COpenGLViewport.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/COpenGLViewport.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CTexturedPlane.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/stl_serialization.h>
#include <mrpt/serialization/metaprogramming_serialization.h>
#include <mrpt/opengl/gl_utils.h>

#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace mrpt::serialization::metaprogramming;
using namespace std;

//// using namespace mrpt::utils::metaprogramming;

IMPLEMENTS_SERIALIZABLE(COpenGLViewport, CSerializable, mrpt::opengl)

//#define OPENGLVIEWPORT_ENABLE_TIMEPROFILING

#if defined(OPENGLVIEWPORT_ENABLE_TIMEPROFILING)
mrpt::system::CTimeLogger glv_timlog;
#endif

/*--------------------------------------------------------------

            IMPLEMENTATION OF COpenGLViewport

  ---------------------------------------------------------------*/

/*--------------------------------------------------------------
                    Constructor
  ---------------------------------------------------------------*/
COpenGLViewport::COpenGLViewport(COpenGLScene* parent, const string& name)
    : m_camera(),
      m_parent(parent),
      m_isCloned(false),
      m_isClonedCamera(false),
      m_clonedViewport(),
      m_name(name),
      m_isTransparent(false),
      m_borderWidth(0),
      m_view_x(0),
      m_view_y(0),
      m_view_width(1),
      m_view_height(1),
      m_clip_min(0.1),
      m_clip_max(10000),
      m_custom_backgb_color(false),
      m_background_color(0.6f, 0.6f, 0.6f),
      m_isImageView(false),
      m_imageview_img(),
      m_objects(),
      // OpenGL settings:
      m_OpenGL_enablePolygonNicest(true),
      m_lights()
{
    // Default: one light from default direction
    m_lights.push_back(CLight());
    m_lights.push_back(CLight());

    m_lights[0].setPosition(1, 1, 1, 0);
    m_lights[0].setDirection(-1, -1, -1);

    m_lights[1].light_ID = 1;
    m_lights[1].setPosition(1, 2, -1, 0);
    m_lights[1].setDirection(1, 2, 1);

    m_lights[1].color_diffuse[0] = 0.3f;
    m_lights[1].color_diffuse[1] = 0.3f;
    m_lights[1].color_diffuse[2] = 0.3f;

    m_lights[1].color_ambient[0] = 0.3f;
    m_lights[1].color_ambient[1] = 0.3f;
    m_lights[1].color_ambient[2] = 0.3f;
}

/*--------------------------------------------------------------
                    Destructor
  ---------------------------------------------------------------*/
COpenGLViewport::~COpenGLViewport() { clear(); }
/*--------------------------------------------------------------
                    setCloneView
  ---------------------------------------------------------------*/
void COpenGLViewport::setCloneView(const string& clonedViewport)
{
    clear();
    m_isCloned = true;
    m_clonedViewport = clonedViewport;
}

/*--------------------------------------------------------------
                    setViewportPosition
  ---------------------------------------------------------------*/
void COpenGLViewport::setViewportPosition(
    const double x, const double y, const double width, const double height)
{
    MRPT_START
    ASSERT_(m_view_width > 0);
    ASSERT_(m_view_height > 0);

    m_view_x = x;
    m_view_y = y;
    m_view_width = width;
    m_view_height = height;

    MRPT_END
}

/*--------------------------------------------------------------
                    getViewportPosition
  ---------------------------------------------------------------*/
void COpenGLViewport::getViewportPosition(
    double& x, double& y, double& width, double& height)
{
    x = m_view_x;
    y = m_view_y;
    width = m_view_width;
    height = m_view_height;
}

/*--------------------------------------------------------------
                    clear
  ---------------------------------------------------------------*/
void COpenGLViewport::clear() { m_objects.clear(); }
/*--------------------------------------------------------------
                    insert
  ---------------------------------------------------------------*/
void COpenGLViewport::insert(const CRenderizable::Ptr& newObject)
{
    m_objects.push_back(newObject);
}

/*---------------------------------------------------------------
                        render
 ---------------------------------------------------------------*/
void COpenGLViewport::render(
    const int render_width, const int render_height) const
{
#if MRPT_HAS_OPENGL_GLUT
    const CRenderizable* it =
        nullptr;  // Declared here for usage in the "catch"
    try
    {
        // Change viewport:
        // -------------------------------------------
        const GLint vx = m_view_x > 1
                             ? GLint(m_view_x)
                             : (m_view_x < 0 ? GLint(render_width + m_view_x)
                                             : GLint(render_width * m_view_x));
        const GLint vy = m_view_y > 1
                             ? GLint(m_view_y)
                             : (m_view_y < 0 ? GLint(render_height + m_view_y)
                                             : GLint(render_height * m_view_y));

        GLint vw;
        if (m_view_width > 1)  // >1 -> absolute pixels:
            vw = GLint(m_view_width);
        else if (m_view_width < 0)
        {  // Negative numbers: Specify the right side coordinates instead of
            // the width:
            if (m_view_width >= -1)
                vw = GLint(-render_width * m_view_width - vx + 1);
            else
                vw = GLint(-m_view_width - vx + 1);
        }
        else  // A factor:
        {
            vw = GLint(render_width * m_view_width);
        }

        GLint vh;
        if (m_view_height > 1)  // >1 -> absolute pixels:
            vh = GLint(m_view_height);
        else if (m_view_height < 0)
        {  // Negative numbers: Specify the right side coordinates instead of
            // the width:
            if (m_view_height >= -1)
                vh = GLint(-render_height * m_view_height - vy + 1);
            else
                vh = GLint(-m_view_height - vy + 1);
        }
        else  // A factor:
            vh = GLint(render_height * m_view_height);

        glViewport(vx, vy, vw, vh);

        // Clear depth&/color buffers:
        // -------------------------------------------
        m_lastProjMat.viewport_width = vw;
        m_lastProjMat.viewport_height = vh;

        glScissor(vx, vy, vw, vh);

        glEnable(GL_SCISSOR_TEST);
        if (!m_isTransparent)
        {  // Clear color & depth buffers:
            // Save?
            GLdouble old_colors[4];
            if (m_custom_backgb_color)
            {
                glGetDoublev(GL_COLOR_CLEAR_VALUE, old_colors);
                glClearColor(
                    m_background_color.R, m_background_color.G,
                    m_background_color.B, m_background_color.A);
            }

            glClear(
                GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT |
                GL_ACCUM_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);

            // Restore old colors:
            if (m_custom_backgb_color)
                glClearColor(
                    old_colors[0], old_colors[1], old_colors[2], old_colors[3]);
        }
        else
        {  // Clear depth buffer only:
            glClear(GL_DEPTH_BUFFER_BIT);
        }
        glDisable(GL_SCISSOR_TEST);

        // If we are in "image mode", rendering is much simpler: just set
        //  ortho projection and render the image quad:
        if (m_isImageView)
        {
#if defined(OPENGLVIEWPORT_ENABLE_TIMEPROFILING)
            glv_timlog.enter("COpenGLViewport::render imageview");
#endif
            // "Image mode" rendering:
            // -----------------------------------
            if (m_imageview_img)  // should be ALWAYS true, but just in case!
            {
                // Note: The following code is inspired in the implementations:
                //  - libcvd, by Edward Rosten http://www.edwardrosten.com/cvd/
                //  - PTAM, by Klein & Murray
                //  http://www.robots.ox.ac.uk/~gk/PTAM/

                const mrpt::img::CImage* img = m_imageview_img.get();

                const int img_w = img->getWidth();
                const int img_h = img->getHeight();

                if (img_w != 0 && img_h != 0)
                {
                    // Prepare an ortho projection:
                    glMatrixMode(GL_PROJECTION);
                    glLoadIdentity();

                    // Need to adjust the aspect ratio?
                    const double ratio = vw * img_h / double(vh * img_w);
                    double ortho_w = img_w;
                    double ortho_h = img_h;
                    if (ratio > 1)
                        ortho_w *= ratio;
                    else if (ratio != 0)
                        ortho_h /= ratio;

                    glOrtho(-0.5, ortho_h - 0.5, ortho_w - 0.5, -0.5, -1, 1);

                    // Prepare raster pos & pixel copy direction in -Y.
                    glRasterPos2f(-0.5f, -0.5f);
                    glPixelZoom(vw / float(ortho_w), -vh / float(ortho_h));

                    // Prepare image data types:
                    const GLenum img_type = GL_UNSIGNED_BYTE;
                    const int nBytesPerPixel = img->isColor() ? 3 : 1;
                    const bool is_RGB_order =
                        (!::strcmp(
                            img->getChannelsOrder(),
                            "RGB"));  // Reverse RGB <-> BGR order?
                    const GLenum img_format =
                        nBytesPerPixel == 3 ? (is_RGB_order ? GL_RGB : GL_BGR)
                                            : GL_LUMINANCE;

                    // Send image data to OpenGL:
                    glPixelStorei(
                        GL_UNPACK_ROW_LENGTH,
                        img->getRowStride() / nBytesPerPixel);
                    glDrawPixels(
                        img_w, img_h, img_format, img_type,
                        img->get_unsafe(0, 0));
                    glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);  // Reset
                    CRenderizable::checkOpenGLError();
                }
            }
// done.
#if defined(OPENGLVIEWPORT_ENABLE_TIMEPROFILING)
            glv_timlog.leave("COpenGLViewport::render imageview");
#endif
        }
        else
        {
            // Non "image mode" rendering:

            // Set camera:
            // -------------------------------------------
            glMatrixMode(GL_PROJECTION);
            glLoadIdentity();

            const CListOpenGLObjects* objectsToRender;
            COpenGLViewport* viewForGetCamera;

            if (m_isCloned)
            {  // Clone: render someone's else objects.
                ASSERT_(m_parent.get() != nullptr);

                COpenGLViewport::Ptr view =
                    m_parent->getViewport(m_clonedViewport);
                if (!view)
                    THROW_EXCEPTION_FMT(
                        "Cloned viewport '%s' not found in parent COpenGLScene",
                        m_clonedViewport.c_str());

                objectsToRender = &view->m_objects;
                viewForGetCamera = m_isClonedCamera
                                       ? view.get()
                                       : const_cast<COpenGLViewport*>(this);
            }
            else
            {  // Normal case: render our own objects:
                objectsToRender = &m_objects;
                viewForGetCamera = const_cast<COpenGLViewport*>(this);
            }

            // Get camera:
            // 1st: if there is a CCamera in the scene:
            CRenderizable::Ptr cam_ptr =
                viewForGetCamera->getByClass<CCamera>();

            CCamera* myCamera = nullptr;
            if (cam_ptr)
            {
                myCamera = dynamic_cast<CCamera*>(cam_ptr.get());
            }

            // 2nd: the internal camera of all viewports:
            if (!myCamera) myCamera = &viewForGetCamera->m_camera;

            ASSERT_(m_camera.m_distanceZoom > 0);

            m_lastProjMat.azimuth = DEG2RAD(myCamera->m_azimuthDeg);
            m_lastProjMat.elev = DEG2RAD(myCamera->m_elevationDeg);

            const float dis = max(0.01f, myCamera->m_distanceZoom);
            m_lastProjMat.eye.x =
                myCamera->m_pointingX +
                dis * cos(m_lastProjMat.azimuth) * cos(m_lastProjMat.elev);
            m_lastProjMat.eye.y =
                myCamera->m_pointingY +
                dis * sin(m_lastProjMat.azimuth) * cos(m_lastProjMat.elev);
            m_lastProjMat.eye.z =
                myCamera->m_pointingZ + dis * sin(m_lastProjMat.elev);

            if (fabs(fabs(myCamera->m_elevationDeg) - 90) > 1e-6)
            {
                m_lastProjMat.up.x = 0;
                m_lastProjMat.up.y = 0;
                m_lastProjMat.up.z = 1;
            }
            else
            {
                float sgn = myCamera->m_elevationDeg > 0 ? 1 : -1;
                m_lastProjMat.up.x =
                    -cos(DEG2RAD(myCamera->m_azimuthDeg)) * sgn;
                m_lastProjMat.up.y =
                    -sin(DEG2RAD(myCamera->m_azimuthDeg)) * sgn;
                m_lastProjMat.up.z = 0;
            }

            m_lastProjMat.is_projective = myCamera->m_projectiveModel;
            m_lastProjMat.FOV = myCamera->m_projectiveFOVdeg;
            m_lastProjMat.pointing.x = myCamera->m_pointingX;
            m_lastProjMat.pointing.y = myCamera->m_pointingY;
            m_lastProjMat.pointing.z = myCamera->m_pointingZ;
            m_lastProjMat.zoom = myCamera->m_distanceZoom;

            if (myCamera->m_projectiveModel)
            {
                gluPerspective(
                    myCamera->m_projectiveFOVdeg, vw / double(vh), m_clip_min,
                    m_clip_max);
                CRenderizable::checkOpenGLError();
            }
            else
            {
                const double ratio = vw / double(vh);
                double Ax = myCamera->m_distanceZoom * 0.5;
                double Ay = myCamera->m_distanceZoom * 0.5;

                if (ratio > 1)
                    Ax *= ratio;
                else
                {
                    if (ratio != 0) Ay /= ratio;
                }

                glOrtho(-Ax, Ax, -Ay, Ay, -0.5 * m_clip_max, 0.5 * m_clip_max);
                CRenderizable::checkOpenGLError();
            }

            if (myCamera->is6DOFMode())
            {
                // In 6DOFMode eye is set viewing towards the direction of the
                // positive Z axis
                // Up is set as Y axis
                mrpt::poses::CPose3D viewDirection, pose, at;
                viewDirection.z(+1);
                pose = mrpt::poses::CPose3D(myCamera->getPose());
                at = pose + viewDirection;
                gluLookAt(
                    pose.x(), pose.y(), pose.z(), at.x(), at.y(), at.z(),
                    pose.getRotationMatrix()(0, 1),
                    pose.getRotationMatrix()(1, 1),
                    pose.getRotationMatrix()(2, 1));
                CRenderizable::checkOpenGLError();
            }
            else
            {
                // This command is common to ortho and perspective:
                gluLookAt(
                    m_lastProjMat.eye.x, m_lastProjMat.eye.y,
                    m_lastProjMat.eye.z, m_lastProjMat.pointing.x,
                    m_lastProjMat.pointing.y, m_lastProjMat.pointing.z,
                    m_lastProjMat.up.x, m_lastProjMat.up.y, m_lastProjMat.up.z);
                CRenderizable::checkOpenGLError();
            }

            // Optional pre-Render user code:
            if (hasSubscribers())
            {
                mrptEventGLPreRender ev(this);
                this->publishEvent(ev);
            }

            // Global OpenGL settings:
            // ---------------------------------
            glHint(
                GL_POLYGON_SMOOTH_HINT,
                m_OpenGL_enablePolygonNicest ? GL_NICEST : GL_FASTEST);
            glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);

            // Render objects:
            // -------------------------------------------
            glMatrixMode(GL_MODELVIEW);
            glLoadIdentity();

            glEnable(GL_DEPTH_TEST);
            glDepthFunc(GL_LEQUAL);  // GL_LESS

            // Setup lights
            // -------------------------------------------
            glEnable(GL_LIGHTING);
            glEnable(GL_COLOR_MATERIAL);
            glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
            glShadeModel(GL_SMOOTH);
            glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);

            for (size_t i = 0; i < m_lights.size(); i++)
                m_lights[i].sendToOpenGL();

            // Render all the objects:
            // -------------------------------------------
            mrpt::opengl::gl_utils::renderSetOfObjects(*objectsToRender);

        }  // end of non "image mode" rendering

        // Finally, draw the border:
        // --------------------------------
        if (m_borderWidth > 0)
        {
            glLineWidth(2 * m_borderWidth);
            glColor4f(0, 0, 0, 1);
            glDisable(GL_DEPTH_TEST);

            glMatrixMode(GL_MODELVIEW);
            glLoadIdentity();
            glMatrixMode(GL_PROJECTION);
            glLoadIdentity();

            glDisable(GL_LIGHTING);  // Disable lights when drawing lines
            glBegin(GL_LINE_LOOP);
            glVertex2f(-1, -1);
            glVertex2f(-1, 1);
            glVertex2f(1, 1);
            glVertex2f(1, -1);
            glEnd();
            glEnable(GL_LIGHTING);  // Disable lights when drawing lines

            glEnable(GL_DEPTH_TEST);
        }

        // Optional post-Render user code:
        if (hasSubscribers())
        {
            mrptEventGLPostRender ev(this);
            this->publishEvent(ev);
        }
    }
    catch (exception& e)
    {
        string msg;
        if (it != nullptr)
            msg = format(
                "Exception while rendering a class '%s'\n%s",
                it->GetRuntimeClass()->className, e.what());
        else
            msg = format("Exception while rendering:\n%s", e.what());

        THROW_EXCEPTION(msg);
    }
    catch (...)
    {
        THROW_EXCEPTION("Runtime error!");
    }
#else
    MRPT_UNUSED_PARAM(render_width);
    MRPT_UNUSED_PARAM(render_height);
    THROW_EXCEPTION(
        "The MRPT has been compiled with MRPT_HAS_OPENGL_GLUT=0! OpenGL "
        "functions are not implemented");
#endif
}

uint8_t COpenGLViewport::serializeGetVersion() const { return 3; }
void COpenGLViewport::serializeTo(mrpt::serialization::CArchive& out) const
{
    // Save data:
    out << m_camera << m_isCloned << m_isClonedCamera << m_clonedViewport
        << m_name << m_isTransparent << m_borderWidth << m_view_x << m_view_y
        << m_view_width << m_view_height;

    // Added in v1:
    out << m_custom_backgb_color << m_background_color.R << m_background_color.G
        << m_background_color.B << m_background_color.A;

    // Save objects:
    uint32_t n;
    n = (uint32_t)m_objects.size();
    out << n;
    for (CListOpenGLObjects::const_iterator it = m_objects.begin();
         it != m_objects.end(); ++it)
        out << **it;

    // Added in v2: Global OpenGL settings:
    out << m_OpenGL_enablePolygonNicest;

    // Added in v3: Lights
    out << m_lights;
}

void COpenGLViewport::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        {
            // Load data:
            in >> m_camera >> m_isCloned >> m_isClonedCamera >>
                m_clonedViewport >> m_name >> m_isTransparent >>
                m_borderWidth >> m_view_x >> m_view_y >> m_view_width >>
                m_view_height;

            // in v1:
            if (version >= 1)
            {
                in >> m_custom_backgb_color >> m_background_color.R >>
                    m_background_color.G >> m_background_color.B >>
                    m_background_color.A;
            }
            else
            {
                m_custom_backgb_color = false;
            }

            // Load objects:
            uint32_t n;
            in >> n;
            clear();
            m_objects.resize(n);

            for_each(
                m_objects.begin(), m_objects.end(), ObjectReadFromStream(&in));

            // Added in v2: Global OpenGL settings:
            if (version >= 2)
            {
                in >> m_OpenGL_enablePolygonNicest;
            }
            else
            {
                // Defaults
            }

            // Added in v3: Lights
            if (version >= 3)
                in >> m_lights;
            else
            {
                // Default: one light from default direction
                m_lights.clear();
                m_lights.push_back(CLight());
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}

/*---------------------------------------------------------------
                            getByName
  ---------------------------------------------------------------*/
CRenderizable::Ptr COpenGLViewport::getByName(const string& str)
{
    for (CListOpenGLObjects::iterator it = m_objects.begin();
         it != m_objects.end(); ++it)
    {
        if ((*it)->m_name == str)
            return *it;
        else if (
            (*it)->GetRuntimeClass() ==
            CLASS_ID_NAMESPACE(CSetOfObjects, opengl))
        {
            CRenderizable::Ptr ret =
                std::dynamic_pointer_cast<CSetOfObjects>(*it)->getByName(str);
            if (ret) return ret;
        }
    }
    return CRenderizable::Ptr();
}

/*---------------------------------------------------------------
                    initializeAllTextures
  ---------------------------------------------------------------*/
void COpenGLViewport::initializeAllTextures()
{
#if MRPT_HAS_OPENGL_GLUT
    for (CListOpenGLObjects::iterator it = m_objects.begin();
         it != m_objects.end(); ++it)
    {
        if (IS_DERIVED(*it, CTexturedObject))
            std::dynamic_pointer_cast<CTexturedObject>(*it)
                ->loadTextureInOpenGL();
        else if (IS_CLASS(*it, CSetOfObjects))
            std::dynamic_pointer_cast<CSetOfObjects>(*it)
                ->initializeAllTextures();
    }
#endif
}

void COpenGLViewport::dumpListOfObjects(std::vector<std::string>& lst)
{
    for (CListOpenGLObjects::iterator it = m_objects.begin();
         it != m_objects.end(); ++it)
    {
        // Single obj:
        string s((*it)->GetRuntimeClass()->className);
        if ((*it)->m_name.size())
            s += string(" (") + (*it)->m_name + string(")");
        lst.emplace_back(s);

        if ((*it)->GetRuntimeClass() ==
            CLASS_ID_NAMESPACE(CSetOfObjects, mrpt::opengl))
        {
            std::vector<std::string> auxLst;

            dynamic_cast<CSetOfObjects*>(it->get())->dumpListOfObjects(auxLst);

            for (size_t i = 0; i < auxLst.size(); i++)
                lst.emplace_back(string(" ") + auxLst[i]);
        }
    }
}

/*--------------------------------------------------------------
                    removeObject
  ---------------------------------------------------------------*/
void COpenGLViewport::removeObject(const CRenderizable::Ptr& obj)
{
    for (CListOpenGLObjects::iterator it = m_objects.begin();
         it != m_objects.end(); ++it)
        if (*it == obj)
        {
            m_objects.erase(it);
            return;
        }
        else if (
            (*it)->GetRuntimeClass() ==
            CLASS_ID_NAMESPACE(CSetOfObjects, opengl))
            dynamic_cast<CSetOfObjects*>(it->get())->removeObject(obj);
}

/*--------------------------------------------------------------
                    setViewportClipDistances
  ---------------------------------------------------------------*/
void COpenGLViewport::setViewportClipDistances(
    const double clip_min, const double clip_max)
{
    ASSERT_(clip_max > clip_min);

    m_clip_min = clip_min;
    m_clip_max = clip_max;
}

/*--------------------------------------------------------------
                    getViewportClipDistances
  ---------------------------------------------------------------*/
void COpenGLViewport::getViewportClipDistances(
    double& clip_min, double& clip_max) const
{
    clip_min = m_clip_min;
    clip_max = m_clip_max;
}

/*--------------------------------------------------------------
                    get3DRayForPixelCoord
  ---------------------------------------------------------------*/
void COpenGLViewport::get3DRayForPixelCoord(
    const double x_coord, const double y_coord, mrpt::math::TLine3D& out_ray,
    mrpt::poses::CPose3D* out_cameraPose) const
{
    ASSERTDEB_(
        m_lastProjMat.viewport_height > 0 && m_lastProjMat.viewport_width > 0);

    const double ASPECT =
        m_lastProjMat.viewport_width / double(m_lastProjMat.viewport_height);

    // unitary vector between (eye) -> (pointing):
    TPoint3D pointing_dir;
    pointing_dir.x = -cos(m_lastProjMat.azimuth) * cos(m_lastProjMat.elev);
    pointing_dir.y = -sin(m_lastProjMat.azimuth) * cos(m_lastProjMat.elev);
    pointing_dir.z = -sin(m_lastProjMat.elev);

    // The camera X vector (in 3D) can be computed from the camera azimuth
    // angle:
    TPoint3D cam_x_3d;
    cam_x_3d.x = -sin(m_lastProjMat.azimuth);
    cam_x_3d.y = cos(m_lastProjMat.azimuth);
    cam_x_3d.z = 0;

    // The camera real UP vector (in 3D) is the cross product:
    //     X3d x pointing_dir:
    TPoint3D cam_up_3d;
    crossProduct3D(cam_x_3d, pointing_dir, cam_up_3d);

    if (!m_lastProjMat.is_projective)
    {
        // Ortho projection:
        // -------------------------------
        double Ax = m_lastProjMat.zoom * 0.5;
        double Ay = Ax;

        if (ASPECT > 1)
            Ax *= ASPECT;
        else
        {
            if (ASPECT != 0) Ay /= ASPECT;
        }

        const double point_lx =
            (-0.5 + x_coord / m_lastProjMat.viewport_width) * 2 * Ax;
        const double point_ly =
            -(-0.5 + y_coord / m_lastProjMat.viewport_height) * 2 * Ay;

        const TPoint3D ray_origin(
            m_lastProjMat.eye.x + point_lx * cam_x_3d.x +
                point_ly * cam_up_3d.x,
            m_lastProjMat.eye.y + point_lx * cam_x_3d.y +
                point_ly * cam_up_3d.y,
            m_lastProjMat.eye.z + point_lx * cam_x_3d.z +
                point_ly * cam_up_3d.z);

        out_ray.pBase = ray_origin;
        out_ray.director[0] = pointing_dir.x;
        out_ray.director[1] = pointing_dir.y;
        out_ray.director[2] = pointing_dir.z;
    }
    else
    {
        // Perspective camera
        // -------------------------------

        // JL: This can derived from:
        // http://www.opengl.org/sdk/docs/man/xhtml/gluPerspective.xml
        //  where one arrives to:
        //    tan(FOVx/2) = ASPECT_RATIO * tan(FOVy/2)
        //
        const double FOVy = DEG2RAD(m_lastProjMat.FOV);
        const double FOVx = 2.0 * atan(ASPECT * tan(FOVy * 0.5));

        const double ang_horz =
            (-0.5 + x_coord / m_lastProjMat.viewport_width) * FOVx;
        const double ang_vert =
            -(-0.5 + y_coord / m_lastProjMat.viewport_height) * FOVy;

        const TPoint3D l(
            tan(ang_horz), tan(ang_vert),
            1.0);  // Point in camera local reference frame

        const TPoint3D ray_director(
            l.x * cam_x_3d.x + l.y * cam_up_3d.x + l.z * pointing_dir.x,
            l.x * cam_x_3d.y + l.y * cam_up_3d.y + l.z * pointing_dir.y,
            l.x * cam_x_3d.z + l.y * cam_up_3d.z + l.z * pointing_dir.z);

        // Set out ray:
        out_ray.pBase = m_lastProjMat.eye;
        out_ray.director[0] = ray_director.x;
        out_ray.director[1] = ray_director.y;
        out_ray.director[2] = ray_director.z;

    }  // end projective

    // Camera pose:
    if (out_cameraPose)
    {
        mrpt::math::CMatrixDouble44 M(UNINITIALIZED_MATRIX);
        M.get_unsafe(0, 0) = cam_x_3d.x;
        M.get_unsafe(1, 0) = cam_x_3d.y;
        M.get_unsafe(2, 0) = cam_x_3d.z;
        M.get_unsafe(3, 0) = 0;

        M.get_unsafe(0, 1) = cam_up_3d.x;
        M.get_unsafe(1, 1) = cam_up_3d.y;
        M.get_unsafe(2, 1) = cam_up_3d.z;
        M.get_unsafe(3, 1) = 0;

        M.get_unsafe(0, 2) = pointing_dir.x;
        M.get_unsafe(1, 2) = pointing_dir.y;
        M.get_unsafe(2, 2) = pointing_dir.z;
        M.get_unsafe(3, 2) = 0;

        M.get_unsafe(0, 3) = m_lastProjMat.eye.x;
        M.get_unsafe(1, 3) = m_lastProjMat.eye.y;
        M.get_unsafe(2, 3) = m_lastProjMat.eye.z;
        M.get_unsafe(3, 3) = 1;

        *out_cameraPose = CPose3D(M);
    }
}

MRPT_TODO("Implement a setCurrentCameraFromPose() method")

void COpenGLViewport::getCurrentCameraPose(
    mrpt::poses::CPose3D& out_cameraPose) const
{
    mrpt::math::TLine3D dum;
    get3DRayForPixelCoord(0, 0, dum, &out_cameraPose);
}

/** Resets the viewport to a normal 3D viewport \sa setCloneView, setImageView
 */
void COpenGLViewport::setNormalMode()
{
    // If this was a m_isImageView, remove the quad object:
    if (m_isImageView && m_imageview_img) m_imageview_img.reset();

    m_isCloned = false;
    m_isClonedCamera = false;
    m_isImageView = false;
}

void COpenGLViewport::setImageView(const mrpt::img::CImage& img)
{
    internal_setImageView_fast(img, false);
}
void COpenGLViewport::setImageView_fast(mrpt::img::CImage& img)
{
    internal_setImageView_fast(img, true);
}

void COpenGLViewport::internal_setImageView_fast(
    const mrpt::img::CImage& img, bool is_fast)
{
    // If this is the first time, we have to create the quad object:
    if (!m_isImageView || !m_imageview_img)
        m_imageview_img = mrpt::make_aligned_shared<mrpt::img::CImage>();
    m_isImageView = true;

    // Update texture image:
    mrpt::img::CImage* my_img = m_imageview_img.get();

    if (!is_fast)
        *my_img = img;
    else
        my_img->copyFastFrom(*const_cast<mrpt::img::CImage*>(&img));
}

/** Evaluates the bounding box of this object (including possible children) in
 * the coordinate frame of the object parent. */
void COpenGLViewport::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min = TPoint3D(
        std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
        std::numeric_limits<double>::max());
    bb_max = TPoint3D(
        -std::numeric_limits<double>::max(),
        -std::numeric_limits<double>::max(),
        -std::numeric_limits<double>::max());

    for (CListOpenGLObjects::const_iterator it = m_objects.begin();
         it != m_objects.end(); ++it)
    {
        TPoint3D child_bbmin(
            std::numeric_limits<double>::max(),
            std::numeric_limits<double>::max(),
            std::numeric_limits<double>::max());
        TPoint3D child_bbmax(
            -std::numeric_limits<double>::max(),
            -std::numeric_limits<double>::max(),
            -std::numeric_limits<double>::max());
        (*it)->getBoundingBox(child_bbmin, child_bbmax);

        keep_min(bb_min.x, child_bbmin.x);
        keep_min(bb_min.y, child_bbmin.y);
        keep_min(bb_min.z, child_bbmin.z);

        keep_max(bb_max.x, child_bbmax.x);
        keep_max(bb_max.y, child_bbmax.y);
        keep_max(bb_max.z, child_bbmax.z);
    }
}