Detailed Description

A graphical user interface (GUI) for efficiently rendering 3D scenes in real-time.

This class always contains internally an instance of opengl::COpenGLScene, which the objects, viewports, etc. to be rendered.

Images can be grabbed automatically to disk for easy creation of videos. See CDisplayWindow3D::grabImagesStart (and for creating videos, mrpt::vision::CVideoFileWriter).

A short-cut for displaying 2D images (using the OpenGL rendering hardware) is available through setImageView() and setImageView_fast(). Internally, these methods call methods in the "main" viewport of the window (see COpenGLViewport).

Since the 3D rendering is performed in a detached thread, especial care must be taken when updating the 3D scene to be rendered. The process involves an internal critical section and it must always consist of these steps:

mrpt::gui::CDisplayWindow3D   win("My window");
// Adquire the scene:
mrpt::opengl::COpenGLScenePtr &ptrScene = win.get3DSceneAndLock();
// Modify the scene:
ptrScene->...
// or replace by another scene:
ptrScene = otherScene;
// Unlock it, so the window can use it for redraw:
win.unlockAccess3DScene();
// Update window, if required
win.forceRepaint();

An alternative way of updating the scene is by creating, before locking the 3D window, a new object of class COpenGLScene, then locking the window only for replacing the smart pointer. This may be advantageous is generating the 3D scene takes a long time, since while the window is locked it will not be responsive to the user input or window redraw.

It is safer against exceptions to use the auxiliary class CDisplayWindow3DLocker.

mrpt::gui::CDisplayWindow3D   win("My window");
// ...
{ // The scene is adquired in this scope
   mrpt::opengl::COpenGLScenePtr ptrScene;
   mrpt::gui::CDisplayWindow3DLocker  locker(win,ptrScene);
   //...
} // scene is unlocked upon dtor of `locker`

Notice however that a copy of the smart pointer is made, so replacement of the entire scene via operator = is not possible if using this method. Still, in general it should be preferred because the mutexes are automatically released in case of unexpected exceptions.

The window can also display a set of 2D text messages overlapped to the 3D scene. See CDisplayWindow3D::addTextMessage

For a list of supported events with the observer/observable pattern, see the discussion in mrpt::gui::CBaseGUIWindow. In addition to those events, this class introduces mrpt::gui::mrptEvent3DWindowGrabImageFile

** CDisplayWindow3D mouse view navigation cheatsheet **

Orbit camera: Left-button pressed + move
Zoom in / out:
- Mouse scroll wheel, or
- SHIFT+Left-button pressed + move up/down
Look around (pivot camera): CTRL+Left-button pressed + move up/down
Pan (XY plane): Right-button pressed + move
Move camera along Z axis: SHIFT+Left-button pressed + move left/right

See also: The example /samples/display3D, the tutorial only.

Definition at line 99 of file CDisplayWindow3D.h.

#include <mrpt/gui/CDisplayWindow3D.h>

Inheritance diagram for mrpt::gui::CDisplayWindow3D:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CDisplayWindow3D (const std::string &windowCaption=std::string(), unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300)
	Constructor. More...

virtual	~CDisplayWindow3D ()
	Destructor. More...

mrpt::opengl::COpenGLScenePtr &	get3DSceneAndLock ()
	Gets a reference to the smart shared pointer that holds the internal scene (carefuly read introduction in gui::CDisplayWindow3D before use!) This also locks the critical section for accesing the scene, thus the window will not be repainted until it is unlocked. More...

void	unlockAccess3DScene ()
	Unlocks the access to the internal 3D scene. More...

void	forceRepaint ()
	Repaints the window. forceRepaint, repaint and updateWindow are all aliases of the same method. More...

void	repaint ()

void	updateWindow ()

float	getFOV () const
	Return the camera field of view (in degrees) (used for gluPerspective) More...

void	setMinRange (double new_min)
	Changes the camera min clip range (z) (used for gluPerspective). The window is not updated with this method, call "forceRepaint" to update the 3D view. More...

void	setMaxRange (double new_max)
	Changes the camera max clip range (z) (used for gluPerspective. The window is not updated with this method, call "forceRepaint" to update the 3D view. More...

void	setFOV (float v)
	Changes the camera field of view (in degrees) (used for gluPerspective). The window is not updated with this method, call "forceRepaint" to update the 3D view. More...

void	resize (unsigned int width, unsigned int height) MRPT_OVERRIDE
	Resizes the window, stretching the image to fit into the display area. More...

void	setPos (int x, int y) MRPT_OVERRIDE
	Changes the position of the window on the screen. More...

void	setWindowTitle (const std::string &str) MRPT_OVERRIDE
	Changes the window title. More...

void	setCameraElevationDeg (float deg)
	Changes the camera parameters programmatically. More...

void	setCameraAzimuthDeg (float deg)
	Changes the camera parameters programmatically. More...

void	setCameraPointingToPoint (float x, float y, float z)
	Changes the camera parameters programmatically. More...

void	setCameraZoom (float zoom)
	Changes the camera parameters programmatically. More...

void	setCameraProjective (bool isProjective)
	Sets the camera as projective, or orthogonal. More...

float	getCameraElevationDeg () const
	Get camera parameters programmatically. More...

float	getCameraAzimuthDeg () const
	Get camera parameters programmatically. More...

void	getCameraPointingToPoint (float &x, float &y, float &z) const
	Get camera parameters programmatically. More...

float	getCameraZoom () const
	Get camera parameters programmatically. More...

bool	isCameraProjective () const
	Sets the camera as projective, or orthogonal. More...

void	useCameraFromScene (bool useIt=true)
	If set to true (default = false), the mouse-based scene navigation will be disabled and the camera position will be determined by the opengl viewports in the 3D scene. More...

bool	getLastMousePositionRay (mrpt::math::TLine3D &ray) const
	Gets the 3D ray for the direction line of the pixel where the mouse cursor is at. More...

virtual bool	getLastMousePosition (int &x, int &y) const MRPT_OVERRIDE
	Gets the last x,y pixel coordinates of the mouse. More...

virtual void	setCursorCross (bool cursorIsCross) MRPT_OVERRIDE
	Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true) More...

void	grabImagesStart (const std::string &grab_imgs_prefix=std::string("video_"))
	Start to save rendered images to disk. More...

void	grabImagesStop ()
	Stops image grabbing started by grabImagesStart. More...

void	captureImagesStart ()
	Enables the grabbing of CImage objects from screenshots of the window. More...

void	captureImagesStop ()
	Stop image grabbing. More...

bool	getLastWindowImage (mrpt::utils::CImage &out_img) const
	Retrieve the last captured image from the window. More...

mrpt::utils::CImagePtr	getLastWindowImagePtr () const
	Retrieve the last captured image from the window, as a smart pointer. More...

std::string	grabImageGetNextFile ()
	Increments by one the image counter and return the next image file name (Users normally don't want to call this method). More...

bool	isCapturingImgs () const

void	addTextMessage (const double x, const double y, const std::string &text, const mrpt::utils::TColorf &color=mrpt::utils::TColorf(1.0, 1.0, 1.0), const size_t unique_index=0, const mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Add 2D text messages overlapped to the 3D rendered scene. More...

void	addTextMessage (const double x_frac, const double y_frac, const std::string &text, const mrpt::utils::TColorf &color, const std::string &font_name, const double font_size, const mrpt::opengl::TOpenGLFontStyle font_style=mrpt::opengl::NICE, const size_t unique_index=0, const double font_spacing=1.5, const double font_kerning=0.1, const bool draw_shadow=false, const mrpt::utils::TColorf &shadow_color=mrpt::utils::TColorf(0, 0, 0))
	overload with more font parameters - refer to mrpt::opengl::gl_utils::glDrawText() Available fonts are enumerated at mrpt::opengl::gl_utils::glSetFont() More...

void	clearTextMessages ()
	Clear all text messages created with addTextMessage(). More...

double	getRenderingFPS () const
	Get the average Frames Per Second (FPS) value from the last 250 rendering events. More...

mrpt::opengl::COpenGLViewportPtr	getDefaultViewport ()
	A short cut for getting the "main" viewport of the scene object, it is equivalent to: More...

void	setImageView (const mrpt::utils::CImage &img)
	Set the "main" viewport into "image view"-mode, where an image is efficiently drawn (fitting the viewport area) using an OpenGL textured quad. More...

void	setImageView_fast (mrpt::utils::CImage &img)
	Just like setImageView but moves the internal image memory instead of making a copy, so it's faster but empties the input image. More...

void *	getWxObject ()
	Read-only access to the wxDialog object. More...

void	notifyChildWindowDestruction ()
	Called by wx main thread to set m_hwnd to NULL. More...

void	notifySemThreadReady ()
	Called by wx main thread to signal the semaphore that the wx window is built and ready. More...

bool	isOpen ()
	Returns false if the user has already closed the window. More...

int	waitForKey (bool ignoreControlKeys=true, mrptKeyModifier *out_pushModifier=NULL)
	Waits for any key to be pushed on the image or the console, and returns the key code. More...

bool	keyHit () const
	Returns true if a key has been pushed, without blocking waiting for a new key being pushed. More...

void	clearKeyHitFlag ()
	Assure that "keyHit" will return false until the next pushed key. More...

int	getPushedKey (mrptKeyModifier *out_pushModifier=NULL)
	Returns the latest pushed key, or 0 if there is no new key stroke. More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

RTTI classes and functions
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). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static CDisplayWindow3DPtr	Create (const std::string &windowCaption, unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300)
	Class factory returning a smart pointer. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCBaseGUIWindow

Protected Member Functions
void	createOpenGLContext ()
	Throws an exception on initialization error. More...

void	doRender ()

void	internalSetMinMaxRange ()

void	internal_setRenderingFPS (double FPS)
	Set the rendering FPS (users don't call this, the method is for internal MRPT objects only) More...

void	internal_emitGrabImageEvent (const std::string &fil)
	called by CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers More...

void	createWxWindow (unsigned int initialWidth, unsigned int initialHeight)
	Must be called by child classes just within the constructor. More...

void	destroyWxWindow ()
	Must be called by child classes in their destructors. The code cannot be put into this class' destructor. More...

void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object. More...

bool	hasSubscribers () const
	Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More...

Protected Attributes
mrpt::opengl::COpenGLScenePtr	m_3Dscene
	Internal OpenGL object (see general discussion in about usage of this object) More...

mrpt::synch::CCriticalSectionRecursive	m_csAccess3DScene
	Critical section for accesing m_3Dscene. More...

mrpt::utils::void_ptr_noncopy	m_DisplayDeviceContext

mrpt::utils::void_ptr_noncopy	m_GLRenderingContext

std::string	m_grab_imgs_prefix

unsigned int	m_grab_imgs_idx

bool	m_is_capturing_imgs

mrpt::utils::CImagePtr	m_last_captured_img

synch::CCriticalSection	m_last_captured_img_cs

mrpt::system::TTimeStamp	m_lastFullScreen

double	m_last_FPS

synch::CSemaphore	m_semThreadReady
	This semaphore will be signaled when the wx window is built and ready. More...

synch::CSemaphore	m_semWindowDestroyed
	This semaphore will be signaled when the wx window is destroyed. More...

std::string	m_caption
	The caption of the window. More...

mrpt::utils::void_ptr_noncopy	m_hwnd
	The window handle. More...

volatile bool	m_keyPushed

volatile int	m_keyPushedCode

volatile mrptKeyModifier	m_keyPushedModifier

Friends
class	C3DWindowDialog

class	CMyGLCanvas_DisplayWindow3D

RTTI stuff
typedef CDisplayWindow3DPtr	Ptr

typedef CDisplayWindow3DPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CDisplayWindow3D

static mrpt::utils::TRuntimeClassId	classCDisplayWindow3D

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. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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

static CDisplayWindow3DPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CDisplayWindow3DPtr mrpt::gui::CDisplayWindow3D::ConstPtr

Definition at line 102 of file CDisplayWindow3D.h.

◆ Ptr

typedef CDisplayWindow3DPtr mrpt::gui::CDisplayWindow3D::Ptr

A typedef for the associated smart pointer

Definition at line 102 of file CDisplayWindow3D.h.

Constructor & Destructor Documentation

◆ CDisplayWindow3D()

CDisplayWindow3D::CDisplayWindow3D	(	const std::string &	windowCaption = `std::string()`,
		unsigned int	initialWindowWidth = `400`,
		unsigned int	initialWindowHeight = `300`
	)

Constructor.

Definition at line 410 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::createWxWindow(), and m_3Dscene.

Referenced by Create().

◆ ~CDisplayWindow3D()

CDisplayWindow3D::~CDisplayWindow3D ( )

virtual

Destructor.

Definition at line 440 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::destroyWxWindow(), mrpt::synch::CCriticalSectionRecursive::enter(), mrpt::synch::CCriticalSectionRecursive::leave(), and m_csAccess3DScene.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::gui::CDisplayWindow3D::_GetBaseClass ( )

staticprotected

◆ addTextMessage() [1/2]

void CDisplayWindow3D::addTextMessage	(	const double	x,
		const double	y,
		const std::string &	text,
		const mrpt::utils::TColorf &	color = `mrpt::utils::TColorf(1.0,1.0,1.0)`,
		const size_t	unique_index = `0`,
		const mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)

Add 2D text messages overlapped to the 3D rendered scene.

The string will remain displayed in the 3D window until it's changed with subsequent calls to this same method, or all the texts are cleared with clearTextMessages().

Parameters

x	The X position, interpreted as absolute pixels from the left if X>=1, absolute pixels from the left if X<0 or as a width factor if in the range [0,1[.
y	The Y position, interpreted as absolute pixels from the bottom if Y>=1, absolute pixels from the top if Y<0 or as a height factor if in the range [0,1[.
text	The text string to display.
color	The text color. For example: TColorf(1.0,1.0,1.0)
unique_index	An "index" for this text message, so that subsequent calls with the same index will overwrite this text message instead of creating new ones.

You'll need to refresh the display manually with forceRepaint().

See also: clearTextMessages

Definition at line 889 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::str, mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_x, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec().

◆ addTextMessage() [2/2]

void CDisplayWindow3D::addTextMessage	(	const double	x_frac,
		const double	y_frac,
		const std::string &	text,
		const mrpt::utils::TColorf &	color,
		const std::string &	font_name,
		const double	font_size,
		const mrpt::opengl::TOpenGLFontStyle	font_style = `mrpt::opengl::NICE`,
		const size_t	unique_index = `0`,
		const double	font_spacing = `1.5`,
		const double	font_kerning = `0.1`,
		const bool	draw_shadow = `false`,
		const mrpt::utils::TColorf &	shadow_color = `mrpt::utils::TColorf(0,0,0)`
	)

overload with more font parameters - refer to mrpt::opengl::gl_utils::glDrawText() Available fonts are enumerated at mrpt::opengl::gl_utils::glSetFont()

Definition at line 929 of file CDisplayWindow3D.cpp.

References mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::TRequestToWxMainThread::plotName, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::utils::TColorf::R, mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::str, mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_x, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

◆ captureImagesStart()

void CDisplayWindow3D::captureImagesStart ( )

Enables the grabbing of CImage objects from screenshots of the window.

See also: getLastWindowImage

Definition at line 845 of file CDisplayWindow3D.cpp.

References m_is_capturing_imgs.

◆ captureImagesStop()

void CDisplayWindow3D::captureImagesStop ( )

Stop image grabbing.

See also: captureImagesStart

Definition at line 853 of file CDisplayWindow3D.cpp.

References m_is_capturing_imgs.

◆ clearKeyHitFlag()

void mrpt::gui::CBaseGUIWindow::clearKeyHitFlag ( )

inlineinherited

Assure that "keyHit" will return false until the next pushed key.

See also: keyHit, waitForKey

Definition at line 127 of file CBaseGUIWindow.h.

◆ clearTextMessages()

void CDisplayWindow3D::clearTextMessages ( )

Clear all text messages created with addTextMessage().

You'll need to refresh the display manually with forceRepaint().

See also: addTextMessage

Definition at line 993 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), and mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D.

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create() [1/2]

static CDisplayWindow3DPtr mrpt::gui::CDisplayWindow3D::Create ( )

static

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), and mrpt::hwdrivers::CSkeletonTracker::processPreviewNone().

◆ Create() [2/2]

CDisplayWindow3DPtr CDisplayWindow3D::Create	(	const std::string &	windowCaption,
		unsigned int	initialWindowWidth = `400`,
		unsigned int	initialWindowHeight = `300`
	)

static

Class factory returning a smart pointer.

Definition at line 430 of file CDisplayWindow3D.cpp.

References CDisplayWindow3D().

◆ CreateObject()

static mrpt::utils::CObject* mrpt::gui::CDisplayWindow3D::CreateObject ( )

static

◆ createOpenGLContext()

void mrpt::gui::CDisplayWindow3D::createOpenGLContext ( )

protected

Throws an exception on initialization error.

◆ createWxWindow()

void CBaseGUIWindow::createWxWindow	(	unsigned int	initialWidth,
		unsigned int	initialHeight
	)

protectedinherited

Must be called by child classes just within the constructor.

Definition at line 45 of file CBaseGUIWindow.cpp.

Referenced by mrpt::gui::CDisplayWindow::CDisplayWindow(), CDisplayWindow3D(), and mrpt::gui::CDisplayWindowPlots::CDisplayWindowPlots().

◆ destroyWxWindow()

void CBaseGUIWindow::destroyWxWindow ( )

protectedinherited

Must be called by child classes in their destructors. The code cannot be put into this class' destructor.

Definition at line 105 of file CBaseGUIWindow.cpp.

References mrpt::gui::WxSubsystem::isConsoleApp, MRPT_END, MRPT_START, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::system::sleep(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source2D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, and mrpt::gui::WxSubsystem::waitWxShutdownsIfNoWindows().

Referenced by mrpt::gui::CDisplayWindow::~CDisplayWindow(), ~CDisplayWindow3D(), and mrpt::gui::CDisplayWindowPlots::~CDisplayWindowPlots().

◆ doRender()

void mrpt::gui::CDisplayWindow3D::doRender ( )

protected

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::gui::CDisplayWindow3D::duplicate ( ) const

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ forceRepaint()

void CDisplayWindow3D::forceRepaint ( )

Repaints the window. forceRepaint, repaint and updateWindow are all aliases of the same method.

Definition at line 545 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), and mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleGraphVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization(), mrpt::graphslam::detail::CEdgeCounter::updateTextMessages(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ get3DSceneAndLock()

opengl::COpenGLScenePtr & CDisplayWindow3D::get3DSceneAndLock ( )

Gets a reference to the smart shared pointer that holds the internal scene (carefuly read introduction in gui::CDisplayWindow3D before use!) This also locks the critical section for accesing the scene, thus the window will not be repainted until it is unlocked.

Note: It is safer to use mrpt::gui::CDisplayWindow3DLocker instead.

Definition at line 528 of file CDisplayWindow3D.cpp.

References mrpt::synch::CCriticalSectionRecursive::enter(), m_3Dscene, and m_csAccess3DScene.

Referenced by mrpt::gui::CDisplayWindow3DLocker::CDisplayWindow3DLocker(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleGraphVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

◆ getCameraAzimuthDeg()

float CDisplayWindow3D::getCameraAzimuthDeg ( ) const

Get camera parameters programmatically.

Definition at line 710 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, and mrpt::gui::CBaseGUIWindow::m_hwnd.

◆ getCameraElevationDeg()

float CDisplayWindow3D::getCameraElevationDeg ( ) const

Get camera parameters programmatically.

Definition at line 697 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, and mrpt::gui::CBaseGUIWindow::m_hwnd.

◆ getCameraPointingToPoint()

void CDisplayWindow3D::getCameraPointingToPoint	(	float &	x,
		float &	y,
		float &	z
	)		const

Get camera parameters programmatically.

Definition at line 723 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

◆ getCameraZoom()

float CDisplayWindow3D::getCameraZoom ( ) const

Get camera parameters programmatically.

Definition at line 743 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, and mrpt::gui::CBaseGUIWindow::m_hwnd.

◆ getDefaultViewport()

mrpt::opengl::COpenGLViewportPtr CDisplayWindow3D::getDefaultViewport ( )

A short cut for getting the "main" viewport of the scene object, it is equivalent to:

mrpt::opengl::COpenGLScenePtr &scene = win3D.get3DSceneAndLock();
viewport = scene->getViewport("main");
win3D.unlockAccess3DScene();

Definition at line 1022 of file CDisplayWindow3D.cpp.

References mrpt::synch::CCriticalSectionRecursive::enter(), mrpt::synch::CCriticalSectionRecursive::leave(), m_3Dscene, and m_csAccess3DScene.

◆ getFOV()

float CDisplayWindow3D::getFOV ( ) const

Return the camera field of view (in degrees) (used for gluPerspective)

Definition at line 675 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, and mrpt::gui::CBaseGUIWindow::m_hwnd.

◆ getLastMousePosition()

bool CDisplayWindow3D::getLastMousePosition	(	int &	x,
		int &	y
	)		const

virtual

Gets the last x,y pixel coordinates of the mouse.

Returns: False if the window is closed.

See also: getLastMousePositionRay

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 769 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

Referenced by getLastMousePositionRay().

◆ getLastMousePositionRay()

bool CDisplayWindow3D::getLastMousePositionRay ( mrpt::math::TLine3D & ray ) const

Gets the 3D ray for the direction line of the pixel where the mouse cursor is at.

Returns: False if the window is closed.

See also: getLastMousePosition

Definition at line 785 of file CDisplayWindow3D.cpp.

References mrpt::synch::CCriticalSectionRecursive::enter(), getLastMousePosition(), mrpt::synch::CCriticalSectionRecursive::leave(), m_3Dscene, and m_csAccess3DScene.

◆ getLastWindowImage()

bool CDisplayWindow3D::getLastWindowImage ( mrpt::utils::CImage & out_img ) const

Retrieve the last captured image from the window.

You MUST CALL FIRST captureImagesStart to enable image grabbing.

Returns: false if there was no time yet for grabbing any image (then, the output image is undefined).

See also: captureImagesStart, getLastWindowImagePtr

Definition at line 861 of file CDisplayWindow3D.cpp.

References m_last_captured_img, and m_last_captured_img_cs.

◆ getLastWindowImagePtr()

CImagePtr CDisplayWindow3D::getLastWindowImagePtr ( ) const

Retrieve the last captured image from the window, as a smart pointer.

This method is more efficient than getLastWindowImage since only a copy of the pointer is performed, while getLastWindowImage would copy the entire image.

You MUST CALL FIRST captureImagesStart to enable image grabbing. If there was no time yet for grabbing any image, an empty smart pointer will be returned.

See also: captureImagesStart, getLastWindowImage

Definition at line 880 of file CDisplayWindow3D.cpp.

References m_last_captured_img, and m_last_captured_img_cs.

◆ getPushedKey()

int CBaseGUIWindow::getPushedKey ( mrptKeyModifier * out_pushModifier = NULL )

inherited

Returns the latest pushed key, or 0 if there is no new key stroke.

Parameters

out_pushModifier If set to !=NULL, the modifiers of the key stroke will be saved here.

Returns: The virtual key code, as defined in <mrpt/gui/keycodes.h> (a replication of wxWidgets key codes).

See also: keyHit, waitForKey

Definition at line 188 of file CBaseGUIWindow.cpp.

References mrpt::gui::MRPTKMOD_NONE, and mrpt::system::sleep().

◆ getRenderingFPS()

double mrpt::gui::CDisplayWindow3D::getRenderingFPS ( ) const

inline

Get the average Frames Per Second (FPS) value from the last 250 rendering events.

Definition at line 284 of file CDisplayWindow3D.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::gui::CDisplayWindow3D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::gui::CBaseGUIWindow.

◆ getWxObject()

void* mrpt::gui::CBaseGUIWindow::getWxObject ( )

inlineinherited

Read-only access to the wxDialog object.

Definition at line 75 of file CBaseGUIWindow.h.

References mrpt::utils::non_copiable_ptr_basic< T >::get().

Referenced by mrpt::gui::WxSubsystem::CWXMainFrame::OnTimerProcessRequests().

◆ grabImageGetNextFile()

std::string CDisplayWindow3D::grabImageGetNextFile ( )

Increments by one the image counter and return the next image file name (Users normally don't want to call this method).

See also: grabImagesStart

Definition at line 834 of file CDisplayWindow3D.cpp.

References mrpt::format(), m_grab_imgs_idx, and m_grab_imgs_prefix.

◆ grabImagesStart()

void CDisplayWindow3D::grabImagesStart ( const std::string & grab_imgs_prefix = std::string("video_") )

Start to save rendered images to disk.

Images will be saved independently as png files, depending on the template path passed to this method. For example:

path_prefix: "./video_"

Will generate "./video_000001.png", etc.

If this feature is enabled, the window will emit events of the type mrpt::gui::mrptEvent3DWindowGrabImageFile() which you can subscribe to.

See also: grabImagesStop

Definition at line 817 of file CDisplayWindow3D.cpp.

References m_grab_imgs_idx, and m_grab_imgs_prefix.

◆ grabImagesStop()

void CDisplayWindow3D::grabImagesStop ( )

Stops image grabbing started by grabImagesStart.

See also: grabImagesStart

Definition at line 826 of file CDisplayWindow3D.cpp.

References m_grab_imgs_prefix.

◆ hasSubscribers()

bool mrpt::utils::CObservable::hasSubscribers ( ) const

inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 52 of file CObservable.h.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

◆ internal_emitGrabImageEvent()

void CDisplayWindow3D::internal_emitGrabImageEvent ( const std::string & fil )

protected

called by CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers

Definition at line 1015 of file CDisplayWindow3D.cpp.

References mrpt::utils::CObservable::publishEvent().

◆ internal_setRenderingFPS()

void CDisplayWindow3D::internal_setRenderingFPS ( double FPS )

protected

Set the rendering FPS (users don't call this, the method is for internal MRPT objects only)

See also: getRenderingFPS

Definition at line 1008 of file CDisplayWindow3D.cpp.

References m_last_FPS.

◆ internalSetMinMaxRange()

void mrpt::gui::CDisplayWindow3D::internalSetMinMaxRange ( )

protected

◆ isCameraProjective()

bool CDisplayWindow3D::isCameraProjective ( ) const

Sets the camera as projective, or orthogonal.

Definition at line 756 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, and mrpt::gui::CBaseGUIWindow::m_hwnd.

◆ isCapturingImgs()

bool mrpt::gui::CDisplayWindow3D::isCapturingImgs ( ) const

inline

Definition at line 235 of file CDisplayWindow3D.h.

◆ isOpen()

bool CBaseGUIWindow::isOpen ( )

inherited

Returns false if the user has already closed the window.

Definition at line 212 of file CBaseGUIWindow.cpp.

◆ keyHit()

bool mrpt::gui::CBaseGUIWindow::keyHit ( ) const

inlineinherited

Returns true if a key has been pushed, without blocking waiting for a new key being pushed.

See also: waitForKey, clearKeyHitFlag

Definition at line 122 of file CBaseGUIWindow.h.

◆ notifyChildWindowDestruction()

void CBaseGUIWindow::notifyChildWindowDestruction ( )

inherited

Called by wx main thread to set m_hwnd to NULL.

Definition at line 145 of file CBaseGUIWindow.cpp.

Referenced by mrpt::gui::CWindowDialog::OnClose(), and mrpt::gui::C3DWindowDialog::OnClose().

◆ notifySemThreadReady()

void CBaseGUIWindow::notifySemThreadReady ( )

inherited

Called by wx main thread to signal the semaphore that the wx window is built and ready.

Definition at line 220 of file CBaseGUIWindow.cpp.

Referenced by mrpt::gui::WxSubsystem::CWXMainFrame::OnTimerProcessRequests().

◆ operator delete() [1/3]

void mrpt::gui::CDisplayWindow3D::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 102 of file CDisplayWindow3D.h.

◆ operator delete() [2/3]

void mrpt::gui::CDisplayWindow3D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 102 of file CDisplayWindow3D.h.

◆ operator delete() [3/3]

void mrpt::gui::CDisplayWindow3D::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 102 of file CDisplayWindow3D.h.

◆ operator delete[]()

void mrpt::gui::CDisplayWindow3D::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 102 of file CDisplayWindow3D.h.

◆ operator new() [1/3]

void* mrpt::gui::CDisplayWindow3D::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 102 of file CDisplayWindow3D.h.

◆ operator new() [2/3]

static void* mrpt::gui::CDisplayWindow3D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 102 of file CDisplayWindow3D.h.

◆ operator new() [3/3]

void* mrpt::gui::CDisplayWindow3D::operator new ( size_t size )

inline

Definition at line 102 of file CDisplayWindow3D.h.

◆ operator new[]()

void* mrpt::gui::CDisplayWindow3D::operator new[] ( size_t size )

inline

Definition at line 102 of file CDisplayWindow3D.h.

◆ publishEvent()

void CObservable::publishEvent ( const mrptEvent & e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

Definition at line 49 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

◆ repaint()

void mrpt::gui::CDisplayWindow3D::repaint ( )

inline

Definition at line 157 of file CDisplayWindow3D.h.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ resize()

void CDisplayWindow3D::resize	(	unsigned int	width,
		unsigned int	height
	)

virtual

Resizes the window, stretching the image to fit into the display area.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 453 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ setCameraAzimuthDeg()

void CDisplayWindow3D::setCameraAzimuthDeg ( float deg )

Changes the camera parameters programmatically.

Definition at line 591 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView().

◆ setCameraElevationDeg()

void CDisplayWindow3D::setCameraElevationDeg ( float deg )

Changes the camera parameters programmatically.

Definition at line 566 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView().

◆ setCameraPointingToPoint()

void CDisplayWindow3D::setCameraPointingToPoint	(	float	x,
		float	y,
		float	z
	)

Changes the camera parameters programmatically.

Definition at line 605 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView().

◆ setCameraProjective()

void CDisplayWindow3D::setCameraProjective ( bool isProjective )

Sets the camera as projective, or orthogonal.

Definition at line 637 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView().

◆ setCameraZoom()

void CDisplayWindow3D::setCameraZoom ( float zoom )

Changes the camera parameters programmatically.

Definition at line 623 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView().

◆ setCursorCross()

void CDisplayWindow3D::setCursorCross ( bool cursorIsCross )

virtual

Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true)

See also: getLastMousePositionRay

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 802 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

◆ setFOV()

void CDisplayWindow3D::setFOV ( float v )

Changes the camera field of view (in degrees) (used for gluPerspective). The window is not updated with this method, call "forceRepaint" to update the 3D view.

Definition at line 685 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, and mrpt::gui::CBaseGUIWindow::m_hwnd.

◆ setImageView()

void CDisplayWindow3D::setImageView ( const mrpt::utils::CImage & img )

Set the "main" viewport into "image view"-mode, where an image is efficiently drawn (fitting the viewport area) using an OpenGL textured quad.

Call this method with the new image to update the displayed image (but recall to first lock the parent openglscene's critical section, then do the update, then release the lock, and then issue a window repaint). Internally, the texture is drawn using a mrpt::opengl::CTexturedPlane The viewport can be reverted to behave like a normal viewport by calling setNormalMode()

See also: setImageView_fast, COpenGLViewport

Note: This method already locks/unlocks the 3D scene of the window, so the user must NOT call get3DSceneAndLock() / unlockAccess3DScene() before/after calling it.

Definition at line 1030 of file CDisplayWindow3D.cpp.

References mrpt::synch::CCriticalSectionRecursive::enter(), mrpt::synch::CCriticalSectionRecursive::leave(), m_3Dscene, and m_csAccess3DScene.

◆ setImageView_fast()

void CDisplayWindow3D::setImageView_fast ( mrpt::utils::CImage & img )

Just like setImageView but moves the internal image memory instead of making a copy, so it's faster but empties the input image.

See also: setImageView, COpenGLViewport

Note: This method already locks/unlocks the 3D scene of the window, so the user must NOT call get3DSceneAndLock() / unlockAccess3DScene() before/after calling it.

Definition at line 1038 of file CDisplayWindow3D.cpp.

References mrpt::synch::CCriticalSectionRecursive::enter(), mrpt::synch::CCriticalSectionRecursive::leave(), m_3Dscene, and m_csAccess3DScene.

◆ setMaxRange()

void CDisplayWindow3D::setMaxRange ( double new_max )

Changes the camera max clip range (z) (used for gluPerspective. The window is not updated with this method, call "forceRepaint" to update the 3D view.

Definition at line 661 of file CDisplayWindow3D.cpp.

References m_3Dscene.

◆ setMinRange()

void CDisplayWindow3D::setMinRange ( double new_min )

Changes the camera min clip range (z) (used for gluPerspective). The window is not updated with this method, call "forceRepaint" to update the 3D view.

Definition at line 648 of file CDisplayWindow3D.cpp.

References m_3Dscene.

◆ setPos()

void CDisplayWindow3D::setPos	(	int	x,
		int	y
	)

virtual

Changes the position of the window on the screen.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 480 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

Referenced by CGraphSlamHandler< GRAPH_T >::initVisualization().

◆ setWindowTitle()

void CDisplayWindow3D::setWindowTitle ( const std::string & str )

virtual

Changes the window title.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 504 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::str.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ unlockAccess3DScene()

void CDisplayWindow3D::unlockAccess3DScene ( )

Unlocks the access to the internal 3D scene.

It is safer to use mrpt::gui::CDisplayWindow3DLocker instead. Typically user will want to call forceRepaint after updating the scene.

Definition at line 537 of file CDisplayWindow3D.cpp.

References mrpt::synch::CCriticalSectionRecursive::leave(), and m_csAccess3DScene.

◆ updateWindow()

void mrpt::gui::CDisplayWindow3D::updateWindow ( )

inline

Definition at line 159 of file CDisplayWindow3D.h.

◆ useCameraFromScene()

void CDisplayWindow3D::useCameraFromScene ( bool useIt = true )

If set to true (default = false), the mouse-based scene navigation will be disabled and the camera position will be determined by the opengl viewports in the 3D scene.

Definition at line 577 of file CDisplayWindow3D.cpp.

References mrpt::utils::non_copiable_ptr_basic< T >::get(), mrpt::gui::C3DWindowDialog::m_canvas, mrpt::gui::CBaseGUIWindow::m_hwnd, and MRPT_UNUSED_PARAM.

◆ waitForKey()

int CBaseGUIWindow::waitForKey	(	bool	ignoreControlKeys = `true`,
		mrptKeyModifier *	out_pushModifier = `NULL`
	)

inherited

Waits for any key to be pushed on the image or the console, and returns the key code.

This method remove key strokes previous to its call, so it will always wait. To get the latest pushed key, see

Parameters

ignoreControlKeys	If set to false, any push of shift, cmd, control, etc... will make this method to return.
out_pushModifier	If set to !=NULL, the modifiers of the key stroke will be saved here.

Returns: The virtual key code, as defined in mrptKeyCode (a replication of wxWidgets key codes).

See also: getPushedKey, Key codes in the enum mrptKeyCode

Definition at line 154 of file CBaseGUIWindow.cpp.

References mrpt::system::os::getch(), mrpt::system::os::kbhit(), mrpt::gui::MRPTKMOD_NONE, and mrpt::system::sleep().

Referenced by find_chessboard_corners_multiple(), and mrpt::vision::CFeature::internal_distanceBetweenPolarImages().

Friends And Related Function Documentation

◆ C3DWindowDialog

friend class C3DWindowDialog

friend

Definition at line 105 of file CDisplayWindow3D.h.

◆ CMyGLCanvas_DisplayWindow3D

friend class CMyGLCanvas_DisplayWindow3D

friend

Definition at line 106 of file CDisplayWindow3D.h.

Member Data Documentation

◆ _init_CDisplayWindow3D

mrpt::utils::CLASSINIT mrpt::gui::CDisplayWindow3D::_init_CDisplayWindow3D

staticprotected

Definition at line 102 of file CDisplayWindow3D.h.

◆ classCBaseGUIWindow

const mrpt::utils::TRuntimeClassId mrpt::gui::CBaseGUIWindow::classCBaseGUIWindow

staticinherited

Definition at line 49 of file CBaseGUIWindow.h.

◆ classCDisplayWindow3D

mrpt::utils::TRuntimeClassId mrpt::gui::CDisplayWindow3D::classCDisplayWindow3D

static

Definition at line 102 of file CDisplayWindow3D.h.

◆ classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::gui::CDisplayWindow3D::classinfo

static

Definition at line 102 of file CDisplayWindow3D.h.

◆ m_3Dscene

mrpt::opengl::COpenGLScenePtr mrpt::gui::CDisplayWindow3D::m_3Dscene

protected

Internal OpenGL object (see general discussion in about usage of this object)

Definition at line 108 of file CDisplayWindow3D.h.

Referenced by CDisplayWindow3D(), get3DSceneAndLock(), getDefaultViewport(), getLastMousePositionRay(), setImageView(), setImageView_fast(), setMaxRange(), and setMinRange().

◆ m_caption

std::string mrpt::gui::CBaseGUIWindow::m_caption

protectedinherited

The caption of the window.

Definition at line 63 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CDisplayWindowPlots::resize(), resize(), mrpt::gui::CDisplayWindow::resize(), mrpt::gui::CDisplayWindowPlots::setPos(), setPos(), mrpt::gui::CDisplayWindow::setPos(), mrpt::gui::CDisplayWindowPlots::setWindowTitle(), setWindowTitle(), and mrpt::gui::CDisplayWindow::setWindowTitle().

◆ m_csAccess3DScene

mrpt::synch::CCriticalSectionRecursive mrpt::gui::CDisplayWindow3D::m_csAccess3DScene

protected

Critical section for accesing m_3Dscene.

Definition at line 109 of file CDisplayWindow3D.h.

Referenced by get3DSceneAndLock(), getDefaultViewport(), getLastMousePositionRay(), setImageView(), setImageView_fast(), unlockAccess3DScene(), and ~CDisplayWindow3D().

◆ m_DisplayDeviceContext

mrpt::utils::void_ptr_noncopy mrpt::gui::CDisplayWindow3D::m_DisplayDeviceContext

protected

Definition at line 113 of file CDisplayWindow3D.h.

◆ m_GLRenderingContext

mrpt::utils::void_ptr_noncopy mrpt::gui::CDisplayWindow3D::m_GLRenderingContext

protected

Definition at line 114 of file CDisplayWindow3D.h.

◆ m_grab_imgs_idx

unsigned int mrpt::gui::CDisplayWindow3D::m_grab_imgs_idx

protected

Definition at line 117 of file CDisplayWindow3D.h.

Referenced by grabImageGetNextFile(), and grabImagesStart().

◆ m_grab_imgs_prefix

std::string mrpt::gui::CDisplayWindow3D::m_grab_imgs_prefix

protected

Definition at line 116 of file CDisplayWindow3D.h.

Referenced by grabImageGetNextFile(), grabImagesStart(), and grabImagesStop().

◆ m_hwnd

mrpt::utils::void_ptr_noncopy mrpt::gui::CBaseGUIWindow::m_hwnd

protectedinherited

◆ m_is_capturing_imgs

bool mrpt::gui::CDisplayWindow3D::m_is_capturing_imgs

protected

Definition at line 119 of file CDisplayWindow3D.h.

Referenced by captureImagesStart(), and captureImagesStop().

◆ m_keyPushed

volatile bool mrpt::gui::CBaseGUIWindow::m_keyPushed

protectedinherited

Definition at line 67 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CWindowDialog::OnChar().

◆ m_keyPushedCode

volatile int mrpt::gui::CBaseGUIWindow::m_keyPushedCode

protectedinherited

Definition at line 68 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CWindowDialog::OnChar().

◆ m_keyPushedModifier

volatile mrptKeyModifier mrpt::gui::CBaseGUIWindow::m_keyPushedModifier

protectedinherited

Definition at line 69 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CWindowDialog::OnChar().

◆ m_last_captured_img

mrpt::utils::CImagePtr mrpt::gui::CDisplayWindow3D::m_last_captured_img

protected

Definition at line 120 of file CDisplayWindow3D.h.

Referenced by getLastWindowImage(), and getLastWindowImagePtr().

◆ m_last_captured_img_cs

synch::CCriticalSection mrpt::gui::CDisplayWindow3D::m_last_captured_img_cs

protected

Definition at line 121 of file CDisplayWindow3D.h.

Referenced by getLastWindowImage(), and getLastWindowImagePtr().

◆ m_last_FPS

double mrpt::gui::CDisplayWindow3D::m_last_FPS

protected

See also: getRenderingFPS

Definition at line 127 of file CDisplayWindow3D.h.

Referenced by internal_setRenderingFPS().

◆ m_lastFullScreen

mrpt::system::TTimeStamp mrpt::gui::CDisplayWindow3D::m_lastFullScreen

protected

Definition at line 125 of file CDisplayWindow3D.h.

◆ m_semThreadReady

synch::CSemaphore mrpt::gui::CBaseGUIWindow::m_semThreadReady

protectedinherited

This semaphore will be signaled when the wx window is built and ready.

Definition at line 61 of file CBaseGUIWindow.h.

◆ m_semWindowDestroyed

synch::CSemaphore mrpt::gui::CBaseGUIWindow::m_semWindowDestroyed

protectedinherited

This semaphore will be signaled when the wx window is destroyed.

Definition at line 62 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CWindowDialog::OnClose(), and mrpt::gui::C3DWindowDialog::OnClose().

Detailed Description

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CDisplayWindow3D()

◆ ~CDisplayWindow3D()

Member Function Documentation

◆ _GetBaseClass()

◆ addTextMessage() [1/2]

◆ addTextMessage() [2/2]

◆ captureImagesStart()

◆ captureImagesStop()

◆ clearKeyHitFlag()

◆ clearTextMessages()

◆ clone()

◆ Create() [1/2]

◆ Create() [2/2]

◆ CreateObject()

◆ createOpenGLContext()

◆ createWxWindow()

◆ destroyWxWindow()

◆ doRender()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ forceRepaint()

◆ get3DSceneAndLock()

◆ getCameraAzimuthDeg()

◆ getCameraElevationDeg()

◆ getCameraPointingToPoint()

◆ getCameraZoom()

◆ getDefaultViewport()

◆ getFOV()

◆ getLastMousePosition()

◆ getLastMousePositionRay()

◆ getLastWindowImage()

◆ getLastWindowImagePtr()

◆ getPushedKey()

◆ getRenderingFPS()

◆ GetRuntimeClass()

◆ getWxObject()

◆ grabImageGetNextFile()

◆ grabImagesStart()

◆ grabImagesStop()

◆ hasSubscribers()

◆ internal_emitGrabImageEvent()

◆ internal_setRenderingFPS()

◆ internalSetMinMaxRange()

◆ isCameraProjective()

◆ isCapturingImgs()

◆ isOpen()

◆ keyHit()

◆ notifyChildWindowDestruction()

◆ notifySemThreadReady()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ publishEvent()

◆ repaint()

◆ resize()

◆ setCameraAzimuthDeg()

◆ setCameraElevationDeg()

◆ setCameraPointingToPoint()

◆ setCameraProjective()

◆ setCameraZoom()

◆ setCursorCross()

◆ setFOV()

◆ setImageView()