MRPT  1.9.9
mrpt::opengl::COctoMapVoxels Class Reference

Detailed Description

A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap).

This class is sort of equivalent to octovis::OcTreeDrawer from the octomap package, but relying on MRPT's CRenderizableDisplayList so there's no need to manually cache the rendering of OpenGL primitives.

Normally users call mrpt::maps::COctoMap::getAs3DObject() to obtain a generic mrpt::opengl::CSetOfObjects which insides holds an instance of COctoMapVoxels. You can also alternativelly call COctoMapVoxels::setFromOctoMap(), so you can tune the display parameters, colors, etc. As with any other mrpt::opengl class, all object coordinates refer to some frame of reference which is relative to the object parent and can be changed with mrpt::opengl::CRenderizable::setPose()

This class draws these separate elements to represent an OctoMap:

Several coloring schemes can be selected with setVisualizationMode(). See COctoMapVoxels::visualization_mode_t

mrpt::opengl::COctoMapVoxels
preview_COctoMapVoxels.png
See also
opengl::COpenGLScene

Definition at line 67 of file COctoMapVoxels.h.

#include <mrpt/opengl/COctoMapVoxels.h>

Inheritance diagram for mrpt::opengl::COctoMapVoxels:

Classes

struct  TGridCube
 The info of each grid block. More...
 
struct  TInfoPerVoxelSet
 
struct  TVoxel
 The info of each of the voxels. More...
 

Public Types

enum  visualization_mode_t {
  COLOR_FROM_HEIGHT, COLOR_FROM_OCCUPANCY, TRANSPARENCY_FROM_OCCUPANCY, TRANS_AND_COLOR_FROM_OCCUPANCY,
  MIXED, FIXED
}
 The different coloring schemes, which modulate the generic mrpt::opengl::CRenderizable object color. More...
 

Public Member Functions

void clear ()
 Clears everything. More...
 
void setVisualizationMode (visualization_mode_t mode)
 Select the visualization mode. More...
 
visualization_mode_t getVisualizationMode () const
 
void enableLights (bool enable)
 Can be used to enable/disable the effects of lighting in this object. More...
 
bool areLightsEnabled () const
 
void enableCubeTransparency (bool enable)
 By default, the alpha (transparency) component of voxel cubes is taken into account, but transparency can be disabled with this method. More...
 
bool isCubeTransparencyEnabled () const
 
void showGridLines (bool show)
 Shows/hides the grid lines. More...
 
bool areGridLinesVisible () const
 
void showVoxels (unsigned int voxel_set, bool show)
 Shows/hides the voxels (voxel_set is a 0-based index for the set of voxels to modify, e.g. More...
 
bool areVoxelsVisible (unsigned int voxel_set) const
 
void showVoxelsAsPoints (const bool enable)
 For quick renders: render voxels as points instead of cubes. More...
 
bool areVoxelsShownAsPoints () const
 
void setVoxelAsPointsSize (float pointSize)
 Only used when showVoxelsAsPoints() is enabled. More...
 
float getVoxelAsPointsSize () const
 
void setGridLinesWidth (float w)
 Sets the width of grid lines. More...
 
float getGridLinesWidth () const
 Gets the width of grid lines. More...
 
void setGridLinesColor (const mrpt::img::TColor &color)
 
const mrpt::img::TColorgetGridLinesColor () const
 
size_t getGridCubeCount () const
 Returns the total count of grid cubes. More...
 
size_t getVoxelSetCount () const
 Returns the number of voxel sets. More...
 
size_t getVoxelCount (const size_t set_index) const
 Returns the total count of voxels in one voxel set. More...
 
void setBoundingBox (const mrpt::math::TPoint3D &bb_min, const mrpt::math::TPoint3D &bb_max)
 Manually changes the bounding box (normally the user doesn't need to call this) More...
 
void resizeGridCubes (const size_t nCubes)
 
void resizeVoxelSets (const size_t nVoxelSets)
 
void resizeVoxels (const size_t set_index, const size_t nVoxels)
 
void reserveGridCubes (const size_t nCubes)
 
void reserveVoxels (const size_t set_index, const size_t nVoxels)
 
TGridCubegetGridCubeRef (const size_t idx)
 
const TGridCubegetGridCube (const size_t idx) const
 
TVoxelgetVoxelRef (const size_t set_index, const size_t idx)
 
const TVoxelgetVoxel (const size_t set_index, const size_t idx) const
 
void push_back_GridCube (const TGridCube &c)
 
void push_back_Voxel (const size_t set_index, const TVoxel &v)
 
void sort_voxels_by_z ()
 
void render_dl () const override
 Render. More...
 
void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...
 
template<class OCTOMAP >
void setFromOctoMap (OCTOMAP &m)
 Sets the contents of the object from a mrpt::maps::COctoMap object. More...
 
 COctoMapVoxels ()
 Constructor. More...
 
 ~COctoMapVoxels () override=default
 Private, virtual destructor: only can be deleted from smart pointers. More...
 
void render () const override
 Render the object, regenerating the display list if needed, otherwise just calling it. More...
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Simulation of ray-trace, given a pose. 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...
 
Changes the appearance of the object to render (methods from

CRenderizable that need to be redefined)

CRenderizablesetColorR_u8 (const uint8_t r) override
 Color components in the range [0,255]. More...
 
CRenderizablesetColorG_u8 (const uint8_t g) override
 Color components in the range [0,255]. More...
 
CRenderizablesetColorB_u8 (const uint8_t b) override
 Color components in the range [0,255]. More...
 
CRenderizablesetColorA_u8 (const uint8_t a) override
 Color components in the range [0,255]. More...
 
CRenderizablesetColor_u8 (const mrpt::img::TColor &c) override
 Changes the default object color. More...
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Color components in the range [0,255]. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () 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...
 
double getColorR () const
 Color components in the range [0,1]. More...
 
double getColorG () const
 Color components in the range [0,1]. More...
 
double getColorB () const
 Color components in the range [0,1]. More...
 
double getColorA () const
 Color components in the range [0,1]. More...
 
uint8_t getColorR_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorG_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorB_u8 () const
 Color components in the range [0,255]. More...
 
uint8_t getColorA_u8 () const
 Color components in the range [0,255]. More...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. 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 (double R, double G, double B, double A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1) More...
 
const mrpt::img::TColorgetColor_u8 () const
 Returns the object color property as a TColor. 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...
 

Static Public Member Functions

static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within ::render() methods. More...
 
static void renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods) More...
 
static int textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). More...
 

Protected Member Functions

void writeToStreamRender (mrpt::serialization::CArchive &out) const
 
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...
 
Methods accesible or implemented by derived classes
void notifyChange () const
 Must be called to notify that the object has changed (so, the display list must be updated) More...
 
virtual bool should_skip_display_list_cache () const
 Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More...
 
void readFromStreamRender (mrpt::serialization::CArchive &in)
 
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...
 

Static Protected Member Functions

static void checkOpenGLError ()
 Checks glGetError and throws an exception if an error situation is found. More...
 
static unsigned int getNewTextureNumber ()
 Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). More...
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

std::deque< TInfoPerVoxelSetm_voxel_sets
 
std::vector< TGridCubem_grid_cubes
 
mrpt::math::TPoint3D m_bb_min
 Cached bounding boxes. More...
 
mrpt::math::TPoint3D m_bb_max
 
bool m_enable_lighting {false}
 
bool m_enable_cube_transparency {true}
 
bool m_showVoxelsAsPoints {false}
 
float m_showVoxelsAsPointsSize {3.0f}
 
bool m_show_grids {false}
 
float m_grid_width {1.0f}
 
mrpt::img::TColor m_grid_color
 
visualization_mode_t m_visual_mode {COctoMapVoxels::COLOR_FROM_OCCUPANCY}
 
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...
 

RTTI stuff

using Ptr = std::shared_ptr< COctoMapVoxels >
 
using ConstPtr = std::shared_ptr< const COctoMapVoxels >
 
using UniquePtr = std::unique_ptr< COctoMapVoxels >
 
using ConstUniquePtr = std::unique_ptr< const COctoMapVoxels >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "COctoMapVoxels"
 
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

◆ ConstUniquePtr

Definition at line 69 of file COctoMapVoxels.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 69 of file COctoMapVoxels.h.

◆ UniquePtr

Definition at line 69 of file COctoMapVoxels.h.

Member Enumeration Documentation

◆ visualization_mode_t

The different coloring schemes, which modulate the generic mrpt::opengl::CRenderizable object color.

Set with setVisualizationMode()

Enumerator
COLOR_FROM_HEIGHT 

Color goes from black (at the bottom) to the chosen color (at the top)

COLOR_FROM_OCCUPANCY 

Color goes from black (occupied voxel) to the chosen color (free voxel)

TRANSPARENCY_FROM_OCCUPANCY 

Transparency goes from opaque (occupied voxel) to transparent (free voxel).

TRANS_AND_COLOR_FROM_OCCUPANCY 

Color goes from black (occupaid voxel) to the chosen color (free voxel) and they are transparent.

MIXED 

Combination of COLOR_FROM_HEIGHT and TRANSPARENCY_FROM_OCCUPANCY.

FIXED 

All cubes are of identical color.

Definition at line 74 of file COctoMapVoxels.h.

Constructor & Destructor Documentation

◆ COctoMapVoxels()

COctoMapVoxels::COctoMapVoxels ( )

Constructor.

Ctor.

Definition at line 25 of file COctoMapVoxels.cpp.

◆ ~COctoMapVoxels()

mrpt::opengl::COctoMapVoxels::~COctoMapVoxels ( )
overridedefault

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

Member Function Documentation

◆ _GetBaseClass()

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

◆ areGridLinesVisible()

bool mrpt::opengl::COctoMapVoxels::areGridLinesVisible ( ) const
inline

Definition at line 189 of file COctoMapVoxels.h.

References m_show_grids.

◆ areLightsEnabled()

bool mrpt::opengl::COctoMapVoxels::areLightsEnabled ( ) const
inline

Definition at line 170 of file COctoMapVoxels.h.

References m_enable_lighting.

◆ areVoxelsShownAsPoints()

bool mrpt::opengl::COctoMapVoxels::areVoxelsShownAsPoints ( ) const
inline

Definition at line 211 of file COctoMapVoxels.h.

References m_showVoxelsAsPoints.

◆ areVoxelsVisible()

bool mrpt::opengl::COctoMapVoxels::areVoxelsVisible ( unsigned int  voxel_set) const
inline

Definition at line 198 of file COctoMapVoxels.h.

References ASSERT_, and m_voxel_sets.

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited

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

Definition at line 240 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), and mrpt::opengl::CPolyhedron::render_dl().

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◆ clear()

void COctoMapVoxels::clear ( )

Clears everything.

Definition at line 27 of file COctoMapVoxels.cpp.

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

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

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::COctoMapVoxels::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::COctoMapVoxels::Create ( Args &&...  args)
inlinestatic

Definition at line 69 of file COctoMapVoxels.h.

Referenced by mrpt::maps::COccupancyGridMap3D::getAs3DObject(), and mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getAs3DObject().

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◆ CreateAlloc()

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

Definition at line 69 of file COctoMapVoxels.h.

◆ CreateObject()

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

◆ CreateUnique()

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

Definition at line 69 of file COctoMapVoxels.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 191 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ enableCubeTransparency()

void mrpt::opengl::COctoMapVoxels::enableCubeTransparency ( bool  enable)
inline

By default, the alpha (transparency) component of voxel cubes is taken into account, but transparency can be disabled with this method.

Definition at line 173 of file COctoMapVoxels.h.

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

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◆ enableLights()

void mrpt::opengl::COctoMapVoxels::enableLights ( bool  enable)
inline

Can be used to enable/disable the effects of lighting in this object.

Definition at line 165 of file COctoMapVoxels.h.

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

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◆ enableShowName()

void mrpt::opengl::CRenderizable::enableShowName ( bool  showName = true)
inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 82 of file CRenderizable.h.

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

◆ getBoundingBox()

void COctoMapVoxels::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 289 of file COctoMapVoxels.cpp.

References bb_max, and bb_min.

◆ getClassName()

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

Definition at line 69 of file COctoMapVoxels.h.

◆ getColor()

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

Returns the object color property as a TColorf.

Definition at line 231 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 250 of file CRenderizable.h.

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

◆ getColorA()

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

Color components in the range [0,1].

Definition at line 154 of file CRenderizable.h.

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

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

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◆ getColorA_u8()

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

Color components in the range [0,255].

Definition at line 162 of file CRenderizable.h.

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

◆ getColorB()

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

Color components in the range [0,1].

Definition at line 152 of file CRenderizable.h.

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

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

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◆ getColorB_u8()

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

Color components in the range [0,255].

Definition at line 160 of file CRenderizable.h.

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

◆ getColorG()

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

Color components in the range [0,1].

Definition at line 150 of file CRenderizable.h.

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

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

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◆ getColorG_u8()

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

Color components in the range [0,255].

Definition at line 158 of file CRenderizable.h.

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

◆ getColorR()

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

Color components in the range [0,1].

Definition at line 148 of file CRenderizable.h.

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

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

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◆ getColorR_u8()

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

Color components in the range [0,255].

Definition at line 156 of file CRenderizable.h.

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

◆ getGridCube()

const TGridCube& mrpt::opengl::COctoMapVoxels::getGridCube ( const size_t  idx) const
inline

Definition at line 291 of file COctoMapVoxels.h.

References ASSERTDEB_, and m_grid_cubes.

◆ getGridCubeCount()

size_t mrpt::opengl::COctoMapVoxels::getGridCubeCount ( ) const
inline

Returns the total count of grid cubes.

Definition at line 242 of file COctoMapVoxels.h.

References m_grid_cubes.

◆ getGridCubeRef()

TGridCube& mrpt::opengl::COctoMapVoxels::getGridCubeRef ( const size_t  idx)
inline

Definition at line 285 of file COctoMapVoxels.h.

References ASSERTDEB_, m_grid_cubes, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ getGridLinesColor()

const mrpt::img::TColor& mrpt::opengl::COctoMapVoxels::getGridLinesColor ( ) const
inline

Definition at line 236 of file COctoMapVoxels.h.

References m_grid_color.

◆ getGridLinesWidth()

float mrpt::opengl::COctoMapVoxels::getGridLinesWidth ( ) const
inline

Gets the width of grid lines.

Definition at line 230 of file COctoMapVoxels.h.

References m_grid_width.

◆ getName()

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

Returns the name of the object.

Definition at line 67 of file CRenderizable.h.

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

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

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◆ getNewTextureNumber()

unsigned int CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

Returns the lowest, free texture name.

Definition at line 65 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

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◆ getPose()

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

Returns the 3D pose of the object as TPose3D.

Definition at line 282 of file CRenderizable.cpp.

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

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◆ getPosePitch()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 138 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 144 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 108 of file CRenderizable.h.

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

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

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◆ getPoseRoll()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 140 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 146 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 130 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 132 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 136 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 142 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 134 of file CRenderizable.h.

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

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::COctoMapVoxels::GetRuntimeClassIdStatic ( )
static

◆ getScaleX()

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

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

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

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

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◆ getScaleY()

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

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

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

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

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◆ getScaleZ()

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

Get the current scaling factor in one axis.

Definition at line 229 of file CRenderizable.h.

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

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

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◆ getVisualizationMode()

visualization_mode_t mrpt::opengl::COctoMapVoxels::getVisualizationMode ( ) const
inline

Definition at line 159 of file COctoMapVoxels.h.

References m_visual_mode.

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

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◆ getVoxel()

const TVoxel& mrpt::opengl::COctoMapVoxels::getVoxel ( const size_t  set_index,
const size_t  idx 
) const
inline

Definition at line 305 of file COctoMapVoxels.h.

References ASSERTDEB_, m_voxel_sets, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ getVoxelAsPointsSize()

float mrpt::opengl::COctoMapVoxels::getVoxelAsPointsSize ( ) const
inline

Definition at line 218 of file COctoMapVoxels.h.

References m_showVoxelsAsPointsSize.

◆ getVoxelCount()

size_t mrpt::opengl::COctoMapVoxels::getVoxelCount ( const size_t  set_index) const
inline

Returns the total count of voxels in one voxel set.

Definition at line 246 of file COctoMapVoxels.h.

References ASSERT_, and m_voxel_sets.

◆ getVoxelRef()

TVoxel& mrpt::opengl::COctoMapVoxels::getVoxelRef ( const size_t  set_index,
const size_t  idx 
)
inline

Definition at line 297 of file COctoMapVoxels.h.

References ASSERTDEB_, m_voxel_sets, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ getVoxelSetCount()

size_t mrpt::opengl::COctoMapVoxels::getVoxelSetCount ( ) const
inline

Returns the number of voxel sets.

Definition at line 244 of file COctoMapVoxels.h.

References m_voxel_sets.

◆ isCubeTransparencyEnabled()

bool mrpt::opengl::COctoMapVoxels::isCubeTransparencyEnabled ( ) const
inline

Definition at line 178 of file COctoMapVoxels.h.

References m_enable_cube_transparency.

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

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◆ isShowNameEnabled()

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

Definition at line 84 of file CRenderizable.h.

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

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

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◆ isVisible()

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

Is the object visible?

See also
setVisibility

Definition at line 68 of file CRenderizable.h.

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

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

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◆ notifyChange()

void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const
inlineprotectedinherited

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 54 of file CRenderizableDisplayList.h.

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

Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::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(), clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::CMesh::enableColorFromZ(), enableCubeTransparency(), mrpt::opengl::CColorBar::enableDepthTest(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::CMesh3D::enableFaceNormals(), enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), 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::CMesh3D::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), getVoxel(), getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), push_back_GridCube(), push_back_Voxel(), mrpt::opengl::CRenderizableDisplayList::readFromStreamRender(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), resizeGridCubes(), resizeVoxels(), resizeVoxelSets(), mrpt::opengl::CSimpleLine::serializeFrom(), mrpt::opengl::CTexturedPlane::serializeFrom(), mrpt::opengl::CSetOfTriangles::serializeFrom(), mrpt::opengl::COpenGLStandardObject::serializeFrom(), mrpt::opengl::CSphere::serializeFrom(), mrpt::opengl::CArrow::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CAxis::serializeFrom(), mrpt::opengl::CDisk::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CColorBar::serializeFrom(), mrpt::opengl::CMesh::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CMeshFast::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CAssimpModel::serializeFrom(), mrpt::opengl::CText3D::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CEllipsoid::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), serializeFrom(), mrpt::opengl::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CRenderizableDisplayList::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CRenderizableDisplayList::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CRenderizableDisplayList::setColorG_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CRenderizableDisplayList::setColorR_u8(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CEllipsoid::setCovMatrix(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), setGridLinesColor(), 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::CSimpleLine::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), 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::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), 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::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CAxis::setTickMarksLength(), mrpt::opengl::CMesh::setUV(), 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::CGeneralizedCylinder::setVisibleSections(), setVisualizationMode(), setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::CMesh::setZ(), showGridLines(), showVoxels(), showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CSetOfTriangles::updatePolygons(), mrpt::opengl::CMesh::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

◆ push_back_GridCube()

void mrpt::opengl::COctoMapVoxels::push_back_GridCube ( const TGridCube c)
inline

Definition at line 315 of file COctoMapVoxels.h.

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

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

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◆ push_back_Voxel()

void mrpt::opengl::COctoMapVoxels::push_back_Voxel ( const size_t  set_index,
const TVoxel v 
)
inline

Definition at line 320 of file COctoMapVoxels.h.

References ASSERTDEB_, m_voxel_sets, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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

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◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::serialization::CArchive in)
inlineprotectedinherited

Definition at line 62 of file CRenderizableDisplayList.h.

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

Referenced by mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), and mrpt::opengl::CPlanarLaserScan::serializeFrom().

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◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

Definition at line 93 of file CRenderizable.cpp.

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

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◆ render()

void CRenderizableDisplayList::render ( ) const
overridevirtualinherited

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

Implements mrpt::opengl::CRenderizable.

Definition at line 80 of file CRenderizableDisplayList.cpp.

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

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◆ render_dl()

◆ renderTextBitmap() [1/2]

void CRenderizable::renderTextBitmap ( const char *  str,
void fontStyle 
)
staticinherited

This method is safe for calling from within ::render() methods.

See also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 306 of file CRenderizable.cpp.

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

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◆ renderTextBitmap() [2/2]

void CRenderizable::renderTextBitmap ( int  screen_x,
int  screen_y,
const std::string str,
float  color_r = 1,
float  color_g = 1,
float  color_b = 1,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

  • Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
  • The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
    See also
    renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

Definition at line 332 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), and MRPT_UNUSED_PARAM.

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◆ reserveGridCubes()

void mrpt::opengl::COctoMapVoxels::reserveGridCubes ( const size_t  nCubes)
inline

Definition at line 274 of file COctoMapVoxels.h.

References m_grid_cubes.

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

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◆ reserveVoxels()

void mrpt::opengl::COctoMapVoxels::reserveVoxels ( const size_t  set_index,
const size_t  nVoxels 
)
inline

Definition at line 278 of file COctoMapVoxels.h.

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

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

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◆ resizeGridCubes()

void mrpt::opengl::COctoMapVoxels::resizeGridCubes ( const size_t  nCubes)
inline

Definition at line 257 of file COctoMapVoxels.h.

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

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◆ resizeVoxels()

void mrpt::opengl::COctoMapVoxels::resizeVoxels ( const size_t  set_index,
const size_t  nVoxels 
)
inline

Definition at line 267 of file COctoMapVoxels.h.

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

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◆ resizeVoxelSets()

void mrpt::opengl::COctoMapVoxels::resizeVoxelSets ( const size_t  nVoxelSets)
inline

Definition at line 262 of file COctoMapVoxels.h.

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

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

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◆ serializeFrom() [1/2]

void COctoMapVoxels::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 251 of file COctoMapVoxels.cpp.

References COLOR_FROM_OCCUPANCY, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::opengl::CRenderizableDisplayList::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 COctoMapVoxels::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 239 of file COctoMapVoxels.cpp.

◆ serializeTo() [1/2]

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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◆ serializeTo() [2/2]

void COctoMapVoxels::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 240 of file COctoMapVoxels.cpp.

◆ setBoundingBox()

void COctoMapVoxels::setBoundingBox ( const mrpt::math::TPoint3D bb_min,
const mrpt::math::TPoint3D bb_max 
)

Manually changes the bounding box (normally the user doesn't need to call this)

Definition at line 35 of file COctoMapVoxels.cpp.

References bb_max, and bb_min.

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

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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 236 of file CRenderizable.h.

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

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

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◆ setColor() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( double  R,
double  G,
double  B,
double  A = 1 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 244 of file CRenderizable.h.

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

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◆ setColor_u8() [1/2]

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

Changes the default object color.

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 110 of file CRenderizableDisplayList.h.

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

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◆ setColor_u8() [2/2]

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

Color components in the range [0,255].

Returns
a ref to this

Definition at line 117 of file CRenderizableDisplayList.h.

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

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◆ setColorA()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 179 of file CRenderizable.h.

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

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◆ setColorA_u8()

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

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 103 of file CRenderizableDisplayList.h.

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

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

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◆ setColorB()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 174 of file CRenderizable.h.

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

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◆ setColorB_u8()

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

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 96 of file CRenderizableDisplayList.h.

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

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◆ setColorG()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 169 of file CRenderizable.h.

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

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◆ setColorG_u8()

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

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 89 of file CRenderizableDisplayList.h.

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

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◆ setColorR()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 164 of file CRenderizable.h.

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

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◆ setColorR_u8()

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

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 82 of file CRenderizableDisplayList.h.

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

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◆ setFromOctoMap()

template<class OCTOMAP >
void mrpt::opengl::COctoMapVoxels::setFromOctoMap ( OCTOMAP &  m)
inline

Sets the contents of the object from a mrpt::maps::COctoMap object.

Template Parameters
Typically,anmrpt::maps::COctoMap object
Note
Declared as a template because in the library [mrpt-opengl] we don't have access to the library [mrpt-maps].

Definition at line 345 of file COctoMapVoxels.h.

◆ setGridLinesColor()

void mrpt::opengl::COctoMapVoxels::setGridLinesColor ( const mrpt::img::TColor color)
inline

Definition at line 231 of file COctoMapVoxels.h.

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

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◆ setGridLinesWidth()

void mrpt::opengl::COctoMapVoxels::setGridLinesWidth ( float  w)
inline

Sets the width of grid lines.

Definition at line 224 of file COctoMapVoxels.h.

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

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◆ setLocation() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( double  x,
double  y,
double  z 
)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 111 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 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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◆ setName()

void mrpt::opengl::CRenderizable::setName ( const std::string n)
inlineinherited

Changes the name of the object.

Definition at line 65 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 248 of file CRenderizable.cpp.

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

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

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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 253 of file CRenderizable.cpp.

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

◆ setPose() [3/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 258 of file CRenderizable.cpp.

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

◆ setPose() [4/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 263 of file CRenderizable.cpp.

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

◆ setPose() [5/6]

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

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

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

Definition at line 270 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), 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 276 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), 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 210 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 217 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 73 of file CRenderizable.h.

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

◆ setVisualizationMode()

void mrpt::opengl::COctoMapVoxels::setVisualizationMode ( visualization_mode_t  mode)
inline

Select the visualization mode.

To have any effect, this method has to be called before loading the octomap.

Definition at line 154 of file COctoMapVoxels.h.

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

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◆ setVoxelAsPointsSize()

void mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize ( float  pointSize)
inline

Only used when showVoxelsAsPoints() is enabled.

Definition at line 213 of file COctoMapVoxels.h.

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

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◆ should_skip_display_list_cache()

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const
inlineprotectedvirtualinherited

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 61 of file CRenderizableDisplayList.h.

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

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◆ showGridLines()

void mrpt::opengl::COctoMapVoxels::showGridLines ( bool  show)
inline

Shows/hides the grid lines.

Definition at line 184 of file COctoMapVoxels.h.

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

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◆ showVoxels()

void mrpt::opengl::COctoMapVoxels::showVoxels ( unsigned int  voxel_set,
bool  show 
)
inline

Shows/hides the voxels (voxel_set is a 0-based index for the set of voxels to modify, e.g.

VOXEL_SET_OCCUPIED, VOXEL_SET_FREESPACE)

Definition at line 192 of file COctoMapVoxels.h.

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

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

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◆ showVoxelsAsPoints()

void mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints ( const bool  enable)
inline

For quick renders: render voxels as points instead of cubes.

See also
setVoxelAsPointsSize

Definition at line 206 of file COctoMapVoxels.h.

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

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◆ sort_voxels_by_z()

void COctoMapVoxels::sort_voxels_by_z ( )

Definition at line 306 of file COctoMapVoxels.cpp.

References sort_voxels_z().

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

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◆ textBitmapWidth()

int CRenderizable::textBitmapWidth ( const std::string str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also
renderTextBitmap, mrpt::opengl::gl_utils
renderTextBitmap

Definition at line 315 of file CRenderizable.cpp.

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

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◆ traceRay()

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

◆ 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()

Member Data Documentation

◆ className

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

Definition at line 69 of file COctoMapVoxels.h.

◆ m_bb_max

mrpt::math::TPoint3D mrpt::opengl::COctoMapVoxels::m_bb_max
protected

Definition at line 137 of file COctoMapVoxels.h.

◆ m_bb_min

mrpt::math::TPoint3D mrpt::opengl::COctoMapVoxels::m_bb_min
protected

Cached bounding boxes.

Definition at line 137 of file COctoMapVoxels.h.

◆ m_color

◆ m_enable_cube_transparency

bool mrpt::opengl::COctoMapVoxels::m_enable_cube_transparency {true}
protected

Definition at line 140 of file COctoMapVoxels.h.

Referenced by enableCubeTransparency(), and isCubeTransparencyEnabled().

◆ m_enable_lighting

bool mrpt::opengl::COctoMapVoxels::m_enable_lighting {false}
protected

Definition at line 139 of file COctoMapVoxels.h.

Referenced by areLightsEnabled(), and enableLights().

◆ m_grid_color

mrpt::img::TColor mrpt::opengl::COctoMapVoxels::m_grid_color
protected

Definition at line 145 of file COctoMapVoxels.h.

Referenced by getGridLinesColor(), and setGridLinesColor().

◆ m_grid_cubes

std::vector<TGridCube> mrpt::opengl::COctoMapVoxels::m_grid_cubes
protected

◆ m_grid_width

float mrpt::opengl::COctoMapVoxels::m_grid_width {1.0f}
protected

Definition at line 144 of file COctoMapVoxels.h.

Referenced by getGridLinesWidth(), and setGridLinesWidth().

◆ m_name

◆ m_pose

◆ m_scale_x

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

◆ m_scale_y

◆ m_scale_z

◆ m_show_grids

bool mrpt::opengl::COctoMapVoxels::m_show_grids {false}
protected

Definition at line 143 of file COctoMapVoxels.h.

Referenced by areGridLinesVisible(), and showGridLines().

◆ m_show_name

◆ m_showVoxelsAsPoints

bool mrpt::opengl::COctoMapVoxels::m_showVoxelsAsPoints {false}
protected

Definition at line 141 of file COctoMapVoxels.h.

Referenced by areVoxelsShownAsPoints(), and showVoxelsAsPoints().

◆ m_showVoxelsAsPointsSize

float mrpt::opengl::COctoMapVoxels::m_showVoxelsAsPointsSize {3.0f}
protected

Definition at line 142 of file COctoMapVoxels.h.

Referenced by getVoxelAsPointsSize(), and setVoxelAsPointsSize().

◆ m_visible

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

◆ m_visual_mode

visualization_mode_t mrpt::opengl::COctoMapVoxels::m_visual_mode {COctoMapVoxels::COLOR_FROM_OCCUPANCY}
protected

Definition at line 146 of file COctoMapVoxels.h.

Referenced by getVisualizationMode(), and setVisualizationMode().

◆ m_voxel_sets

std::deque<TInfoPerVoxelSet> mrpt::opengl::COctoMapVoxels::m_voxel_sets
protected

◆ runtimeClassId

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

Definition at line 69 of file COctoMapVoxels.h.




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