MRPT  2.0.4
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mrpt::opengl::CMesh Class Reference

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
preview_CMesh.png

Definition at line 37 of file CMesh.h.

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:

Classes

struct  TTriangleVertexIndices
 

Public Member Functions

 CMesh (bool enableTransparency=false, float xMin=-1.0f, float xMax=1.0f, float yMin=-1.0f, float yMax=1.0f)
 
virtual ~CMesh () override
 
template<typename T >
void setGridLimits (T xMin, T xMax, T yMin, T 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::img::TColormap colorMap=mrpt::img::cmHOT)
 
void setZ (const mrpt::math::CMatrixDynamic< 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::CMatrixDynamic< float > &in_mask)
 This method sets the boolean mask of valid heights for each position (cell) in the mesh grid. 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 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::img::CImage &img)
 Assigns a texture image. More...
 
void assignImageAndZ (const mrpt::img::CImage &img, const mrpt::math::CMatrixDynamic< 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...
 
void assignImage (const mrpt::img::CImage &img, const mrpt::img::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 (mrpt::img::CImage &&img, mrpt::img::CImage &&imgAlpha)
 Similar to assignImage, but the passed images are moved in (move semantic). More...
 
void assignImage (mrpt::img::CImage &&img)
 Similar to assignImage, but with move semantics. More...
 
bool isLightEnabled () const
 
void enableLight (bool enable=true)
 
virtual void initializeTextures () const override
 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...
 
const mrpt::img::CImagegetTextureImage () const
 
const mrpt::img::CImagegetTextureAlphaImage () const
 
bool textureImageHasBeenAssigned () const
 
void enableTextureLinearInterpolation (bool enable)
 Enable linear interpolation of textures (default=false, use nearest pixel) More...
 
virtual void enqueForRenderRecursive ([[maybe_unused]] const mrpt::opengl::TRenderMatrices &state, [[maybe_unused]] RenderQueue &rq) const
 Process all children objects recursively, if the object is a container. More...
 
void updateBuffers () const
 Calls renderUpdateBuffers() and clear the flag that is set with notifyChange() More...
 
void notifyChange () const
 Call to enable calling renderUpdateBuffers() before the next render() rendering iteration. More...
 
bool hasToUpdateBuffers () const
 Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering. More...
 
virtual mrpt::math::TPoint3Df getLocalRepresentativePoint () const
 Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0]) More...
 
void setLocalRepresentativePoint (const mrpt::math::TPoint3Df &p)
 See getLocalRepresentativePoint() More...
 
mrpt::opengl::CTextlabelObject () const
 Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object. More...
 
virtual mxArraywriteToMatlab () 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...
 
void setLineWidth (float w)
 
float getLineWidth () const
 
void enableAntiAliasing (bool enable=true)
 
bool isAntiAliasingEnabled () const
 
Renderizable shader API virtual methods
void render (const RenderContext &rc) const override
 Implements the rendering of 3D objects in each class derived from CRenderizable. More...
 
void renderUpdateBuffers () const override
 Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc. More...
 
virtual shader_list_t requiredShaders () const override
 Returns the ID of the OpenGL shader program required to render this class. More...
 
void onUpdateBuffers_Wireframe () override
 Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...
 
void onUpdateBuffers_TexturedTriangles () override
 Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...
 
void freeOpenGLResources () override
 Free opengl buffers. 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
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (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::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (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...
 
float getColorR () const
 Color components in the range [0,1]. More...
 
float getColorG () const
 Color components in the range [0,1]. More...
 
float getColorB () const
 Color components in the range [0,1]. More...
 
float 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...
 
CRenderizablesetColorR (const float r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const float g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const float b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const float a)
 Color components in the range [0,1]. More...
 
virtual CRenderizablesetColorR_u8 (const uint8_t r)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorG_u8 (const uint8_t g)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorB_u8 (const uint8_t b)
 Color components in the range [0,255]. More...
 
virtual CRenderizablesetColorA_u8 (const uint8_t a)
 Color components in the range [0,255]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (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::img::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::img::TColorf &c)
 Changes the default object color. More...
 
CRenderizablesetColor (float R, float G, float B, float A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...
 
const mrpt::img::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 
virtual CRenderizablesetColor_u8 (const mrpt::img::TColor &c)
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Set the color components of this object (R,G,B,Alpha, in the range 0-255) More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. 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 writeToStreamTexturedObject (mrpt::serialization::CArchive &out) const
 
void readFromStreamTexturedObject (mrpt::serialization::CArchive &in)
 
void writeToStreamRender (mrpt::serialization::CArchive &out) const
 
void readFromStreamRender (mrpt::serialization::CArchive &in)
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

bool m_enableTransparency
 
bool m_colorFromZ {false}
 
bool m_isWireFrame {false}
 
bool m_isImage {false}
 
math::CMatrixF Z
 Z(x,y): Z-coordinate of the point (x,y) More...
 
math::CMatrixF mask
 
math::CMatrixF C
 Grayscale Color [0,1] for each cell, updated by updateColorsMatrix. More...
 
math::CMatrixF C_r
 Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...
 
math::CMatrixF C_g
 Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...
 
math::CMatrixF C_b
 Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...
 
mrpt::img::TColormap m_colorMap {mrpt::img::cmHOT}
 Used when m_colorFromZ is true. More...
 
bool m_modified_Z {true}
 Whether C is not up-to-date wrt to Z. More...
 
bool m_modified_Image {false}
 Whether C is not up-to-date wrt to the texture image. More...
 
float m_xMin
 Mesh bounds. More...
 
float m_xMax
 
float m_yMin
 
float m_yMax
 
std::vector< std::pair< mrpt::opengl::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 m_trianglesUpToDate {false}
 Whether the actual mesh needs to be recalculated. More...
 
bool m_polygonsUpToDate {false}
 Whether the polygon mesh (auxiliary structure for ray tracing) needs to be recalculated. More...
 
std::vector< mrpt::math::TPolygonWithPlanetmpPolys
 
std::vector< mrpt::opengl::TTrianglem_triangles
 List of triangles. More...
 
std::string m_name
 
bool m_show_name {false}
 
mrpt::img::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 {1}
 Scale components to apply to the object (default=1) More...
 
float m_scale_y {1}
 
float m_scale_z {1}
 
bool m_visible {true}
 Is the object visible? (default=true) More...
 
bool m_outdatedBuffers = true
 
mrpt::math::TPoint3Df m_representativePoint {0, 0, 0}
 
std::shared_ptr< mrpt::opengl::CTextm_label_obj
 Optional pointer to a mrpt::opengl::CText. More...
 
float m_lineWidth = 1.0f
 
bool m_antiAliasing = false
 
std::vector< mrpt::math::TPoint3Dfm_vertex_buffer_data
 
std::vector< mrpt::img::TColorm_color_buffer_data
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::opengl ::CMesh >
 
using ConstPtr = std::shared_ptr< const mrpt::opengl ::CMesh >
 
using UniquePtr = std::unique_ptr< mrpt::opengl ::CMesh >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::opengl ::CMesh >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::opengl" "::" "CMesh"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () 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 mrpt::opengl :: CMesh >

Definition at line 40 of file CMesh.h.

◆ ConstUniquePtr

using mrpt::opengl::CMesh::ConstUniquePtr = std::unique_ptr<const mrpt::opengl :: CMesh >

Definition at line 40 of file CMesh.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 40 of file CMesh.h.

◆ UniquePtr

using mrpt::opengl::CMesh::UniquePtr = std::unique_ptr< mrpt::opengl :: CMesh >

Definition at line 40 of file CMesh.h.

Constructor & Destructor Documentation

◆ CMesh()

CMesh::CMesh ( bool  enableTransparency = false,
float  xMin = -1.0f,
float  xMax = 1.0f,
float  yMin = -1.0f,
float  yMax = 1.0f 
)

Definition at line 30 of file CMesh.cpp.

◆ ~CMesh()

CMesh::~CMesh ( )
overridevirtualdefault

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CMesh::_GetBaseClass ( )
staticprotected

◆ adjustGridToImageAR()

void CMesh::adjustGridToImageAR ( )

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

Definition at line 609 of file CMesh.cpp.

References ASSERT_, getHeight(), and mrpt::opengl::CRenderizable::notifyChange().

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◆ assignImage() [1/4]

void CRenderizableShaderTexturedTriangles::assignImage ( const mrpt::img::CImage img,
const mrpt::img::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 168 of file CRenderizableShaderTexturedTriangles.cpp.

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

Referenced by assignImage(), and assignImageAndZ().

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◆ assignImage() [2/4]

void CRenderizableShaderTexturedTriangles::assignImage ( mrpt::img::CImage &&  img,
mrpt::img::CImage &&  imgAlpha 
)
inherited

Similar to assignImage, but the passed images are moved in (move semantic).

Definition at line 204 of file CRenderizableShaderTexturedTriangles.cpp.

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

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◆ assignImage() [3/4]

void CRenderizableShaderTexturedTriangles::assignImage ( mrpt::img::CImage &&  img)
inherited

Similar to assignImage, but with move semantics.

Definition at line 222 of file CRenderizableShaderTexturedTriangles.cpp.

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

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◆ assignImage() [4/4]

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

Assigns a texture image.

Definition at line 374 of file CMesh.cpp.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::assignImage(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), MRPT_END, MRPT_START, and mrpt::opengl::CRenderizable::notifyChange().

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◆ assignImageAndZ()

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

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

Definition at line 395 of file CMesh.cpp.

References ASSERT_, mrpt::opengl::CRenderizableShaderTexturedTriangles::assignImage(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), MRPT_END, MRPT_START, mrpt::opengl::CRenderizable::notifyChange(), and mrpt::math::CMatrixDynamic< T >::rows().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CMesh::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::opengl::CMesh::Create ( Args &&...  args)
inlinestatic

Definition at line 40 of file CMesh.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::opengl::CMesh::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 40 of file CMesh.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::opengl::CMesh::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::opengl::CMesh::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 40 of file CMesh.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ enableAntiAliasing()

void mrpt::opengl::CRenderizableShaderWireFrame::enableAntiAliasing ( bool  enable = true)
inlineinherited

Definition at line 49 of file CRenderizableShaderWireFrame.h.

References mrpt::opengl::CRenderizableShaderWireFrame::m_antiAliasing, and mrpt::opengl::CRenderizable::notifyChange().

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◆ enableColorFromZ()

void mrpt::opengl::CMesh::enableColorFromZ ( bool  v,
mrpt::img::TColormap  colorMap = mrpt::img::cmHOT 
)
inline

Definition at line 102 of file CMesh.h.

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

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

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◆ enableLight()

void mrpt::opengl::CRenderizableShaderTexturedTriangles::enableLight ( bool  enable = true)
inlineinherited

◆ 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 90 of file CRenderizable.h.

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

◆ enableTextureLinearInterpolation()

void mrpt::opengl::CRenderizableShaderTexturedTriangles::enableTextureLinearInterpolation ( bool  enable)
inlineinherited

Enable linear interpolation of textures (default=false, use nearest pixel)

Definition at line 93 of file CRenderizableShaderTexturedTriangles.h.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::m_textureInterpolate.

◆ enableTransparency()

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

Definition at line 92 of file CMesh.h.

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

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

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◆ enableWireFrame()

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

Definition at line 97 of file CMesh.h.

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

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

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◆ enqueForRenderRecursive()

virtual void mrpt::opengl::CRenderizable::enqueForRenderRecursive ( [[maybe_unused] ] const mrpt::opengl::TRenderMatrices state,
[[maybe_unused] ] RenderQueue rq 
) const
inlinevirtualinherited

Process all children objects recursively, if the object is a container.

Definition at line 285 of file CRenderizable.h.

Referenced by mrpt::opengl::enqueForRendering().

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◆ freeOpenGLResources()

void mrpt::opengl::CMesh::freeOpenGLResources ( )
inlineoverridevirtual

Free opengl buffers.

Implements mrpt::opengl::CRenderizable.

Definition at line 61 of file CMesh.h.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::freeOpenGLResources(), and mrpt::opengl::CRenderizableShaderWireFrame::freeOpenGLResources().

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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 593 of file CMesh.cpp.

References bb_max, and bb_min.

◆ getClassName()

static constexpr auto mrpt::opengl::CMesh::getClassName ( )
inlinestatic

Definition at line 40 of file CMesh.h.

◆ getColor()

mrpt::img::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 229 of file CRenderizable.h.

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

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().

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◆ getColor_u8()

const mrpt::img::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 248 of file CRenderizable.h.

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

◆ getColorA()

float mrpt::opengl::CRenderizable::getColorA ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 164 of file CRenderizable.h.

References mrpt::img::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 172 of file CRenderizable.h.

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

◆ getColorB()

float mrpt::opengl::CRenderizable::getColorB ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 170 of file CRenderizable.h.

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

◆ getColorG()

float mrpt::opengl::CRenderizable::getColorG ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::u8tof().

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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 168 of file CRenderizable.h.

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

◆ getColorR()

float mrpt::opengl::CRenderizable::getColorR ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 158 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, mrpt::img::TColor::R, and mrpt::u8tof().

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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 166 of file CRenderizable.h.

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

◆ getGridLimits()

void mrpt::opengl::CMesh::getGridLimits ( float &  xMin,
float &  xMax,
float &  yMin,
float &  yMax 
) const
inline

Definition at line 84 of file CMesh.h.

References m_xMax, m_xMin, m_yMax, and m_yMin.

◆ getLineWidth()

float mrpt::opengl::CRenderizableShaderWireFrame::getLineWidth ( ) const
inlineinherited

◆ getLocalRepresentativePoint()

virtual mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::getLocalRepresentativePoint ( ) const
inlinevirtualinherited

Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0])

Reimplemented in mrpt::opengl::CPlanarLaserScan.

Definition at line 341 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_representativePoint.

Referenced by mrpt::opengl::enqueForRendering().

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◆ 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 119 of file CMesh.h.

References mask, and out.

◆ getName()

const std::string& mrpt::opengl::CRenderizable::getName ( ) const
inlineinherited

Returns the name of the object.

Definition at line 75 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

Referenced by mrpt::opengl::enqueForRendering().

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◆ getPose()

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

Returns the 3D pose of the object as TPose3D.

Definition at line 223 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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◆ getPosePitch()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 148 of file CRenderizable.h.

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

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◆ getPosePitchRad()

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) 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::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 117 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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◆ getPoseRoll()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 150 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::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 156 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 140 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x().

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◆ getPoseY()

double mrpt::opengl::CRenderizable::getPoseY ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 142 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ getPoseYaw()

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 146 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::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 152 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 144 of file CRenderizable.h.

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

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CMesh::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableShaderTexturedTriangles.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::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 223 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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◆ getScaleY()

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

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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◆ getScaleZ()

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

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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◆ getTextureAlphaImage()

const mrpt::img::CImage& mrpt::opengl::CRenderizableShaderTexturedTriangles::getTextureAlphaImage ( ) const
inlineinherited

◆ getTextureImage()

const mrpt::img::CImage& mrpt::opengl::CRenderizableShaderTexturedTriangles::getTextureImage ( ) const
inlineinherited

◆ getXBounds()

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

Definition at line 152 of file CMesh.h.

References m_xMax, and m_xMin.

◆ getxMax()

float mrpt::opengl::CMesh::getxMax ( ) const
inline

Definition at line 125 of file CMesh.h.

References m_xMax.

◆ getxMin()

float mrpt::opengl::CMesh::getxMin ( ) const
inline

Definition at line 124 of file CMesh.h.

References m_xMin.

◆ getYBounds()

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

Definition at line 157 of file CMesh.h.

References m_yMax, and m_yMin.

◆ getyMax()

float mrpt::opengl::CMesh::getyMax ( ) const
inline

Definition at line 127 of file CMesh.h.

References m_yMax.

◆ getyMin()

float mrpt::opengl::CMesh::getyMin ( ) const
inline

Definition at line 126 of file CMesh.h.

References m_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 116 of file CMesh.h.

References out, and Z.

◆ hasToUpdateBuffers()

bool mrpt::opengl::CRenderizable::hasToUpdateBuffers ( ) const
inlineinherited

Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering.

Definition at line 324 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers.

Referenced by mrpt::opengl::enqueForRendering().

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◆ initializeTextures()

void CRenderizableShaderTexturedTriangles::initializeTextures ( ) const
overridevirtualinherited

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.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 267 of file CRenderizableShaderTexturedTriangles.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::img::D8U, mrpt::opengl::internal::data, mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::dump_to_pool(), mrpt::system::CTimeLogger::enter(), mrpt::format(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), mrpt::img::IMG_INTERP_LINEAR, mrpt::system::CTimeLogger::leave(), reserveDataBuffer(), and THROW_EXCEPTION.

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◆ isAntiAliasingEnabled()

bool mrpt::opengl::CRenderizableShaderWireFrame::isAntiAliasingEnabled ( ) const
inlineinherited

◆ isLightEnabled()

bool mrpt::opengl::CRenderizableShaderTexturedTriangles::isLightEnabled ( ) const
inlineinherited

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See also
enableShowName

Definition at line 92 of file CRenderizable.h.

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

Referenced by mrpt::opengl::enqueForRendering().

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◆ isVisible()

bool mrpt::opengl::CRenderizable::isVisible ( ) const
inlineinherited

Is the object visible?

See also
setVisibility

Definition at line 76 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

Referenced by mrpt::opengl::enqueForRendering().

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◆ labelObject()

CText & CRenderizable::labelObject ( ) const
inherited

Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object.

See also
enableShowName()

Definition at line 238 of file CRenderizable.cpp.

References mrpt::opengl::CText::setString().

Referenced by mrpt::opengl::enqueForRendering().

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◆ notifyChange()

void mrpt::opengl::CRenderizable::notifyChange ( ) const
inlineinherited

Call to enable calling renderUpdateBuffers() before the next render() rendering iteration.

Definition at line 315 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers.

Referenced by mrpt::opengl::CMeshFast::adjustGridToImageAR(), adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CRenderizableShaderTexturedTriangles::assignImage(), mrpt::opengl::CMeshFast::assignImage(), assignImage(), mrpt::opengl::CMeshFast::assignImageAndZ(), assignImageAndZ(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), mrpt::opengl::CPlanarLaserScan::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CPointCloud::clear(), mrpt::opengl::CPointCloudColoured::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::CRenderizableShaderWireFrame::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CPointCloud::enableColorFromX(), mrpt::opengl::CPointCloud::enableColorFromY(), mrpt::opengl::CMeshFast::enableColorFromZ(), enableColorFromZ(), mrpt::opengl::CPointCloud::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::enableDrawSolid3D(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CPointCloud::enablePointSmooth(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMeshFast::enableTransparency(), enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CPointCloud::insertPoint(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CPointCloud::loadFromPointsList(), mrpt::opengl::CPointCloudColoured::loadFromPointsMap(), mrpt::opengl::CPointCloud::loadFromPointsMap(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::CPointCloudColoured::push_back(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CPointCloudColoured::resize(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CSimpleLine::serializeFrom(), mrpt::opengl::CTexturedPlane::serializeFrom(), mrpt::opengl::CSetOfTriangles::serializeFrom(), mrpt::opengl::CArrow::serializeFrom(), mrpt::opengl::CSphere::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CAxis::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CDisk::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CColorBar::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CMeshFast::serializeFrom(), serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CText3D::serializeFrom(), mrpt::opengl::CAssimpModel::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CPointCloudColoured::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), mrpt::opengl::COctoMapVoxels::serializeFrom(), mrpt::opengl::CPointCloud::setAllPoints(), mrpt::opengl::CPointCloud::setAllPointsFast(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::CText::setFont(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMeshFast::setGridLimits(), setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CRenderizableShaderWireFrame::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CPointCloudColoured::setPoint(), mrpt::opengl::CPointCloud::setPoint(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CArrow::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CText::setString(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CAxis::setTickMarksLength(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::opengl::CSetOfLines::setVerticesPointSize(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), setXBounds(), mrpt::opengl::CMeshFast::setXMax(), setxMax(), mrpt::opengl::CMeshFast::setXMin(), setxMin(), mrpt::opengl::CMeshFast::setYBounds(), setYBounds(), mrpt::opengl::CMeshFast::setYMax(), setyMax(), mrpt::opengl::CMeshFast::setYMin(), setyMin(), mrpt::opengl::CMeshFast::setZ(), setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMeshFast::updateColorsMatrix(), updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CSetOfTriangles::updatePolygons(), updatePolygons(), and updateTriangles().

◆ onUpdateBuffers_TexturedTriangles()

void CMesh::onUpdateBuffers_TexturedTriangles ( )
overridevirtual

Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields.

Implements mrpt::opengl::CRenderizableShaderTexturedTriangles.

Definition at line 339 of file CMesh.cpp.

References mrpt::opengl::CRenderizableShaderTexturedTriangles::m_triangles, mrpt::opengl::TTriangle::vertices, and mrpt::opengl::CMesh::TTriangleVertexIndices::vind.

◆ onUpdateBuffers_Wireframe()

void CMesh::onUpdateBuffers_Wireframe ( )
overridevirtual

Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields.

Implements mrpt::opengl::CRenderizableShaderWireFrame.

Definition at line 314 of file CMesh.cpp.

References mrpt::opengl::TTriangle::a(), mrpt::opengl::TTriangle::b(), mrpt::opengl::TTriangle::g(), mrpt::opengl::CRenderizableShaderWireFrame::m_color_buffer_data, mrpt::opengl::CRenderizableShaderWireFrame::m_vertex_buffer_data, mrpt::opengl::TTriangle::r(), mrpt::opengl::TTriangle::x(), mrpt::opengl::TTriangle::y(), and mrpt::opengl::TTriangle::z().

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◆ readFromStreamRender()

void CRenderizable::readFromStreamRender ( mrpt::serialization::CArchive in)
protectedinherited

Definition at line 99 of file CRenderizable.cpp.

References mrpt::obs::gnss::pitch, mrpt::serialization::CArchive::ReadBuffer(), mrpt::obs::gnss::roll, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), and mrpt::opengl::CFrustum::serializeFrom().

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◆ readFromStreamTexturedObject()

void CRenderizableShaderTexturedTriangles::readFromStreamTexturedObject ( mrpt::serialization::CArchive in)
protectedinherited

Definition at line 528 of file CRenderizableShaderTexturedTriangles.cpp.

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

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◆ render()

void CMesh::render ( const RenderContext rc) const
overridevirtual

Implements the rendering of 3D objects in each class derived from CRenderizable.

This can be called more than once (one per required shader program) if the object registered several shaders.

See also
renderUpdateBuffers

Implements mrpt::opengl::CRenderizable.

Definition at line 293 of file CMesh.cpp.

References mrpt::opengl::CRenderizableShaderWireFrame::render(), mrpt::opengl::CRenderizableShaderTexturedTriangles::render(), mrpt::opengl::CRenderizable::RenderContext::shader_id, mrpt::opengl::DefaultShaderID::TEXTURED_TRIANGLES, and mrpt::opengl::DefaultShaderID::WIREFRAME.

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◆ renderUpdateBuffers()

void CMesh::renderUpdateBuffers ( ) const
overridevirtual

Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc.

before they are sent for rendering in render()

Implements mrpt::opengl::CRenderizable.

Definition at line 306 of file CMesh.cpp.

References mrpt::opengl::CRenderizableShaderWireFrame::renderUpdateBuffers(), and mrpt::opengl::CRenderizableShaderTexturedTriangles::renderUpdateBuffers().

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◆ requiredShaders()

virtual shader_list_t mrpt::opengl::CMesh::requiredShaders ( ) const
inlineoverridevirtual

Returns the ID of the OpenGL shader program required to render this class.

See also
DefaultShaderID

Reimplemented from mrpt::opengl::CRenderizableShaderTexturedTriangles.

Definition at line 53 of file CMesh.h.

References mrpt::opengl::DefaultShaderID::TEXTURED_TRIANGLES, and mrpt::opengl::DefaultShaderID::WIREFRAME.

◆ serializeFrom() [1/2]

void CMesh::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 436 of file CMesh.cpp.

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

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CMesh::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 420 of file CMesh.cpp.

◆ serializeTo() [1/2]

void CMesh::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 421 of file CMesh.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::img::TColorf c)
inlineinherited

Changes the default object color.

Returns
a ref to this

Definition at line 234 of file CRenderizable.h.

References mrpt::img::TColorf::A, mrpt::img::TColorf::B, mrpt::f2u8(), mrpt::img::TColorf::G, mrpt::img::TColorf::R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( float  R,
float  G,
float  B,
float  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 242 of file CRenderizable.h.

References mrpt::f2u8(), G, R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [1/2]

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::img::TColor c)
virtualinherited

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 229 of file CRenderizable.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, and mrpt::img::TColor::R.

Referenced by mrpt::opengl::CRenderizable::setColor(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-255)

Returns
a ref to this

Definition at line 254 of file CRenderizable.h.

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

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◆ setColorA()

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const float  a)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 180 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorA_u8().

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◆ setColorA_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorA_u8 ( const uint8_t  a)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 200 of file CRenderizable.h.

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

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject(), mrpt::opengl::CRenderizable::setColorA(), and mrpt::opengl::CSetOfObjects::setColorA_u8().

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◆ setColorB()

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const float  b)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 178 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorB_u8().

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◆ setColorB_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorB_u8 ( const uint8_t  b)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 194 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CRenderizable::setColorB(), and mrpt::opengl::CSetOfObjects::setColorB_u8().

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◆ setColorG()

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const float  g)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 176 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorG_u8().

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◆ setColorG_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorG_u8 ( const uint8_t  g)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 188 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CRenderizable::setColorG(), and mrpt::opengl::CSetOfObjects::setColorG_u8().

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◆ setColorR()

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const float  r)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 174 of file CRenderizable.h.

References mrpt::f2u8(), and mrpt::opengl::CRenderizable::setColorR_u8().

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◆ setColorR_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorR_u8 ( const uint8_t  r)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented in mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.

Definition at line 182 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CRenderizable::setColorR(), and mrpt::opengl::CSetOfObjects::setColorR_u8().

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◆ setGridLimits()

template<typename T >
void mrpt::opengl::CMesh::setGridLimits ( xMin,
xMax,
yMin,
yMax 
)
inline

Definition at line 75 of file CMesh.h.

References m_xMax, m_xMin, m_yMax, m_yMin, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setLineWidth()

void mrpt::opengl::CRenderizableShaderWireFrame::setLineWidth ( float  w)
inlineinherited

Definition at line 43 of file CRenderizableShaderWireFrame.h.

References mrpt::opengl::CRenderizableShaderWireFrame::m_lineWidth, and mrpt::opengl::CRenderizable::notifyChange().

Referenced by mrpt::opengl::CAxis::CAxis(), mrpt::opengl::CBox::CBox(), mrpt::opengl::CFrustum::CFrustum(), and mrpt::opengl::COctoMapVoxels::onUpdateBuffers_Wireframe().

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◆ setLocalRepresentativePoint()

void mrpt::opengl::CRenderizable::setLocalRepresentativePoint ( const mrpt::math::TPoint3Df p)
inlineinherited

◆ 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 121 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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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 131 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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◆ setMask()

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

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

Definition at line 559 of file CMesh.cpp.

References mrpt::opengl::CRenderizable::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 73 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 189 of file CRenderizable.cpp.

Referenced by mrpt::opengl::COpenGLViewport::setCurrentCameraFromPose().

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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 194 of file CRenderizable.cpp.

◆ 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 199 of file CRenderizable.cpp.

◆ 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 204 of file CRenderizable.cpp.

◆ 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 211 of file CRenderizable.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::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 217 of file CRenderizable.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::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 208 of file CRenderizable.h.

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

◆ 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 215 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 81 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

◆ setXBounds()

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

Definition at line 162 of file CMesh.h.

References m_trianglesUpToDate, m_xMax, m_xMin, and mrpt::opengl::CRenderizable::notifyChange().

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

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◆ setxMax()

void mrpt::opengl::CMesh::setxMax ( const float  nxm)
inline

Definition at line 134 of file CMesh.h.

References m_trianglesUpToDate, m_xMax, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setxMin()

void mrpt::opengl::CMesh::setxMin ( const float  nxm)
inline

Definition at line 128 of file CMesh.h.

References m_trianglesUpToDate, m_xMin, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setYBounds()

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

Definition at line 169 of file CMesh.h.

References m_trianglesUpToDate, m_yMax, m_yMin, and mrpt::opengl::CRenderizable::notifyChange().

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

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◆ setyMax()

void mrpt::opengl::CMesh::setyMax ( const float  nym)
inline

Definition at line 146 of file CMesh.h.

References m_trianglesUpToDate, m_yMax, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setyMin()

void mrpt::opengl::CMesh::setyMin ( const float  nym)
inline

Definition at line 140 of file CMesh.h.

References m_trianglesUpToDate, m_yMin, and mrpt::opengl::CRenderizable::notifyChange().

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◆ setZ()

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

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

Definition at line 547 of file CMesh.cpp.

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

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

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◆ textureImageHasBeenAssigned()

bool mrpt::opengl::CRenderizableShaderTexturedTriangles::textureImageHasBeenAssigned ( ) const
inlineinherited

◆ 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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◆ updateBuffers()

void mrpt::opengl::CRenderizable::updateBuffers ( ) const
inlineinherited

Calls renderUpdateBuffers() and clear the flag that is set with notifyChange()

Definition at line 307 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_outdatedBuffers, and mrpt::opengl::CRenderizable::renderUpdateBuffers().

Referenced by mrpt::opengl::enqueForRendering().

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◆ updateColorsMatrix()

void CMesh::updateColorsMatrix ( ) const
protected

Called internally to assure C is updated.

Definition at line 476 of file CMesh.cpp.

References mrpt::keep_max(), mrpt::keep_min(), mrpt::math::normalize(), mrpt::opengl::CRenderizable::notifyChange(), and val.

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◆ updatePolygons()

void CMesh::updatePolygons ( ) const
protected

Definition at line 581 of file CMesh.cpp.

References createPolygonFromTriangle(), and mrpt::opengl::CRenderizable::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 56 of file CMesh.cpp.

References mrpt::opengl::TTriangle::a(), ASSERT_, ASSERT_ABOVE_, mrpt::opengl::TTriangle::b(), mrpt::img::TColorf::B, mrpt::img::colormap(), mrpt::f2u8(), mrpt::opengl::TTriangle::g(), mrpt::img::TColorf::G, mrpt::opengl::CRenderizable::notifyChange(), mrpt::opengl::TTriangle::r(), mrpt::img::TColorf::R, mrpt::math::TPoint3D_< T >::unitarize(), mrpt::opengl::CMesh::TTriangleVertexIndices::vind, mrpt::opengl::TTriangle::x(), mrpt::opengl::TTriangle::y(), and mrpt::opengl::TTriangle::z().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 90 of file CSerializable.h.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( mrpt::serialization::CArchive out) const
protectedinherited

Definition at line 44 of file CRenderizable.cpp.

References out.

Referenced by mrpt::opengl::CGridPlaneXY::serializeTo(), mrpt::opengl::CGridPlaneXZ::serializeTo(), mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), and mrpt::opengl::CFrustum::serializeTo().

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◆ writeToStreamTexturedObject()

void CRenderizableShaderTexturedTriangles::writeToStreamTexturedObject ( mrpt::serialization::CArchive out) const
protectedinherited

Definition at line 516 of file CRenderizableShaderTexturedTriangles.cpp.

References out.

Member Data Documentation

◆ actualMesh

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

List of triangles in the mesh.

Definition at line 242 of file CMesh.h.

◆ C

math::CMatrixF mrpt::opengl::CMesh::C
mutableprotected

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

Definition at line 211 of file CMesh.h.

◆ C_b

math::CMatrixF mrpt::opengl::CMesh::C_b
mutableprotected

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

Definition at line 220 of file CMesh.h.

◆ C_g

math::CMatrixF mrpt::opengl::CMesh::C_g
mutableprotected

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

Definition at line 217 of file CMesh.h.

◆ C_r

math::CMatrixF mrpt::opengl::CMesh::C_r
mutableprotected

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

Definition at line 214 of file CMesh.h.

◆ className

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

Definition at line 40 of file CMesh.h.

◆ m_antiAliasing

bool mrpt::opengl::CRenderizableShaderWireFrame::m_antiAliasing = false
protectedinherited

◆ m_color

mrpt::img::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited

◆ m_color_buffer_data

std::vector<mrpt::img::TColor> mrpt::opengl::CRenderizableShaderWireFrame::m_color_buffer_data
mutableprotectedinherited

◆ m_colorFromZ

bool mrpt::opengl::CMesh::m_colorFromZ {false}
protected

Definition at line 202 of file CMesh.h.

Referenced by enableColorFromZ().

◆ m_colorMap

mrpt::img::TColormap mrpt::opengl::CMesh::m_colorMap {mrpt::img::cmHOT}
protected

Used when m_colorFromZ is true.

Definition at line 223 of file CMesh.h.

Referenced by enableColorFromZ().

◆ m_enableTransparency

bool mrpt::opengl::CMesh::m_enableTransparency
protected

Definition at line 201 of file CMesh.h.

Referenced by enableTransparency().

◆ m_isImage

bool mrpt::opengl::CMesh::m_isImage {false}
protected

Definition at line 204 of file CMesh.h.

◆ m_isWireFrame

bool mrpt::opengl::CMesh::m_isWireFrame {false}
protected

Definition at line 203 of file CMesh.h.

Referenced by enableWireFrame().

◆ m_label_obj

std::shared_ptr<mrpt::opengl::CText> mrpt::opengl::CRenderizable::m_label_obj
mutableprotectedinherited

Optional pointer to a mrpt::opengl::CText.

Definition at line 372 of file CRenderizable.h.

◆ m_lineWidth

float mrpt::opengl::CRenderizableShaderWireFrame::m_lineWidth = 1.0f
protectedinherited

◆ m_modified_Image

bool mrpt::opengl::CMesh::m_modified_Image {false}
mutableprotected

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

Definition at line 228 of file CMesh.h.

◆ m_modified_Z

bool mrpt::opengl::CMesh::m_modified_Z {true}
mutableprotected

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

Definition at line 226 of file CMesh.h.

◆ m_name

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

◆ m_outdatedBuffers

bool mrpt::opengl::CRenderizable::m_outdatedBuffers = true
protectedinherited

◆ m_polygonsUpToDate

bool mrpt::opengl::CMesh::m_polygonsUpToDate {false}
mutableprotected

Whether the polygon mesh (auxiliary structure for ray tracing) needs to be recalculated.

Definition at line 250 of file CMesh.h.

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited

◆ m_representativePoint

mrpt::math::TPoint3Df mrpt::opengl::CRenderizable::m_representativePoint {0, 0, 0}
protectedinherited

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x {1}
protectedinherited

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

Definition at line 64 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleX(), and mrpt::opengl::CRenderizable::setScale().

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y {1}
protectedinherited

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z {1}
protectedinherited

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name {false}
protectedinherited

◆ m_triangles

std::vector<mrpt::opengl::TTriangle> mrpt::opengl::CRenderizableShaderTexturedTriangles::m_triangles
mutableprotectedinherited

◆ m_trianglesUpToDate

bool mrpt::opengl::CMesh::m_trianglesUpToDate {false}
mutableprotected

Whether the actual mesh needs to be recalculated.

Definition at line 247 of file CMesh.h.

Referenced by setXBounds(), setxMax(), setxMin(), setYBounds(), setyMax(), and setyMin().

◆ m_vertex_buffer_data

std::vector<mrpt::math::TPoint3Df> mrpt::opengl::CRenderizableShaderWireFrame::m_vertex_buffer_data
mutableprotectedinherited

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible {true}
protectedinherited

Is the object visible? (default=true)

Definition at line 66 of file CRenderizable.h.

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

◆ m_xMax

float mrpt::opengl::CMesh::m_xMax
protected

Definition at line 238 of file CMesh.h.

Referenced by getGridLimits(), getXBounds(), getxMax(), setGridLimits(), setXBounds(), and setxMax().

◆ m_xMin

float mrpt::opengl::CMesh::m_xMin
protected

Mesh bounds.

Definition at line 238 of file CMesh.h.

Referenced by getGridLimits(), getXBounds(), getxMin(), setGridLimits(), setXBounds(), and setxMin().

◆ m_yMax

float mrpt::opengl::CMesh::m_yMax
protected

Definition at line 238 of file CMesh.h.

Referenced by getGridLimits(), getYBounds(), getyMax(), setGridLimits(), setYBounds(), and setyMax().

◆ m_yMin

float mrpt::opengl::CMesh::m_yMin
protected

Definition at line 238 of file CMesh.h.

Referenced by getGridLimits(), getYBounds(), getyMin(), setGridLimits(), setYBounds(), and setyMin().

◆ mask

math::CMatrixF mrpt::opengl::CMesh::mask
protected

Definition at line 208 of file CMesh.h.

Referenced by getMask().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CMesh::runtimeClassId
staticprotected

Definition at line 40 of file CMesh.h.

◆ tmpPolys

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

Definition at line 251 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 245 of file CMesh.h.

◆ Z

math::CMatrixF mrpt::opengl::CMesh::Z
protected

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

Definition at line 207 of file CMesh.h.

Referenced by getZ().




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