mrpt::opengl::COpenGLViewport Class Reference

Detailed Description

A viewport within a COpenGLScene, containing a set of OpenGL objects to render.

This class has protected constuctor, thus it cannot be created by users. Use COpenGLScene::createViewport instead. A viewport has these "operation modes":

• Normal (default): It renders the contained objects.
• Cloned: It clones the objects from another viewport. See setCloneView()
• Image mode: It renders an image (e.g. from a video stream) efficiently using a textued quad. See setImageView().

In any case, the viewport can be resized to only fit a part of the entire parent viewport. There will be always at least one viewport in a COpenGLScene named "main".

This class can be observed (see mrpt::utils::CObserver) for the following events (see mrpt::utils::mrptEvent):

• mrpt::opengl::mrptEventGLPreRender
• mrpt::opengl::mrptEventGLPostRender

Two directional light sources at infinity are created by default, with directions (-1,-1,-1) and (1,2,1), respectively. All OpenGL properties of light sources are accesible via the methods: setNumberOfLights(), lightsClearAll(), addLight(), and getLight(). Please, refer to mrpt::opengl::CLight and the standard OpenGL documentation for the meaning of all light properties.

Refer to mrpt::opengl::COpenGLScene for further details.

Definition at line 56 of file COpenGLViewport.h.

#include <mrpt/opengl/COpenGLViewport.h>

Inheritance diagram for mrpt::opengl::COpenGLViewport:

Classes
struct	TLastProjectiveMatrixInfo

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 ()
virtual	~COpenGLViewport ()
	Destructor: clears all objects. More...
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
CObject *	clone () const
	Cloning interface for smart pointers. More...
Set the viewport "modes"
void	setCloneView (const std::string &clonedViewport)
	Set this viewport as a clone of some other viewport, given its name - as a side effect, current list of internal OpenGL objects is cleared. More...
void	setImageView (const mrpt::utils::CImage &img)
	Set this 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	resetCloneView ()
	Reset the viewport to normal mode: rendering its own objects. More...
void	setCloneCamera (bool enable)
	If set to true, and setCloneView() has been called, this viewport will be rendered using the camera of the cloned viewport. More...
void	setNormalMode ()
	Resets the viewport to a normal 3D viewport. More...
OpenGL global settings that affect rendering all objects in the scene/viewport
void	enablePolygonNicest (bool enable=true)
	Sets glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST) is enabled, or GL_FASTEST otherwise. More...
bool	isPolygonNicestEnabled () const
void	lightsClearAll ()
	Removes all lights (and disables the global "GL_LIGHTING") More...
void	addLight (const CLight &l)
	Append a new light to the scene. More...
void	setNumberOfLights (const size_t N)
	Allocates a number of lights, which must be correctly defined via getLight(i), etc. More...
CLight &	getLight (const size_t i)
const CLight &	getLight (const size_t i) const
Change or read viewport properties (except "viewport modes")
std::string	getName ()
	Returns the name of the viewport. More...
void	setViewportPosition (const double x, const double y, const double width, const double height)
	Change the viewport position and dimension on the rendering window. More...
void	getViewportPosition (double &x, double &y, double &width, double &height)
	Get the current viewport position and dimension on the rendering window. More...
void	setViewportClipDistances (const double clip_min, const double clip_max)
	Set the min/max clip depth distances of the rendering frustum (default: 0.1 - 10000) More...
void	getViewportClipDistances (double &clip_min, double &clip_max) const
	Get the current min/max clip depth distances of the rendering frustum (default: 0.1 - 10000) More...
void	setBorderSize (unsigned int lineWidth)
	Set the border size ("frame") of the viewport (default=0). More...
bool	isTransparent ()
	Return whether the viewport will be rendered transparent over previous viewports. More...
void	setTransparent (bool trans)
	Set the transparency, that is, whether the viewport will be rendered transparent over previous viewports (default=false). More...
void	setCustomBackgroundColor (const mrpt::utils::TColorf &color)
	Set a background color different from that of the parent GUI window. More...
mrpt::utils::TColorf	getCustomBackgroundColor () const
void	get3DRayForPixelCoord (const double x_coord, const double y_coord, mrpt::math::TLine3D &out_ray, mrpt::poses::CPose3D *out_cameraPose=NULL) const
	Compute the 3D ray corresponding to a given pixel; this can be used to allow the user to pick and select 3D objects by clicking onto the 2D image. 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 Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
	COpenGLViewport (COpenGLScene *parent=NULL, const std::string &name=std::string(""))
	Constructor, invoked from COpenGLScene only. More...
void	initializeAllTextures ()
	Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL) More...
void	dumpListOfObjects (mrpt::utils::CStringList &lst)
	Retrieves a list of all objects in text form. More...
void	render (const int render_width, const int render_height) const
	Render the objects in this viewport (called from COpenGLScene only) More...
void	internal_setImageView_fast (const mrpt::utils::CImage &img, bool is_fast)
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...
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...
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. More...

Protected Attributes
opengl::CCamera	m_camera
	The camera associated to the viewport. More...
utils::safe_ptr< COpenGLScene >	m_parent
	The scene that contains this viewport. More...
bool	m_isCloned
	Set by setCloneView. More...
bool	m_isClonedCamera
	Set by setCloneCamera. More...
std::string	m_clonedViewport
	Only if m_isCloned=true. More...
std::string	m_name
	The viewport's name. More...
bool	m_isTransparent
	Whether to clear color buffer. More...
uint32_t	m_borderWidth
	Default=0, the border around the viewport. More...
double	m_view_x
double	m_view_y
double	m_view_width
double	m_view_height
	The viewport position [0,1]. More...
double	m_clip_min
double	m_clip_max
	The min/max clip depth distances (default: 0.1 - 10000) More...
bool	m_custom_backgb_color
mrpt::utils::TColorf	m_background_color
	used only if m_custom_backgb_color More...
bool	m_isImageView
	Set by setImageView. More...
mrpt::utils::CImagePtr	m_imageview_img
	The image to display, after calling setImageView() More...
TLastProjectiveMatrixInfo	m_lastProjMat
	Info updated with each "render()" and used in "get3DRayForPixelCoord". More...
opengl::CListOpenGLObjects	m_objects
	The list of objects that comprise the 3D scene. More...
bool	m_OpenGL_enablePolygonNicest
std::vector< CLight >	m_lights

Friends
class	COpenGLScene

RTTI stuff
typedef COpenGLViewportPtr	Ptr
typedef COpenGLViewportPtr	ConstPtr
static mrpt::utils::CLASSINIT	_init_COpenGLViewport
static mrpt::utils::TRuntimeClassId	classCOpenGLViewport
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 COpenGLViewportPtr	Create ()

Contained objects set/get/search
typedef CListOpenGLObjects::const_iterator	const_iterator
typedef CListOpenGLObjects::iterator	iterator
const_iterator	begin () const
const_iterator	end () const
iterator	begin ()
iterator	end ()
void	clear ()
	Delete all internal obejcts. More...
void	insert (const CRenderizablePtr &newObject)
	Insert a new object into the list. More...
void	getCurrentCameraPose (mrpt::poses::CPose3D &out_cameraPose) const
	Compute the current 3D camera pose. More...
CRenderizablePtr	getByName (const std::string &str)
	Returns the first object with a given name, or NULL if not found. More...
template<typename T >
T::Ptr	getByClass (const size_t &ith=0) const
	Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found. More...
void	removeObject (const CRenderizablePtr &obj)
	Removes the given object from the scene (it also deletes the object to free its memory). More...
size_t	size () const
	Number of objects contained. More...
bool	empty () const
opengl::CCamera &	getCamera ()
	Get a reference to the camera associated with this viewport. More...
const opengl::CCamera &	getCamera () const
	Get a reference to the camera associated with this viewport. More...
void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
	Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...

Member Typedef Documentation

const_iterator

typedef CListOpenGLObjects::const_iterator mrpt::opengl::COpenGLViewport::const_iterator

Definition at line 208 of file COpenGLViewport.h.

ConstPtr

typedef COpenGLViewportPtr mrpt::opengl::COpenGLViewport::ConstPtr

Definition at line 60 of file COpenGLViewport.h.

iterator

typedef CListOpenGLObjects::iterator mrpt::opengl::COpenGLViewport::iterator

Definition at line 209 of file COpenGLViewport.h.

Ptr

typedef COpenGLViewportPtr mrpt::opengl::COpenGLViewport::Ptr

A typedef for the associated smart pointer

Definition at line 60 of file COpenGLViewport.h.

Constructor & Destructor Documentation

~COpenGLViewport()

COpenGLViewport::~COpenGLViewport ( )

virtual

Destructor: clears all objects.

Definition at line 102 of file COpenGLViewport.cpp.

References clear().

COpenGLViewport()

COpenGLViewport::COpenGLViewport ( COpenGLScene *  parent = NULL, const std::string &  name = std::string("")  )

protected

Constructor, invoked from COpenGLScene only.

Definition at line 53 of file COpenGLViewport.cpp.

References m_lights.

Member Function Documentation

_GetBaseClass()

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

staticprotected

addLight()

void mrpt::opengl::COpenGLViewport::addLight ( const CLight &  l )

inline

Append a new light to the scene.

By default there are two lights. "GL_LIGHTING" is disabled if all lights are removed

Definition at line 113 of file COpenGLViewport.h.

begin() [1/2]

const_iterator mrpt::opengl::COpenGLViewport::begin ( ) const

inline

Definition at line 211 of file COpenGLViewport.h.

begin() [2/2]

iterator mrpt::opengl::COpenGLViewport::begin ( )

inline

Definition at line 213 of file COpenGLViewport.h.

clear()

void COpenGLViewport::clear

(

)

Delete all internal obejcts.

See also

insert

Definition at line 156 of file COpenGLViewport.cpp.

References m_objects.

Referenced by readFromStream(), setCloneView(), and ~COpenGLViewport().

clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

Create()

static COpenGLViewportPtr mrpt::opengl::COpenGLViewport::Create ( )

static

CreateObject()

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

static

dumpListOfObjects()

void COpenGLViewport::dumpListOfObjects ( mrpt::utils::CStringList &  lst )

protected

Retrieves a list of all objects in text form.

Definition at line 675 of file COpenGLViewport.cpp.

References mrpt::utils::CStringList::add(), CLASS_ID_NAMESPACE, m_objects, and mrpt::utils::CStringList::size().

duplicate()

virtual mrpt::utils::CObject* mrpt::opengl::COpenGLViewport::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().

empty()

bool mrpt::opengl::COpenGLViewport::empty ( ) const

inline

Definition at line 272 of file COpenGLViewport.h.

enablePolygonNicest()

void mrpt::opengl::COpenGLViewport::enablePolygonNicest ( bool  enable = true )

inline

Sets glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST) is enabled, or GL_FASTEST otherwise.

Definition at line 106 of file COpenGLViewport.h.

end() [1/2]

const_iterator mrpt::opengl::COpenGLViewport::end ( ) const

inline

Definition at line 212 of file COpenGLViewport.h.

end() [2/2]

iterator mrpt::opengl::COpenGLViewport::end ( )

inline

Definition at line 214 of file COpenGLViewport.h.

get3DRayForPixelCoord()

void COpenGLViewport::get3DRayForPixelCoord	(	const double	x_coord,
		const double	y_coord,
		mrpt::math::TLine3D &	out_ray,
		mrpt::poses::CPose3D *	out_cameraPose = NULL
	)		const

Compute the 3D ray corresponding to a given pixel; this can be used to allow the user to pick and select 3D objects by clicking onto the 2D image.

Parameters

x_coord	Horizontal coordinate with the usual meaning (0:left of the viewport, W-1: right border).
y_coord	Horizontal coordinate with the usual meaning (0:top of the viewport, H-1: right border).
out_cameraPose	If not NULL, will have the camera 3D pose as a mrpt::poses::CPose3D. See also

Note

(x,y) refer to VIEWPORT coordinates. Take into account this when viewports do not extend to the whole window size.

x and y are double instead of integers to allow sub-pixel precision.

See also

getCurrentCameraPose

Definition at line 735 of file COpenGLViewport.cpp.

References ASSERTDEB_, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::azimuth, mrpt::math::crossProduct3D(), DEG2RAD, mrpt::math::TLine3D::director, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::elev, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::eye, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::FOV, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::is_projective, m_lastProjMat, mrpt::math::TLine3D::pBase, mrpt::math::UNINITIALIZED_MATRIX, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::viewport_height, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::viewport_width, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, mrpt::math::TPoint3D::z, and mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::zoom.

getBoundingBox()

void COpenGLViewport::getBoundingBox	(	mrpt::math::TPoint3D &	bb_min,
		mrpt::math::TPoint3D &	bb_max
	)		const

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

Definition at line 897 of file COpenGLViewport.cpp.

References mrpt::utils::keep_max(), mrpt::utils::keep_min(), m_objects, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

getByClass()

template<typename T >

T::Ptr mrpt::opengl::COpenGLViewport::getByClass ( const size_t &  ith = 0 ) const

inline

Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.

Example:

CSpherePtr obs = view.getByClass<CSphere>();

By default (ith=0), the first observation is returned.

Definition at line 242 of file COpenGLViewport.h.

References CLASS_ID_NAMESPACE, MRPT_END, and MRPT_START.

Referenced by render().

getByName()

CRenderizablePtr COpenGLViewport::getByName

(

const std::string &

str

)

Returns the first object with a given name, or NULL if not found.

Definition at line 640 of file COpenGLViewport.cpp.

References CLASS_ID_NAMESPACE, and m_objects.

getCamera() [1/2]

opengl::CCamera& mrpt::opengl::COpenGLViewport::getCamera ( )

inline

Get a reference to the camera associated with this viewport.

Definition at line 274 of file COpenGLViewport.h.

getCamera() [2/2]

const opengl::CCamera& mrpt::opengl::COpenGLViewport::getCamera ( ) const

inline

Get a reference to the camera associated with this viewport.

Definition at line 276 of file COpenGLViewport.h.

getCurrentCameraPose()

void COpenGLViewport::getCurrentCameraPose

(

mrpt::poses::CPose3D &

out_cameraPose

)

const

Compute the current 3D camera pose.

See also

get3DRayForPixelCoord

Definition at line 852 of file COpenGLViewport.cpp.

getCustomBackgroundColor()

mrpt::utils::TColorf mrpt::opengl::COpenGLViewport::getCustomBackgroundColor ( ) const

inline

Definition at line 188 of file COpenGLViewport.h.

getLight() [1/2]

CLight& mrpt::opengl::COpenGLViewport::getLight ( const size_t  i )

inline

Definition at line 118 of file COpenGLViewport.h.

References ASSERT_BELOW_.

getLight() [2/2]

const CLight& mrpt::opengl::COpenGLViewport::getLight ( const size_t  i ) const

inline

Definition at line 119 of file COpenGLViewport.h.

References ASSERT_BELOW_.

getName()

std::string mrpt::opengl::COpenGLViewport::getName ( )

inline

Returns the name of the viewport.

Definition at line 128 of file COpenGLViewport.h.

GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

getViewportClipDistances()

void COpenGLViewport::getViewportClipDistances	(	double &	clip_min,
		double &	clip_max
	)		const

Get the current min/max clip depth distances of the rendering frustum (default: 0.1 - 10000)

See also

setViewportClipDistances

Definition at line 726 of file COpenGLViewport.cpp.

References m_clip_max, and m_clip_min.

getViewportPosition()

void COpenGLViewport::getViewportPosition	(	double &	x,
		double &	y,
		double &	width,
		double &	height
	)

Get the current viewport position and dimension on the rendering window.

X & Y coordinates here can have two interpretations:

• If in the range [0,1], they are factors with respect to the actual window sizes (i.e. width=1 means the entire width of the rendering window).
• If >1, they are interpreted as pixels.

  Note

  (x,y) specify the lower left corner of the viewport rectangle.

  See also

  setViewportPosition

Definition at line 141 of file COpenGLViewport.cpp.

References m_view_height, m_view_width, m_view_x, and m_view_y.

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 render().

initializeAllTextures()

void COpenGLViewport::initializeAllTextures ( )

protected

Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)

Definition at line 659 of file COpenGLViewport.cpp.

References IS_CLASS, IS_DERIVED, and m_objects.

insert()

void COpenGLViewport::insert

(

const CRenderizablePtr &

newObject

)

Insert a new object into the list.

The object MUST NOT be deleted, it will be deleted automatically by this object when not required anymore.

Definition at line 164 of file COpenGLViewport.cpp.

References m_objects.

internal_setImageView_fast()

void COpenGLViewport::internal_setImageView_fast ( const mrpt::utils::CImage &  img, bool  is_fast  )

protected

Definition at line 880 of file COpenGLViewport.cpp.

References mrpt::utils::CImage::copyFastFrom(), mrpt::utils::CImage::Create(), m_imageview_img, and m_isImageView.

Referenced by setImageView(), and setImageView_fast().

isPolygonNicestEnabled()

bool mrpt::opengl::COpenGLViewport::isPolygonNicestEnabled ( ) const

inline

Definition at line 107 of file COpenGLViewport.h.

isTransparent()

bool mrpt::opengl::COpenGLViewport::isTransparent ( )

inline

Return whether the viewport will be rendered transparent over previous viewports.

Definition at line 179 of file COpenGLViewport.h.

lightsClearAll()

void mrpt::opengl::COpenGLViewport::lightsClearAll ( )

inline

Removes all lights (and disables the global "GL_LIGHTING")

Definition at line 110 of file COpenGLViewport.h.

operator delete() [1/3]

void mrpt::opengl::COpenGLViewport::operator delete ( void *  ptr ) throw ( )

inline

Definition at line 60 of file COpenGLViewport.h.

operator delete() [2/3]

void mrpt::opengl::COpenGLViewport::operator delete ( void *  memory, void *  ptr  ) throw ( )

inline

Definition at line 60 of file COpenGLViewport.h.

operator delete() [3/3]

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

inline

Definition at line 60 of file COpenGLViewport.h.

operator delete[]()

void mrpt::opengl::COpenGLViewport::operator delete[] ( void *  ptr ) throw ( )

inline

Definition at line 60 of file COpenGLViewport.h.

operator new() [1/3]

static void* mrpt::opengl::COpenGLViewport::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 60 of file COpenGLViewport.h.

operator new() [2/3]

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

inline

Definition at line 60 of file COpenGLViewport.h.

operator new() [3/3]

void* mrpt::opengl::COpenGLViewport::operator new ( size_t  size )

inline

Definition at line 60 of file COpenGLViewport.h.

operator new[]()

void* mrpt::opengl::COpenGLViewport::operator new[] ( size_t  size )

inline

Definition at line 60 of file COpenGLViewport.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 mrpt::gui::CDisplayWindow3D::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 render().

readFromStream()

void COpenGLViewport::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.

Definition at line 576 of file COpenGLViewport.cpp.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, clear(), mrpt::utils::TColorf::G, m_background_color, m_borderWidth, m_camera, m_clonedViewport, m_custom_backgb_color, m_isCloned, m_isClonedCamera, m_isTransparent, m_lights, m_name, m_objects, m_OpenGL_enablePolygonNicest, m_view_height, m_view_width, m_view_x, m_view_y, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::utils::TColorf::R, and version.

removeObject()

void COpenGLViewport::removeObject

(

const CRenderizablePtr &

obj

)

Removes the given object from the scene (it also deletes the object to free its memory).

Definition at line 700 of file COpenGLViewport.cpp.

References CLASS_ID_NAMESPACE, and m_objects.

render()

void COpenGLViewport::render ( const int  render_width, const int  render_height  ) const

protected

Render the objects in this viewport (called from COpenGLScene only)

Definition at line 173 of file COpenGLViewport.cpp.

References mrpt::utils::TColorf::A, ASSERT_, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::azimuth, mrpt::utils::TColorf::B, mrpt::opengl::CRenderizable::checkOpenGLError(), mrpt::utils::TRuntimeClassId::className, DEG2RAD, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::elev, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::eye, mrpt::format(), mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::FOV, mrpt::utils::TColorf::G, getByClass(), mrpt::poses::CPose3D::getRotationMatrix(), mrpt::opengl::CRenderizable::GetRuntimeClass(), GL_ACCUM_BUFFER_BIT, GL_AMBIENT_AND_DIFFUSE, GL_BGR, GL_COLOR_BUFFER_BIT, GL_COLOR_CLEAR_VALUE, GL_COLOR_MATERIAL, GL_DEPTH_BUFFER_BIT, GL_DEPTH_TEST, GL_FASTEST, GL_FRONT_AND_BACK, GL_LEQUAL, GL_LIGHT_MODEL_TWO_SIDE, GL_LIGHTING, GL_LINE_LOOP, GL_LUMINANCE, GL_MODELVIEW, GL_NICEST, GL_PERSPECTIVE_CORRECTION_HINT, GL_POLYGON_SMOOTH_HINT, GL_PROJECTION, GL_RGB, GL_SCISSOR_TEST, GL_SMOOTH, GL_STENCIL_BUFFER_BIT, GL_TRUE, GL_UNPACK_ROW_LENGTH, GL_UNSIGNED_BYTE, glBegin(), glClear(), glClearColor(), glColor4f(), glColorMaterial(), glDepthFunc(), glDisable(), glDrawPixels(), glEnable(), glEnd(), glGetDoublev(), glHint(), glLightModeli(), glLineWidth(), glLoadIdentity(), glMatrixMode(), glOrtho(), glPixelStorei(), glPixelZoom(), glRasterPos2f(), glScissor(), glShadeModel(), glVertex2f(), glViewport(), mrpt::utils::CObservable::hasSubscribers(), mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::is_projective, m_background_color, m_borderWidth, m_camera, m_clip_max, m_clip_min, m_clonedViewport, m_custom_backgb_color, mrpt::opengl::CCamera::m_distanceZoom, m_imageview_img, m_isCloned, m_isClonedCamera, m_isImageView, m_isTransparent, m_lastProjMat, m_lights, m_objects, m_OpenGL_enablePolygonNicest, m_parent, m_view_height, m_view_width, m_view_x, m_view_y, MRPT_UNUSED_PARAM, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::pointing, mrpt::utils::CObservable::publishEvent(), mrpt::utils::TColorf::R, mrpt::opengl::gl_utils::renderSetOfObjects(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::up, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::viewport_height, mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::viewport_width, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint3D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), mrpt::math::TPoint3D::y, mrpt::math::TPoint3D::z, and mrpt::opengl::COpenGLViewport::TLastProjectiveMatrixInfo::zoom.

resetCloneView()

void mrpt::opengl::COpenGLViewport::resetCloneView ( )

inline

Reset the viewport to normal mode: rendering its own objects.

See also

setCloneView, setNormalMode

Definition at line 89 of file COpenGLViewport.h.

setBorderSize()

void mrpt::opengl::COpenGLViewport::setBorderSize ( unsigned int  lineWidth )

inline

Set the border size ("frame") of the viewport (default=0).

Definition at line 175 of file COpenGLViewport.h.

setCloneCamera()

void mrpt::opengl::COpenGLViewport::setCloneCamera ( bool  enable )

inline

If set to true, and setCloneView() has been called, this viewport will be rendered using the camera of the cloned viewport.

Definition at line 93 of file COpenGLViewport.h.

setCloneView()

void COpenGLViewport::setCloneView

(

const std::string &

clonedViewport

)

Set this viewport as a clone of some other viewport, given its name - as a side effect, current list of internal OpenGL objects is cleared.

By default, only the objects are cloned, not the camera. See

See also

resetCloneView

Definition at line 110 of file COpenGLViewport.cpp.

References clear(), m_clonedViewport, and m_isCloned.

setCustomBackgroundColor()

void mrpt::opengl::COpenGLViewport::setCustomBackgroundColor ( const mrpt::utils::TColorf &  color )

inline

Set a background color different from that of the parent GUI window.

Definition at line 186 of file COpenGLViewport.h.

setImageView()

void COpenGLViewport::setImageView

(

const mrpt::utils::CImage &

img

)

Set this 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

Definition at line 871 of file COpenGLViewport.cpp.

References internal_setImageView_fast().

setImageView_fast()

void COpenGLViewport::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

Definition at line 875 of file COpenGLViewport.cpp.

References internal_setImageView_fast().

setNormalMode()

void COpenGLViewport::setNormalMode

(

)

Resets the viewport to a normal 3D viewport.

See also

setCloneView, setImageView

Definition at line 860 of file COpenGLViewport.cpp.

References m_imageview_img, m_isCloned, m_isClonedCamera, and m_isImageView.

setNumberOfLights()

void mrpt::opengl::COpenGLViewport::setNumberOfLights ( const size_t  N )

inline

Allocates a number of lights, which must be correctly defined via getLight(i), etc.

Definition at line 116 of file COpenGLViewport.h.

setTransparent()

void mrpt::opengl::COpenGLViewport::setTransparent ( bool  trans )

inline

Set the transparency, that is, whether the viewport will be rendered transparent over previous viewports (default=false).

Definition at line 183 of file COpenGLViewport.h.

setViewportClipDistances()

void COpenGLViewport::setViewportClipDistances	(	const double	clip_min,
		const double	clip_max
	)

Set the min/max clip depth distances of the rendering frustum (default: 0.1 - 10000)

See also

getViewportClipDistances

Definition at line 715 of file COpenGLViewport.cpp.

References ASSERT_, m_clip_max, and m_clip_min.

setViewportPosition()

void COpenGLViewport::setViewportPosition	(	const double	x,
		const double	y,
		const double	width,
		const double	height
	)

Change the viewport position and dimension on the rendering window.

X & Y coordinates here can have two interpretations:

• If in the range [0,1], they are factors with respect to the actual window sizes (i.e. width=1 means the entire width of the rendering window).
• If >1, they are interpreted as pixels.

width & height can be interpreted as:

• If >1, they are the size of the viewport in that dimension, in pixels.
• If in [0,1], they are the size of the viewport in that dimension, in a factor of the width/height.
• If in [-1,0[, the size is computed such as the right/top border ends up in the given coordinate, interpreted as a factor (e.g. -1: up to the end of the viewport, -0.5: up to the middle of it).
• If <-1 the size is computed such as the right/top border ends up in the given absolute coordinate (e.g. -200: up to the row/column 200px).

Note

(x,y) specify the lower left corner of the viewport rectangle.

See also

getViewportPosition

Definition at line 120 of file COpenGLViewport.cpp.

References ASSERT_, m_view_height, m_view_width, m_view_x, m_view_y, MRPT_END, and MRPT_START.

size()

size_t mrpt::opengl::COpenGLViewport::size ( ) const

inline

Number of objects contained.

Definition at line 270 of file COpenGLViewport.h.

writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

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

Returns

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

Definition at line 79 of file CSerializable.h.

writeToStream()

void COpenGLViewport::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.

Definition at line 539 of file COpenGLViewport.cpp.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, m_background_color, m_borderWidth, m_camera, m_clonedViewport, m_custom_backgb_color, m_isCloned, m_isClonedCamera, m_isTransparent, m_lights, m_name, m_objects, m_OpenGL_enablePolygonNicest, m_view_height, m_view_width, m_view_x, m_view_y, mrpt::utils::TColorf::R, and version.

Friends And Related Function Documentation

COpenGLScene

friend class COpenGLScene

friend

Definition at line 61 of file COpenGLViewport.h.

Member Data Documentation

_init_COpenGLViewport

mrpt::utils::CLASSINIT mrpt::opengl::COpenGLViewport::_init_COpenGLViewport

staticprotected

Definition at line 60 of file COpenGLViewport.h.

classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

classCOpenGLViewport

mrpt::utils::TRuntimeClassId mrpt::opengl::COpenGLViewport::classCOpenGLViewport

static

Definition at line 60 of file COpenGLViewport.h.

classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

classinfo

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

static

Definition at line 60 of file COpenGLViewport.h.

m_background_color

mrpt::utils::TColorf mrpt::opengl::COpenGLViewport::m_background_color

protected

used only if m_custom_backgb_color

Definition at line 316 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), and writeToStream().

m_borderWidth

uint32_t mrpt::opengl::COpenGLViewport::m_borderWidth

protected

Default=0, the border around the viewport.

Definition at line 312 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), and writeToStream().

m_camera

opengl::CCamera mrpt::opengl::COpenGLViewport::m_camera

protected

The camera associated to the viewport.

Definition at line 305 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), and writeToStream().

m_clip_max

double mrpt::opengl::COpenGLViewport::m_clip_max

protected

The min/max clip depth distances (default: 0.1 - 10000)

Definition at line 314 of file COpenGLViewport.h.

Referenced by getViewportClipDistances(), render(), and setViewportClipDistances().

m_clip_min

double mrpt::opengl::COpenGLViewport::m_clip_min

protected

Definition at line 314 of file COpenGLViewport.h.

Referenced by getViewportClipDistances(), render(), and setViewportClipDistances().

m_clonedViewport

std::string mrpt::opengl::COpenGLViewport::m_clonedViewport

protected

Only if m_isCloned=true.

Definition at line 309 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), setCloneView(), and writeToStream().

m_custom_backgb_color

bool mrpt::opengl::COpenGLViewport::m_custom_backgb_color

protected

Definition at line 315 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), and writeToStream().

m_imageview_img

mrpt::utils::CImagePtr mrpt::opengl::COpenGLViewport::m_imageview_img

protected

The image to display, after calling setImageView()

Definition at line 319 of file COpenGLViewport.h.

Referenced by internal_setImageView_fast(), render(), and setNormalMode().

m_isCloned

bool mrpt::opengl::COpenGLViewport::m_isCloned

protected

Set by setCloneView.

Definition at line 307 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), setCloneView(), setNormalMode(), and writeToStream().

m_isClonedCamera

bool mrpt::opengl::COpenGLViewport::m_isClonedCamera

protected

Set by setCloneCamera.

Definition at line 308 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), setNormalMode(), and writeToStream().

m_isImageView

bool mrpt::opengl::COpenGLViewport::m_isImageView

protected

Set by setImageView.

Definition at line 317 of file COpenGLViewport.h.

Referenced by internal_setImageView_fast(), render(), and setNormalMode().

m_isTransparent

bool mrpt::opengl::COpenGLViewport::m_isTransparent

protected

Whether to clear color buffer.

Definition at line 311 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), and writeToStream().

m_lastProjMat

TLastProjectiveMatrixInfo mrpt::opengl::COpenGLViewport::m_lastProjMat

mutableprotected

Info updated with each "render()" and used in "get3DRayForPixelCoord".

Definition at line 334 of file COpenGLViewport.h.

Referenced by get3DRayForPixelCoord(), and render().

m_lights

std::vector<CLight> mrpt::opengl::COpenGLViewport::m_lights

protected

Definition at line 346 of file COpenGLViewport.h.

Referenced by COpenGLViewport(), readFromStream(), render(), and writeToStream().

m_name

std::string mrpt::opengl::COpenGLViewport::m_name

protected

The viewport's name.

Definition at line 310 of file COpenGLViewport.h.

Referenced by readFromStream(), and writeToStream().

m_objects

opengl::CListOpenGLObjects mrpt::opengl::COpenGLViewport::m_objects

protected

The list of objects that comprise the 3D scene.

Objects are automatically deleted when calling "clear" or in the destructor.

Definition at line 339 of file COpenGLViewport.h.

Referenced by clear(), dumpListOfObjects(), getBoundingBox(), getByName(), initializeAllTextures(), insert(), readFromStream(), removeObject(), render(), and writeToStream().

m_OpenGL_enablePolygonNicest

bool mrpt::opengl::COpenGLViewport::m_OpenGL_enablePolygonNicest

protected

Definition at line 344 of file COpenGLViewport.h.

Referenced by readFromStream(), render(), and writeToStream().

m_parent

utils::safe_ptr<COpenGLScene> mrpt::opengl::COpenGLViewport::m_parent

protected

The scene that contains this viewport.

Definition at line 306 of file COpenGLViewport.h.

Referenced by render().

m_view_height

double mrpt::opengl::COpenGLViewport::m_view_height

protected

The viewport position [0,1].

Definition at line 313 of file COpenGLViewport.h.

Referenced by getViewportPosition(), readFromStream(), render(), setViewportPosition(), and writeToStream().

m_view_width

double mrpt::opengl::COpenGLViewport::m_view_width

protected

Definition at line 313 of file COpenGLViewport.h.

Referenced by getViewportPosition(), readFromStream(), render(), setViewportPosition(), and writeToStream().

m_view_x

double mrpt::opengl::COpenGLViewport::m_view_x

protected

Definition at line 313 of file COpenGLViewport.h.

Referenced by getViewportPosition(), readFromStream(), render(), setViewportPosition(), and writeToStream().

m_view_y

double mrpt::opengl::COpenGLViewport::m_view_y

protected

Definition at line 313 of file COpenGLViewport.h.

Referenced by getViewportPosition(), readFromStream(), render(), setViewportPosition(), and writeToStream().