MRPT  2.0.3
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes
mrpt::opengl::CFrustum Class Reference

Detailed Description

A solid or wireframe frustum in 3D (a rectangular truncated pyramid), with arbitrary (possibly assymetric) field-of-view angles.

You can switch whether to show only the lines, the surface of the frustum, or both. By default only the lines are drawn.

The color of the object (via CRenderizable::setColor()) affects the color of lines. To set the color of planes use setPlaneColor()

As usual in MRPT, the +X axis is assumed to by the main direction, in this case of the pyramid axis.

The horizontal and vertical FOVs can be set directly with setHorzFOV() and setVertFOV() if they are symmetric, or with setHorzFOVAsymmetric() and setVertFOVAsymmetric() otherwise.

All FOV angles are positive numbers. FOVs must be below 90deg on each side (below 180deg in total). If you try to set FOVs to larger values they'll truncated to 89.9deg.

See also
opengl::COpenGLScene,opengl::CRenderizable
mrpt::opengl::CFrustum

Definition at line 52 of file CFrustum.h.

#include <mrpt/opengl/CFrustum.h>

Inheritance diagram for mrpt::opengl::CFrustum:

Public Member Functions

void setPlaneColor (const mrpt::img::TColor &c)
 Changes the color of the planes; to change color of lines, use CRenderizable base methods. More...
 
const mrpt::img::TColorgetPlaneColor () const
 
void setNearFarPlanes (const float near_distance, const float far_distance)
 Changes distance of near & far planes. More...
 
float getNearPlaneDistance () const
 
float getFarPlaneDistance () const
 
void setHorzFOV (const float fov_horz_degrees)
 Changes horizontal FOV (symmetric) More...
 
void setVertFOV (const float fov_vert_degrees)
 Changes vertical FOV (symmetric) More...
 
void setHorzFOVAsymmetric (const float fov_horz_left_degrees, const float fov_horz_right_degrees)
 Changes horizontal FOV (asymmetric) More...
 
void setVertFOVAsymmetric (const float fov_vert_down_degrees, const float fov_vert_up_degrees)
 Changes vertical FOV (asymmetric) More...
 
float getHorzFOV () const
 
float getVertFOV () const
 
float getHorzFOVLeft () const
 
float getHorzFOVRight () const
 
float getVertFOVDown () const
 
float getVertFOVUp () const
 
bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const override
 Simulation of ray-trace, given a pose. 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...
 
 CFrustum ()
 Basic empty constructor. More...
 
 CFrustum (float near_distance, float far_distance, float horz_FOV_degrees, float vert_FOV_degrees, float lineWidth, bool draw_lines, bool draw_planes)
 Constructor with some parameters
More...
 
 ~CFrustum () override=default
 Destructor
More...
 
virtual void enqueForRenderRecursive ([[maybe_unused]] const mrpt::opengl::TRenderMatrices &state, [[maybe_unused]] RenderQueue &rq) const
 Process all children objects recursively, if the object is a container. More...
 
void updateBuffers () const
 Calls renderUpdateBuffers() and clear the flag that is set with notifyChange() More...
 
void notifyChange () const
 Call to enable calling renderUpdateBuffers() before the next render() rendering iteration. More...
 
bool hasToUpdateBuffers () const
 Returns whether notifyChange() has been invoked since the last call to renderUpdateBuffers(), meaning the latter needs to be called again before rendering. More...
 
virtual mrpt::math::TPoint3Df getLocalRepresentativePoint () const
 Provide a representative point (in object local coordinates), used to sort objects by eye-distance while rendering with transparencies (Default=[0,0,0]) More...
 
void setLocalRepresentativePoint (const mrpt::math::TPoint3Df &p)
 See getLocalRepresentativePoint() More...
 
mrpt::opengl::CTextlabelObject () const
 Returns or constructs (in its first invokation) the associated mrpt::opengl::CText object representing the label of the object. More...
 
virtual void initializeTextures () const
 Initializes all textures (loads them into opengl memory). More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
void setLineWidth (float w)
 
float getLineWidth () const
 
void enableAntiAliasing (bool enable=true)
 
bool isAntiAliasingEnabled () const
 
Renderizable shader API virtual methods
void render (const RenderContext &rc) const override
 Implements the rendering of 3D objects in each class derived from CRenderizable. More...
 
void renderUpdateBuffers () const override
 Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc. More...
 
void freeOpenGLResources () override
 Free opengl buffers. More...
 
virtual shader_list_t requiredShaders () const override
 Returns the ID of the OpenGL shader program required to render this class. More...
 
void onUpdateBuffers_Wireframe () override
 Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...
 
void onUpdateBuffers_Triangles () override
 Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...
 

Protected Member Functions

std::array< mrpt::math::TPoint3Df, 8 > computeFrustumCorners () const
 
void writeToStreamRender (mrpt::serialization::CArchive &out) const
 
void readFromStreamRender (mrpt::serialization::CArchive &in)
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 

Protected Attributes

float m_min_distance {0.1f}
 Near and far planes. More...
 
float m_max_distance {1.f}
 
float m_fov_horz_left
 Semi FOVs (in radians) More...
 
float m_fov_horz_right
 
float m_fov_vert_down
 Semi FOVs (in radians) More...
 
float m_fov_vert_up
 
bool m_draw_lines {true}
 
bool m_draw_planes {false}
 
mrpt::img::TColor m_planes_color
 
std::vector< mrpt::opengl::TTrianglem_triangles
 List of triangles. More...
 
std::string m_name
 
bool m_show_name {false}
 
mrpt::img::TColor m_color
 Color components in the range [0,255]. More...
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. More...
 
float m_scale_x {1}
 Scale components to apply to the object (default=1) More...
 
float m_scale_y {1}
 
float m_scale_z {1}
 
bool m_visible {true}
 Is the object visible? (default=true) More...
 
bool m_outdatedBuffers = true
 
mrpt::math::TPoint3Df m_representativePoint {0, 0, 0}
 
std::shared_ptr< mrpt::opengl::CTextm_label_obj
 Optional pointer to a mrpt::opengl::CText. More...
 
float m_lineWidth = 1.0f
 
bool m_antiAliasing = false
 
std::vector< mrpt::math::TPoint3Dfm_vertex_buffer_data
 
std::vector< mrpt::img::TColorm_color_buffer_data
 

Private Attributes

COpenGLBuffer m_trianglesBuffer
 
COpenGLVertexArrayObject m_vao
 
COpenGLBuffer m_vertexBuffer
 
COpenGLBuffer m_colorBuffer
 

RTTI stuff


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

Member Typedef Documentation

◆ ConstPtr

using mrpt::opengl::CFrustum::ConstPtr = std::shared_ptr<const mrpt::opengl :: CFrustum >

Definition at line 55 of file CFrustum.h.

◆ ConstUniquePtr

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

Definition at line 55 of file CFrustum.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 55 of file CFrustum.h.

◆ UniquePtr

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

Definition at line 55 of file CFrustum.h.

Constructor & Destructor Documentation

◆ CFrustum() [1/2]

CFrustum::CFrustum ( )

Basic empty constructor.

Set all parameters to default.

Definition at line 110 of file CFrustum.cpp.

References mrpt::DEG2RAD(), mrpt::keep_max(), mrpt::keep_min(), m_fov_horz_left, m_fov_horz_right, m_fov_vert_down, and m_fov_vert_up.

◆ CFrustum() [2/2]

CFrustum::CFrustum ( float  near_distance,
float  far_distance,
float  horz_FOV_degrees,
float  vert_FOV_degrees,
float  lineWidth,
bool  draw_lines,
bool  draw_planes 
)

Constructor with some parameters

Definition at line 127 of file CFrustum.cpp.

References mrpt::opengl::CRenderizableShaderWireFrame::setLineWidth().

◆ ~CFrustum()

mrpt::opengl::CFrustum::~CFrustum ( )
overridedefault

Destructor

Member Function Documentation

◆ _GetBaseClass()

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

◆ clone()

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

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

Implements mrpt::rtti::CObject.

◆ computeFrustumCorners()

std::array< mrpt::math::TPoint3Df, 8 > CFrustum::computeFrustumCorners ( ) const
protected

Definition at line 40 of file CFrustum.cpp.

◆ Create()

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

Definition at line 55 of file CFrustum.h.

◆ CreateAlloc()

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

Definition at line 55 of file CFrustum.h.

◆ CreateObject()

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

◆ CreateUnique()

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

Definition at line 55 of file CFrustum.h.

◆ duplicateGetSmartPtr()

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

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

Definition at line 204 of file CObject.h.

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

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

◆ enableAntiAliasing()

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

◆ enableShowName()

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

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

Definition at line 90 of file CRenderizable.h.

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

◆ enqueForRenderRecursive()

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

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

Definition at line 285 of file CRenderizable.h.

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

◆ freeOpenGLResources()

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

◆ getBoundingBox()

void CFrustum::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
overridevirtual

◆ getClassName()

static constexpr auto mrpt::opengl::CFrustum::getClassName ( )
inlinestaticconstexpr

Definition at line 55 of file CFrustum.h.

◆ getColor()

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

◆ getColor_u8()

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

Returns the object color property as a TColor.

Definition at line 248 of file CRenderizable.h.

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

◆ getColorA()

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

Color components in the range [0,1].

Definition at line 164 of file CRenderizable.h.

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

◆ getColorA_u8()

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

Color components in the range [0,255].

Definition at line 172 of file CRenderizable.h.

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

◆ getColorB()

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

Color components in the range [0,1].

Definition at line 162 of file CRenderizable.h.

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

◆ getColorB_u8()

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

Color components in the range [0,255].

Definition at line 170 of file CRenderizable.h.

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

◆ getColorG()

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

Color components in the range [0,1].

Definition at line 160 of file CRenderizable.h.

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

◆ getColorG_u8()

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

Color components in the range [0,255].

Definition at line 168 of file CRenderizable.h.

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

◆ getColorR()

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

Color components in the range [0,1].

Definition at line 158 of file CRenderizable.h.

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

◆ getColorR_u8()

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

Color components in the range [0,255].

Definition at line 166 of file CRenderizable.h.

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

◆ getFarPlaneDistance()

float mrpt::opengl::CFrustum::getFarPlaneDistance ( ) const
inline

Definition at line 93 of file CFrustum.h.

References m_max_distance.

◆ getHorzFOV()

float mrpt::opengl::CFrustum::getHorzFOV ( ) const
inline

Definition at line 105 of file CFrustum.h.

References m_fov_horz_left, m_fov_horz_right, and mrpt::RAD2DEG().

◆ getHorzFOVLeft()

float mrpt::opengl::CFrustum::getHorzFOVLeft ( ) const
inline

Definition at line 113 of file CFrustum.h.

References m_fov_horz_left, and mrpt::RAD2DEG().

◆ getHorzFOVRight()

float mrpt::opengl::CFrustum::getHorzFOVRight ( ) const
inline

Definition at line 114 of file CFrustum.h.

References m_fov_horz_right, and mrpt::RAD2DEG().

◆ getLineWidth()

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

◆ getLocalRepresentativePoint()

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

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

Reimplemented in mrpt::opengl::CPlanarLaserScan.

Definition at line 341 of file CRenderizable.h.

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

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

◆ getName()

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

Returns the name of the object.

Definition at line 75 of file CRenderizable.h.

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

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

◆ getNearPlaneDistance()

float mrpt::opengl::CFrustum::getNearPlaneDistance ( ) const
inline

Definition at line 92 of file CFrustum.h.

References m_min_distance.

◆ getPlaneColor()

const mrpt::img::TColor& mrpt::opengl::CFrustum::getPlaneColor ( ) const
inline

Definition at line 84 of file CFrustum.h.

References m_planes_color.

◆ getPose()

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

Returns the 3D pose of the object as TPose3D.

Definition at line 223 of file CRenderizable.cpp.

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

◆ getPosePitch()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 148 of file CRenderizable.h.

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

◆ getPosePitchRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 154 of file CRenderizable.h.

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

◆ getPoseRef()

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const
inlineinherited

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 117 of file CRenderizable.h.

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

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

◆ getPoseRoll()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 150 of file CRenderizable.h.

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

◆ getPoseRollRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 156 of file CRenderizable.h.

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

◆ getPoseX()

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

Translation relative to parent coordinate origin.

Definition at line 140 of file CRenderizable.h.

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

◆ getPoseY()

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

Translation relative to parent coordinate origin.

Definition at line 142 of file CRenderizable.h.

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

◆ getPoseYaw()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 146 of file CRenderizable.h.

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

◆ getPoseYawRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 152 of file CRenderizable.h.

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

◆ getPoseZ()

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

Translation relative to parent coordinate origin.

Definition at line 144 of file CRenderizable.h.

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

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableShaderTriangles.

◆ GetRuntimeClassIdStatic()

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

◆ getScaleX()

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

Get the current scaling factor in one axis.

Definition at line 223 of file CRenderizable.h.

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

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

◆ getScaleY()

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

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

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

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

◆ getScaleZ()

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

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

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

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

◆ getVertFOV()

float mrpt::opengl::CFrustum::getVertFOV ( ) const
inline

Definition at line 109 of file CFrustum.h.

References m_fov_vert_down, m_fov_vert_up, and mrpt::RAD2DEG().

◆ getVertFOVDown()

float mrpt::opengl::CFrustum::getVertFOVDown ( ) const
inline

Definition at line 115 of file CFrustum.h.

References m_fov_vert_down, and mrpt::RAD2DEG().

◆ getVertFOVUp()

float mrpt::opengl::CFrustum::getVertFOVUp ( ) const
inline

Definition at line 116 of file CFrustum.h.

References m_fov_vert_up, and mrpt::RAD2DEG().

◆ hasToUpdateBuffers()

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

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

Definition at line 324 of file CRenderizable.h.

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

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

◆ initializeTextures()

virtual void mrpt::opengl::CRenderizable::initializeTextures ( ) const
inlinevirtualinherited

Initializes all textures (loads them into opengl memory).

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

Definition at line 362 of file CRenderizable.h.

◆ isAntiAliasingEnabled()

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

◆ isShowNameEnabled()

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

◆ isVisible()

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

Is the object visible?

See also
setVisibility

Definition at line 76 of file CRenderizable.h.

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

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

◆ labelObject()

CText & CRenderizable::labelObject ( ) const
inherited

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

See also
enableShowName()

Definition at line 238 of file CRenderizable.cpp.

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

◆ notifyChange()

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

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

Definition at line 315 of file CRenderizable.h.

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

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

◆ onUpdateBuffers_Triangles()

void CFrustum::onUpdateBuffers_Triangles ( )
overridevirtual

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

Implements mrpt::opengl::CRenderizableShaderTriangles.

Definition at line 80 of file CFrustum.cpp.

References mrpt::opengl::CRenderizableShaderTriangles::m_triangles.

◆ onUpdateBuffers_Wireframe()

void CFrustum::onUpdateBuffers_Wireframe ( )
overridevirtual

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

Implements mrpt::opengl::CRenderizableShaderWireFrame.

Definition at line 59 of file CFrustum.cpp.

References mrpt::opengl::CRenderizableShaderWireFrame::m_color_buffer_data, and mrpt::opengl::CRenderizableShaderWireFrame::m_vertex_buffer_data.

◆ readFromStreamRender()

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

◆ render()

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

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

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

See also
renderUpdateBuffers

Implements mrpt::opengl::CRenderizable.

Definition at line 22 of file CFrustum.cpp.

References mrpt::opengl::CRenderizableShaderWireFrame::render(), mrpt::opengl::CRenderizableShaderTriangles::render(), mrpt::opengl::DefaultShaderID::TRIANGLES, and mrpt::opengl::DefaultShaderID::WIREFRAME.

◆ renderUpdateBuffers()

void CFrustum::renderUpdateBuffers ( ) const
overridevirtual

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

before they are sent for rendering in render()

Implements mrpt::opengl::CRenderizable.

Definition at line 34 of file CFrustum.cpp.

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

◆ requiredShaders()

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

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

See also
DefaultShaderID

Reimplemented from mrpt::opengl::CRenderizableShaderTriangles.

Definition at line 68 of file CFrustum.h.

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

◆ serializeFrom() [1/2]

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.

◆ serializeFrom() [2/2]

void CFrustum::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 154 of file CFrustum.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, m_draw_lines, m_draw_planes, m_fov_horz_left, m_fov_horz_right, m_fov_vert_down, m_fov_vert_up, mrpt::opengl::CRenderizableShaderWireFrame::m_lineWidth, m_max_distance, m_min_distance, m_planes_color, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::opengl::CRenderizable::notifyChange(), mrpt::img::TColor::R, and mrpt::opengl::CRenderizable::readFromStreamRender().

◆ serializeGetVersion()

uint8_t CFrustum::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 143 of file CFrustum.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.

◆ serializeTo() [2/2]

void CFrustum::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 144 of file CFrustum.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, m_draw_lines, m_draw_planes, m_fov_horz_left, m_fov_horz_right, m_fov_vert_down, m_fov_vert_up, mrpt::opengl::CRenderizableShaderWireFrame::m_lineWidth, m_max_distance, m_min_distance, m_planes_color, out, mrpt::img::TColor::R, and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ setColor() [1/2]

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

Changes the default object color.

Returns
a ref to this

Definition at line 234 of file CRenderizable.h.

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

◆ setColor() [2/2]

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

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

Returns
a ref to this

Definition at line 242 of file CRenderizable.h.

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

◆ setColor_u8() [1/2]

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

◆ setColor_u8() [2/2]

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

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

Returns
a ref to this

Definition at line 254 of file CRenderizable.h.

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

◆ setColorA()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 180 of file CRenderizable.h.

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

◆ setColorA_u8()

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

◆ setColorB()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 178 of file CRenderizable.h.

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

◆ setColorB_u8()

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

Color components in the range [0,255].

Returns
a ref to this

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

Definition at line 194 of file CRenderizable.h.

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

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

◆ setColorG()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 176 of file CRenderizable.h.

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

◆ setColorG_u8()

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

Color components in the range [0,255].

Returns
a ref to this

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

Definition at line 188 of file CRenderizable.h.

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

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

◆ setColorR()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 174 of file CRenderizable.h.

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

◆ setColorR_u8()

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

Color components in the range [0,255].

Returns
a ref to this

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

Definition at line 182 of file CRenderizable.h.

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

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

◆ setHorzFOV()

void CFrustum::setHorzFOV ( const float  fov_horz_degrees)

Changes horizontal FOV (symmetric)

Definition at line 187 of file CFrustum.cpp.

References mrpt::DEG2RAD(), mrpt::keep_max(), mrpt::keep_min(), m_fov_horz_left, m_fov_horz_right, and mrpt::opengl::CRenderizable::notifyChange().

◆ setHorzFOVAsymmetric()

void CFrustum::setHorzFOVAsymmetric ( const float  fov_horz_left_degrees,
const float  fov_horz_right_degrees 
)

Changes horizontal FOV (asymmetric)

Definition at line 205 of file CFrustum.cpp.

References mrpt::DEG2RAD(), mrpt::keep_max(), mrpt::keep_min(), m_fov_horz_left, m_fov_horz_right, and mrpt::opengl::CRenderizable::notifyChange().

◆ setLineWidth()

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

◆ setLocalRepresentativePoint()

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

◆ setLocation() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inlineinherited

◆ setLocation() [2/2]

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

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

Returns
a ref to this

Definition at line 121 of file CRenderizable.h.

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

◆ setName()

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

Changes the name of the object.

Definition at line 73 of file CRenderizable.h.

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

◆ setNearFarPlanes()

void CFrustum::setNearFarPlanes ( const float  near_distance,
const float  far_distance 
)

Changes distance of near & far planes.

Definition at line 180 of file CFrustum.cpp.

References m_max_distance, m_min_distance, and mrpt::opengl::CRenderizable::notifyChange().

◆ setPlaneColor()

void mrpt::opengl::CFrustum::setPlaneColor ( const mrpt::img::TColor c)
inline

Changes the color of the planes; to change color of lines, use CRenderizable base methods.

Definition at line 79 of file CFrustum.h.

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

◆ setPose() [1/6]

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

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

Definition at line 204 of file CRenderizable.cpp.

◆ setPose() [2/6]

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

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

Definition at line 199 of file CRenderizable.cpp.

◆ setPose() [3/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D o)
inherited

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

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

Definition at line 217 of file CRenderizable.cpp.

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

◆ setPose() [4/6]

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

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

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

Definition at line 211 of file CRenderizable.cpp.

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

◆ setPose() [5/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D o)
inherited

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

Definition at line 194 of file CRenderizable.cpp.

◆ setPose() [6/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D o)
inherited

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

Definition at line 189 of file CRenderizable.cpp.

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

◆ setScale() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  s)
inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns
a ref to this

Definition at line 208 of file CRenderizable.h.

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

◆ setScale() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float  sx,
float  sy,
float  sz 
)
inlineinherited

Scale to apply to the object in each axis (default=1)

Returns
a ref to this

Definition at line 215 of file CRenderizable.h.

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

◆ setVertFOV()

void CFrustum::setVertFOV ( const float  fov_vert_degrees)

Changes vertical FOV (symmetric)

Definition at line 196 of file CFrustum.cpp.

References mrpt::DEG2RAD(), mrpt::keep_max(), mrpt::keep_min(), m_fov_vert_down, m_fov_vert_up, and mrpt::opengl::CRenderizable::notifyChange().

◆ setVertFOVAsymmetric()

void CFrustum::setVertFOVAsymmetric ( const float  fov_vert_down_degrees,
const float  fov_vert_up_degrees 
)

Changes vertical FOV (asymmetric)

Definition at line 216 of file CFrustum.cpp.

References mrpt::DEG2RAD(), mrpt::keep_max(), mrpt::keep_min(), m_fov_vert_down, m_fov_vert_up, and mrpt::opengl::CRenderizable::notifyChange().

◆ setVisibility()

void mrpt::opengl::CRenderizable::setVisibility ( bool  visible = true)
inlineinherited

Set object visibility (default=true)

See also
isVisible

Definition at line 81 of file CRenderizable.h.

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

◆ traceRay()

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

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 172 of file CFrustum.cpp.

References THROW_EXCEPTION.

◆ updateBuffers()

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

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ writeToStreamRender()

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

Member Data Documentation

◆ className

constexpr const char* mrpt::opengl::CFrustum::className = "mrpt::opengl" "::" "CFrustum"
staticconstexpr

Definition at line 55 of file CFrustum.h.

◆ m_antiAliasing

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

◆ m_color

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

◆ m_color_buffer_data

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

◆ m_colorBuffer

COpenGLBuffer mrpt::opengl::CRenderizableShaderWireFrame::m_colorBuffer
privateinherited

◆ m_draw_lines

bool mrpt::opengl::CFrustum::m_draw_lines {true}
protected

Definition at line 141 of file CFrustum.h.

Referenced by serializeFrom(), and serializeTo().

◆ m_draw_planes

bool mrpt::opengl::CFrustum::m_draw_planes {false}
protected

Definition at line 141 of file CFrustum.h.

Referenced by serializeFrom(), and serializeTo().

◆ m_fov_horz_left

float mrpt::opengl::CFrustum::m_fov_horz_left
protected

Semi FOVs (in radians)

Definition at line 138 of file CFrustum.h.

Referenced by CFrustum(), getBoundingBox(), getHorzFOV(), getHorzFOVLeft(), serializeFrom(), serializeTo(), setHorzFOV(), and setHorzFOVAsymmetric().

◆ m_fov_horz_right

float mrpt::opengl::CFrustum::m_fov_horz_right
protected

◆ m_fov_vert_down

float mrpt::opengl::CFrustum::m_fov_vert_down
protected

Semi FOVs (in radians)

Definition at line 140 of file CFrustum.h.

Referenced by CFrustum(), getBoundingBox(), getVertFOV(), getVertFOVDown(), serializeFrom(), serializeTo(), setVertFOV(), and setVertFOVAsymmetric().

◆ m_fov_vert_up

float mrpt::opengl::CFrustum::m_fov_vert_up
protected

◆ m_label_obj

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

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

Definition at line 372 of file CRenderizable.h.

◆ m_lineWidth

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

◆ m_max_distance

float mrpt::opengl::CFrustum::m_max_distance {1.f}
protected

◆ m_min_distance

float mrpt::opengl::CFrustum::m_min_distance {0.1f}
protected

Near and far planes.

Definition at line 136 of file CFrustum.h.

Referenced by getBoundingBox(), getNearPlaneDistance(), serializeFrom(), serializeTo(), and setNearFarPlanes().

◆ m_name

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

◆ m_outdatedBuffers

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

◆ m_planes_color

mrpt::img::TColor mrpt::opengl::CFrustum::m_planes_color
protected

Definition at line 142 of file CFrustum.h.

Referenced by getPlaneColor(), serializeFrom(), serializeTo(), and setPlaneColor().

◆ m_pose

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

◆ m_representativePoint

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

◆ m_scale_x

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

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

Definition at line 64 of file CRenderizable.h.

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

◆ m_scale_y

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

◆ m_scale_z

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

◆ m_show_name

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

◆ m_triangles

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

◆ m_trianglesBuffer

COpenGLBuffer mrpt::opengl::CRenderizableShaderTriangles::m_trianglesBuffer
mutableprivateinherited

◆ m_vao

COpenGLVertexArrayObject mrpt::opengl::CRenderizableShaderTriangles::m_vao
mutableprivateinherited

◆ m_vertex_buffer_data

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

◆ m_vertexBuffer

COpenGLBuffer mrpt::opengl::CRenderizableShaderWireFrame::m_vertexBuffer
mutableprivateinherited

◆ m_visible

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

Is the object visible? (default=true)

Definition at line 66 of file CRenderizable.h.

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

◆ runtimeClassId

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

Definition at line 55 of file CFrustum.h.




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