MRPT  2.0.4
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mrpt::opengl::CAngularObservationMesh Class Reference

Detailed Description

A mesh built from a set of 2D laser scan observations.

Each element of this set is a single scan through the yaw, given a specific pitch. Each scan has a mrpt::poses::CPose3D identifying the origin of the scan, which ideally is the same for every one of them.

mrpt::opengl::CAngularObservationMesh

Definition at line 42 of file CAngularObservationMesh.h.

#include <mrpt/opengl/CAngularObservationMesh.h>

Inheritance diagram for mrpt::opengl::CAngularObservationMesh:

Classes

class  FTrace1D
 Internal functor class to trace a ray. More...
 
class  FTrace2D
 Internal functor class to trace a set of rays. More...
 
struct  TDoubleRange
 Range specification type, with several uses. More...
 

Public Member Functions

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...
 
 CAngularObservationMesh ()
 Basic constructor. More...
 
 ~CAngularObservationMesh () override=default
 Empty destructor. More...
 
bool isWireframe () const
 Returns whether the object is configured as wireframe or solid. More...
 
void setWireframe (bool enabled=true)
 Sets the display mode for the object. More...
 
bool isTransparencyEnabled () const
 Returns whether the object may be transparent or not. More...
 
void enableTransparency (bool enabled=true)
 Enables or disables transparencies. More...
 
bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const override
 Traces a ray to the object, returning the distance to a given pose through its X axis. More...
 
void setPitchBounds (const double initial, const double final)
 Sets the pitch bounds for this range. More...
 
void setPitchBounds (const std::vector< double > &bounds)
 Sets the pitch bounds for this range. More...
 
void getPitchBounds (double &initial, double &final) const
 Gets the initial and final pitch bounds for this range. More...
 
void getPitchBounds (std::vector< double > &bounds) const
 Gets the pitch bounds for this range. More...
 
void getScanSet (std::vector< mrpt::obs::CObservation2DRangeScan > &scans) const
 Gets the scan set. More...
 
bool setScanSet (const std::vector< mrpt::obs::CObservation2DRangeScan > &scans)
 Sets the scan set. More...
 
void generateSetOfTriangles (CSetOfTriangles::Ptr &res) const
 Gets the mesh as a set of triangles, for displaying them. More...
 
void generatePointCloud (mrpt::maps::CPointsMap *out_map) const
 Returns the scanned points as a 3D point cloud. More...
 
void getTracedRays (CSetOfLines::Ptr &res) const
 Gets a set of lines containing the traced rays, for displaying them. More...
 
void getUntracedRays (CSetOfLines::Ptr &res, double dist) const
 Gets a set of lines containing the untraced rays, up to a specified distance, for displaying them. More...
 
void generateSetOfTriangles (std::vector< mrpt::math::TPolygon3D > &res) const
 Gets the mesh as a set of polygons, to work with them. More...
 
void getActualMesh (mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double >> &pts, mrpt::math::CMatrixBool &validity) const
 Retrieves the full mesh, along with the validity matrix. 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 freeOpenGLResources () override
 Free opengl buffers. More...
 
void render (const RenderContext &rc) const override
 Implements the rendering of 3D objects in each class derived from CRenderizable. More...
 
void renderUpdateBuffers () const override
 Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc. More...
 
virtual shader_list_t requiredShaders () const override
 Returns the ID of the OpenGL shader program required to render this class. More...
 
void onUpdateBuffers_Wireframe () override
 Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...
 
void onUpdateBuffers_Triangles () override
 Must be implemented in derived classes to update the geometric entities to be drawn in "m_*_buffer" fields. More...
 

Static Public Member Functions

template<class T >
static void trace2DSetOfRays (const T &e, const mrpt::poses::CPose3D &initial, CAngularObservationMesh::Ptr &caom, const TDoubleRange &pitchs, const TDoubleRange &yaws)
 2D ray tracing (will generate a 3D mesh). More...
 
template<class T >
static void trace1DSetOfRays (const T &e, const mrpt::poses::CPose3D &initial, mrpt::obs::CObservation2DRangeScan &obs, const TDoubleRange &yaws)
 2D ray tracing (will generate a vectorial mesh inside a plane). More...
 

Protected Member Functions

void updateMesh () const
 Updates the mesh, if needed. More...
 
void addTriangle (const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2, const mrpt::math::TPoint3D &p3) const
 Internal method to add a triangle to the mutable mesh. More...
 
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

std::vector< mrpt::opengl::TTriangletriangles
 Actual set of triangles to be displayed. More...
 
bool m_Wireframe {true}
 Whether the mesh will be displayed wireframe or solid. More...
 
bool meshUpToDate {false}
 Mutable variable which controls if the object has suffered any change since last time the mesh was updated. More...
 
bool mEnableTransparency {true}
 Whether the object may present transparencies or not. More...
 
mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > > actualMesh
 Mutable object with the mesh's points. More...
 
mrpt::math::CMatrixB validityMatrix
 Scan validity matrix. More...
 
std::vector< double > pitchBounds
 Observation pitch range. More...
 
std::vector< mrpt::obs::CObservation2DRangeScanscanSet
 Actual scan set which is used to generate the mesh. More...
 
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 ::CAngularObservationMesh >
 
using ConstPtr = std::shared_ptr< const mrpt::opengl ::CAngularObservationMesh >
 
using UniquePtr = std::unique_ptr< mrpt::opengl ::CAngularObservationMesh >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::opengl ::CAngularObservationMesh >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::opengl" "::" "CAngularObservationMesh"
 
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::CAngularObservationMesh::ConstPtr = std::shared_ptr<const mrpt::opengl :: CAngularObservationMesh >

Definition at line 45 of file CAngularObservationMesh.h.

◆ ConstUniquePtr

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

Definition at line 45 of file CAngularObservationMesh.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 45 of file CAngularObservationMesh.h.

◆ UniquePtr

Definition at line 45 of file CAngularObservationMesh.h.

Constructor & Destructor Documentation

◆ CAngularObservationMesh()

mrpt::opengl::CAngularObservationMesh::CAngularObservationMesh ( )
inline

Basic constructor.

Definition at line 331 of file CAngularObservationMesh.h.

◆ ~CAngularObservationMesh()

mrpt::opengl::CAngularObservationMesh::~CAngularObservationMesh ( )
overridedefault

Empty destructor.

Member Function Documentation

◆ _GetBaseClass()

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

◆ addTriangle()

void CAngularObservationMesh::addTriangle ( const mrpt::math::TPoint3D p1,
const mrpt::math::TPoint3D p2,
const mrpt::math::TPoint3D p3 
) const
protected

Internal method to add a triangle to the mutable mesh.

Definition at line 49 of file CAngularObservationMesh.cpp.

References mrpt::opengl::TTriangle::computeNormals(), mrpt::opengl::TTriangle::setColor(), and mrpt::opengl::TTriangle::vertices.

◆ clone()

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

Definition at line 45 of file CAngularObservationMesh.h.

◆ CreateAlloc()

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

Definition at line 45 of file CAngularObservationMesh.h.

◆ CreateObject()

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

◆ CreateUnique()

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

Definition at line 45 of file CAngularObservationMesh.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.

◆ enableTransparency()

void mrpt::opengl::CAngularObservationMesh::enableTransparency ( bool  enabled = true)
inline

Enables or disables transparencies.

Definition at line 356 of file CAngularObservationMesh.h.

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

◆ 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::CAngularObservationMesh::freeOpenGLResources ( )
inlineoverridevirtual

◆ generatePointCloud()

void CAngularObservationMesh::generatePointCloud ( mrpt::maps::CPointsMap out_map) const

Returns the scanned points as a 3D point cloud.

The target pointmap must be passed as a pointer to allow the use of any derived class.

Definition at line 293 of file CAngularObservationMesh.cpp.

References ASSERT_, and mrpt::maps::CMetricMap::clear().

◆ generateSetOfTriangles() [1/2]

void CAngularObservationMesh::generateSetOfTriangles ( CSetOfTriangles::Ptr res) const

Gets the mesh as a set of triangles, for displaying them.

See also
generateSetOfTriangles(std::vector<TPolygon3D> &),mrpt::opengl::CSetOfTriangles,mrpt::opengl::mrpt::opengl::TTriangle

Definition at line 276 of file CAngularObservationMesh.cpp.

◆ generateSetOfTriangles() [2/2]

void CAngularObservationMesh::generateSetOfTriangles ( std::vector< mrpt::math::TPolygon3D > &  res) const

Gets the mesh as a set of polygons, to work with them.

See also
generateSetOfTriangles(mrpt::opengl::CSetOfTriangles &)

Definition at line 418 of file CAngularObservationMesh.cpp.

References createFromTriangle().

◆ getActualMesh()

void mrpt::opengl::CAngularObservationMesh::getActualMesh ( mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double >> &  pts,
mrpt::math::CMatrixBool validity 
) const
inline

Retrieves the full mesh, along with the validity matrix.

Definition at line 443 of file CAngularObservationMesh.h.

References actualMesh, meshUpToDate, updateMesh(), and validityMatrix.

◆ getBoundingBox()

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

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

Implements mrpt::opengl::CRenderizable.

Definition at line 427 of file CAngularObservationMesh.cpp.

References bb_max, bb_min, mrpt::keep_max(), and mrpt::keep_min().

◆ getClassName()

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

Definition at line 45 of file CAngularObservationMesh.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.

◆ 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().

◆ getPitchBounds() [1/2]

void CAngularObservationMesh::getPitchBounds ( double &  initial,
double &  final 
) const

Gets the initial and final pitch bounds for this range.

Definition at line 260 of file CAngularObservationMesh.cpp.

◆ getPitchBounds() [2/2]

void CAngularObservationMesh::getPitchBounds ( std::vector< double > &  bounds) const

Gets the pitch bounds for this range.

Definition at line 266 of file CAngularObservationMesh.cpp.

◆ 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::CAngularObservationMesh::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::CAngularObservationMesh::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().

◆ getScanSet()

void CAngularObservationMesh::getScanSet ( std::vector< mrpt::obs::CObservation2DRangeScan > &  scans) const

Gets the scan set.

Definition at line 270 of file CAngularObservationMesh.cpp.

◆ getTracedRays()

void CAngularObservationMesh::getTracedRays ( CSetOfLines::Ptr res) const

Gets a set of lines containing the traced rays, for displaying them.

See also
getUntracedRays,mrpt::opengl::CSetOfLines

Definition at line 349 of file CAngularObservationMesh.cpp.

◆ getUntracedRays()

void CAngularObservationMesh::getUntracedRays ( CSetOfLines::Ptr res,
double  dist 
) const

Gets a set of lines containing the untraced rays, up to a specified distance, for displaying them.

See also
getTracedRays,mrpt::opengl::CSetOfLines

Definition at line 403 of file CAngularObservationMesh.cpp.

◆ 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

◆ isTransparencyEnabled()

bool mrpt::opengl::CAngularObservationMesh::isTransparencyEnabled ( ) const
inline

Returns whether the object may be transparent or not.

Definition at line 352 of file CAngularObservationMesh.h.

References mEnableTransparency.

◆ 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().

◆ isWireframe()

bool mrpt::opengl::CAngularObservationMesh::isWireframe ( ) const
inline

Returns whether the object is configured as wireframe or solid.

Definition at line 340 of file CAngularObservationMesh.h.

References m_Wireframe.

◆ 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(), 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(), mrpt::opengl::CFrustum::serializeFrom(), mrpt::opengl::COctoMapVoxels::serializeFrom(), mrpt::opengl::CPointCloud::setAllPoints(), mrpt::opengl::CPointCloud::setAllPointsFast(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::CText::setFont(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMeshFast::setGridLimits(), 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(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CRenderizableShaderWireFrame::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CPointCloudColoured::setPoint(), mrpt::opengl::CPointCloud::setPoint(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CArrow::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CText::setString(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CAxis::setTickMarksLength(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::opengl::CSetOfLines::setVerticesPointSize(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), 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 CAngularObservationMesh::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 197 of file CAngularObservationMesh.cpp.

◆ onUpdateBuffers_Wireframe()

void CAngularObservationMesh::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 178 of file CAngularObservationMesh.cpp.

◆ readFromStreamRender()

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

◆ render()

void CAngularObservationMesh::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 160 of file CAngularObservationMesh.cpp.

References mrpt::opengl::CRenderizable::RenderContext::shader_id.

◆ renderUpdateBuffers()

void CAngularObservationMesh::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 172 of file CAngularObservationMesh.cpp.

◆ requiredShaders()

virtual shader_list_t mrpt::opengl::CAngularObservationMesh::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 372 of file CAngularObservationMesh.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 CAngularObservationMesh::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 322 of file CAngularObservationMesh.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CAngularObservationMesh::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 313 of file CAngularObservationMesh.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 CAngularObservationMesh::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 314 of file CAngularObservationMesh.cpp.

References out.

◆ 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().

◆ 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.

◆ setPitchBounds() [1/2]

void CAngularObservationMesh::setPitchBounds ( const double  initial,
const double  final 
)

Sets the pitch bounds for this range.

Definition at line 241 of file CAngularObservationMesh.cpp.

◆ setPitchBounds() [2/2]

void CAngularObservationMesh::setPitchBounds ( const std::vector< double > &  bounds)

Sets the pitch bounds for this range.

Definition at line 252 of file CAngularObservationMesh.cpp.

◆ 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.

◆ setScanSet()

bool CAngularObservationMesh::setScanSet ( const std::vector< mrpt::obs::CObservation2DRangeScan > &  scans)

Sets the scan set.

Definition at line 219 of file CAngularObservationMesh.cpp.

◆ 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.

◆ setWireframe()

void mrpt::opengl::CAngularObservationMesh::setWireframe ( bool  enabled = true)
inline

Sets the display mode for the object.

True=wireframe, False=solid.

Definition at line 344 of file CAngularObservationMesh.h.

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

◆ shaderTexturedTrianglesBuffer()

const auto& mrpt::opengl::CRenderizableShaderTriangles::shaderTexturedTrianglesBuffer ( ) const
inlineinherited

◆ shaderWireframeVertexColorBuffer()

const auto& mrpt::opengl::CRenderizableShaderWireFrame::shaderWireframeVertexColorBuffer ( ) const
inlineinherited

◆ shaderWireframeVertexPointBuffer()

const auto& mrpt::opengl::CRenderizableShaderWireFrame::shaderWireframeVertexPointBuffer ( ) const
inlineinherited

◆ trace1DSetOfRays()

template<class T >
static void mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays ( const T &  e,
const mrpt::poses::CPose3D initial,
mrpt::obs::CObservation2DRangeScan obs,
const TDoubleRange yaws 
)
inlinestatic

◆ trace2DSetOfRays()

template<class T >
void mrpt::opengl::CAngularObservationMesh::trace2DSetOfRays ( const T &  e,
const mrpt::poses::CPose3D initial,
CAngularObservationMesh::Ptr caom,
const TDoubleRange pitchs,
const TDoubleRange yaws 
)
static

2D ray tracing (will generate a 3D mesh).

Given an object and two ranges, realizes a scan from the initial pose and stores it in a CAngularObservationMesh object. The objective may be a COpenGLScene, a CRenderizable or any children of its.

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

Definition at line 595 of file CAngularObservationMesh.h.

References mrpt::opengl::CAngularObservationMesh::TDoubleRange::values().

◆ traceRay()

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

Traces a ray to the object, returning the distance to a given pose through its X axis.

See also
mrpt::opengl::CRenderizable,trace2DSetOfRays,trace1DSetOfRays

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 211 of file CAngularObservationMesh.cpp.

◆ updateBuffers()

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

◆ updateMesh()

void CAngularObservationMesh::updateMesh ( ) const
protected

Updates the mesh, if needed.

It's a const method, but modifies mutable content.

Definition at line 63 of file CAngularObservationMesh.cpp.

References mrpt::obs::gnss::b1, mrpt::obs::gnss::b2, and mrpt::obs::gnss::b3.

Referenced by getActualMesh().

◆ 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

◆ actualMesh

mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_data<double> > mrpt::opengl::CAngularObservationMesh::actualMesh
mutableprotected

Mutable object with the mesh's points.

Definition at line 318 of file CAngularObservationMesh.h.

Referenced by getActualMesh().

◆ className

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

Definition at line 45 of file CAngularObservationMesh.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_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_name

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

◆ m_outdatedBuffers

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

◆ 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().

◆ m_Wireframe

bool mrpt::opengl::CAngularObservationMesh::m_Wireframe {true}
protected

Whether the mesh will be displayed wireframe or solid.

Definition at line 310 of file CAngularObservationMesh.h.

Referenced by isWireframe(), and setWireframe().

◆ mEnableTransparency

bool mrpt::opengl::CAngularObservationMesh::mEnableTransparency {true}
protected

Whether the object may present transparencies or not.

Definition at line 315 of file CAngularObservationMesh.h.

Referenced by enableTransparency(), and isTransparencyEnabled().

◆ meshUpToDate

bool mrpt::opengl::CAngularObservationMesh::meshUpToDate {false}
mutableprotected

Mutable variable which controls if the object has suffered any change since last time the mesh was updated.

Definition at line 313 of file CAngularObservationMesh.h.

Referenced by getActualMesh().

◆ pitchBounds

std::vector<double> mrpt::opengl::CAngularObservationMesh::pitchBounds
protected

Observation pitch range.

When containing exactly two elements, they represent the bounds.

Definition at line 323 of file CAngularObservationMesh.h.

◆ runtimeClassId

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

Definition at line 45 of file CAngularObservationMesh.h.

◆ scanSet

std::vector<mrpt::obs::CObservation2DRangeScan> mrpt::opengl::CAngularObservationMesh::scanSet
protected

Actual scan set which is used to generate the mesh.


Definition at line 325 of file CAngularObservationMesh.h.

◆ triangles

std::vector<mrpt::opengl::TTriangle> mrpt::opengl::CAngularObservationMesh::triangles
mutableprotected

Actual set of triangles to be displayed.

Definition at line 304 of file CAngularObservationMesh.h.

◆ validityMatrix

mrpt::math::CMatrixB mrpt::opengl::CAngularObservationMesh::validityMatrix
mutableprotected

Scan validity matrix.

Definition at line 320 of file CAngularObservationMesh.h.

Referenced by getActualMesh().




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