mrpt::opengl Namespace Reference

Detailed Description

The namespace for 3D scene representation and rendering.

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

Namespaces
	detail
	gl_utils
	A set of auxiliary functions that can be called to render OpenGL primitives from MRPT or user code.
	graph_tools
	Tool functions for graphs of pose constraints.
	stock_objects
	A collection of pre-built 3D objects for quick insertion in opengl::COpenGLScene objects.

Classes
class	C3DSScene
	This element keeps a set of objects imported from a 3DStudio file (.3ds). More...
class	CAngularObservationMesh
	A mesh built from a set of 2D laser scan observations. More...
class	CArrow
	A 3D arrow. More...
class	CAssimpModel
	This class can load & render 3D models in a number of different formats (requires the library assimp). More...
class	CAxis
	Draw a 3D world axis, with coordinate marks at some regular interval. More...
class	CBox
	A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X, Y and Z (note that the object can be translated and rotated afterwards as any other CRenderizable object using the "object pose" in the base class). More...
class	CCamera
	A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camera parameters set in COpenGLViewport::m_camera. More...
class	CColorBar
	A colorbar indicator. More...
class	CCylinder
	A cylinder or cone whose base lies in the XY plane. More...
class	CDisk
	A planar disk in the XY plane. More...
class	CEllipsoid
	A 2D ellipse or 3D ellipsoid, depending on the size of the m_cov matrix (2x2 or 3x3). More...
class	CEllipsoidInverseDepth2D
	An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw) variable. More...
class	CEllipsoidInverseDepth3D
	An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) variable. More...
class	CEllipsoidRangeBearing2D
	An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable. More...
class	CFBORender
	A class for rendering 3D scenes off-screen directly into an image using OpenGL extensions (glext). More...
class	CFrustum
	A solid or wireframe frustum in 3D (a rectangular truncated pyramid), with arbitrary (possibly assymetric) field-of-view angles. More...
class	CGeneralizedCylinder
	This object represents any figure obtained by extruding any profile along a given axis. More...
class	CGeneralizedEllipsoidTemplate
	A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty shapes in either 2D or 3D. More...
class	CGridPlaneXY
	A grid of lines over the XY plane. More...
class	CGridPlaneXZ
	A grid of lines over the XZ plane. More...
struct	CLight
	Each of the possible lights of a 3D scene. More...
class	CMesh
	A planar (XY) grid where each cell has an associated height and, optionally, a texture map. More...
class	CMesh3D
	A 3D mesh composed of Triangles and/or Quads. More...
class	CMeshFast
	A planar (XY) grid where each cell has an associated height and, optionally, a texture map. More...
class	COctoMapVoxels
	A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap). More...
class	COctreePointRenderer
	Template class that implements the data structure and algorithms for Octree-based efficient rendering. More...
class	COpenGLScene
	This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives. More...
class	COpenGLStandardObject
	Objects of this class represent a generic openGL object without specific geometric properties. More...
class	COpenGLViewport
	A viewport within a COpenGLScene, containing a set of OpenGL objects to render. More...
class	CPlanarLaserScan
	This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface. More...
class	CPointCloud
	A cloud of points, all with the same color or each depending on its value along a particular coordinate axis. More...
class	CPointCloudColoured
	A cloud of points, each one with an individual colour (R,G,B). More...
class	CPolyhedron
	This class represents arbitrary polyhedra. More...
class	CRenderizable
	The base class of 3D objects that can be directly rendered through OpenGL. More...
class	CRenderizableDisplayList
	A renderizable object suitable for rendering with OpenGL's display lists. More...
class	CSetOfLines
	A set of independent lines (or segments), one line with its own start and end positions (X,Y,Z). More...
class	CSetOfObjects
	A set of object, which are referenced to the coordinates framework established in this object. More...
class	CSetOfTexturedTriangles
	A set of textured triangles. More...
class	CSetOfTriangles
	A set of colored triangles. More...
class	CSimpleLine
	A line segment. More...
class	CSphere
	A solid or wire-frame sphere. More...
class	CText
	A 2D text (bitmap rendering): it always "faces the observer" despite it's at some 3D location. More...
class	CText3D
	A 3D text (rendered with OpenGL primitives), with selectable font face and drawing style. More...
class	CTextMessageCapable
	Keeps a list of text messages which can be rendered to OpenGL contexts by graphic classes. More...
class	CTexturedObject
	A base class for all OpenGL objects with loadable textures. More...
class	CTexturedPlane
	A 2D plane in the XY plane with a texture image. More...
class	CVectorField2D
	A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid). More...
class	CVectorField3D
	A 3D vector field representation, consisting of points and arrows drawn at any spatial position. More...
class	mrptEventGLPostRender
	An event sent by an mrpt::opengl::COpenGLViewport after calling the scene OpenGL drawing primitives and before doing a glSwapBuffers. More...
class	mrptEventGLPreRender
	An event sent by an mrpt::opengl::COpenGLViewport just after clearing the viewport and setting the GL_PROJECTION matrix, and before calling the scene OpenGL drawing primitives. More...
struct	T2DTextData
	An auxiliary struct for holding a list of text messages in some mrpt::opengl & mrpt::gui classes The font can be either a bitmapped or a vectorized font. More...
struct	TFontParams
	A description of a bitmapped or vectorized text font. More...

Typedefs
typedef uint32_t	_GLENUM
using	CListOpenGLObjects = std::deque< CRenderizable::Ptr >
	A list of objects pointers, automatically managing memory free at destructor, and managing copies correctly. More...

Enumerations
enum	predefined_voxel_sets_t { VOXEL_SET_OCCUPIED = 0, VOXEL_SET_FREESPACE = 1 }
enum	TOpenGLFont {   MRPT_GLUT_BITMAP_NONE = -1, MRPT_GLUT_BITMAP_TIMES_ROMAN_10 = 0, MRPT_GLUT_BITMAP_TIMES_ROMAN_24 = 1, MRPT_GLUT_BITMAP_HELVETICA_10 = 2,   MRPT_GLUT_BITMAP_HELVETICA_12 = 3, MRPT_GLUT_BITMAP_HELVETICA_18 = 4 }
	Existing fonts for 2D texts in mrpt::opengl methods. More...
enum	TOpenGLFontStyle { FILL = 0, OUTLINE = 1, NICE = 2 }
	Different style for vectorized font rendering. More...

Functions
mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, mrpt::opengl::CLight &o)
mrpt::utils::CStream &	operator<< (mrpt::utils::CStream &out, const mrpt::opengl::CLight &o)
COpenGLScene::Ptr &	operator<< (COpenGLScene::Ptr &s, const CRenderizable::Ptr &r)
	Inserts an openGL object into a scene. More...
template<class T >
COpenGLScene::Ptr &	operator<< (COpenGLScene::Ptr &s, const std::vector< T > &v)
	Inserts any iterable collection of openGL objects into a scene, allowing call chaining. More...
COpenGLViewport::Ptr &	operator<< (COpenGLViewport::Ptr &s, const CRenderizable::Ptr &r)
	Inserts an openGL object into a viewport. More...
COpenGLViewport::Ptr &	operator<< (COpenGLViewport::Ptr &s, const std::vector< CRenderizable::Ptr > &v)
	Inserts any iterable set of openGL objects into a viewport. More...
mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPointCloudColoured::TPointColour &o)
mrpt::utils::CStream &	operator<< (mrpt::utils::CStream &out, const CPointCloudColoured::TPointColour &o)
mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPolyhedron::TPolyhedronEdge &o)
	Reads a polyhedron edge from a binary stream. More...
mrpt::utils::CStream &	operator<< (mrpt::utils::CStream &out, const CPolyhedron::TPolyhedronEdge &o)
	Writes a polyhedron edge to a binary stream. More...
mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPolyhedron::TPolyhedronFace &o)
	Reads a polyhedron face from a binary stream. More...
mrpt::utils::CStream &	operator<< (mrpt::utils::CStream &out, const CPolyhedron::TPolyhedronFace &o)
	Writes a polyhedron face to a binary stream. More...
CRenderizable::Ptr &	operator<< (CRenderizable::Ptr &r, const mrpt::poses::CPose3D &p)
	Applies a mrpt::poses::CPose3D transformation to the object. More...
template<class T >
CSetOfLines::Ptr &	operator<< (CSetOfLines::Ptr &l, const T &s)
	Inserts a set of segments into the list. More...
template<>
CSetOfLines::Ptr &	operator<< (CSetOfLines::Ptr &l, const mrpt::math::TSegment3D &s)
	Inserts a segment into the list. More...
CSetOfObjects::Ptr &	operator<< (CSetOfObjects::Ptr &s, const CRenderizable::Ptr &r)
	Inserts an object into the list. More...
template<class T >
CSetOfObjects::Ptr &	operator<< (CSetOfObjects::Ptr &o, const std::vector< T > &v)
	Inserts a set of objects into the list. More...
template<class T >
CSetOfTriangles::Ptr &	operator<< (CSetOfTriangles::Ptr &s, const T &t)
	Inserts a set of triangles into the list; note that this method allows to pass another CSetOfTriangles as argument. More...
template<>
CSetOfTriangles::Ptr &	operator<< (CSetOfTriangles::Ptr &s, const CSetOfTriangles::TTriangle &t)
	Inserts a triangle into the list. More...
	FWRD_DECL (C3DSScene)
	FWRD_DECL (CArrow)
	FWRD_DECL (CAssimpModel)
	FWRD_DECL (CAxis)
	FWRD_DECL (CBox)
	FWRD_DECL (CCamera)
	FWRD_DECL (CColorBar)
	FWRD_DECL (CCylinder)
	FWRD_DECL (CDisk)
	FWRD_DECL (CEllipsoid)
	FWRD_DECL (CEllipsoidInverseDepth2D)
	FWRD_DECL (CEllipsoidInverseDepth3D)
	FWRD_DECL (CEllipsoidRangeBearing2D)
	FWRD_DECL (CFrustum)
	FWRD_DECL (CGeneralizedCylinder)
	FWRD_DECL (CGridPlaneXY)
	FWRD_DECL (CGridPlaneXZ)
	FWRD_DECL (CMesh)
	FWRD_DECL (CMesh3D)
	FWRD_DECL (CMeshFast)
	FWRD_DECL (COctoMapVoxels)
	FWRD_DECL (COpenGLScene)
	FWRD_DECL (COpenGLViewport)
	FWRD_DECL (CPointCloud)
	FWRD_DECL (CPointCloudColoured)
	FWRD_DECL (CPolyhedron)
	FWRD_DECL (CSetOfLines)
	FWRD_DECL (CSetOfObjects)
	FWRD_DECL (CSetOfTriangles)
	FWRD_DECL (CSimpleLine)
	FWRD_DECL (CSphere)
	FWRD_DECL (CText)
	FWRD_DECL (CText3D)
	FWRD_DECL (CTexturedPlane)
	FWRD_DECL (CVectorField2D)
	FWRD_DECL (CVectorField3D)
Functions to obtain a 3D representation of a pose PDF
template<class POSE_PDF >
CSetOfObjects::Ptr	posePDF2opengl (const POSE_PDF &o)
	Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPosePDF::getAs3DObject. More...

Typedef Documentation

_GLENUM

typedef uint32_t mrpt::opengl::_GLENUM

Definition at line 19 of file COpenGLStandardObject.h.

CListOpenGLObjects

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

A list of objects pointers, automatically managing memory free at destructor, and managing copies correctly.

Definition at line 341 of file CRenderizable.h.

Enumeration Type Documentation

predefined_voxel_sets_t

enum mrpt::opengl::predefined_voxel_sets_t

Enumerator
VOXEL_SET_OCCUPIED
VOXEL_SET_FREESPACE

Definition at line 20 of file COctoMapVoxels.h.

TOpenGLFontStyle

enum mrpt::opengl::TOpenGLFontStyle

Different style for vectorized font rendering.

See also

T2DTextData

Enumerator
FILL	renders glyphs as filled polygons
OUTLINE	renders glyphs as outlines with GL_LINES
NICE	renders glyphs filled with antialiased outlines

Definition at line 36 of file opengl_fonts.h.

Function Documentation

FWRD_DECL() [1/36]

mrpt::opengl::FWRD_DECL

(

C3DSScene

)

FWRD_DECL() [2/36]

mrpt::opengl::FWRD_DECL

(

CArrow

)

FWRD_DECL() [3/36]

mrpt::opengl::FWRD_DECL

(

CAssimpModel

)

FWRD_DECL() [4/36]

mrpt::opengl::FWRD_DECL

(

CAxis

)

FWRD_DECL() [5/36]

mrpt::opengl::FWRD_DECL

(

CBox

)

FWRD_DECL() [6/36]

mrpt::opengl::FWRD_DECL

(

CCamera

)

FWRD_DECL() [7/36]

mrpt::opengl::FWRD_DECL

(

CColorBar

)

FWRD_DECL() [8/36]

mrpt::opengl::FWRD_DECL

(

CCylinder

)

FWRD_DECL() [9/36]

mrpt::opengl::FWRD_DECL

(

CDisk

)

FWRD_DECL() [10/36]

mrpt::opengl::FWRD_DECL

(

CEllipsoid

)

FWRD_DECL() [11/36]

mrpt::opengl::FWRD_DECL

(

CEllipsoidInverseDepth2D

)

FWRD_DECL() [12/36]

mrpt::opengl::FWRD_DECL

(

CEllipsoidInverseDepth3D

)

FWRD_DECL() [13/36]

mrpt::opengl::FWRD_DECL

(

CEllipsoidRangeBearing2D

)

FWRD_DECL() [14/36]

mrpt::opengl::FWRD_DECL

(

CFrustum

)

FWRD_DECL() [15/36]

mrpt::opengl::FWRD_DECL

(

CGeneralizedCylinder

)

FWRD_DECL() [16/36]

mrpt::opengl::FWRD_DECL

(

CGridPlaneXY

)

FWRD_DECL() [17/36]

mrpt::opengl::FWRD_DECL

(

CGridPlaneXZ

)

FWRD_DECL() [18/36]

mrpt::opengl::FWRD_DECL

(

CMesh

)

FWRD_DECL() [19/36]

mrpt::opengl::FWRD_DECL

(

CMesh3D

)

FWRD_DECL() [20/36]

mrpt::opengl::FWRD_DECL

(

CMeshFast

)

FWRD_DECL() [21/36]

mrpt::opengl::FWRD_DECL

(

COctoMapVoxels

)

FWRD_DECL() [22/36]

mrpt::opengl::FWRD_DECL

(

COpenGLScene

)

FWRD_DECL() [23/36]

mrpt::opengl::FWRD_DECL

(

COpenGLViewport

)

FWRD_DECL() [24/36]

mrpt::opengl::FWRD_DECL

(

CPointCloud

)

FWRD_DECL() [25/36]

mrpt::opengl::FWRD_DECL

(

CPointCloudColoured

)

FWRD_DECL() [26/36]

mrpt::opengl::FWRD_DECL

(

CPolyhedron

)

FWRD_DECL() [27/36]

mrpt::opengl::FWRD_DECL

(

CSetOfLines

)

FWRD_DECL() [28/36]

mrpt::opengl::FWRD_DECL

(

CSetOfObjects

)

FWRD_DECL() [29/36]

mrpt::opengl::FWRD_DECL

(

CSetOfTriangles

)

FWRD_DECL() [30/36]

mrpt::opengl::FWRD_DECL

(

CSimpleLine

)

FWRD_DECL() [31/36]

mrpt::opengl::FWRD_DECL

(

CSphere

)

FWRD_DECL() [32/36]

mrpt::opengl::FWRD_DECL

(

CText

)

FWRD_DECL() [33/36]

mrpt::opengl::FWRD_DECL

(

CText3D

)

FWRD_DECL() [34/36]

mrpt::opengl::FWRD_DECL

(

CTexturedPlane

)

FWRD_DECL() [35/36]

mrpt::opengl::FWRD_DECL

(

CVectorField2D

)

FWRD_DECL() [36/36]

mrpt::opengl::FWRD_DECL

(

CVectorField3D

)

operator<<() [1/15]

mrpt::utils::CStream & mrpt::opengl::operator<<	(	mrpt::utils::CStream &	out,
		const mrpt::opengl::CLight &	o
	)

Definition at line 132 of file CLight.cpp.

References mrpt::opengl::CLight::writeToStream().

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operator<<() [2/15]

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

inline

Inserts an object into the list.

Allows call chaining.

See also

mrpt::opengl::CSetOfObjects::insert

Definition at line 166 of file CSetOfObjects.h.

operator<<() [3/15]

template<class T >

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

inline

Inserts a set of objects into the list.

Allows call chaining.

See also

mrpt::opengl::CSetOfObjects::insert

Definition at line 176 of file CSetOfObjects.h.

operator<<() [4/15]

template<class T >

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

inline

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

Allows call chaining.

See also

mrpt::opengl::CSetOfTriangles::insertTriangle

Definition at line 229 of file CSetOfTriangles.h.

operator<<() [5/15]

template<>

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

inline

Inserts a triangle into the list.

Allows call chaining.

See also

mrpt::opengl::CSetOfTriangles::insertTriangle

Definition at line 238 of file CSetOfTriangles.h.

operator<<() [6/15]

CStream & mrpt::opengl::operator<<	(	mrpt::utils::CStream &	out,
		const CPointCloudColoured::TPointColour &	o
	)

Definition at line 183 of file CPointCloudColoured.cpp.

References mrpt::opengl::CPointCloudColoured::TPointColour::B, mrpt::opengl::CPointCloudColoured::TPointColour::G, mrpt::opengl::CPointCloudColoured::TPointColour::R, mrpt::opengl::CPointCloudColoured::TPointColour::x, mrpt::opengl::CPointCloudColoured::TPointColour::y, and mrpt::opengl::CPointCloudColoured::TPointColour::z.

operator<<() [7/15]

template<class T >

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

inline

Inserts a set of segments into the list.

Allows call chaining.

See also

mrpt::opengl::CSetOfLines::appendLines

Definition at line 273 of file CSetOfLines.h.

operator<<() [8/15]

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

inline

Inserts an openGL object into a scene.

Allows call chaining.

See also

mrpt::opengl::COpenGLScene::insert

Definition at line 275 of file COpenGLScene.h.

operator<<() [9/15]

template<>

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

inline

Inserts a segment into the list.

Allows call chaining.

See also

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

Definition at line 282 of file CSetOfLines.h.

operator<<() [10/15]

template<class T >

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

inline

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

See also

mrpt::opengl::COpenGLScene::insert

Definition at line 284 of file COpenGLScene.h.

operator<<() [11/15]

CRenderizable::Ptr & mrpt::opengl::operator<<	(	CRenderizable::Ptr &	r,
		const mrpt::poses::CPose3D &	p
	)

Applies a mrpt::poses::CPose3D transformation to the object.

Note that this method doesn't set the pose to the given value, but combines it with the existing one.

See also

setPose

Definition at line 362 of file CRenderizable.cpp.

operator<<() [12/15]

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

inline

Inserts an openGL object into a viewport.

Allows call chaining.

See also

mrpt::opengl::COpenGLViewport::insert

Definition at line 445 of file COpenGLViewport.h.

operator<<() [13/15]

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

inline

Inserts any iterable set of openGL objects into a viewport.

Allows call chaining.

See also

mrpt::opengl::COpenGLViewport::insert

Definition at line 456 of file COpenGLViewport.h.

operator<<() [14/15]

CStream & mrpt::opengl::operator<<	(	mrpt::utils::CStream &	out,
		const CPolyhedron::TPolyhedronEdge &	o
	)

Writes a polyhedron edge to a binary stream.

Definition at line 2001 of file CPolyhedron.cpp.

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

operator<<() [15/15]

CStream & mrpt::opengl::operator<<	(	mrpt::utils::CStream &	out,
		const CPolyhedron::TPolyhedronFace &	o
	)

Writes a polyhedron face to a binary stream.

Definition at line 2015 of file CPolyhedron.cpp.

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

operator>>() [1/4]

mrpt::utils::CStream & mrpt::opengl::operator>>	(	mrpt::utils::CStream &	in,
		mrpt::opengl::CLight &	o
	)

Definition at line 126 of file CLight.cpp.

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

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operator>>() [2/4]

CStream & mrpt::opengl::operator>>	(	mrpt::utils::CStream &	in,
		CPointCloudColoured::TPointColour &	o
	)

Definition at line 176 of file CPointCloudColoured.cpp.

References mrpt::opengl::CPointCloudColoured::TPointColour::B, mrpt::opengl::CPointCloudColoured::TPointColour::G, mrpt::opengl::CPointCloudColoured::TPointColour::R, mrpt::opengl::CPointCloudColoured::TPointColour::x, mrpt::opengl::CPointCloudColoured::TPointColour::y, and mrpt::opengl::CPointCloudColoured::TPointColour::z.

operator>>() [3/4]

CStream & mrpt::opengl::operator>>	(	mrpt::utils::CStream &	in,
		CPolyhedron::TPolyhedronEdge &	o
	)

Reads a polyhedron edge from a binary stream.

Definition at line 1994 of file CPolyhedron.cpp.

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

operator>>() [4/4]

CStream & mrpt::opengl::operator>>	(	mrpt::utils::CStream &	in,
		CPolyhedron::TPolyhedronFace &	o
	)

Reads a polyhedron face from a binary stream.

Definition at line 2008 of file CPolyhedron.cpp.

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

posePDF2opengl()

template<class POSE_PDF >

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

inline

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

Definition at line 24 of file pose_pdfs.h.

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

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

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