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ 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 181 of file CRenderizable.h.

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

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◆ setColorG_u8()

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t g )

inlineoverridevirtualinherited

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 92 of file CRenderizableDisplayList.h.

References mrpt::utils::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ 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 176 of file CRenderizable.h.

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

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◆ setColorR_u8()

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t r )

inlineoverridevirtualinherited

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.

References mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::utils::TColor::R.

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◆ setGridLimits()

void mrpt::opengl::CMesh::setGridLimits	(	float	xmin,
		float	xmax,
		float	ymin,
		float	ymax
	)

inline

Definition at line 105 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), xMax, xMin, yMax, and yMin.

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◆ 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().

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateCurrCovarianceVisualization(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().

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◆ 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().

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◆ setMask()

void CMesh::setMask ( const mrpt::math::CMatrixTemplateNumeric< float > & in_mask )

This method sets the boolean mask of valid heights for each position (cell) in the mesh grid.

Definition at line 550 of file CMesh.cpp.

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

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◆ 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.

◆ 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 310 of file CRenderizable.cpp.

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

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::kinematics::CKinematicChain::update3DObject(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateEstimatedTrajectoryVisualization(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateGTVisualization(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateOdometryVisualization(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

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◆ 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 315 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 320 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 325 of file CRenderizable.cpp.

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

◆ setPose() [5/6]

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

inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 332 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().

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◆ setPose() [6/6]

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

inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 338 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().

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◆ 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 222 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().

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◆ 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 229 of file CRenderizable.h.

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

◆ setUV()

void CMesh::setUV	(	const mrpt::math::CMatrixTemplateNumeric< float > &	in_U,
		const mrpt::math::CMatrixTemplateNumeric< float > &	in_V
	)

Sets the (u,v) texture coordinates (in range [0,1]) for each cell.

Definition at line 557 of file CMesh.cpp.

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

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◆ 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.

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().

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◆ setXBounds()

void mrpt::opengl::CMesh::setXBounds	(	const float	min,
		const float	max
	)

inline

Definition at line 197 of file CMesh.h.

References min, mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, xMax, and xMin.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ setXMax()

void mrpt::opengl::CMesh::setXMax ( const float nxm )

inline

Definition at line 169 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, and xMax.

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◆ setXMin()

void mrpt::opengl::CMesh::setXMin ( const float nxm )

inline

Definition at line 163 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, and xMin.

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◆ setYBounds()

void mrpt::opengl::CMesh::setYBounds	(	const float	min,
		const float	max
	)

inline

Definition at line 204 of file CMesh.h.

References min, mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, yMax, and yMin.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ setYMax()

void mrpt::opengl::CMesh::setYMax ( const float nym )

inline

Definition at line 181 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, and yMax.

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◆ setYMin()

void mrpt::opengl::CMesh::setYMin ( const float nym )

inline

Definition at line 175 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, and yMin.

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◆ setZ()

void CMesh::setZ ( const mrpt::math::CMatrixTemplateNumeric< float > & in_Z )

This method sets the matrix of heights for each position (cell) in the mesh grid.

Definition at line 538 of file CMesh.cpp.

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

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ should_skip_display_list_cache()

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 64 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CRenderizableDisplayList::render().

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◆ 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 389 of file CRenderizable.cpp.

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

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◆ traceRay()

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

overridevirtual

Trace ray.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 566 of file CMesh.cpp.

References mrpt::math::traceRay().

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◆ updateColorsMatrix()

void CMesh::updateColorsMatrix ( ) const

protected

Called internally to assure C is updated.

Definition at line 467 of file CMesh.cpp.

References mrpt::mrpt::utils::keep_max(), mrpt::mrpt::utils::keep_min(), mrpt::opengl::CRenderizableDisplayList::notifyChange(), and val.

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◆ updatePolygons()

void CMesh::updatePolygons ( ) const

protected

Definition at line 587 of file CMesh.cpp.

References createPolygonFromTriangle(), and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ updateTriangles()

void CMesh::updateTriangles ( ) const

protected

Called internally to assure the triangle list is updated.

List of triangles in the mesh
The accumulated normals & counts for each vertex, so normals can be averaged.

Definition at line 60 of file CMesh.cpp.

References mrpt::opengl::CSetOfTriangles::TTriangle::a, ASSERT_, mrpt::opengl::CSetOfTriangles::TTriangle::b, mrpt::utils::colormap(), mrpt::opengl::CSetOfTriangles::TTriangle::g, mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::opengl::CSetOfTriangles::TTriangle::r, mrpt::opengl::CMesh::TTriangleVertexIndices::vind, mrpt::opengl::CSetOfTriangles::TTriangle::x, mrpt::opengl::CSetOfTriangles::TTriangle::y, and mrpt::opengl::CSetOfTriangles::TTriangle::z.

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◆ writeToMatlab()

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 nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

void CMesh::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

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

out	The output binary stream where object must be dumped.
getVersion	If nullptr, 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::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 401 of file CMesh.cpp.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( utils::CStream & out ) const

protectedinherited

Definition at line 112 of file CRenderizable.cpp.

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Member Data Documentation

◆ _init_CMesh

mrpt::utils::CLASSINIT mrpt::opengl::CMesh::_init_CMesh

staticprotected

Definition at line 41 of file CMesh.h.

◆ actualMesh

std::vector< std::pair<CSetOfTriangles::TTriangle, TTriangleVertexIndices> > mrpt::opengl::CMesh::actualMesh

mutableprotected

List of triangles in the mesh.

Definition at line 93 of file CMesh.h.

◆ C

math::CMatrix mrpt::opengl::CMesh::C

mutableprotected

Grayscale Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 62 of file CMesh.h.

◆ C_b

math::CMatrix mrpt::opengl::CMesh::C_b

mutableprotected

Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 71 of file CMesh.h.

◆ C_g

math::CMatrix mrpt::opengl::CMesh::C_g

mutableprotected

Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 68 of file CMesh.h.

◆ C_r

math::CMatrix mrpt::opengl::CMesh::C_r

mutableprotected

Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 65 of file CMesh.h.

◆ className

constexpr const char* mrpt::opengl::CMesh::className = "CMesh"

static

Definition at line 41 of file CMesh.h.

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color

protectedinherited

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

◆ m_colorFromZ

bool mrpt::opengl::CMesh::m_colorFromZ

protected

Definition at line 52 of file CMesh.h.

Referenced by enableColorFromZ().

◆ m_colorMap

mrpt::utils::TColormap mrpt::opengl::CMesh::m_colorMap

protected

Used when m_colorFromZ is true.

Definition at line 74 of file CMesh.h.

Referenced by enableColorFromZ().

◆ m_enableTransparency

bool mrpt::opengl::CMesh::m_enableTransparency

protected

Definition at line 51 of file CMesh.h.

Referenced by enableTransparency().

◆ m_isImage

bool mrpt::opengl::CMesh::m_isImage

protected

Definition at line 54 of file CMesh.h.

Referenced by adjustGridToImageAR().

◆ m_isWireFrame

bool mrpt::opengl::CMesh::m_isWireFrame

protected

Definition at line 53 of file CMesh.h.

Referenced by enableWireFrame().

◆ m_modified_Image

bool mrpt::opengl::CMesh::m_modified_Image

mutableprotected

Whether C is not up-to-date wrt to the texture image.

Definition at line 79 of file CMesh.h.

◆ m_modified_Z

bool mrpt::opengl::CMesh::m_modified_Z

mutableprotected

Whether C is not up-to-date wrt to Z.

Definition at line 77 of file CMesh.h.

◆ m_name

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

protectedinherited

Definition at line 51 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getName(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setName(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ 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.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x

protectedinherited

Scale components to apply to the object (default=1)

Definition at line 59 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CRenderizable::getScaleX(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y

protectedinherited

Definition at line 59 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleY(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z

protectedinherited

Definition at line 59 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleZ(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name

protectedinherited

Definition at line 52 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::enableShowName(), mrpt::opengl::CRenderizable::isShowNameEnabled(), mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_textureImage

mrpt::utils::CImage mrpt::opengl::CMesh::m_textureImage

protected

Definition at line 49 of file CMesh.h.

Referenced by adjustGridToImageAR().

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible

protectedinherited

Is the object visible? (default=true)

Definition at line 61 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::isVisible(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setVisibility(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ mask

math::CMatrix mrpt::opengl::CMesh::mask

protected

Definition at line 58 of file CMesh.h.

Referenced by getMask().

◆ polygonsUpToDate

bool mrpt::opengl::CMesh::polygonsUpToDate

mutableprotected

Definition at line 99 of file CMesh.h.

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::opengl::CMesh::runtimeClassId

staticprotected

Definition at line 41 of file CMesh.h.

◆ tmpPolys

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CMesh::tmpPolys

mutableprotected

Definition at line 102 of file CMesh.h.

◆ trianglesUpToDate

bool mrpt::opengl::CMesh::trianglesUpToDate

mutableprotected

Whether the actual mesh needs to be recalculated.

Definition at line 98 of file CMesh.h.

Referenced by setXBounds(), setXMax(), setXMin(), setYBounds(), setYMax(), and setYMin().

◆ U

math::CMatrix mrpt::opengl::CMesh::U

protected

Texture coordinates.

Definition at line 60 of file CMesh.h.

◆ V

math::CMatrix mrpt::opengl::CMesh::V

protected

Definition at line 60 of file CMesh.h.

◆ vertex_normals

std::vector<std::pair<mrpt::math::TPoint3D, size_t> > mrpt::opengl::CMesh::vertex_normals

mutableprotected

The accumulated normals & counts for each vertex, so normals can be averaged.

Definition at line 96 of file CMesh.h.

◆ xMax

float mrpt::opengl::CMesh::xMax

protected

Definition at line 89 of file CMesh.h.

Referenced by adjustGridToImageAR(), getGridLimits(), getXBounds(), getXMax(), setGridLimits(), setXBounds(), and setXMax().

◆ xMin

float mrpt::opengl::CMesh::xMin

protected

Mesh bounds.

Definition at line 89 of file CMesh.h.

Referenced by adjustGridToImageAR(), getGridLimits(), getXBounds(), getXMin(), setGridLimits(), setXBounds(), and setXMin().

◆ yMax

float mrpt::opengl::CMesh::yMax

protected

Definition at line 89 of file CMesh.h.

Referenced by adjustGridToImageAR(), getGridLimits(), getYBounds(), getYMax(), setGridLimits(), setYBounds(), and setYMax().

◆ yMin

float mrpt::opengl::CMesh::yMin

protected

Definition at line 89 of file CMesh.h.

Referenced by adjustGridToImageAR(), getGridLimits(), getYBounds(), getYMin(), setGridLimits(), setYBounds(), and setYMin().

◆ Z

math::CMatrix mrpt::opengl::CMesh::Z

protected

Z(x,y): Z-coordinate of the point (x,y)

Definition at line 57 of file CMesh.h.

Referenced by getZ().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CMesh()

◆ ~CMesh()

Member Function Documentation

◆ _GetBaseClass()

◆ adjustGridToImageAR()

◆ assignImage()

◆ assignImageAndZ()

◆ checkOpenGLError()

◆ clone()

◆ Create() [1/2]

◆ Create() [2/2]

◆ CreateObject()

◆ enableColorFromZ()

◆ enableShowName()

◆ enableTransparency()

◆ enableWireFrame()

◆ getBoundingBox()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getGridLimits()

◆ getMask()

◆ getName()

◆ getNewTextureNumber()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ getXBounds()

◆ getXMax()

◆ getXMin()

◆ getYBounds()

◆ getYMax()

◆ getYMin()

◆ getZ()

◆ isShowNameEnabled()

◆ isVisible()

◆ notifyChange()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ readFromStreamRender()

◆ releaseTextureName()