CDisplayWindow3D.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "gui-precomp.h"  // Precompiled headers

#include <mrpt/config.h>

#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/img/CImage.h>
#include <mrpt/system/CTicTac.h>

#include <mrpt/gui/WxSubsystem.h>
#include <mrpt/gui/WxUtils.h>

#if MRPT_HAS_OPENGL_GLUT
#ifdef _WIN32
// Windows:
#include <windows.h>
#endif

#ifdef __APPLE__
#include <GLUT/glut.h>
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glut.h>
#ifdef HAVE_FREEGLUT_EXT_H
#include <GL/freeglut_ext.h>
#endif
#endif
#endif

using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace mrpt::img;
using namespace std;

#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT

#if !wxUSE_GLCANVAS
#error "OpenGL required: set wxUSE_GLCANVAS to 1 and rebuild wxWidgets"
#endif

#include <mrpt/gui/CWxGLCanvasBase.h>

namespace mrpt::gui
{
class CMyGLCanvas_DisplayWindow3D : public mrpt::gui::CWxGLCanvasBase
{
   public:
    CMyGLCanvas_DisplayWindow3D(
        CDisplayWindow3D* win3D, wxWindow* parent, wxWindowID id = wxID_ANY,
        const wxPoint& pos = wxDefaultPosition,
        const wxSize& size = wxDefaultSize, long style = 0,
        const wxString& name = _T("CMyGLCanvas_DisplayWindow3D"));

    ~CMyGLCanvas_DisplayWindow3D() override;

    CDisplayWindow3D* m_win3D = nullptr;

    void OnCharCustom(wxKeyEvent& event) override;
    void OnMouseDown(wxMouseEvent& event);
    void OnMouseMove(wxMouseEvent& event);

    void OnPreRender() override;
    void OnPostRender() override;
    void OnPostRenderSwapBuffers(double At, wxPaintDC& dc) override;

    static void display3D_processKeyEvent(
        CDisplayWindow3D* m_win3D, wxKeyEvent& ev);
};
}  // namespace mrpt::gui

CMyGLCanvas_DisplayWindow3D::CMyGLCanvas_DisplayWindow3D(
    CDisplayWindow3D* win3D, wxWindow* parent, wxWindowID id,
    const wxPoint& pos, const wxSize& size, long style, const wxString& name)
    : CWxGLCanvasBase(parent, id, pos, size, style, name), m_win3D(win3D)
{
    this->Bind(wxEVT_CHAR, &CMyGLCanvas_DisplayWindow3D::OnCharCustom, this);
    this->Bind(
        wxEVT_CHAR_HOOK, &CMyGLCanvas_DisplayWindow3D::OnCharCustom, this);
    this->Bind(
        wxEVT_LEFT_DOWN, &CMyGLCanvas_DisplayWindow3D::OnMouseDown, this);
    this->Bind(
        wxEVT_RIGHT_DOWN, &CMyGLCanvas_DisplayWindow3D::OnMouseDown, this);
    this->Bind(wxEVT_MOTION, &CMyGLCanvas_DisplayWindow3D::OnMouseMove, this);
}

void CMyGLCanvas_DisplayWindow3D::display3D_processKeyEvent(
    CDisplayWindow3D* m_win3D, wxKeyEvent& ev)
{
    if (m_win3D)
    {
        if (ev.AltDown() && ev.GetKeyCode() == MRPTK_RETURN)
        {
            if (mrpt::system::timeDifference(
                    m_win3D->m_lastFullScreen, mrpt::system::now()) > 0.2)
            {
                m_win3D->m_lastFullScreen = mrpt::system::now();
                cout << "[CDisplayWindow3D] Switching fullscreen...\n";
                auto* win = (C3DWindowDialog*)m_win3D->m_hwnd.get();
                if (win)
                {
                    win->ShowFullScreen(!win->IsFullScreen());
                }
            }
            // Alt+Enter: Don't notify on this key stroke, since if we're
            // switching to fullscreen
            //  and the user is waiting for a key to close the window, a runtime
            //  crash will occur,
            //  so return now:
            return;
        }

        const int code = ev.GetKeyCode();
        const mrptKeyModifier mod = mrpt::gui::keyEventToMrptKeyModifier(ev);

        m_win3D->m_keyPushedCode = code;
        m_win3D->m_keyPushedModifier = mod;
        m_win3D->m_keyPushed = true;

        // Send the event:
        try
        {
            m_win3D->publishEvent(mrptEventWindowChar(m_win3D, code, mod));
        }
        catch (...)
        {
        }
    }
    // ev.Skip(); // Pass the event to whoever else.
}

void CMyGLCanvas_DisplayWindow3D::OnCharCustom(wxKeyEvent& ev)
{
    CMyGLCanvas_DisplayWindow3D::display3D_processKeyEvent(m_win3D, ev);
}

void CMyGLCanvas_DisplayWindow3D::OnMouseDown(wxMouseEvent& event)
{
    // Send the event:
    if (m_win3D && m_win3D->hasSubscribers())
    {
        try
        {
            m_win3D->publishEvent(mrptEventMouseDown(
                m_win3D, TPixelCoord(event.GetX(), event.GetY()),
                event.LeftDown(), event.RightDown()));
        }
        catch (...)
        {
        }
    }

    event.Skip();  // so it's processed by the wx system!
}

void CMyGLCanvas_DisplayWindow3D::OnMouseMove(wxMouseEvent& event)
{
    // Send the event:
    if (m_win3D && m_win3D->hasSubscribers())
    {
        try
        {
            m_win3D->publishEvent(mrptEventMouseMove(
                m_win3D, TPixelCoord(event.GetX(), event.GetY()),
                event.LeftDown(), event.RightDown()));
        }
        catch (...)
        {
        }
    }

    event.Skip();  // so it's processed by the wx system!
}

CMyGLCanvas_DisplayWindow3D::~CMyGLCanvas_DisplayWindow3D()
{
    // Ensure all OpenGL resources are freed before the opengl context is gone:
    if (getOpenGLSceneRef()) getOpenGLSceneRef()->unloadShaders();

    // Unbind all objects, free all buffers:
    auto& scene = getOpenGLSceneRef();
    if (scene) scene->freeOpenGLResources();
}

void CMyGLCanvas_DisplayWindow3D::OnPreRender()
{
    auto& openGLSceneRef = getOpenGLSceneRef();
    if (openGLSceneRef) openGLSceneRef.reset();

    COpenGLScene::Ptr& ptrScene = m_win3D->get3DSceneAndLock();
    if (ptrScene) openGLSceneRef = ptrScene;
}

void CMyGLCanvas_DisplayWindow3D::OnPostRender()
{
    m_win3D->unlockAccess3DScene();
}

void CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers(
    double At, wxPaintDC& dc)
{
    if (m_win3D) m_win3D->internal_setRenderingFPS(At > 0 ? 1.0 / At : 1e9);

    // If we are requested to do so, grab images to disk as they are rendered:
    string grabFile;
    if (m_win3D) grabFile = m_win3D->grabImageGetNextFile();
    if (m_win3D && (!grabFile.empty() || m_win3D->isCapturingImgs()))
    {
        int w, h;
        dc.GetSize(&w, &h);

        // Save image directly from OpenGL - It could also use 4 channels and
        // save with GL_BGRA_EXT
        auto frame = CImage::Create(w, h, mrpt::img::CH_RGB);

        glPixelStorei(GL_PACK_ALIGNMENT, 1);
        glPixelStorei(GL_PACK_ROW_LENGTH, 0);

        glReadBuffer(GL_FRONT);
        glReadPixels(0, 0, w, h, GL_BGR_EXT, GL_UNSIGNED_BYTE, (*frame)(0, 0));
        frame->flipVertical();

        if (!grabFile.empty())
        {
            frame->saveToFile(grabFile);
            m_win3D->internal_emitGrabImageEvent(grabFile);
        }

        if (m_win3D->isCapturingImgs())
        {
            {
                std::lock_guard<std::mutex> lock(
                    m_win3D->m_last_captured_img_cs);
                m_win3D->m_last_captured_img = frame;
                frame.reset();
            }
        }
    }
}

#endif  // Wx + OpenGL

#if MRPT_HAS_WXWIDGETS

BEGIN_EVENT_TABLE(C3DWindowDialog, wxFrame)

END_EVENT_TABLE()

const long C3DWindowDialog::ID_MENUITEM1 = wxNewId();
const long C3DWindowDialog::ID_MENUITEM2 = wxNewId();

C3DWindowDialog::C3DWindowDialog(
    CDisplayWindow3D* win3D, WxSubsystem::CWXMainFrame* parent, wxWindowID id,
    const std::string& caption, wxSize initialSize)
    : m_win3D(win3D), m_mainFrame(parent)
{
#if MRPT_HAS_OPENGL_GLUT

    Create(
        parent, id, caption.c_str(), wxDefaultPosition, initialSize,
        wxDEFAULT_FRAME_STYLE, _T("id"));

    wxIcon FrameIcon;
    FrameIcon.CopyFromBitmap(mrpt::gui::WxSubsystem::getMRPTDefaultIcon());
    SetIcon(FrameIcon);

    // Create the wxCanvas object:
    m_canvas = new CMyGLCanvas_DisplayWindow3D(
        win3D, this, wxID_ANY, wxDefaultPosition, wxDefaultSize);

    // Events:
    this->Bind(wxEVT_CLOSE_WINDOW, &C3DWindowDialog::OnClose, this);
    this->Bind(wxEVT_MENU, &C3DWindowDialog::OnMenuClose, this, ID_MENUITEM1);
    this->Bind(wxEVT_MENU, &C3DWindowDialog::OnMenuAbout, this, ID_MENUITEM2);
    this->Bind(wxEVT_CHAR, &C3DWindowDialog::OnChar, this);
    this->Bind(wxEVT_SIZE, &C3DWindowDialog::OnResize, this);

    // Increment number of windows:
    // int winCount =
    WxSubsystem::CWXMainFrame::notifyWindowCreation();
// cout << "[C3DWindowDialog] Notifying new window: " << winCount << endl;
#else
    THROW_EXCEPTION("MRPT was compiled without OpenGL support");
#endif
    // this->Iconize(false);
}

// Destructor
C3DWindowDialog::~C3DWindowDialog()
{
    //  cout << "[C3DWindowDialog::~C3DWindowDialog]" << endl;
}

// OnClose event:
void C3DWindowDialog::OnClose(wxCloseEvent& event)
{
    // Send the event:
    bool allow_close = true;
    try
    {
        mrptEventWindowClosed ev(m_win3D, true /* allow close */);
        m_win3D->publishEvent(ev);
        allow_close = ev.allow_close;
    }
    catch (...)
    {
    }
    if (!allow_close) return;  // Don't process this close event.

    //  cout << "[C3DWindowDialog::OnClose]" << endl;
    // Set the m_hwnd=nullptr in our parent object.
    m_win3D->notifyChildWindowDestruction();

    // Decrement number of windows:
    WxSubsystem::CWXMainFrame::notifyWindowDestruction();

    // Signal we are destroyed:
    m_win3D->m_windowDestroyed.set_value();

    event.Skip();  // keep processing by parent classes.
}

// Menu: Close
void C3DWindowDialog::OnMenuClose(wxCommandEvent& event) { Close(); }
// Menu: About
void C3DWindowDialog::OnMenuAbout(wxCommandEvent& event)
{
    ::wxMessageBox(
        _("3D Scene viewer\n Class gui::CDisplayWindow3D\n MRPT C++ library"),
        _("About..."));
}

void C3DWindowDialog::OnChar(wxKeyEvent& ev)
{
#if MRPT_HAS_OPENGL_GLUT
    CMyGLCanvas_DisplayWindow3D::display3D_processKeyEvent(m_win3D, ev);
#endif
}

void C3DWindowDialog::OnResize(wxSizeEvent& event)
{
#if MRPT_HAS_OPENGL_GLUT
    // Send the event:
    if (m_win3D)
    {
        try
        {
            m_win3D->publishEvent(mrptEventWindowResize(
                m_win3D, event.GetSize().GetWidth(),
                event.GetSize().GetHeight()));
        }
        catch (...)
        {
        }
    }
    event.Skip();  // so it's processed by the wx system!
#endif
}

#endif  // MRPT_HAS_WXWIDGETS

/*---------------------------------------------------------------
                    Constructor
 ---------------------------------------------------------------*/
CDisplayWindow3D::CDisplayWindow3D(
    const std::string& windowCaption, unsigned int initialWindowWidth,
    unsigned int initialWindowHeight)
    : CBaseGUIWindow(static_cast<void*>(this), 300, 399, windowCaption),
      m_lastFullScreen(mrpt::system::now())
{
    m_3Dscene = COpenGLScene::Create();
    CBaseGUIWindow::createWxWindow(initialWindowWidth, initialWindowHeight);
}

CDisplayWindow3D::Ptr CDisplayWindow3D::Create(
    const std::string& windowCaption, unsigned int initialWindowWidth,
    unsigned int initialWindowHeight)
{
    return std::make_shared<CDisplayWindow3D>(
        windowCaption, initialWindowWidth, initialWindowHeight);
}
/*---------------------------------------------------------------
                    Destructor
 ---------------------------------------------------------------*/
CDisplayWindow3D::~CDisplayWindow3D()
{
    // get lock so we make sure nobody else is touching the window right now.
    bool lock_ok = m_csAccess3DScene.try_lock_for(std::chrono::seconds(2));
    m_csAccess3DScene.unlock();

    CBaseGUIWindow::destroyWxWindow();

    if (!lock_ok)
        std::cerr
            << "[~CDisplayWindow3D] Warning: Timeout acquiring mutex lock.\n";
}

/*---------------------------------------------------------------
                    resize
 ---------------------------------------------------------------*/
void CDisplayWindow3D::resize(
    [[maybe_unused]] unsigned int width, [[maybe_unused]] unsigned int height)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    if (!isOpen())
    {
        cerr << "[CDisplayWindow3D::setPos] Window closed!: " << m_caption
             << endl;
        return;
    }

    // Send a request to destroy this object:
    auto* REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->source3D = this;
    REQ->OPCODE = 303;
    REQ->x = width;
    REQ->y = height;
    WxSubsystem::pushPendingWxRequest(REQ);
#endif
}

/*---------------------------------------------------------------
                    setPos
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setPos([[maybe_unused]] int x, [[maybe_unused]] int y)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    if (!isOpen())
    {
        cerr << "[CDisplayWindow3D::setPos] Window closed!: " << m_caption
             << endl;
        return;
    }

    // Send a request to destroy this object:
    auto* REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->source3D = this;
    REQ->OPCODE = 302;
    REQ->x = x;
    REQ->y = y;
    WxSubsystem::pushPendingWxRequest(REQ);
#endif
}

/*---------------------------------------------------------------
                    setWindowTitle
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setWindowTitle([[maybe_unused]] const std::string& str)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    if (!isOpen())
    {
        cerr << "[CDisplayWindow3D::setWindowTitle] Window closed!: "
             << m_caption << endl;
        return;
    }

    // Send a request to destroy this object:
    auto* REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->source3D = this;
    REQ->OPCODE = 304;
    REQ->str = str;
    WxSubsystem::pushPendingWxRequest(REQ);
#endif
}

opengl::COpenGLScene::Ptr& CDisplayWindow3D::get3DSceneAndLock()
{
    m_csAccess3DScene.lock();
    return m_3Dscene;
}

void CDisplayWindow3D::unlockAccess3DScene() { m_csAccess3DScene.unlock(); }

void CDisplayWindow3D::forceRepaint()
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win)
    {
        // win->Refresh(false); // Do not erase background
        // We must do this from the wx thread!

        // Send refresh request:
        auto* REQ = new WxSubsystem::TRequestToWxMainThread[1];
        REQ->source3D = this;
        REQ->OPCODE = 350;
        WxSubsystem::pushPendingWxRequest(REQ);
    }
#endif
}

/*---------------------------------------------------------------
                    setCameraElevationDeg
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraElevationDeg([[maybe_unused]] float deg)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win) win->m_canvas->setElevationDegrees(deg);
#endif
}

void CDisplayWindow3D::useCameraFromScene([[maybe_unused]] bool useIt)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win) win->m_canvas->setUseCameraFromScene(useIt);
#endif
}

/*---------------------------------------------------------------
                    setCameraAzimuthDeg
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraAzimuthDeg([[maybe_unused]] float deg)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win) win->m_canvas->setAzimuthDegrees(deg);
#endif
}

/*---------------------------------------------------------------
                    setCameraPointingToPoint
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraPointingToPoint(
    [[maybe_unused]] float x, [[maybe_unused]] float y,
    [[maybe_unused]] float z)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win)
    {
        win->m_canvas->setCameraPointing(x, y, z);
    }
#endif
}

/*---------------------------------------------------------------
                    setCameraZoom
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraZoom([[maybe_unused]] float zoom)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win) win->m_canvas->setZoomDistance(zoom);
#endif
}

/*---------------------------------------------------------------
                    setCameraProjective
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCameraProjective([[maybe_unused]] bool isProjective)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win) win->m_canvas->setCameraProjective(isProjective);
#endif
}

void CDisplayWindow3D::setMinRange(float new_min)
{
    if (m_3Dscene)
    {
        mrpt::opengl::COpenGLViewport::Ptr gl_view =
            m_3Dscene->getViewport("main");
        if (gl_view)
        {
            float m, M;
            gl_view->getViewportClipDistances(m, M);
            gl_view->setViewportClipDistances(new_min, M);
        }
    }
}
void CDisplayWindow3D::setMaxRange(float new_max)
{
    if (m_3Dscene)
    {
        mrpt::opengl::COpenGLViewport::Ptr gl_view =
            m_3Dscene->getViewport("main");
        if (gl_view)
        {
            float m, M;
            gl_view->getViewportClipDistances(m, M);
            gl_view->setViewportClipDistances(m, new_max);
        }
    }
}

float CDisplayWindow3D::getFOV() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win) return win->m_canvas->cameraFOV();
#endif
    return .0f;
}

void CDisplayWindow3D::setFOV(float v)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    auto* win = (C3DWindowDialog*)m_hwnd.get();
    if (win) win->m_canvas->setCameraFOV(v);
#endif
}

/*---------------------------------------------------------------
                    getCameraElevationDeg
 ---------------------------------------------------------------*/
float CDisplayWindow3D::getCameraElevationDeg() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const auto* win = (const C3DWindowDialog*)m_hwnd.get();
    return win ? win->m_canvas->getElevationDegrees() : 0;
#else
    return 0;
#endif
}

/*---------------------------------------------------------------
                    getCameraAzimuthDeg
 ---------------------------------------------------------------*/
float CDisplayWindow3D::getCameraAzimuthDeg() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const auto* win = (const C3DWindowDialog*)m_hwnd.get();
    return win ? win->m_canvas->getAzimuthDegrees() : 0;
#else
    return 0;
#endif
}

/*---------------------------------------------------------------
                    getCameraPointingToPoint
 ---------------------------------------------------------------*/
void CDisplayWindow3D::getCameraPointingToPoint(
    [[maybe_unused]] float& x, [[maybe_unused]] float& y,
    [[maybe_unused]] float& z) const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const auto* win = (const C3DWindowDialog*)m_hwnd.get();
    if (win)
    {
        x = win->m_canvas->getCameraPointingX();
        y = win->m_canvas->getCameraPointingY();
        z = win->m_canvas->getCameraPointingZ();
    }
    else
        x = y = z = 0;
#endif
}

/*---------------------------------------------------------------
                    getCameraZoom
 ---------------------------------------------------------------*/
float CDisplayWindow3D::getCameraZoom() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const auto* win = (const C3DWindowDialog*)m_hwnd.get();
    return win ? win->m_canvas->getZoomDistance() : 0;
#else
    return 0;
#endif
}

/*---------------------------------------------------------------
                    isCameraProjective
 ---------------------------------------------------------------*/
bool CDisplayWindow3D::isCameraProjective() const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const auto* win = (const C3DWindowDialog*)m_hwnd.get();
    return win ? win->m_canvas->isCameraProjective() : true;
#else
    return true;
#endif
}

/*---------------------------------------------------------------
                    getLastMousePosition
 ---------------------------------------------------------------*/
bool CDisplayWindow3D::getLastMousePosition(
    [[maybe_unused]] int& x, [[maybe_unused]] int& y) const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const auto* win = (const C3DWindowDialog*)m_hwnd.get();
    if (!win) return false;
    win->m_canvas->getLastMousePosition(x, y);
    return true;
#else
    return false;
#endif
}

/*---------------------------------------------------------------
                    getLastMousePositionRay
 ---------------------------------------------------------------*/
bool CDisplayWindow3D::getLastMousePositionRay(TLine3D& ray) const
{
    int x, y;
    if (getLastMousePosition(x, y))
    {
        std::lock_guard<std::recursive_timed_mutex> lck(m_csAccess3DScene);
        m_3Dscene->getViewport("main")->get3DRayForPixelCoord(x, y, ray);
        return true;
    }
    else
        return false;
}

/*---------------------------------------------------------------
                    setCursorCross
 ---------------------------------------------------------------*/
void CDisplayWindow3D::setCursorCross([[maybe_unused]] bool cursorIsCross)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const auto* win = (const C3DWindowDialog*)m_hwnd.get();
    if (!win) return;
    win->m_canvas->SetCursor(
        *(cursorIsCross ? wxCROSS_CURSOR : wxSTANDARD_CURSOR));
#endif
}

/*---------------------------------------------------------------
                    grabImagesStart
 ---------------------------------------------------------------*/
void CDisplayWindow3D::grabImagesStart(const std::string& grab_imgs_prefix)
{
    m_grab_imgs_prefix = grab_imgs_prefix;
    m_grab_imgs_idx = 0;
}

/*---------------------------------------------------------------
                    grabImagesStop
 ---------------------------------------------------------------*/
void CDisplayWindow3D::grabImagesStop() { m_grab_imgs_prefix.clear(); }
/*---------------------------------------------------------------
                    grabImageGetNextFile
 ---------------------------------------------------------------*/
std::string CDisplayWindow3D::grabImageGetNextFile()
{
    if (m_grab_imgs_prefix.empty())
        return string();
    else
        return format(
            "%s%06u.png", m_grab_imgs_prefix.c_str(), m_grab_imgs_idx++);
}

/*---------------------------------------------------------------
                    captureImagesStart
 ---------------------------------------------------------------*/
void CDisplayWindow3D::captureImagesStart() { m_is_capturing_imgs = true; }
/*---------------------------------------------------------------
                    captureImagesStop
 ---------------------------------------------------------------*/
void CDisplayWindow3D::captureImagesStop() { m_is_capturing_imgs = false; }
/*---------------------------------------------------------------
                    getLastWindowImage
 ---------------------------------------------------------------*/
bool CDisplayWindow3D::getLastWindowImage(mrpt::img::CImage& out_img) const
{
    bool ret;

    {
        std::lock_guard<std::mutex> lock(m_last_captured_img_cs);
        if (m_last_captured_img)
        {
            out_img = *m_last_captured_img;  // Copy the full image
            ret = true;
        }
        else
            ret = false;
    }
    return ret;
}

/*---------------------------------------------------------------
                    getLastWindowImagePtr
 ---------------------------------------------------------------*/
CImage::Ptr CDisplayWindow3D::getLastWindowImagePtr() const
{
    std::lock_guard<std::mutex> lock(m_last_captured_img_cs);
    return m_last_captured_img;
}

void CDisplayWindow3D::internal_setRenderingFPS(double FPS)
{
    const double ALPHA = 0.99;
    m_last_FPS = ALPHA * m_last_FPS + (1 - ALPHA) * FPS;
}

// Called by CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers
void CDisplayWindow3D::internal_emitGrabImageEvent(const std::string& fil)
{
    const mrptEvent3DWindowGrabImageFile ev(this, fil);
    publishEvent(ev);
}

// Returns the "main" viewport of the scene.
mrpt::opengl::COpenGLViewport::Ptr CDisplayWindow3D::getDefaultViewport()
{
    std::lock_guard<std::recursive_timed_mutex> lck(m_csAccess3DScene);
    return m_3Dscene->getViewport("main");
}

void CDisplayWindow3D::setImageView(const mrpt::img::CImage& img)
{
    std::lock_guard<std::recursive_timed_mutex> lck(m_csAccess3DScene);
    m_3Dscene->getViewport("main")->setImageView(img);
}

void CDisplayWindow3D::setImageView(mrpt::img::CImage&& img)
{
    std::lock_guard<std::recursive_timed_mutex> lck(m_csAccess3DScene);
    m_3Dscene->getViewport("main")->setImageView(std::move(img));
}

CDisplayWindow3DLocker::CDisplayWindow3DLocker(
    CDisplayWindow3D& win, mrpt::opengl::COpenGLScene::Ptr& out_scene_ptr)
    : m_win(win)
{
    out_scene_ptr = m_win.get3DSceneAndLock();
}
CDisplayWindow3DLocker::CDisplayWindow3DLocker(CDisplayWindow3D& win)
    : m_win(win)
{
    m_win.get3DSceneAndLock();
}
CDisplayWindow3DLocker::~CDisplayWindow3DLocker()
{
    m_win.unlockAccess3DScene();
}