32 m_antiAliasing(antiAliasing),
33 m_verticesPointSize(.0f)
62 #if MRPT_HAS_OPENGL_GLUT 65 glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
68 glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
75 glDisable(GL_LIGHTING);
80 glVertex3d(mSegment.point1.x, mSegment.point1.y, mSegment.point1.z);
81 glVertex3d(mSegment.point2.x, mSegment.point2.y, mSegment.point2.z);
91 glEnable(GL_POINT_SMOOTH);
93 glDisable(GL_POINT_SMOOTH);
102 glVertex3d(seg.point1.x, seg.point1.y, seg.point1.z);
105 glVertex3d(seg.point2.x, seg.point2.y, seg.point2.z);
111 glEnable(GL_LIGHTING);
138 in >> x0 >> y0 >> z0 >> x1 >> y1 >> z1;
143 size_t N = x0.
size();
145 for (
size_t i = 0; i < N; i++)
183 std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
184 std::numeric_limits<double>::max());
186 -std::numeric_limits<double>::max(),
187 -std::numeric_limits<double>::max(),
188 -std::numeric_limits<double>::max());
192 for (
size_t p = 0; p < 2; p++)
195 for (
size_t j = 0; j < 3; j++)
209 size_t index,
double& x0,
double& y0,
double& z0,
double& x1,
double& y1,
std::vector< mrpt::math::TSegment3D > mSegments
void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
void keep_min(T &var, const K test_val)
If the second argument is below the first one, set the first argument to this lower value...
double x
X,Y,Z coordinates.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
Template for column vectors of dynamic size, compatible with Eigen.
#define THROW_EXCEPTION(msg)
void getLineByIndex(size_t index, double &x0, double &y0, double &z0, double &x1, double &y1, double &z1) const
Gets a specific line in the set, given its index.
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
To be added to all CSerializable-classes implementation files.
size_type size() const
Get a 2-vector with [NROWS NCOLS] (as in MATLAB command size(x))
float m_verticesPointSize
0: means hidden
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
mrpt::poses::CPose3D m_pose
6D pose wrt the parent coordinate reference.
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
A renderizable object suitable for rendering with OpenGL's display lists.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
#define ASSERT_(f)
Defines an assertion mechanism.
This base provides a set of functions for maths stuff.
float getVerticesPointSize() const
3D segment, consisting of two points.
void writeToStreamRender(mrpt::serialization::CArchive &out) const
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 th...
void setVerticesPointSize(const float size_points)
Enable showing vertices as dots if size_points>0.
void render_dl() const override
Render.
void keep_max(T &var, const K test_val)
If the second argument is above the first one, set the first argument to this higher value...
mrpt::img::TColor m_color
Color components in the range [0,255].
static void checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
CSetOfLines()
Constructor.
Virtual base class for "archives": classes abstracting I/O streams.
mrpt::vision::TStereoCalibResults out
The namespace for 3D scene representation and rendering.
void composePoint(double lx, double ly, double lz, double &gx, double &gy, double &gz, mrpt::optional_ref< mrpt::math::CMatrixDouble33 > out_jacobian_df_dpoint=std::nullopt, mrpt::optional_ref< mrpt::math::CMatrixDouble36 > out_jacobian_df_dpose=std::nullopt, mrpt::optional_ref< mrpt::math::CMatrixDouble36 > out_jacobian_df_dse3=std::nullopt, bool use_small_rot_approx=false) const
An alternative, slightly more efficient way of doing with G and L being 3D points and P this 6D pose...
A set of independent lines (or segments), one line with its own start and end positions (X...
void readFromStreamRender(mrpt::serialization::CArchive &in)
void setLineByIndex(size_t index, const mrpt::math::TSegment3D &segm)
Sets a specific line in the set, given its index.