Detailed Description

A set of textured triangles.

This class can be used to draw any solid, arbitrarily complex object with textures.

See also: opengl::COpenGLScene

Definition at line 29 of file CSetOfTexturedTriangles.h.

#include <mrpt/opengl/CSetOfTexturedTriangles.h>

Inheritance diagram for mrpt::opengl::CSetOfTexturedTriangles:

Classes
struct	TTriangle
	Triangle. More...

struct	TVertex
	Triangle vertex. More...

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	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	clearTriangles ()

size_t	getTrianglesCount () const

const TTriangle &	getTriangle (size_t idx) const

void	getTriangle (size_t idx, TTriangle &t) const

void	insertTriangle (const TTriangle &t)

virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const override
	Simulation of ray-trace, given a pose. More...

	CSetOfTexturedTriangles ()
	Constructor. More...

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

void	assignImage (const mrpt::utils::CImage &img, const mrpt::utils::CImage &imgAlpha)
	Assigns a texture and a transparency image, and enables transparency (If the images are not 2^N x 2^M, they will be internally filled to its dimensions to be powers of two) More...

void	assignImage (const mrpt::utils::CImage &img)
	Assigns a texture image, and disable transparency. More...

void	assignImage_fast (mrpt::utils::CImage &img, mrpt::utils::CImage &imgAlpha)
	Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer. More...

void	assignImage_fast (mrpt::utils::CImage &img)
	Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer. More...

void	loadTextureInOpenGL () const
	VERY IMPORTANT: If you use a multi-thread application, you MUST call this from the same thread that will later destruct the object in order to the OpenGL texture memory to be correctly deleted. More...

virtual void	render_dl () const override
	Derived classes must implement this method to the render the object. 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 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	render_texturedobj () const override
	Must be implemented by derived classes. More...

void	unloadTexture ()

virtual void	render_pre () const

virtual void	render_post () const

void	writeToStreamTexturedObject (mrpt::utils::CStream &out) const

void	readFromStreamTexturedObject (mrpt::utils::CStream &in)

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
std::vector< TTriangle >	m_triangles
	Triangle array. More...

unsigned int	m_glTextureName

bool	m_texture_is_loaded

mrpt::utils::CImage	m_textureImage

mrpt::utils::CImage	m_textureImageAlpha

bool	m_enableTransparency
	Of the texture using "m_textureImageAlpha". More...

int	r_width
	Size of the texture image, rounded up to next power of 2. More...

int	r_height

int	m_pad_x_right
	The size of the fill in pixels in the textured image, w.r.t the image passed by the user. More...

int	m_pad_y_bottom

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< CSetOfTexturedTriangles >

using	ConstPtr = std::shared_ptr< const CSetOfTexturedTriangles >

static mrpt::utils::CLASSINIT	_init_CSetOfTexturedTriangles

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CSetOfTexturedTriangles"

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::CSetOfTexturedTriangles::ConstPtr = std::shared_ptr<const CSetOfTexturedTriangles >

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 31 of file CSetOfTexturedTriangles.h.

Constructor & Destructor Documentation

◆ CSetOfTexturedTriangles()

mrpt::opengl::CSetOfTexturedTriangles::CSetOfTexturedTriangles ( )

inline

Constructor.

Definition at line 105 of file CSetOfTexturedTriangles.h.

◆ ~CSetOfTexturedTriangles()

virtual mrpt::opengl::CSetOfTexturedTriangles::~CSetOfTexturedTriangles ( )

virtual

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

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ assignImage() [1/2]

void CTexturedObject::assignImage	(	const mrpt::utils::CImage &	img,
		const mrpt::utils::CImage &	imgAlpha
	)

inherited

Assigns a texture and a transparency image, and enables transparency (If the images are not 2^N x 2^M, they will be internally filled to its dimensions to be powers of two)

Note: Images are copied, the original ones can be deleted.

Definition at line 71 of file CTexturedObject.cpp.

References mrpt::opengl::CTexturedObject::m_enableTransparency, mrpt::opengl::CTexturedObject::m_textureImage, mrpt::opengl::CTexturedObject::m_textureImageAlpha, MRPT_END, MRPT_START, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CTexturedObject::unloadTexture().

Referenced by mrpt::opengl::CTexturedPlane::readFromStream(), and mrpt::opengl::CTexturedObject::readFromStreamTexturedObject().

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◆ assignImage() [2/2]

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

inherited

Assigns a texture image, and disable transparency.

Note: Images are copied, the original ones can be deleted.

Definition at line 91 of file CTexturedObject.cpp.

References mrpt::opengl::CTexturedObject::m_enableTransparency, mrpt::opengl::CTexturedObject::m_textureImage, MRPT_END, MRPT_START, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CTexturedObject::unloadTexture().

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◆ assignImage_fast() [1/2]

void CTexturedObject::assignImage_fast	(	mrpt::utils::CImage &	img,
		mrpt::utils::CImage &	imgAlpha
	)

inherited

Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer.

Definition at line 110 of file CTexturedObject.cpp.

References mrpt::utils::CImage::copyFastFrom(), mrpt::opengl::CTexturedObject::m_enableTransparency, mrpt::opengl::CTexturedObject::m_textureImage, mrpt::opengl::CTexturedObject::m_textureImageAlpha, MRPT_END, MRPT_START, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CTexturedObject::unloadTexture().

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◆ assignImage_fast() [2/2]

void CTexturedObject::assignImage_fast ( mrpt::utils::CImage & img )

inherited

Similar to assignImage, but the passed images will be returned as empty: it avoids making a copy of the whole image, just copies a pointer.

Definition at line 130 of file CTexturedObject.cpp.

References mrpt::utils::CImage::copyFastFrom(), mrpt::opengl::CTexturedObject::m_enableTransparency, mrpt::opengl::CTexturedObject::m_textureImage, MRPT_END, MRPT_START, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CTexturedObject::unloadTexture().

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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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◆ clearTriangles()

void mrpt::opengl::CSetOfTexturedTriangles::clearTriangles ( )

inline

Definition at line 77 of file CSetOfTexturedTriangles.h.

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

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◆ clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ CreateObject()

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

static

◆ 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.

◆ getBoundingBox()

void CSetOfTexturedTriangles::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 155 of file CSetOfTexturedTriangles.cpp.

References mrpt::utils::keep_max(), mrpt::utils::keep_min(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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◆ 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.

◆ 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::CSetOfTexturedTriangles::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CTexturedObject.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::opengl::CSetOfTexturedTriangles::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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◆ getTriangle() [1/2]

const TTriangle& mrpt::opengl::CSetOfTexturedTriangles::getTriangle ( size_t idx ) const

inline

Definition at line 83 of file CSetOfTexturedTriangles.h.

References ASSERT_, and m_triangles.

◆ getTriangle() [2/2]

void mrpt::opengl::CSetOfTexturedTriangles::getTriangle	(	size_t	idx,
		TTriangle &	t
	)		const

inline

Definition at line 88 of file CSetOfTexturedTriangles.h.

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

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◆ getTrianglesCount()

size_t mrpt::opengl::CSetOfTexturedTriangles::getTrianglesCount ( ) const

inline

Definition at line 82 of file CSetOfTexturedTriangles.h.

References m_triangles.

◆ insertTriangle()

void mrpt::opengl::CSetOfTexturedTriangles::insertTriangle ( const TTriangle & t )

inline

Definition at line 94 of file CSetOfTexturedTriangles.h.

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

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◆ 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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◆ loadTextureInOpenGL()

void CTexturedObject::loadTextureInOpenGL ( ) const

inherited

VERY IMPORTANT: If you use a multi-thread application, you MUST call this from the same thread that will later destruct the object in order to the OpenGL texture memory to be correctly deleted.

Calling this method more than once has no effects. If you use one thread, this method will be automatically called when rendering, so there is no need to explicitly call it.

Definition at line 175 of file CTexturedObject.cpp.

References ASSERT_, mrpt::opengl::CRenderizable::checkOpenGLError(), CTexturedObject_MemPoolData::data, mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::dump_to_pool(), mrpt::utils::CTimeLogger::enter(), mrpt::format(), mrpt::mrpt::format(), mrpt::utils::CImage::get_unsafe(), mrpt::utils::CImage::getChannelsOrder(), mrpt::utils::CImage::getHeight(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), mrpt::opengl::CRenderizable::getNewTextureNumber(), mrpt::utils::CImage::getRowStride(), mrpt::utils::CImage::getWidth(), GL_BGR, GL_BGRA, GL_LINEAR, GL_LUMINANCE, GL_LUMINANCE_ALPHA, GL_MAX_TEXTURE_SIZE, GL_NEAREST, GL_REPEAT, GL_RGB, GL_RGBA, GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_TEXTURE_MIN_FILTER, GL_TEXTURE_WRAP_S, GL_TEXTURE_WRAP_T, GL_UNPACK_ALIGNMENT, GL_UNPACK_ROW_LENGTH, GL_UNSIGNED_BYTE, glBindTexture(), glGetIntegerv(), glPixelStorei(), glTexImage2D(), glTexParameterf(), mrpt::utils::CImage::isColor(), mrpt::utils::CTimeLogger::leave(), mrpt::opengl::CTexturedObject::m_enableTransparency, mrpt::opengl::CTexturedObject::m_glTextureName, mrpt::opengl::CTexturedObject::m_pad_x_right, mrpt::opengl::CTexturedObject::m_pad_y_bottom, mrpt::opengl::CTexturedObject::m_texture_is_loaded, mrpt::opengl::CTexturedObject::m_textureImage, mrpt::opengl::CTexturedObject::m_textureImageAlpha, mrpt::opengl::CTexturedObject::r_height, mrpt::opengl::CTexturedObject::r_width, reserveDataBuffer(), mrpt::utils::CImage::scaleHalf(), and THROW_EXCEPTION.

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

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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::CSetOfTexturedTriangles::operator delete ( void * ptr )

inlinenoexcept

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ operator new() [1/3]

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

inlinestatic

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ operator new() [2/3]

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

inlinenoexcept

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ operator new() [3/3]

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

inline

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ operator new[]()

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

inline

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ readFromStream()

void CSetOfTexturedTriangles::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 104 of file CSetOfTexturedTriangles.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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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◆ readFromStreamTexturedObject()

void CTexturedObject::readFromStreamTexturedObject ( mrpt::utils::CStream & in )

protectedinherited

Definition at line 570 of file CTexturedObject.cpp.

References mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CTexturedObject::m_enableTransparency, mrpt::opengl::CTexturedObject::m_textureImage, mrpt::opengl::CTexturedObject::m_textureImageAlpha, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::opengl::CTexturedPlane::readFromStream().

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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 CTexturedObject::render_dl ( ) const

overridevirtualinherited

Derived classes must implement this method to the render the object.

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 502 of file CTexturedObject.cpp.

References GL_NO_ERROR, glGetError(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), and mrpt::opengl::CTexturedObject::render_texturedobj().

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◆ render_post()

void CTexturedObject::render_post ( ) const

protectedvirtualinherited

Definition at line 543 of file CTexturedObject.cpp.

References mrpt::utils::TColor::A, mrpt::opengl::CRenderizable::checkOpenGLError(), GL_BLEND, GL_DEPTH_TEST, GL_ONE, GL_TEXTURE_2D, GL_ZERO, glBlendFunc(), glDisable(), glEnable(), mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CTexturedObject::m_enableTransparency, MRPT_END, and MRPT_START.

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

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◆ render_pre()

void CTexturedObject::render_pre ( ) const

protectedvirtualinherited

Definition at line 517 of file CTexturedObject.cpp.

References mrpt::utils::TColor::A, mrpt::opengl::CRenderizable::checkOpenGLError(), GL_BLEND, GL_DEPTH_TEST, GL_ONE_MINUS_SRC_ALPHA, GL_SRC_ALPHA, GL_TEXTURE_2D, glBlendFunc(), glDisable(), glEnable(), mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CTexturedObject::m_enableTransparency, MRPT_END, and MRPT_START.

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

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◆ render_texturedobj()

void CSetOfTexturedTriangles::render_texturedobj ( ) const

overrideprotectedvirtual

Must be implemented by derived classes.

Implements mrpt::opengl::CTexturedObject.

Definition at line 33 of file CSetOfTexturedTriangles.cpp.

References GL_SMOOTH, GL_TRIANGLES, glBegin(), glEnd(), glNormal3f(), glShadeModel(), glTexCoord2d(), glVertex3f(), MRPT_END, and MRPT_START.

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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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◆ 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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◆ 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.

◆ 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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◆ 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 CSetOfTexturedTriangles::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const

overridevirtual

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 146 of file CSetOfTexturedTriangles.cpp.

References MRPT_UNUSED_PARAM.

◆ unloadTexture()

void CTexturedObject::unloadTexture ( )

protectedinherited

Definition at line 477 of file CTexturedObject.cpp.

References mrpt::opengl::CTexturedObject::m_glTextureName, mrpt::opengl::CTexturedObject::m_texture_is_loaded, and mrpt::opengl::CRenderizable::releaseTextureName().

Referenced by mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), and mrpt::opengl::CTexturedObject::~CTexturedObject().

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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 CSetOfTexturedTriangles::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 80 of file CSetOfTexturedTriangles.cpp.

◆ writeToStreamRender()

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

protectedinherited

Definition at line 112 of file CRenderizable.cpp.

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◆ writeToStreamTexturedObject()

void CTexturedObject::writeToStreamTexturedObject ( mrpt::utils::CStream & out ) const

protectedinherited

Definition at line 491 of file CTexturedObject.cpp.

References mrpt::opengl::CTexturedObject::m_enableTransparency, mrpt::opengl::CTexturedObject::m_textureImage, and mrpt::opengl::CTexturedObject::m_textureImageAlpha.

Referenced by mrpt::opengl::CTexturedPlane::writeToStream().

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Member Data Documentation

◆ _init_CSetOfTexturedTriangles

mrpt::utils::CLASSINIT mrpt::opengl::CSetOfTexturedTriangles::_init_CSetOfTexturedTriangles

staticprotected

Definition at line 31 of file CSetOfTexturedTriangles.h.

◆ className

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

static

Definition at line 31 of file CSetOfTexturedTriangles.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_enableTransparency

bool mrpt::opengl::CTexturedObject::m_enableTransparency

mutableprotectedinherited

Of the texture using "m_textureImageAlpha".

Definition at line 35 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), mrpt::opengl::CTexturedPlane::readFromStream(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), and mrpt::opengl::CTexturedObject::writeToStreamTexturedObject().

◆ m_glTextureName

unsigned int mrpt::opengl::CTexturedObject::m_glTextureName

mutableprotectedinherited

Definition at line 30 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), and mrpt::opengl::CTexturedObject::unloadTexture().

◆ 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_pad_x_right

int mrpt::opengl::CTexturedObject::m_pad_x_right

mutableprotectedinherited

The size of the fill in pixels in the textured image, w.r.t the image passed by the user.

Definition at line 40 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ m_pad_y_bottom

int mrpt::opengl::CTexturedObject::m_pad_y_bottom

mutableprotectedinherited

Definition at line 40 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ 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_texture_is_loaded

bool mrpt::opengl::CTexturedObject::m_texture_is_loaded

mutableprotectedinherited

Definition at line 31 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), and mrpt::opengl::CTexturedObject::unloadTexture().

◆ m_textureImage

mrpt::utils::CImage mrpt::opengl::CTexturedObject::m_textureImage

mutableprotectedinherited

Definition at line 32 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), mrpt::opengl::CTexturedPlane::readFromStream(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), and mrpt::opengl::CTexturedObject::writeToStreamTexturedObject().

◆ m_textureImageAlpha

mrpt::utils::CImage mrpt::opengl::CTexturedObject::m_textureImageAlpha

mutableprotectedinherited

Definition at line 33 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), mrpt::opengl::CTexturedPlane::readFromStream(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), and mrpt::opengl::CTexturedObject::writeToStreamTexturedObject().

◆ m_triangles

std::vector<TTriangle> mrpt::opengl::CSetOfTexturedTriangles::m_triangles

protected

Triangle array.

Definition at line 72 of file CSetOfTexturedTriangles.h.

Referenced by clearTriangles(), getTriangle(), getTrianglesCount(), and insertTriangle().

◆ 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().

◆ r_height

int mrpt::opengl::CTexturedObject::r_height

mutableprotectedinherited

Definition at line 37 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ r_width

int mrpt::opengl::CTexturedObject::r_width

mutableprotectedinherited

Size of the texture image, rounded up to next power of 2.

Definition at line 37 of file CTexturedObject.h.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL(), and mrpt::opengl::CTexturedPlane::render_texturedobj().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::opengl::CSetOfTexturedTriangles::runtimeClassId

staticprotected

Definition at line 31 of file CSetOfTexturedTriangles.h.

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

◆ CSetOfTexturedTriangles()

◆ ~CSetOfTexturedTriangles()

Member Function Documentation

◆ _GetBaseClass()

◆ assignImage() [1/2]

◆ assignImage() [2/2]

◆ assignImage_fast() [1/2]

◆ assignImage_fast() [2/2]

◆ checkOpenGLError()

◆ clearTriangles()

◆ clone()

◆ Create()

◆ CreateObject()

◆ enableShowName()

◆ getBoundingBox()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getName()

◆ getNewTextureNumber()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ getTriangle() [1/2]

◆ getTriangle() [2/2]

◆ getTrianglesCount()

◆ insertTriangle()

◆ isShowNameEnabled()

◆ isVisible()

◆ loadTextureInOpenGL()

◆ 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()

◆ readFromStreamTexturedObject()

◆ releaseTextureName()

◆ render()

◆ render_dl()

◆ render_post()

◆ render_pre()

◆ render_texturedobj()