MRPT  2.0.5
Namespaces | Classes | Typedefs | Enumerations | Functions
mrpt::opengl Namespace Reference

Detailed Description

The namespace for 3D scene representation and rendering.

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

Namespaces

 graph_tools
 Tool functions for graphs of pose constraints.
 
 internal
 
 stock_objects
 A collection of pre-built 3D objects for quick insertion in opengl::COpenGLScene objects.
 

Classes

class  CAngularObservationMesh
 A mesh built from a set of 2D laser scan observations. More...
 
class  CArrow
 A 3D arrow. More...
 
class  CAssimpModel
 This class can load & render 3D models in a number of different formats (requires the library assimp). More...
 
class  CAxis
 Draw a 3D world axis, with coordinate marks at some regular interval. More...
 
class  CBox
 A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X, Y and Z (note that the object can be translated and rotated afterwards as any other CRenderizable object using the "object pose" in the base class). More...
 
class  CCamera
 A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camera parameters set in COpenGLViewport::m_camera. More...
 
class  CColorBar
 A colorbar indicator. More...
 
class  CCylinder
 A cylinder or cone whose base lies in the XY plane. More...
 
class  CDisk
 A planar disk in the XY plane. More...
 
class  CEllipsoid2D
 A 2D ellipse on the XY plane, centered at the origin of this object pose. More...
 
class  CEllipsoid3D
 A 3D ellipsoid, centered at zero with respect to this object pose. More...
 
class  CEllipsoidInverseDepth2D
 An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw) variable. More...
 
class  CEllipsoidInverseDepth3D
 An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) variable. More...
 
class  CEllipsoidRangeBearing2D
 An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable. More...
 
class  CFBORender
 A class for rendering 3D scenes off-screen directly into an image using OpenGL extensions (glext). More...
 
class  CFrustum
 A solid or wireframe frustum in 3D (a rectangular truncated pyramid), with arbitrary (possibly assymetric) field-of-view angles. More...
 
class  CGeneralizedEllipsoidTemplate
 A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty shapes in either 2D or 3D. More...
 
class  CGridPlaneXY
 A grid of lines over the XY plane. More...
 
class  CGridPlaneXZ
 A grid of lines over the XZ plane. More...
 
class  CMesh
 A planar (XY) grid where each cell has an associated height and, optionally, a texture map. More...
 
class  CMesh3D
 A 3D mesh composed of Triangles and/or Quads. More...
 
class  CMeshFast
 A planar (XY) grid where each cell has an associated height and, optionally, a texture map. More...
 
class  COctoMapVoxels
 A flexible renderer of voxels, typically from a 3D octo map (see mrpt::maps::COctoMap). More...
 
class  COctreePointRenderer
 Template class that implements the data structure and algorithms for Octree-based efficient rendering. More...
 
class  COpenGLBuffer
 A wrapper for an OpenGL buffer object. More...
 
class  COpenGLScene
 This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives. More...
 
class  COpenGLVertexArrayObject
 A wrapper for an OpenGL vertex array object (VAO). More...
 
class  COpenGLViewport
 A viewport within a COpenGLScene, containing a set of OpenGL objects to render. More...
 
class  CPlanarLaserScan
 This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface. More...
 
class  CPointCloud
 A cloud of points, all with the same color or each depending on its value along a particular coordinate axis. More...
 
class  CPointCloudColoured
 A cloud of points, each one with an individual colour (R,G,B). More...
 
class  CPolyhedron
 This class represents arbitrary polyhedra. More...
 
class  CRenderizable
 The base class of 3D objects that can be directly rendered through OpenGL. More...
 
class  CRenderizableShaderPoints
 Renderizable generic renderer for objects using the points shader. More...
 
class  CRenderizableShaderText
 Renderizable generic renderer for objects using the "text shader". More...
 
class  CRenderizableShaderTexturedTriangles
 Renderizable generic renderer for objects using the triangles-with-a-texture shader. More...
 
class  CRenderizableShaderTriangles
 Renderizable generic renderer for objects using the triangles shader. More...
 
class  CRenderizableShaderWireFrame
 Renderizable generic renderer for objects using the wireframe shader. More...
 
class  CSetOfLines
 A set of independent lines (or segments), one line with its own start and end positions (X,Y,Z). More...
 
class  CSetOfObjects
 A set of object, which are referenced to the coordinates framework established in this object. More...
 
class  CSetOfTexturedTriangles
 A set of textured triangles. More...
 
class  CSetOfTriangles
 A set of colored triangles, able to draw any solid, arbitrarily complex object without textures. More...
 
class  CSimpleLine
 A line segment. More...
 
class  CSphere
 A solid or wire-frame sphere. More...
 
class  CText
 A 2D text (bitmap rendering): it always "faces the observer" despite it's at some 3D location. More...
 
class  CText3D
 A 3D text (rendered with OpenGL primitives), with selectable font face and drawing style. More...
 
class  CTextMessageCapable
 Keeps a list of text messages which can be rendered to OpenGL contexts by graphic classes. More...
 
class  CTexturedPlane
 A 2D plane in the XY plane with a texture image. More...
 
class  CVectorField2D
 A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid). More...
 
class  CVectorField3D
 A 3D vector field representation, consisting of points and arrows drawn at any spatial position. More...
 
struct  DefaultShaderID
 
class  mrptEventGLPostRender
 An event sent by an mrpt::opengl::COpenGLViewport after calling the scene OpenGL drawing primitives and before doing a glSwapBuffers. More...
 
class  mrptEventGLPreRender
 An event sent by an mrpt::opengl::COpenGLViewport just after clearing the viewport and setting the GL_PROJECTION matrix, and before calling the scene OpenGL drawing primitives. More...
 
class  PLY_Exporter
 A virtual base class that implements the capability of exporting 3D point clouds and faces to a file in the Stanford PLY format. More...
 
class  PLY_Importer
 A virtual base class that implements the capability of importing 3D point clouds and faces from a file in the Stanford PLY format. More...
 
class  PointCloudAdapter
 An adapter to different kinds of point cloud object. More...
 
class  PointCloudAdapter< mrpt::maps::CColouredPointsMap >
 Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CColouredPointsMap> mrpt_adapters_grp. More...
 
class  PointCloudAdapter< mrpt::maps::CPointsMap >
 Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CPointsMap> More...
 
class  PointCloudAdapter< mrpt::maps::CPointsMapXYZI >
 Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CPointsMapXYZI> mrpt_adapters_grp. More...
 
class  PointCloudAdapter< mrpt::maps::CSimplePointsMap >
 Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CSimplePointsMap> More...
 
class  PointCloudAdapter< mrpt::maps::CWeightedPointsMap >
 Specialization mrpt::opengl::PointCloudAdapter<mrpt::maps::CWeightedPointsMap> mrpt_adapters_grp. More...
 
class  PointCloudAdapter< mrpt::obs::CObservation3DRangeScan >
 Specialization mrpt::opengl::PointCloudAdapter<CObservation3DRangeScan> More...
 
class  PointCloudAdapter< mrpt::opengl::CPointCloud >
 Specialization mrpt::opengl::PointCloudAdapter<mrpt::opengl::CPointCloud> More...
 
class  PointCloudAdapter< mrpt::opengl::CPointCloudColoured >
 Specialization mrpt::opengl::PointCloudAdapter<mrpt::opengl::CPointCloudColoured> mrpt_adapters_grp. More...
 
class  PointCloudAdapter< pcl::PointCloud< pcl::PointXYZ > >
 Specialization mrpt::opengl::PointCloudAdapter<pcl::PointCloud<pcl::PointXYZ> > for an XYZ point cloud (without RGB) More...
 
class  PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >
 Specialization mrpt::opengl::PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGB> > for an XYZ point cloud with RGB. More...
 
class  PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >
 Specialization mrpt::opengl::PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGBA> > for an XYZ point cloud with RGB. More...
 
class  Program
 A resource handling helper for OpenGL Shader "programs". More...
 
struct  RenderQueueElement
 Each element in the queue to be rendered for each keyframe. More...
 
class  Shader
 A resource handling helper for OpenGL "Shader" compiled code fragment. More...
 
struct  T2DTextData
 An auxiliary struct for holding a list of text messages in some mrpt::opengl & mrpt::gui classes The font can be either a bitmapped or a vectorized font. More...
 
struct  TFontParams
 A description of a bitmapped or vectorized text font. More...
 
struct  TLightParameters
 Lighting parameters, mostly for triangle shaders. More...
 
struct  TRenderMatrices
 Rendering state related to the projection and model-view matrices. More...
 
struct  TTriangle
 A triangle (float coordinates) with RGBA colors (u8) and UV (texture coordinates) for each vertex. More...
 

Typedefs

using CListOpenGLObjects = std::deque< CRenderizable::Ptr >
 A list of smart pointers to renderizable objects. More...
 
using RenderQueue = std::map< shader_id_t, std::multimap< float, RenderQueueElement > >
 A queue for rendering, sorted by shader program to minimize changes of OpenGL shader programs while rendering a scene. More...
 
using shader_id_t = uint8_t
 Type for IDs of shaders. More...
 
using shader_list_t = std::vector< shader_id_t >
 A list of shader IDs. More...
 

Enumerations

enum  predefined_voxel_sets_t { VOXEL_SET_OCCUPIED = 0, VOXEL_SET_FREESPACE = 1 }
 
enum  TOpenGLFontStyle { FILL = 0, OUTLINE = 1, NICE = 2 }
 Different style for vectorized font rendering. More...
 

Functions

COpenGLScene::Ptroperator<< (COpenGLScene::Ptr &s, const CRenderizable::Ptr &r)
 Inserts an openGL object into a scene. More...
 
template<class T >
COpenGLScene::Ptroperator<< (COpenGLScene::Ptr &s, const std::vector< T > &v)
 Inserts any iterable collection of openGL objects into a scene, allowing call chaining. More...
 
COpenGLViewport::Ptroperator<< (COpenGLViewport::Ptr &s, const std::vector< CRenderizable::Ptr > &v)
 Inserts any iterable set of openGL objects into a viewport. More...
 
mrpt::serialization::CArchiveoperator>> (mrpt::serialization::CArchive &in, CPolyhedron::TPolyhedronEdge &o)
 Reads a polyhedron edge from a binary stream. More...
 
mrpt::serialization::CArchiveoperator<< (mrpt::serialization::CArchive &out, const CPolyhedron::TPolyhedronEdge &o)
 Writes a polyhedron edge to a binary stream. More...
 
mrpt::serialization::CArchiveoperator>> (mrpt::serialization::CArchive &in, CPolyhedron::TPolyhedronFace &o)
 Reads a polyhedron face from a binary stream. More...
 
mrpt::serialization::CArchiveoperator<< (mrpt::serialization::CArchive &out, const CPolyhedron::TPolyhedronFace &o)
 Writes a polyhedron face to a binary stream. More...
 
template<class T >
CSetOfLines::Ptroperator<< (CSetOfLines::Ptr &l, const T &s)
 Inserts a set of segments into the list. More...
 
template<>
CSetOfLines::Ptroperator<< (CSetOfLines::Ptr &l, const mrpt::math::TSegment3D &s)
 Inserts a segment into the list. More...
 
template<class T >
CSetOfObjects::Ptroperator<< (CSetOfObjects::Ptr &o, const std::vector< T > &v)
 Inserts a set of objects into the list. More...
 
template<class T >
CSetOfTriangles::Ptroperator<< (CSetOfTriangles::Ptr &s, const T &t)
 Inserts a set of triangles into the list; note that this method allows to pass another CSetOfTriangles as argument. More...
 
template<>
CSetOfTriangles::Ptroperator<< (CSetOfTriangles::Ptr &s, const mrpt::opengl::TTriangle &t)
 Inserts a triangle into the list. More...
 
Program::Ptr LoadDefaultShader (const shader_id_t id)
 Loads a set of OpenGL Vertex+Fragment shaders from the default library available in mrpt::opengl. More...
 
mrpt::serialization::CArchiveoperator>> (mrpt::serialization::CArchive &in, mrpt::opengl::TLightParameters &o)
 
mrpt::serialization::CArchiveoperator<< (mrpt::serialization::CArchive &out, const mrpt::opengl::TLightParameters &o)
 
CArchiveoperator<< (CArchive &out, const COctoMapVoxels::TInfoPerVoxelSet &a)
 
CArchiveoperator>> (CArchive &in, COctoMapVoxels::TInfoPerVoxelSet &a)
 
CArchiveoperator<< (CArchive &out, const COctoMapVoxels::TGridCube &a)
 
CArchiveoperator>> (CArchive &in, COctoMapVoxels::TGridCube &a)
 
CArchiveoperator<< (CArchive &out, const COctoMapVoxels::TVoxel &a)
 
CArchiveoperator>> (CArchive &in, COctoMapVoxels::TVoxel &a)
 
Miscellaneous rendering methods
void enqueForRendering (const mrpt::opengl::CListOpenGLObjects &objs, const mrpt::opengl::TRenderMatrices &state, RenderQueue &rq)
 Processes, recursively, all objects in the list, classifying them by shader programs into a list suitable to be used within processPendingRendering() More...
 
void processRenderQueue (const RenderQueue &rq, std::map< shader_id_t, mrpt::opengl::Program::Ptr > &shaders, const mrpt::opengl::TLightParameters &lights)
 After enqueForRendering(), actually executes the rendering tasks, grouped shader by shader. More...
 
Functions to obtain a 3D representation of a pose PDF
template<class POSE_PDF >
CSetOfObjects::Ptr posePDF2opengl (const POSE_PDF &o)
 Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call mrpt::poses::CPosePDF::getAs3DObject. More...
 

Typedef Documentation

◆ CListOpenGLObjects

A list of smart pointers to renderizable objects.

Definition at line 376 of file CRenderizable.h.

◆ shader_list_t

using mrpt::opengl::shader_list_t = typedef std::vector<shader_id_t>

A list of shader IDs.

Definition at line 26 of file Shader.h.

Enumeration Type Documentation

◆ predefined_voxel_sets_t

Enumerator
VOXEL_SET_OCCUPIED 
VOXEL_SET_FREESPACE 

Definition at line 18 of file COctoMapVoxels.h.

◆ TOpenGLFontStyle

Different style for vectorized font rendering.

See also
T2DTextData
Enumerator
FILL 

renders glyphs as filled polygons

OUTLINE 

renders glyphs as outlines with GL_LINES

NICE 

This was "renders glyphs filled with antialiased outlines", but since antialiased is not properly implemented in mrtp2 since the port to OpenGL3, NICE is for now an alias for FILL.

Definition at line 19 of file opengl_fonts.h.

Function Documentation

◆ enqueForRendering()

void mrpt::mrpt::opengl::enqueForRendering ( const mrpt::opengl::CListOpenGLObjects objs,
const mrpt::opengl::TRenderMatrices state,
RenderQueue rq 
)

Processes, recursively, all objects in the list, classifying them by shader programs into a list suitable to be used within processPendingRendering()

For each object in the list:

  • checks visibility of each object
  • update the MODELVIEW matrix according to its coordinates
  • call its ::render()
  • shows its name (if enabled).
Note
Used by CSetOfObjects and COpenGLViewport
See also
processPendingRendering

Definition at line 28 of file RenderQueue.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::rtti::TRuntimeClassId::className, mrpt::opengl::CRenderizable::enqueForRenderRecursive(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), mrpt::opengl::CRenderizable::getLocalRepresentativePoint(), mrpt::opengl::CRenderizable::getName(), mrpt::opengl::CRenderizable::getPoseRef(), mrpt::opengl::CRenderizable::GetRuntimeClass(), mrpt::opengl::CRenderizable::getScaleX(), mrpt::opengl::CRenderizable::getScaleY(), mrpt::opengl::CRenderizable::getScaleZ(), mrpt::opengl::CText::getString(), mrpt::opengl::CRenderizable::hasToUpdateBuffers(), mrpt::opengl::CRenderizable::isShowNameEnabled(), mrpt::opengl::CRenderizable::isVisible(), mrpt::opengl::CRenderizable::labelObject(), mrpt::opengl::TRenderMatrices::mv_matrix, mrpt::opengl::CRenderizable::requiredShaders(), mrpt::opengl::CText::setString(), THROW_EXCEPTION_FMT, mrpt::opengl::CRenderizable::updateBuffers(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by mrpt::opengl::CAxis::enqueForRenderRecursive(), mrpt::opengl::CSetOfObjects::enqueForRenderRecursive(), mrpt::opengl::COpenGLViewport::renderImageMode(), mrpt::opengl::COpenGLViewport::renderNormalSceneMode(), mrpt::opengl::COpenGLViewport::renderTextMessages(), and mrpt::opengl::COpenGLViewport::renderViewportBorder().

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◆ operator<<() [1/14]

Definition at line 50 of file TLightParameters.cpp.

References out, and mrpt::opengl::TLightParameters::writeToStream().

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◆ operator<<() [2/14]

template<class T >
CSetOfTriangles::Ptr& mrpt::opengl::operator<< ( CSetOfTriangles::Ptr s,
const T &  t 
)
inline

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

Allows call chaining.

See also
mrpt::opengl::CSetOfTriangles::insertTriangle

Definition at line 163 of file CSetOfTriangles.h.

◆ operator<<() [3/14]

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

Inserts a triangle into the list.

Allows call chaining.

See also
mrpt::opengl::CSetOfTriangles::insertTriangle

Definition at line 172 of file CSetOfTriangles.h.

◆ operator<<() [4/14]

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

Inserts a set of objects into the list.

Allows call chaining.

See also
mrpt::opengl::CSetOfObjects::insert

Definition at line 183 of file CSetOfObjects.h.

◆ operator<<() [5/14]

CArchive& mrpt::opengl::operator<< ( CArchive out,
const COctoMapVoxels::TInfoPerVoxelSet a 
)

◆ operator<<() [6/14]

CArchive& mrpt::opengl::operator<< ( CArchive out,
const COctoMapVoxels::TGridCube a 
)

◆ operator<<() [7/14]

CArchive& mrpt::opengl::operator<< ( CArchive out,
const COctoMapVoxels::TVoxel a 
)

◆ operator<<() [8/14]

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

Inserts an openGL object into a scene.

Inserts an object into the list.

Inserts an openGL object into a viewport.

Allows call chaining.

See also
mrpt::opengl::COpenGLScene::insert

Allows call chaining.

See also
mrpt::opengl::COpenGLViewport::insert

Allows call chaining.

See also
mrpt::opengl::CSetOfObjects::insert

Definition at line 252 of file COpenGLScene.h.

◆ operator<<() [9/14]

template<class T >
CSetOfLines::Ptr& mrpt::opengl::operator<< ( CSetOfLines::Ptr l,
const T &  s 
)
inline

Inserts a set of segments into the list.

Allows call chaining.

See also
mrpt::opengl::CSetOfLines::appendLines

Definition at line 254 of file CSetOfLines.h.

◆ operator<<() [10/14]

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

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

See also
mrpt::opengl::COpenGLScene::insert

Definition at line 261 of file COpenGLScene.h.

◆ operator<<() [11/14]

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

Inserts a segment into the list.

Allows call chaining.

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

Definition at line 263 of file CSetOfLines.h.

◆ operator<<() [12/14]

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

Inserts any iterable set of openGL objects into a viewport.

Allows call chaining.

See also
mrpt::opengl::COpenGLViewport::insert

Definition at line 436 of file COpenGLViewport.h.

◆ operator<<() [13/14]

CArchive & mrpt::mrpt::opengl::operator<< ( mrpt::serialization::CArchive out,
const CPolyhedron::TPolyhedronEdge o 
)

Writes a polyhedron edge to a binary stream.

Definition at line 1917 of file CPolyhedron.cpp.

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

◆ operator<<() [14/14]

CArchive & mrpt::mrpt::opengl::operator<< ( mrpt::serialization::CArchive out,
const CPolyhedron::TPolyhedronFace o 
)

Writes a polyhedron face to a binary stream.

Definition at line 1931 of file CPolyhedron.cpp.

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

◆ operator>>() [1/6]

Definition at line 44 of file TLightParameters.cpp.

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

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◆ operator>>() [2/6]

CArchive& mrpt::opengl::operator>> ( CArchive in,
COctoMapVoxels::TInfoPerVoxelSet a 
)

◆ operator>>() [3/6]

CArchive& mrpt::opengl::operator>> ( CArchive in,
COctoMapVoxels::TGridCube a 
)

◆ operator>>() [4/6]

CArchive& mrpt::opengl::operator>> ( CArchive in,
COctoMapVoxels::TVoxel a 
)

◆ operator>>() [5/6]

CArchive & mrpt::mrpt::opengl::operator>> ( mrpt::serialization::CArchive in,
CPolyhedron::TPolyhedronEdge o 
)

Reads a polyhedron edge from a binary stream.

Definition at line 1910 of file CPolyhedron.cpp.

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

◆ operator>>() [6/6]

CArchive & mrpt::mrpt::opengl::operator>> ( mrpt::serialization::CArchive in,
CPolyhedron::TPolyhedronFace o 
)

Reads a polyhedron face from a binary stream.

Definition at line 1924 of file CPolyhedron.cpp.

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

◆ posePDF2opengl()

template<class POSE_PDF >
CSetOfObjects::Ptr mrpt::opengl::posePDF2opengl ( const POSE_PDF &  o)
inline

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

Definition at line 21 of file pose_pdfs.h.

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

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

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◆ processRenderQueue()

void mrpt::mrpt::opengl::processRenderQueue ( const RenderQueue rq,
std::map< shader_id_t, mrpt::opengl::Program::Ptr > &  shaders,
const mrpt::opengl::TLightParameters lights 
)



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