MRPT  1.9.9
mrpt::opengl::COpenGLScene Class Reference

Detailed Description

This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives.

The class can be understood as a program to be run over OpenGL, containing a sequence of viewport definitions, rendering primitives, etc...

It can contain from 1 up to any number of Viewports, each one associated a set of OpenGL objects and, optionally, a preferred camera position. Both orthogonal (2D/3D) and projection camera models can be used for each viewport independently, greatly increasing the possibilities of rendered scenes.

An object of COpenGLScene always contains at least one viewport (utils::COpenGLViewport), named "main". Optionally, any number of other viewports may exist. Viewports are referenced by their names, case-sensitive strings. Each viewport contains a different 3D scene (i.e. they render different objects), though a mechanism exist to share the same 3D scene by a number of viewports so memory is not wasted replicating the same objects (see COpenGLViewport::setCloneView ).

The main rendering method, COpenGLScene::render(), assumes a viewport has been set-up for the entire target window. That method will internally make the required calls to opengl for creating the additional viewports. Note that only the depth buffer is cleared by default for each (non-main) viewport, to allow transparencies. This can be disabled by the approppriate member in COpenGLViewport.

An object COpenGLScene can be saved to a ".3Dscene" file using CFileOutputStream, for posterior visualization from the standalone application SceneViewer. It can be also displayed in real-time using gui::CDisplayWindow3D.

Definition at line 58 of file COpenGLScene.h.

#include <mrpt/opengl/COpenGLScene.h>

Inheritance diagram for mrpt::opengl::COpenGLScene:

Public Member Functions

 COpenGLScene ()
 Constructor. More...
 
 ~COpenGLScene () override
 Destructor: More...
 
COpenGLSceneoperator= (const COpenGLScene &obj)
 Copy operator: More...
 
 COpenGLScene (const COpenGLScene &obj)
 Copy constructor: More...
 
template<class T >
void insertCollection (const T &objs, const std::string &vpn=std::string("main"))
 Inserts a set of objects into the scene, in the given viewport ("main" by default). More...
 
void insert (const CRenderizable::Ptr &newObject, const std::string &viewportName=std::string("main"))
 Insert a new object into the scene, in the given viewport (by default, into the "main" viewport). More...
 
template<class T_it >
void insert (const T_it &begin, const T_it &end, const std::string &vpn=std::string("main"))
 Inserts a set of objects into the scene, in the given viewport ("main" by default). More...
 
COpenGLViewport::Ptr createViewport (const std::string &viewportName)
 Creates a new viewport, adding it to the scene and returning a pointer to the new object. More...
 
COpenGLViewport::Ptr getViewport (const std::string &viewportName=std::string("main")) const
 Returns the viewport with the given name, or nullptr if it does not exist; note that the default viewport is named "main" and initially occupies the entire rendering area. More...
 
void render () const
 Render this scene. More...
 
size_t viewportsCount () const
 
void clear (bool createMainViewport=true)
 Clear the list of objects and viewports in the scene, deleting objects' memory, and leaving just the default viewport with the default values. More...
 
void enableFollowCamera (bool enabled)
 If disabled (default), the SceneViewer application will ignore the camera of the "main" viewport and keep the viewport selected by the user by hand; otherwise, the camera in the "main" viewport prevails. More...
 
bool followCamera () const
 Return the value of "followCamera". More...
 
CRenderizable::Ptr getByName (const std::string &str, const std::string &viewportName=std::string("main"))
 Returns the first object with a given name, or nullptr (an empty smart pointer) if not found. More...
 
template<typename T >
T::Ptr getByClass (const size_t &ith=0) const
 Returns the i'th object of a given class (or of a descendant class), or nullptr (an empty smart pointer) if not found. More...
 
void removeObject (const CRenderizable::Ptr &obj, const std::string &viewportName=std::string("main"))
 Removes the given object from the scene (it also deletes the object to free its memory). More...
 
void initializeAllTextures ()
 Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL) More...
 
void dumpListOfObjects (std::vector< std::string > &lst)
 Retrieves a list of all objects in text form. More...
 
bool saveToFile (const std::string &fil) const
 Saves the scene to a 3Dscene file, loadable by the application SceneViewer3D. More...
 
bool loadFromFile (const std::string &fil)
 Loads the scene from a 3Dscene file, the format used by the application SceneViewer3D. More...
 
bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const
 Traces a ray. More...
 
void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max, const std::string &vpn=std::string("main")) const
 Evaluates the bounding box of the scene in the given viewport (default: "main"). More...
 
template<typename FUNCTOR >
void visitAllObjects (FUNCTOR functor) const
 Recursive depth-first visit all objects in all viewports of the scene, calling the user-supplied function The passed function must accept only one argument of type "const mrpt::opengl::CRenderizable::Ptr &". 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...
 
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 Types

using TListViewports = std::vector< COpenGLViewport::Ptr >
 

Protected Member Functions

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...
 

Static Protected Member Functions

template<typename FUNCTOR >
static void internal_visitAllObjects (FUNCTOR functor, const CRenderizable::Ptr &o)
 

Protected Attributes

bool m_followCamera {false}
 
TListViewports m_viewports
 The list of viewports, indexed by name. More...
 

RTTI stuff

using Ptr = std::shared_ptr< COpenGLScene >
 
using ConstPtr = std::shared_ptr< const COpenGLScene >
 
using UniquePtr = std::unique_ptr< COpenGLScene >
 
using ConstUniquePtr = std::unique_ptr< const COpenGLScene >
 
static mrpt::rtti::CLASSINIT _init_COpenGLScene
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "COpenGLScene"
 
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 60 of file COpenGLScene.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 60 of file COpenGLScene.h.

◆ TListViewports

Definition at line 235 of file COpenGLScene.h.

◆ UniquePtr

Definition at line 60 of file COpenGLScene.h.

Constructor & Destructor Documentation

◆ COpenGLScene() [1/2]

COpenGLScene::COpenGLScene ( )

Constructor.

Definition at line 44 of file COpenGLScene.cpp.

◆ ~COpenGLScene()

COpenGLScene::~COpenGLScene ( )
override

Destructor:

Definition at line 56 of file COpenGLScene.cpp.

References clear().

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◆ COpenGLScene() [2/2]

COpenGLScene::COpenGLScene ( const COpenGLScene obj)

Copy constructor:

Definition at line 48 of file COpenGLScene.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

◆ clear()

void COpenGLScene::clear ( bool  createMainViewport = true)

Clear the list of objects and viewports in the scene, deleting objects' memory, and leaving just the default viewport with the default values.

Definition at line 60 of file COpenGLScene.cpp.

References createViewport(), and m_viewports.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene(), operator=(), serializeFrom(), and ~COpenGLScene().

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◆ clone()

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

Definition at line 60 of file COpenGLScene.h.

◆ CreateAlloc()

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

Definition at line 60 of file COpenGLScene.h.

◆ CreateObject()

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

◆ CreateUnique()

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

Definition at line 60 of file COpenGLScene.h.

◆ createViewport()

COpenGLViewport::Ptr COpenGLScene::createViewport ( const std::string viewportName)

Creates a new viewport, adding it to the scene and returning a pointer to the new object.

Names (case-sensitive) cannot be duplicated: if the name provided coincides with an already existing viewport, a pointer to the existing object will be returned. The first, default viewport, is named "main".

Definition at line 231 of file COpenGLScene.cpp.

References getViewport(), m_viewports, MRPT_END, and MRPT_START.

Referenced by clear().

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◆ dumpListOfObjects()

void COpenGLScene::dumpListOfObjects ( std::vector< std::string > &  lst)

Retrieves a list of all objects in text form.

Definition at line 216 of file COpenGLScene.cpp.

References m_viewports.

◆ 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 200 of file CObject.h.

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

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

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◆ enableFollowCamera()

void mrpt::opengl::COpenGLScene::enableFollowCamera ( bool  enabled)
inline

If disabled (default), the SceneViewer application will ignore the camera of the "main" viewport and keep the viewport selected by the user by hand; otherwise, the camera in the "main" viewport prevails.

See also
followCamera

Definition at line 143 of file COpenGLScene.h.

References m_followCamera.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().

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◆ followCamera()

bool mrpt::opengl::COpenGLScene::followCamera ( ) const
inline

Return the value of "followCamera".

See also
enableFollowCamera

Definition at line 147 of file COpenGLScene.h.

References m_followCamera.

◆ getBoundingBox()

void COpenGLScene::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max,
const std::string vpn = std::string("main") 
) const

Evaluates the bounding box of the scene in the given viewport (default: "main").

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

Definition at line 326 of file COpenGLScene.cpp.

References ASSERTMSG_, bb_max, bb_min, and getViewport().

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◆ getByClass()

template<typename T >
T::Ptr mrpt::opengl::COpenGLScene::getByClass ( const size_t &  ith = 0) const
inline

Returns the i'th object of a given class (or of a descendant class), or nullptr (an empty smart pointer) if not found.

Example:

CSphere::Ptr obs = myscene.getByClass<CSphere>();

By default (ith=0), the first observation is returned.

Definition at line 164 of file COpenGLScene.h.

References m_viewports, MRPT_END, and MRPT_START.

◆ getByName()

CRenderizable::Ptr COpenGLScene::getByName ( const std::string str,
const std::string viewportName = std::string("main") 
)

Returns the first object with a given name, or nullptr (an empty smart pointer) if not found.

Definition at line 195 of file COpenGLScene.cpp.

References m_viewports, and MRPT_UNUSED_PARAM.

◆ getClassName()

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

Definition at line 60 of file COpenGLScene.h.

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

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

◆ getViewport()

COpenGLViewport::Ptr COpenGLScene::getViewport ( const std::string viewportName = std::string("main")) const

Returns the viewport with the given name, or nullptr if it does not exist; note that the default viewport is named "main" and initially occupies the entire rendering area.

Definition at line 249 of file COpenGLScene.cpp.

References m_viewports, MRPT_END, and MRPT_START.

Referenced by createViewport(), getBoundingBox(), mrpt::opengl::CFBORender::getCamera(), removeObject(), and mrpt::opengl::CFBORender::setCamera().

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◆ initializeAllTextures()

void COpenGLScene::initializeAllTextures ( )

Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)

Definition at line 208 of file COpenGLScene.cpp.

References m_viewports.

◆ insert() [1/2]

void COpenGLScene::insert ( const CRenderizable::Ptr newObject,
const std::string viewportName = std::string("main") 
)

Insert a new object into the scene, in the given viewport (by default, into the "main" viewport).

The viewport must be created previously, an exception will be raised if the given name does not correspond to an existing viewport.

See also
createViewport, getViewport

Definition at line 175 of file COpenGLScene.cpp.

References m_viewports, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene(), insert(), insertCollection(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::nav::PlannerTPS_VirtualBase::renderMoveTree(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::saveMetricMapRepresentationToFile(), mrpt::maps::CBeaconMap::saveMetricMapRepresentationToFile(), and mrpt::maps::CLandmarksMap::saveMetricMapRepresentationToFile().

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◆ insert() [2/2]

template<class T_it >
void mrpt::opengl::COpenGLScene::insert ( const T_it &  begin,
const T_it &  end,
const std::string vpn = std::string("main") 
)
inline

Inserts a set of objects into the scene, in the given viewport ("main" by default).

See also
createViewport,getViewport

Definition at line 106 of file COpenGLScene.h.

References mrpt::containers::begin(), and insert().

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◆ insertCollection()

template<class T >
void mrpt::opengl::COpenGLScene::insertCollection ( const T &  objs,
const std::string vpn = std::string("main") 
)
inline

Inserts a set of objects into the scene, in the given viewport ("main" by default).

Any iterable object will be accepted.

See also
createViewport,getViewport

Definition at line 84 of file COpenGLScene.h.

References insert().

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◆ internal_visitAllObjects()

template<typename FUNCTOR >
static void mrpt::opengl::COpenGLScene::internal_visitAllObjects ( FUNCTOR  functor,
const CRenderizable::Ptr o 
)
inlinestaticprotected

Definition at line 241 of file COpenGLScene.h.

References IS_CLASS.

Referenced by visitAllObjects().

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◆ loadFromFile()

bool COpenGLScene::loadFromFile ( const std::string fil)

Loads the scene from a 3Dscene file, the format used by the application SceneViewer3D.

See also
saveToFile
Returns
false on any error.

Definition at line 310 of file COpenGLScene.cpp.

References mrpt::serialization::archiveFrom().

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◆ operator=()

COpenGLScene & COpenGLScene::operator= ( const COpenGLScene obj)

Copy operator:

Definition at line 70 of file COpenGLScene.cpp.

References clear(), m_followCamera, and m_viewports.

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◆ removeObject()

void COpenGLScene::removeObject ( const CRenderizable::Ptr obj,
const std::string viewportName = std::string("main") 
)

Removes the given object from the scene (it also deletes the object to free its memory).

Definition at line 262 of file COpenGLScene.cpp.

References ASSERT_, getViewport(), MRPT_END, and MRPT_START.

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◆ render()

void COpenGLScene::render ( ) const

Render this scene.

Definition at line 90 of file COpenGLScene.cpp.

References GL_VIEWPORT, glGetIntegerv(), glViewport(), m_viewports, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::opengl::CFBORender::getFrame2().

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◆ saveToFile()

bool COpenGLScene::saveToFile ( const std::string fil) const

Saves the scene to a 3Dscene file, loadable by the application SceneViewer3D.

See also
loadFromFile
Returns
false on any error.

Definition at line 296 of file COpenGLScene.cpp.

References mrpt::serialization::archiveFrom().

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::saveMetricMapRepresentationToFile(), mrpt::maps::CBeaconMap::saveMetricMapRepresentationToFile(), mrpt::maps::CLandmarksMap::saveMetricMapRepresentationToFile(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

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◆ serializeFrom() [1/2]

void COpenGLScene::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 125 of file COpenGLScene.cpp.

References clear(), m_followCamera, m_viewports, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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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 COpenGLScene::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 114 of file COpenGLScene.cpp.

◆ serializeTo() [1/2]

void COpenGLScene::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 115 of file COpenGLScene.cpp.

References m_followCamera, and m_viewports.

◆ 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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◆ traceRay()

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

Traces a ray.

Definition at line 274 of file COpenGLScene.cpp.

References m_viewports.

◆ viewportsCount()

size_t mrpt::opengl::COpenGLScene::viewportsCount ( ) const
inline

Definition at line 132 of file COpenGLScene.h.

References m_viewports.

◆ visitAllObjects()

template<typename FUNCTOR >
void mrpt::opengl::COpenGLScene::visitAllObjects ( FUNCTOR  functor) const
inline

Recursive depth-first visit all objects in all viewports of the scene, calling the user-supplied function The passed function must accept only one argument of type "const mrpt::opengl::CRenderizable::Ptr &".

Definition at line 222 of file COpenGLScene.h.

References internal_visitAllObjects(), m_viewports, MRPT_END, and MRPT_START.

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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.

Member Data Documentation

◆ _init_COpenGLScene

mrpt::rtti::CLASSINIT mrpt::opengl::COpenGLScene::_init_COpenGLScene
staticprotected

Definition at line 60 of file COpenGLScene.h.

◆ className

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

Definition at line 60 of file COpenGLScene.h.

◆ m_followCamera

bool mrpt::opengl::COpenGLScene::m_followCamera {false}
protected

◆ m_viewports

TListViewports mrpt::opengl::COpenGLScene::m_viewports
protected

◆ runtimeClassId

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

Definition at line 60 of file COpenGLScene.h.




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