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):

• inv_range: The inverse distance from the sensor to the feature.
• yaw: Angle for the rotation around +Z ("azimuth").
• pitch: Angle for the rotation around +Y ("elevation"). Positive means pointing below the XY plane.

This parameterization is based on the paper:

• Civera, J. and Davison, A.J. and Montiel, J., "Inverse depth parametrization for monocular SLAM", T-RO, 2008.

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

Definition at line 63 of file CEllipsoidInverseDepth3D.h.

#include <mrpt/opengl/CEllipsoidInverseDepth3D.h>

Inheritance diagram for mrpt::opengl::CEllipsoidInverseDepth3D:

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::CArray < float, DIM >	array_parameter_t
typedef mrpt::math::CArray < float, DIM >	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_t &	getCovMatrix () 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
	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 bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Ray tracing.
CRenderizableDisplayList *	clone () const
	Interface for the stlplus smart pointer class.
virtual void	render () const
	Render the object, regenerating the display list if needed, otherwise just calling it.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255].
virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255].
virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255].
virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255].
virtual CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c)
	Changes the default object color.
Changes the appearance of the object to render
CRenderizable &	setColor_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
CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
CRenderizable &	setPose (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::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as CPose3D (which explicitly contains the 3x3 rotation matrix)
CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation.
CRenderizable &	setLocation (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].
CRenderizable &	setColorR (const double r)
	Color components in the range [0,1].
CRenderizable &	setColorG (const double g)
	Color components in the range [0,1].
CRenderizable &	setColorB (const double b)
	Color components in the range [0,1].
CRenderizable &	setColorA (const double a)
	Color components in the range [0,1].
CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1)
CRenderizable &	setScale (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.
CRenderizable &	setColor (const mrpt::utils::TColorf &c)
CRenderizable &	setColor (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::TColor &	getColor_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
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizableDisplayList
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizable
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
virtual void	transformFromParameterSpace (const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const
	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
	Introduces a pure virtual method responsible for writing to a CStream.
void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
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)
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

RTTI stuff
typedef CEllipsoidInverseDepth3DPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CEllipsoidInverseDepth3D
static mrpt::utils::TRuntimeClassId	classCEllipsoidInverseDepth3D
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CEllipsoidInverseDepth3DPtr	Create ()

Member Typedef Documentation

typedef mrpt::math::CArray<float,DIM> mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::array_parameter_t

inherited

Definition at line 74 of file CGeneralizedEllipsoidTemplate.h.

typedef mrpt::math::CArray<float,DIM> mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::array_point_t

inherited

Definition at line 75 of file CGeneralizedEllipsoidTemplate.h.

typedef CGeneralizedEllipsoidTemplate<3> mrpt::opengl::CEllipsoidInverseDepth3D::BASE

private

Definition at line 65 of file CEllipsoidInverseDepth3D.h.

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 71 of file CGeneralizedEllipsoidTemplate.h.

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 72 of file CGeneralizedEllipsoidTemplate.h.

typedef CEllipsoidInverseDepth3DPtr mrpt::opengl::CEllipsoidInverseDepth3D::SmartPtr

A typedef for the associated smart pointer

Definition at line 66 of file CEllipsoidInverseDepth3D.h.

Constructor & Destructor Documentation

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

inlineprivate

Constructor.

Definition at line 85 of file CEllipsoidInverseDepth3D.h.

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

inlineprivatevirtual

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

Definition at line 89 of file CEllipsoidInverseDepth3D.h.

Member Function Documentation

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

staticprotected

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

staticprotectedinherited

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

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

inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 90 of file CRenderizableDisplayList.h.

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

static

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

static

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

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

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 95 of file CRenderizable.h.

Referenced by mrpt::opengl::graph_tools::graph_visualize().

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

inlineinherited

Returns the object color property as a TColorf.

Definition at line 150 of file CRenderizable.h.

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

inlineinherited

Returns the object color property as a TColor.

Definition at line 159 of file CRenderizable.h.

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

inlineinherited

Color components in the range [0,1].

Definition at line 126 of file CRenderizable.h.

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

inlineinherited

Color components in the range [0,255].

Definition at line 131 of file CRenderizable.h.

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

inlineinherited

Color components in the range [0,1].

Definition at line 125 of file CRenderizable.h.

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

inlineinherited

Color components in the range [0,255].

Definition at line 130 of file CRenderizable.h.

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

inlineinherited

Color components in the range [0,1].

Definition at line 124 of file CRenderizable.h.

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

inlineinherited

Color components in the range [0,255].

Definition at line 129 of file CRenderizable.h.

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

inlineinherited

Color components in the range [0,1].

Definition at line 123 of file CRenderizable.h.

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

inlineinherited

Color components in the range [0,255].

Definition at line 128 of file CRenderizable.h.

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

inlineinherited

Gets the current uncertainty covariance of parameter space.

Definition at line 93 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_cov.

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

inlineinherited

Definition at line 125 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_lineWidth.

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

inlineinherited

Returns the name of the object.

Definition at line 90 of file CRenderizable.h.

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).

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

inlineinherited

Definition at line 129 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_numSegments.

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

inherited

Returns the 3D pose of the object as TPose3D.

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 117 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 120 of file CRenderizable.h.

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

inlineinherited

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

Definition at line 105 of file CRenderizable.h.

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 118 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 121 of file CRenderizable.h.

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 113 of file CRenderizable.h.

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 114 of file CRenderizable.h.

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 116 of file CRenderizable.h.

References mrpt::mrpt::utils::RAD2DEG().

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 119 of file CRenderizable.h.

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 115 of file CRenderizable.h.

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

inlineinherited

Refer to documentation of setQuantiles()

Definition at line 121 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_quantiles.

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 145 of file CRenderizable.h.

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 146 of file CRenderizable.h.

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 147 of file CRenderizable.h.

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

inline

Definition at line 71 of file CEllipsoidInverseDepth3D.h.

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

inlineinherited

See Also

enableShowName

Definition at line 96 of file CRenderizable.h.

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

inlineinherited

Is the object visible?

See Also

setVisibility

Definition at line 92 of file CRenderizable.h.

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 68 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::resize(), 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::CGeneralizedCylinder::setClosed(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CMesh::setGridLimits(), 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::CSimpleLine::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), 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::CEllipsoid::setQuantiles(), 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::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::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMesh::setYMax(), and mrpt::opengl::CMesh::setYMin().

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

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception

On any error, see CStream::ReadBuffer

See Also

CStream

Implements mrpt::utils::CSerializable.

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

inlineprotectedinherited

Definition at line 77 of file CRenderizableDisplayList.h.

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

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

staticprotectedinherited

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

virtualinherited

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

Implements mrpt::opengl::CRenderizable.

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 135 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_cov, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_lineWidth, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_mean, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_needToRecomputeEigenVals, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_numSegments, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_quantiles, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_U, MRPT_END, MRPT_START, and mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::transformFromParameterSpace().

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

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

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf &  c )

inlineinherited

Parameters

c	Changes the default object color

Returns

a ref to this

Definition at line 151 of file CRenderizable.h.

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

Referenced by mrpt::opengl::graph_tools::graph_visualize(), and mrpt::opengl::COctreePointRenderer< CPointCloudColoured >::octree_get_graphics_boundingboxes().

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 157 of file CRenderizable.h.

virtual 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 106 of file CRenderizableDisplayList.h.

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

Referenced by mrpt::opengl::graph_tools::graph_visualize().

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 164 of file CRenderizable.h.

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

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

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 136 of file CRenderizable.h.

virtual 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 105 of file CRenderizableDisplayList.h.

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 135 of file CRenderizable.h.

virtual 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 104 of file CRenderizableDisplayList.h.

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 134 of file CRenderizable.h.

virtual 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 103 of file CRenderizableDisplayList.h.

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

inlineinherited

Color components in the range [0,1].

Returns

a ref to this

Definition at line 133 of file CRenderizable.h.

virtual 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 102 of file CRenderizableDisplayList.h.

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 81 of file CGeneralizedEllipsoidTemplate.h.

References ASSERT_, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_cov, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_mean, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_needToRecomputeEigenVals, MRPT_END, MRPT_START, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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

inlineinherited

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

Definition at line 124 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_lineWidth, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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 108 of file CRenderizable.h.

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 111 of file CRenderizable.h.

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

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

inlineinherited

Changes the name of the object.

Definition at line 89 of file CRenderizable.h.

Referenced by mrpt::opengl::graph_tools::graph_visualize().

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 128 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_numSegments, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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)

Referenced by mrpt::opengl::graph_tools::graph_visualize().

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)

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)

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)

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 119 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_quantiles, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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 143 of file CRenderizable.h.

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 144 of file CRenderizable.h.

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 70 of file CEllipsoidInverseDepth3D.h.

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

inlineinherited

Set object visibility (default=true)

See Also

isVisible

Definition at line 93 of file CRenderizable.h.

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 75 of file CRenderizableDisplayList.h.

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

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

inlineprotectedinherited

Definition at line 209 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_cov, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_lineWidth, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_mean, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_needToRecomputeEigenVals, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_numSegments, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_quantiles, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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

inlineprotectedinherited

Definition at line 202 of file CGeneralizedEllipsoidTemplate.h.

References mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_cov, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_lineWidth, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_mean, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_numSegments, and mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_quantiles.

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 183 of file CGeneralizedEllipsoidTemplate.h.

References THROW_EXCEPTION.

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 >.

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

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See Also

CStream

Implements mrpt::utils::CSerializable.

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

protectedinherited

Member Data Documentation

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

staticprotected

Definition at line 66 of file CEllipsoidInverseDepth3D.h.

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

static

Definition at line 66 of file CEllipsoidInverseDepth3D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

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

staticinherited

Definition at line 72 of file CRenderizable.h.

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

staticinherited

Definition at line 57 of file CRenderizableDisplayList.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

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

static

Definition at line 66 of file CEllipsoidInverseDepth3D.h.

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

protectedinherited

Color components in the range [0,255].

Definition at line 80 of file CRenderizable.h.

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

mutableprotectedinherited

Definition at line 193 of file CGeneralizedEllipsoidTemplate.h.

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

protectedinherited

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

Definition at line 197 of file CGeneralizedEllipsoidTemplate.h.

mean_vector_t mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::m_mean

protectedinherited

Definition at line 194 of file CGeneralizedEllipsoidTemplate.h.

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

protectedinherited

Definition at line 78 of file CRenderizable.h.

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

mutableprotectedinherited

Definition at line 195 of file CGeneralizedEllipsoidTemplate.h.

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

protectedinherited

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

Definition at line 198 of file CGeneralizedEllipsoidTemplate.h.

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 81 of file CRenderizable.h.

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

protectedinherited

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

Definition at line 196 of file CGeneralizedEllipsoidTemplate.h.

float mrpt::opengl::CRenderizable::m_scale_x

protectedinherited

Definition at line 82 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::m_scale_y

protectedinherited

Definition at line 82 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::m_scale_z

protectedinherited

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

Definition at line 82 of file CRenderizable.h.

bool mrpt::opengl::CRenderizable::m_show_name

protectedinherited

Definition at line 79 of file CRenderizable.h.

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

mutableprotectedinherited

Cholesky U triangular matrix cache. */.

Definition at line 200 of file CGeneralizedEllipsoidTemplate.h.

double mrpt::opengl::CEllipsoidInverseDepth3D::m_underflowMaxRange

private

Definition at line 81 of file CEllipsoidInverseDepth3D.h.

bool mrpt::opengl::CRenderizable::m_visible

protectedinherited

Is the object visible? (default=true)

Definition at line 83 of file CRenderizable.h.