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":
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):
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>
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... | |
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... | |
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... | |
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 | SmartPtr |
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::SmartPtr | 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... | |
typedef CListOpenGLObjects::const_iterator mrpt::opengl::COpenGLViewport::const_iterator |
Definition at line 208 of file COpenGLViewport.h.
typedef CListOpenGLObjects::iterator mrpt::opengl::COpenGLViewport::iterator |
Definition at line 209 of file COpenGLViewport.h.
typedef COpenGLViewportPtr mrpt::opengl::COpenGLViewport::SmartPtr |
A typedef for the associated smart pointer
Definition at line 60 of file COpenGLViewport.h.
|
virtual |
Destructor: clears all objects.
|
protected |
Constructor, invoked from COpenGLScene only.
|
staticprotected |
|
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.
|
inline |
Definition at line 211 of file COpenGLViewport.h.
|
inline |
Definition at line 213 of file COpenGLViewport.h.
void mrpt::opengl::COpenGLViewport::clear | ( | ) |
Delete all internal obejcts.
|
inlineinherited |
|
static |
|
static |
|
protected |
Retrieves a list of all objects in text form.
|
virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
|
inlineinherited |
|
inline |
Definition at line 272 of file COpenGLViewport.h.
|
inline |
Sets glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST) is enabled, or GL_FASTEST otherwise.
Definition at line 106 of file COpenGLViewport.h.
|
inline |
Definition at line 212 of file COpenGLViewport.h.
|
inline |
Definition at line 214 of file COpenGLViewport.h.
void mrpt::opengl::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.
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 |
void mrpt::opengl::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.
|
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:
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.
CRenderizablePtr mrpt::opengl::COpenGLViewport::getByName | ( | const std::string & | str | ) |
Returns the first object with a given name, or NULL if not found.
|
inline |
Get a reference to the camera associated with this viewport.
Definition at line 274 of file COpenGLViewport.h.
|
inline |
Get a reference to the camera associated with this viewport.
Definition at line 276 of file COpenGLViewport.h.
void mrpt::opengl::COpenGLViewport::getCurrentCameraPose | ( | mrpt::poses::CPose3D & | out_cameraPose | ) | const |
Compute the current 3D camera pose.
|
inline |
Definition at line 188 of file COpenGLViewport.h.
|
inline |
Definition at line 118 of file COpenGLViewport.h.
References ASSERT_BELOW_.
|
inline |
Definition at line 119 of file COpenGLViewport.h.
References ASSERT_BELOW_.
|
inline |
Returns the name of the viewport.
Definition at line 128 of file COpenGLViewport.h.
|
virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
void mrpt::opengl::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)
void mrpt::opengl::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:
|
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.
|
protected |
Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)
void mrpt::opengl::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.
|
protected |
|
inline |
Definition at line 107 of file COpenGLViewport.h.
|
inline |
Return whether the viewport will be rendered transparent over previous viewports.
Definition at line 179 of file COpenGLViewport.h.
|
inline |
Removes all lights (and disables the global "GL_LIGHTING")
Definition at line 110 of file COpenGLViewport.h.
|
inline |
Definition at line 60 of file COpenGLViewport.h.
|
inline |
Definition at line 60 of file COpenGLViewport.h.
|
inline |
Definition at line 60 of file COpenGLViewport.h.
|
inline |
Definition at line 60 of file COpenGLViewport.h.
|
inlinestatic |
Definition at line 60 of file COpenGLViewport.h.
|
inline |
Definition at line 60 of file COpenGLViewport.h.
|
inline |
Definition at line 60 of file COpenGLViewport.h.
|
inline |
Definition at line 60 of file COpenGLViewport.h.
|
protectedinherited |
Called when you want this object to emit an event to all the observers currently subscribed to this object.
|
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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
void mrpt::opengl::COpenGLViewport::removeObject | ( | const CRenderizablePtr & | obj | ) |
Removes the given object from the scene (it also deletes the object to free its memory).
|
protected |
Render the objects in this viewport (called from COpenGLScene only)
|
inline |
Reset the viewport to normal mode: rendering its own objects.
Definition at line 89 of file COpenGLViewport.h.
|
inline |
Set the border size ("frame") of the viewport (default=0).
Definition at line 175 of file COpenGLViewport.h.
|
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.
void mrpt::opengl::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
|
inline |
Set a background color different from that of the parent GUI window.
Definition at line 186 of file COpenGLViewport.h.
void mrpt::opengl::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()
void mrpt::opengl::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.
void mrpt::opengl::COpenGLViewport::setNormalMode | ( | ) |
Resets the viewport to a normal 3D viewport.
|
inline |
Allocates a number of lights, which must be correctly defined via getLight(i), etc.
Definition at line 116 of file COpenGLViewport.h.
|
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.
void mrpt::opengl::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)
void mrpt::opengl::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:
width & height can be interpreted as:
|
inline |
Number of objects contained.
Definition at line 270 of file COpenGLViewport.h.
|
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.
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.
References BASE_IMPEXP, mrpt::utils::CSerializablePtr, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().
|
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.
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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
|
friend |
Definition at line 61 of file COpenGLViewport.h.
|
staticprotected |
Definition at line 60 of file COpenGLViewport.h.
|
staticinherited |
|
static |
Definition at line 60 of file COpenGLViewport.h.
|
staticinherited |
Definition at line 42 of file CSerializable.h.
|
static |
Definition at line 60 of file COpenGLViewport.h.
|
protected |
used only if m_custom_backgb_color
Definition at line 316 of file COpenGLViewport.h.
|
protected |
Default=0, the border around the viewport.
Definition at line 312 of file COpenGLViewport.h.
|
protected |
The camera associated to the viewport.
Definition at line 305 of file COpenGLViewport.h.
|
protected |
The min/max clip depth distances (default: 0.1 - 10000)
Definition at line 314 of file COpenGLViewport.h.
|
protected |
Definition at line 314 of file COpenGLViewport.h.
|
protected |
Only if m_isCloned=true.
Definition at line 309 of file COpenGLViewport.h.
|
protected |
Definition at line 315 of file COpenGLViewport.h.
|
protected |
The image to display, after calling setImageView()
Definition at line 319 of file COpenGLViewport.h.
|
protected |
Set by setCloneView.
Definition at line 307 of file COpenGLViewport.h.
|
protected |
Set by setCloneCamera.
Definition at line 308 of file COpenGLViewport.h.
|
protected |
Set by setImageView.
Definition at line 317 of file COpenGLViewport.h.
|
protected |
Whether to clear color buffer.
Definition at line 311 of file COpenGLViewport.h.
|
mutableprotected |
Info updated with each "render()" and used in "get3DRayForPixelCoord".
Definition at line 334 of file COpenGLViewport.h.
|
protected |
Definition at line 346 of file COpenGLViewport.h.
|
protected |
The viewport's name.
Definition at line 310 of file COpenGLViewport.h.
|
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.
|
protected |
Definition at line 344 of file COpenGLViewport.h.
|
protected |
The scene that contains this viewport.
Definition at line 306 of file COpenGLViewport.h.
|
protected |
The viewport position [0,1].
Definition at line 313 of file COpenGLViewport.h.
|
protected |
Definition at line 313 of file COpenGLViewport.h.
|
protected |
Definition at line 313 of file COpenGLViewport.h.
|
protected |
Definition at line 313 of file COpenGLViewport.h.
Page generated by Doxygen 1.8.11 for MRPT 1.3.2 SVN: at Mon May 9 06:50:38 UTC 2016 |