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mrpt::opengl::CEllipsoidInverseDepth3D Class Reference

Detailed Description

An especial "ellipsoid" in 3D computed as the uncertainty iso-surfaces of a (inv_range,yaw,pitch) variable.

The parameter space of this ellipsoid comprises these variables (in this order):

This parameterization is based on the paper:

This class expects you to provide a mean vector of length 3 and a 3x3 covariance matrix, set with setCovMatrixAndMean().

Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning the mathematical details about setting the desired confidence interval.

mrpt::opengl::CEllipsoidInverseDepth3D
td

Definition at line 44 of file CEllipsoidInverseDepth3D.h.

#include <mrpt/opengl/CEllipsoidInverseDepth3D.h>

Inheritance diagram for mrpt::opengl::CEllipsoidInverseDepth3D:
Inheritance graph

Public Types

typedef mrpt::math::CMatrixFixedNumeric< double, DIM, DIM > cov_matrix_t
 The type of fixed-size covariance matrices for this representation.
 
typedef mrpt::math::CMatrixFixedNumeric< double, DIM, 1 > mean_vector_t
 The type of fixed-size vector for this representation.
 
typedef mrpt::math::CMatrixFixedNumeric< float, DIM, 1 > array_parameter_t
 
typedef mrpt::math::CMatrixFixedNumeric< float, DIM, 1 > array_point_t
 

Public Member Functions

void setUnderflowMaxRange (const double maxRange)
 The maximum range to be used as a correction when a point of the ellipsoid falls in the negative ranges (default: 1e6)
 
double getUnderflowMaxRange () const
 
void setCovMatrixAndMean (const MATRIX &new_cov, const VECTOR &new_mean)
 Set the NxN covariance matrix that will determine the aspect of the ellipsoid - Notice that the covariance determines the uncertainty in the parameter space, which would be transformed by derived function.
 
const cov_matrix_tgetCovMatrix () const
 Gets the current uncertainty covariance of parameter space.
 
void setQuantiles (float q)
 Changes the scale of the "sigmas" for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of "quantiles" q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval.
 
float getQuantiles () const
 Refer to documentation of setQuantiles()
 
void setLineWidth (float w)
 The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
 
float getLineWidth () const
 
void setNumberOfSegments (const uint32_t numSegments)
 Set the number of segments of the surface/curve (higher means with greater resolution)
 
uint32_t getNumberOfSegments ()
 
void render_dl () const MRPT_OVERRIDE
 Render If one of the eigen value of the covariance matrix of the ellipsoid is null, ellipsoid will not be rendered to ensure stability in the rendering process.
 
virtual void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.
 
virtual bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
 Ray tracing.
 
CRenderizableDisplayListclone () const
 Interface for the stlplus smart pointer class.
 
void render () const MRPT_OVERRIDE
 Render the object, regenerating the display list if needed, otherwise just calling it.
 
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
CRenderizablesetColorR_u8 (const uint8_t r) MRPT_OVERRIDE
 Color components in the range [0,255].
 
CRenderizablesetColorG_u8 (const uint8_t g) MRPT_OVERRIDE
 Color components in the range [0,255].
 
CRenderizablesetColorB_u8 (const uint8_t b) MRPT_OVERRIDE
 Color components in the range [0,255].
 
CRenderizablesetColorA_u8 (const uint8_t a) MRPT_OVERRIDE
 Color components in the range [0,255].
 
CRenderizablesetColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
 Changes the default object color.
 
Changes the appearance of the object to render
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1)
 
void setName (const std::string &n)
 Changes the name of the object.
 
const std::string & getName () const
 Returns the name of the object.
 
bool isVisible () const
 Is the object visible?
 
void setVisibility (bool visible=true)
 Set object visibility (default=true)
 
void enableShowName (bool showName=true)
 Enables or disables showing the name of the object as a label when rendering.
 
bool isShowNameEnabled () const
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
 
CRenderizablesetPose (const mrpt::poses::CPoint2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
 
mrpt::math::TPose3D getPose () const
 Returns the 3D pose of the object as TPose3D.
 
const mrpt::poses::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation.
 
CRenderizablesetLocation (const mrpt::math::TPoint3D &p)
 Changes the location of the object, keeping untouched the orientation.
 
double getPoseX () const
 Translation relative to parent coordinate origin.
 
double getPoseY () const
 Translation relative to parent coordinate origin.
 
double getPoseZ () const
 Translation relative to parent coordinate origin.
 
double getPoseYaw () const
 Rotation relative to parent coordinate origin, in DEGREES.
 
double getPosePitch () const
 Rotation relative to parent coordinate origin, in DEGREES.
 
double getPoseRoll () const
 Rotation relative to parent coordinate origin, in DEGREES.
 
double getPoseYawRad () const
 Rotation relative to parent coordinate origin, in radians.
 
double getPosePitchRad () const
 Rotation relative to parent coordinate origin, in radians.
 
double getPoseRollRad () const
 Rotation relative to parent coordinate origin, in radians.
 
double getColorR () const
 Color components in the range [0,1].
 
double getColorG () const
 Color components in the range [0,1].
 
double getColorB () const
 Color components in the range [0,1].
 
double getColorA () const
 Color components in the range [0,1].
 
uint8_t getColorR_u8 () const
 Color components in the range [0,255].
 
uint8_t getColorG_u8 () const
 Color components in the range [0,255].
 
uint8_t getColorB_u8 () const
 Color components in the range [0,255].
 
uint8_t getColorA_u8 () const
 Color components in the range [0,255].
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1].
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1].
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1].
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1].
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1)
 
CRenderizablesetScale (float sx, float sy, float sz)
 Scale to apply to the object in each axis (default=1)
 
float getScaleX () const
 Get the current scaling factor in one axis.
 
float getScaleY () const
 Get the current scaling factor in one axis.
 
float getScaleZ () const
 Get the current scaling factor in one axis.
 
mrpt::utils::TColorf getColor () const
 Returns the object color property as a TColorf.
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (double R, double G, double B, double A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1)
 
const mrpt::utils::TColorgetColor_u8 () const
 Returns the object color property as a TColor.
 

Static Public Member Functions

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

Static Public Attributes

RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCRenderizableDisplayList
 
RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCRenderizable
 

Protected Member Functions

virtual void transformFromParameterSpace (const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const MRPT_OVERRIDE
 To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
 
void thisclass_writeToStream (mrpt::utils::CStream &out) const
 
void thisclass_readFromStream (mrpt::utils::CStream &in)
 
void writeToStreamRender (utils::CStream &out) const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 
Methods accesible or implemented by derived classes
EIGEN_STRONG_INLINE void notifyChange () const
 Must be called to notify that the object has changed (so, the display list must be updated)
 
virtual bool should_skip_display_list_cache () const
 Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.
 
void readFromStreamRender (mrpt::utils::CStream &in)
 

Static Protected Member Functions

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

Protected Attributes

cov_matrix_t m_cov
 
mean_vector_t m_mean
 
bool m_needToRecomputeEigenVals
 
float m_quantiles
 The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)
 
float m_lineWidth
 The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)
 
uint32_t m_numSegments
 Number of segments in 2D/3D ellipsoids (default=10)
 
mrpt::math::TPoint3D m_bb_min
 
mrpt::math::TPoint3D m_bb_max
 
cov_matrix_t m_U
 Cholesky U triangular matrix cache. *‍/.
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255].
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1)
 
bool m_visible
 Is the object visible? (default=true)
 

Private Types

typedef CGeneralizedEllipsoidTemplate< 3 > BASE
 

Private Member Functions

 CEllipsoidInverseDepth3D ()
 Constructor.
 
virtual ~CEllipsoidInverseDepth3D ()
 Private, virtual destructor: only can be deleted from smart pointers.
 

Private Attributes

double m_underflowMaxRange
 
unsigned int m_dl
 Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class).
 
bool m_dl_recreate
 If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...).
 

RTTI stuff <br>

typedef CEllipsoidInverseDepth3DPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CEllipsoidInverseDepth3D
 
static mrpt::utils::TRuntimeClassId classCEllipsoidInverseDepth3D
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CEllipsoidInverseDepth3DPtr Create ()
 

Member Typedef Documentation

◆ array_parameter_t

typedef mrpt::math::CMatrixFixedNumeric<float,DIM,1> mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::array_parameter_t
inherited

Definition at line 64 of file CGeneralizedEllipsoidTemplate.h.

◆ array_point_t

typedef mrpt::math::CMatrixFixedNumeric<float,DIM,1> mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::array_point_t
inherited

Definition at line 65 of file CGeneralizedEllipsoidTemplate.h.

◆ BASE

Definition at line 46 of file CEllipsoidInverseDepth3D.h.

◆ cov_matrix_t

typedef mrpt::math::CMatrixFixedNumeric<double,DIM,DIM> mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::cov_matrix_t
inherited

The type of fixed-size covariance matrices for this representation.

Definition at line 61 of file CGeneralizedEllipsoidTemplate.h.

◆ mean_vector_t

typedef mrpt::math::CMatrixFixedNumeric<double,DIM,1> mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::mean_vector_t
inherited

The type of fixed-size vector for this representation.

Definition at line 62 of file CGeneralizedEllipsoidTemplate.h.

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 47 of file CEllipsoidInverseDepth3D.h.

Constructor & Destructor Documentation

◆ CEllipsoidInverseDepth3D()

mrpt::opengl::CEllipsoidInverseDepth3D::CEllipsoidInverseDepth3D ( )
inlineprivate

Constructor.

Definition at line 66 of file CEllipsoidInverseDepth3D.h.

◆ ~CEllipsoidInverseDepth3D()

virtual mrpt::opengl::CEllipsoidInverseDepth3D::~CEllipsoidInverseDepth3D ( )
inlineprivatevirtual

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

Definition at line 70 of file CEllipsoidInverseDepth3D.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::opengl::CEllipsoidInverseDepth3D::_GetBaseClass ( )
staticprotected

◆ checkOpenGLError()

static void mrpt::opengl::CRenderizable::checkOpenGLError ( )
staticprotectedinherited

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

◆ clone()

CRenderizableDisplayList * mrpt::opengl::CRenderizableDisplayList::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

◆ Create()

static CEllipsoidInverseDepth3DPtr mrpt::opengl::CEllipsoidInverseDepth3D::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::opengl::CEllipsoidInverseDepth3D::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::opengl::CEllipsoidInverseDepth3D::duplicate ( ) const
virtual

◆ 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 69 of file CRenderizable.h.

◆ getBoundingBox()

virtual void mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
inlinevirtualinherited

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 185 of file CGeneralizedEllipsoidTemplate.h.

◆ getColor()

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

Returns the object color property as a TColorf.

Definition at line 124 of file CRenderizable.h.

◆ getColor_u8()

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

Returns the object color property as a TColor.

Definition at line 133 of file CRenderizable.h.

◆ getColorA()

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

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

◆ getColorA_u8()

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

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

◆ getColorB()

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

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

◆ getColorB_u8()

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

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

◆ getColorG()

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

Color components in the range [0,1].

Definition at line 98 of file CRenderizable.h.

◆ getColorG_u8()

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

Color components in the range [0,255].

Definition at line 103 of file CRenderizable.h.

◆ getColorR()

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

Color components in the range [0,1].

Definition at line 97 of file CRenderizable.h.

◆ getColorR_u8()

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

Color components in the range [0,255].

Definition at line 102 of file CRenderizable.h.

◆ getCovMatrix()

const cov_matrix_t & mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::getCovMatrix ( ) const
inlineinherited

Gets the current uncertainty covariance of parameter space.

Definition at line 83 of file CGeneralizedEllipsoidTemplate.h.

◆ getLineWidth()

float mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::getLineWidth ( ) const
inlineinherited

Definition at line 115 of file CGeneralizedEllipsoidTemplate.h.

◆ getName()

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

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

◆ getNewTextureNumber()

static unsigned int mrpt::opengl::CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

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


◆ getNumberOfSegments()

uint32_t mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::getNumberOfSegments ( )
inlineinherited

Definition at line 119 of file CGeneralizedEllipsoidTemplate.h.

◆ getPose()

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

Returns the 3D pose of the object as TPose3D.

◆ getPosePitch()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 91 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPosePitchRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 94 of file CRenderizable.h.

◆ 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 79 of file CRenderizable.h.

◆ getPoseRoll()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPoseRollRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

◆ getPoseX()

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

Translation relative to parent coordinate origin.

Definition at line 87 of file CRenderizable.h.

◆ getPoseY()

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

Translation relative to parent coordinate origin.

Definition at line 88 of file CRenderizable.h.

◆ getPoseYaw()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 90 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPoseYawRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 93 of file CRenderizable.h.

◆ getPoseZ()

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

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

◆ getQuantiles()

float mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::getQuantiles ( ) const
inlineinherited

Refer to documentation of setQuantiles()

Definition at line 111 of file CGeneralizedEllipsoidTemplate.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::opengl::CEllipsoidInverseDepth3D::GetRuntimeClass ( ) const
virtual

◆ getScaleX()

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

Get the current scaling factor in one axis.

Definition at line 119 of file CRenderizable.h.

◆ getScaleY()

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

Get the current scaling factor in one axis.

Definition at line 120 of file CRenderizable.h.

◆ getScaleZ()

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

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

◆ getUnderflowMaxRange()

double mrpt::opengl::CEllipsoidInverseDepth3D::getUnderflowMaxRange ( ) const
inline

Definition at line 52 of file CEllipsoidInverseDepth3D.h.

◆ isShowNameEnabled()

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

Definition at line 70 of file CRenderizable.h.

◆ isVisible()

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

Is the object visible?

See also
setVisibility

Definition at line 66 of file CRenderizable.h.

◆ notifyChange()

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

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

Definition at line 49 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::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::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), 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::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CPolyhedron::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CPolyhedron::setWireframe(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), and mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::thisclass_readFromStream().

◆ readFromStream()

void mrpt::opengl::CEllipsoidInverseDepth3D::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited

◆ releaseTextureName()

static void mrpt::opengl::CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

◆ render()

void mrpt::opengl::CRenderizableDisplayList::render ( ) const
virtualinherited

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

Implements mrpt::opengl::CRenderizable.

◆ render_dl()

void mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::render_dl ( ) const
inlinevirtualinherited

Render If one of the eigen value of the covariance matrix of the ellipsoid is null, ellipsoid will not be rendered to ensure stability in the rendering process.

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 125 of file CGeneralizedEllipsoidTemplate.h.

◆ renderTextBitmap() [1/2]

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

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

See also
renderTextBitmap, mrpt::opengl::gl_utils

◆ renderTextBitmap() [2/2]

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

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

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

◆ setColor() [1/2]

CRenderizable & mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 125 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

◆ setColor() [2/2]

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

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

Returns
a ref to this

Definition at line 131 of file CRenderizable.h.

◆ setColor_u8() [1/2]

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor c)
inlinevirtualinherited

Changes the default object color.

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 86 of file CRenderizableDisplayList.h.

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

◆ 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 0-1)

Returns
a ref to this

Definition at line 138 of file CRenderizable.h.

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

Referenced by mrpt::opengl::CRenderizable::setColor_u8().

◆ setColorA()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 110 of file CRenderizable.h.

◆ setColorA_u8()

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

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 85 of file CRenderizableDisplayList.h.

◆ setColorB()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 109 of file CRenderizable.h.

◆ setColorB_u8()

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

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 84 of file CRenderizableDisplayList.h.

◆ setColorG()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 108 of file CRenderizable.h.

◆ setColorG_u8()

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

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 83 of file CRenderizableDisplayList.h.

◆ setColorR()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 107 of file CRenderizable.h.

◆ setColorR_u8()

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

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 82 of file CRenderizableDisplayList.h.

◆ setCovMatrixAndMean()

void mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setCovMatrixAndMean ( const MATRIX &  new_cov,
const VECTOR &  new_mean 
)
inlineinherited

Set the NxN covariance matrix that will determine the aspect of the ellipsoid - Notice that the covariance determines the uncertainty in the parameter space, which would be transformed by derived function.

Definition at line 71 of file CGeneralizedEllipsoidTemplate.h.

◆ setLineWidth()

void mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setLineWidth ( float  w)
inlineinherited

The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)

Definition at line 114 of file CGeneralizedEllipsoidTemplate.h.

◆ setLocation() [1/2]

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

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

Returns
a ref to this

Definition at line 85 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ 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 82 of file CRenderizable.h.

◆ setName()

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

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

◆ setNumberOfSegments()

void mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setNumberOfSegments ( const uint32_t  numSegments)
inlineinherited

Set the number of segments of the surface/curve (higher means with greater resolution)

Definition at line 118 of file CGeneralizedEllipsoidTemplate.h.

◆ setPose() [1/4]

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

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

◆ setPose() [2/4]

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

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

◆ setPose() [3/4]

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

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

◆ setPose() [4/4]

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

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

◆ setQuantiles()

void mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setQuantiles ( float  q)
inlineinherited

Changes the scale of the "sigmas" for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of "quantiles" q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval.

Note that this value depends on the dimensionality. Refer to the MATLAB functions chi2inv() and chi2cdf().

Some common values follow here for the convenience of users:

  • Dimensionality=3 (3D ellipsoids):
    • 19.8748% CI -> q=1
    • 73.8536% CI -> q=2
    • 97.0709% CI -> q=3
    • 99.8866% CI -> q=4
  • Dimensionality=2 (2D ellipses):
    • 39.347% CI -> q=1
    • 86.466% CI -> q=2
    • 98.8891% CI -> q=3
    • 99.9664% CI -> q=4
  • Dimensionality=1 (Not aplicable to this class but provided for reference):
    • 68.27% CI -> q=1
    • 95.45% CI -> q=2
    • 99.73% CI -> q=3
    • 99.9937% CI -> q=4

Definition at line 109 of file CGeneralizedEllipsoidTemplate.h.

◆ 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 117 of file CRenderizable.h.

◆ 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 118 of file CRenderizable.h.

◆ setUnderflowMaxRange()

void mrpt::opengl::CEllipsoidInverseDepth3D::setUnderflowMaxRange ( const double  maxRange)
inline

The maximum range to be used as a correction when a point of the ellipsoid falls in the negative ranges (default: 1e6)

Definition at line 51 of file CEllipsoidInverseDepth3D.h.

◆ setVisibility()

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

Set object visibility (default=true)

See also
isVisible

Definition at line 67 of file CRenderizable.h.

◆ should_skip_display_list_cache()

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

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

Reimplemented in mrpt::opengl::CSphere.

Definition at line 56 of file CRenderizableDisplayList.h.

◆ textBitmapWidth()

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

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

See also
renderTextBitmap, mrpt::opengl::gl_utils

◆ thisclass_readFromStream()

void mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::thisclass_readFromStream ( mrpt::utils::CStream in)
inlineprotectedinherited

Definition at line 224 of file CGeneralizedEllipsoidTemplate.h.

◆ thisclass_writeToStream()

void mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::thisclass_writeToStream ( mrpt::utils::CStream out) const
inlineprotectedinherited

Definition at line 216 of file CGeneralizedEllipsoidTemplate.h.

◆ traceRay()

virtual bool mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
inlinevirtualinherited

Ray tracing.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 193 of file CGeneralizedEllipsoidTemplate.h.

◆ transformFromParameterSpace()

virtual void mrpt::opengl::CEllipsoidInverseDepth3D::transformFromParameterSpace ( const std::vector< BASE::array_parameter_t > &  in_pts,
std::vector< BASE::array_point_t > &  out_pts 
) const
protectedvirtual

To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.

Implements mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >.

◆ writeToStream()

void mrpt::opengl::CEllipsoidInverseDepth3D::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

◆ writeToStreamRender()

void mrpt::opengl::CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited

Member Data Documentation

◆ _init_CEllipsoidInverseDepth3D

mrpt::utils::CLASSINIT mrpt::opengl::CEllipsoidInverseDepth3D::_init_CEllipsoidInverseDepth3D
staticprotected

Definition at line 47 of file CEllipsoidInverseDepth3D.h.

◆ classCEllipsoidInverseDepth3D

mrpt::utils::TRuntimeClassId mrpt::opengl::CEllipsoidInverseDepth3D::classCEllipsoidInverseDepth3D
static

Definition at line 47 of file CEllipsoidInverseDepth3D.h.

◆ classCRenderizable

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
staticinherited

Definition at line 46 of file CRenderizable.h.

◆ classCRenderizableDisplayList

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizableDisplayList::classCRenderizableDisplayList
staticinherited

Definition at line 38 of file CRenderizableDisplayList.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CEllipsoidInverseDepth3D::classinfo
static

Definition at line 47 of file CEllipsoidInverseDepth3D.h.

◆ m_bb_max

Definition at line 212 of file CGeneralizedEllipsoidTemplate.h.

◆ m_bb_min

mrpt::math::TPoint3D mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_bb_min
mutableprotectedinherited

Definition at line 212 of file CGeneralizedEllipsoidTemplate.h.

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

◆ m_cov

cov_matrix_t mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_cov
mutableprotectedinherited

Definition at line 206 of file CGeneralizedEllipsoidTemplate.h.

◆ m_dl

unsigned int mrpt::opengl::CRenderizableDisplayList::m_dl
mutableprivateinherited

Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class).

Definition at line 41 of file CRenderizableDisplayList.h.

◆ m_dl_recreate

bool mrpt::opengl::CRenderizableDisplayList::m_dl_recreate
mutableprivateinherited

If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...).

Definition at line 42 of file CRenderizableDisplayList.h.

◆ m_lineWidth

float mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_lineWidth
protectedinherited

The line width for 2D ellipses or 3D wireframe ellipsoids (default=1)

Definition at line 210 of file CGeneralizedEllipsoidTemplate.h.

◆ m_mean

Definition at line 207 of file CGeneralizedEllipsoidTemplate.h.

◆ m_name

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

Definition at line 52 of file CRenderizable.h.

◆ m_needToRecomputeEigenVals

bool mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_needToRecomputeEigenVals
mutableprotectedinherited

Definition at line 208 of file CGeneralizedEllipsoidTemplate.h.

◆ m_numSegments

uint32_t mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_numSegments
protectedinherited

Number of segments in 2D/3D ellipsoids (default=10)

Definition at line 211 of file CGeneralizedEllipsoidTemplate.h.

◆ m_pose

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

6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

Definition at line 55 of file CRenderizable.h.

Referenced by mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::render_dl().

◆ m_quantiles

float mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_quantiles
protectedinherited

The number of "sigmas" for drawing the ellipse/ellipsoid (default=3)

Definition at line 209 of file CGeneralizedEllipsoidTemplate.h.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited

Definition at line 56 of file CRenderizable.h.

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited

Definition at line 56 of file CRenderizable.h.

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

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

Definition at line 56 of file CRenderizable.h.

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited

Definition at line 53 of file CRenderizable.h.

◆ m_U

cov_matrix_t mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_U
mutableprotectedinherited

Cholesky U triangular matrix cache. *‍/.

Definition at line 214 of file CGeneralizedEllipsoidTemplate.h.

◆ m_underflowMaxRange

double mrpt::opengl::CEllipsoidInverseDepth3D::m_underflowMaxRange
private

Definition at line 62 of file CEllipsoidInverseDepth3D.h.

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.




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