Detailed Description

This base class implements a working with opengl::Camera and a OpenGL canvas, and it's used in gui::CWxGLCanvasBase and gui::CQtGlCanvasBase.

Definition at line 28 of file CGlCanvasBase.h.

#include <mrpt/gui/CGlCanvasBase.h>

Classes
struct	CamaraParams

Public Member Functions
	CGlCanvasBase ()

virtual	~CGlCanvasBase ()

void	setMinimumZoom (float zoom)
	Sets the minimum of the zoom See also setMaximumZoom(float) More...

void	setMaximumZoom (float zoom)
	Sets the maximum of the zoom See also setMinimumZoom(float) More...

void	setMousePos (int x, int y)
	Saves the click position of the mouse See also setMouseClicked(bool) More...

void	setMouseClicked (bool is)
	Sets the property mouseClicked By default, this property is false. More...

void	updateLastPos (int x, int y)
	Sets the last mouse position. More...

void	resizeViewport (int w, int h)
	Calls the glViewport function. More...

void	clearColors ()
	Calls the glClearColor function See also setClearColors(float, float, float, float) More...

void	updateZoom (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the zoom of the CameraParams. More...

void	updateZoom (CamaraParams &params, float delta) const
	This function for the wheel event It gets a reference to CamaraParams, delta and updates the zoom of the CameraParams. More...

void	updateRotate (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth. More...

void	updateOrbitCamera (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth. More...

void	updatePan (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the pointing of the camera. More...

CamaraParams	cameraParams () const
	Returns a copy of CamaraParams See also getRefCameraParams(), setCameraParams(const CamaraParams &) More...

const CamaraParams &	getRefCameraParams () const
	Returns a reference to CamaraParams See also cameraParams(), setCameraParams(const CamaraParams &) More...

virtual void	setCameraParams (const CamaraParams &params)
	Sets the CamaraParams See also cameraParams(), getRefCameraParams() More...

mrpt::opengl::CCamera &	updateCameraParams (mrpt::opengl::CCamera &cam) const
	This function gets a reference to mrpt::opengl::CCamera and updates the camera parameters(pointing, zoom, azimuth, elevation, IsProjective, FOV) More...

void	setUseCameraFromScene (bool is)
	If set to true (default=false), the cameraPointingX,... More...

bool	getUseCameraFromScene () const
	See also void setUseCameraFromScene(bool) More...

virtual void	setCameraPointing (float pointX, float pointY, float pointZ)
	Saves the pointing of the camera See also getCameraPointingX(), getCameraPointingY(), getCameraPointingZ() More...

float	getCameraPointingX () const
	Returns the x pointing of the camera See also setCameraPointing(float, float, float) More...

float	getCameraPointingY () const
	Returns the y pointing of the camera See also setCameraPointing(float, float, float) More...

float	getCameraPointingZ () const
	Returns the z pointing of the camera See also setCameraPointing(float, float, float) More...

virtual void	setZoomDistance (float zoom)
	Saves camera zooming See also getZoomDistance() More...

float	getZoomDistance () const
	Returns a zoom See also setZoomDistance(float) More...

virtual void	setAzimuthDegrees (float ang)
	Saves the degrees of the azimuth camera See also getAzimuthDegrees() More...

float	getAzimuthDegrees () const
	Returns a azimuth degrees See also setAzimuthDegrees(float) More...

virtual void	setElevationDegrees (float ang)
	Saves the degrees of the elevation camera See also getElevationDegrees() More...

float	getElevationDegrees () const
	Returns a elevation degrees See also setElevationDegrees(float) More...

virtual void	setCameraProjective (bool is)

bool	isCameraProjective () const

virtual void	setCameraFOV (float FOV)

float	cameraFOV () const

void	setClearColors (float r, float g, float b, float a=1.0f)
	Sets the RGBA colors for glClearColor See also clearColors(), getClearColorR(), getClearColorG(),getClearColorB(), getClearColorA() More...

float	getClearColorR () const

float	getClearColorG () const

float	getClearColorB () const

float	getClearColorA () const

virtual void	OnUserManuallyMovesCamera (float new_cameraPointingX, float new_cameraPointingY, float new_cameraPointingZ, float new_cameraZoomDistance, float new_cameraElevationDeg, float new_cameraAzimuthDeg)
	Overload this method to limit the capabilities of the user to move the camera using the mouse. More...

void	getLastMousePosition (int &x, int &y) const

mrpt::opengl::COpenGLScene::Ptr &	getOpenGLSceneRef ()
	At constructor an empty scene is created. More...

void	setOpenGLSceneRef (mrpt::opengl::COpenGLScene::Ptr scene)

Static Public Attributes
static float	SENSIBILITY_DEG_PER_PIXEL = 0.1f

Protected Member Functions
virtual void	swapBuffers ()=0

virtual void	preRender ()=0

virtual void	postRender ()=0

virtual void	renderError (const std::string &err_msg)=0

virtual double	renderCanvas (int width=-1, int height=-1)

Private Attributes
float	clearColorR = .4f

float	clearColorG = .4f

float	clearColorB = .4f

float	clearColorA = 1.f

bool	useCameraFromScene = false

mrpt::opengl::COpenGLScene::Ptr	m_openGLScene

int	m_mouseLastX = 0

int	m_mouseLastY = 0

int	m_mouseClickX = 0

int	m_mouseClickY = 0

bool	mouseClicked = false

float	m_minZoom = 1.f

float	m_maxZoom = 3200.f

CamaraParams	m_cameraParams

Constructor & Destructor Documentation

◆ CGlCanvasBase()

mrpt::gui::CGlCanvasBase::CGlCanvasBase ( )

inline

Definition at line 44 of file CGlCanvasBase.h.

◆ ~CGlCanvasBase()

virtual mrpt::gui::CGlCanvasBase::~CGlCanvasBase ( )

inlinevirtual

Definition at line 45 of file CGlCanvasBase.h.

Member Function Documentation

◆ cameraFOV()

float mrpt::gui::CGlCanvasBase::cameraFOV ( ) const

◆ cameraParams()

CamaraParams mrpt::gui::CGlCanvasBase::cameraParams ( ) const

Returns a copy of CamaraParams See also getRefCameraParams(), setCameraParams(const CamaraParams &)

◆ clearColors()

void mrpt::gui::CGlCanvasBase::clearColors ( )

Calls the glClearColor function See also setClearColors(float, float, float, float)

◆ getAzimuthDegrees()

float mrpt::gui::CGlCanvasBase::getAzimuthDegrees ( ) const

Returns a azimuth degrees See also setAzimuthDegrees(float)

◆ getCameraPointingX()

float mrpt::gui::CGlCanvasBase::getCameraPointingX ( ) const

Returns the x pointing of the camera See also setCameraPointing(float, float, float)

◆ getCameraPointingY()

float mrpt::gui::CGlCanvasBase::getCameraPointingY ( ) const

Returns the y pointing of the camera See also setCameraPointing(float, float, float)

◆ getCameraPointingZ()

float mrpt::gui::CGlCanvasBase::getCameraPointingZ ( ) const

Returns the z pointing of the camera See also setCameraPointing(float, float, float)

◆ getClearColorA()

float mrpt::gui::CGlCanvasBase::getClearColorA ( ) const

◆ getClearColorB()

float mrpt::gui::CGlCanvasBase::getClearColorB ( ) const

◆ getClearColorG()

float mrpt::gui::CGlCanvasBase::getClearColorG ( ) const

◆ getClearColorR()

float mrpt::gui::CGlCanvasBase::getClearColorR ( ) const

◆ getElevationDegrees()

float mrpt::gui::CGlCanvasBase::getElevationDegrees ( ) const

Returns a elevation degrees See also setElevationDegrees(float)

◆ getLastMousePosition()

void mrpt::gui::CGlCanvasBase::getLastMousePosition	(	int &	x,
		int &	y
	)		const

inline

Definition at line 223 of file CGlCanvasBase.h.

References m_mouseLastX, and m_mouseLastY.

◆ getOpenGLSceneRef()

mrpt::opengl::COpenGLScene::Ptr& mrpt::gui::CGlCanvasBase::getOpenGLSceneRef ( )

inline

At constructor an empty scene is created.

The object is freed at GL canvas destructor. This function returns a smart pointer to the opengl scene getOpenGLSceneRef

Definition at line 233 of file CGlCanvasBase.h.

References m_openGLScene.

◆ getRefCameraParams()

const CamaraParams& mrpt::gui::CGlCanvasBase::getRefCameraParams ( ) const

Returns a reference to CamaraParams See also cameraParams(), setCameraParams(const CamaraParams &)

◆ getUseCameraFromScene()

bool mrpt::gui::CGlCanvasBase::getUseCameraFromScene ( ) const

See also void setUseCameraFromScene(bool)

◆ getZoomDistance()

float mrpt::gui::CGlCanvasBase::getZoomDistance ( ) const

Returns a zoom See also setZoomDistance(float)

◆ isCameraProjective()

bool mrpt::gui::CGlCanvasBase::isCameraProjective ( ) const

◆ OnUserManuallyMovesCamera()

virtual void mrpt::gui::CGlCanvasBase::OnUserManuallyMovesCamera	(	float	new_cameraPointingX,
		float	new_cameraPointingY,
		float	new_cameraPointingZ,
		float	new_cameraZoomDistance,
		float	new_cameraElevationDeg,
		float	new_cameraAzimuthDeg
	)

inlinevirtual

Overload this method to limit the capabilities of the user to move the camera using the mouse.

For all these variables:

cameraPointingX
cameraPointingY
cameraPointingZ
cameraZoomDistance
cameraElevationDeg
cameraAzimuthDeg

A "new_NAME" variable will be passed with the temptative new value after the user action. The default behavior should be to copy all the new variables to the variables listed above but in the middle any find of user-defined filter can be implemented.

Definition at line 210 of file CGlCanvasBase.h.

References mrpt::gui::CGlCanvasBase::CamaraParams::cameraAzimuthDeg, mrpt::gui::CGlCanvasBase::CamaraParams::cameraElevationDeg, mrpt::gui::CGlCanvasBase::CamaraParams::cameraPointingX, mrpt::gui::CGlCanvasBase::CamaraParams::cameraPointingY, mrpt::gui::CGlCanvasBase::CamaraParams::cameraPointingZ, mrpt::gui::CGlCanvasBase::CamaraParams::cameraZoomDistance, and m_cameraParams.

◆ postRender()

virtual void mrpt::gui::CGlCanvasBase::postRender ( )

protectedpure virtual

◆ preRender()

virtual void mrpt::gui::CGlCanvasBase::preRender ( )

protectedpure virtual

◆ renderCanvas()

virtual double mrpt::gui::CGlCanvasBase::renderCanvas	(	int	width = `-1`,
		int	height = `-1`
	)

protectedvirtual

◆ renderError()

virtual void mrpt::gui::CGlCanvasBase::renderError ( const std::string & err_msg )

protectedpure virtual

◆ resizeViewport()

void mrpt::gui::CGlCanvasBase::resizeViewport	(	int	w,
		int	h
	)

Calls the glViewport function.

◆ setAzimuthDegrees()

virtual void mrpt::gui::CGlCanvasBase::setAzimuthDegrees ( float ang )

virtual

Saves the degrees of the azimuth camera See also getAzimuthDegrees()

◆ setCameraFOV()

virtual void mrpt::gui::CGlCanvasBase::setCameraFOV ( float FOV )

virtual

◆ setCameraParams()

virtual void mrpt::gui::CGlCanvasBase::setCameraParams ( const CamaraParams & params )

virtual

Sets the CamaraParams See also cameraParams(), getRefCameraParams()

◆ setCameraPointing()

virtual void mrpt::gui::CGlCanvasBase::setCameraPointing	(	float	pointX,
		float	pointY,
		float	pointZ
	)

virtual

Saves the pointing of the camera See also getCameraPointingX(), getCameraPointingY(), getCameraPointingZ()

◆ setCameraProjective()

virtual void mrpt::gui::CGlCanvasBase::setCameraProjective ( bool is )

virtual

◆ setClearColors()

void mrpt::gui::CGlCanvasBase::setClearColors	(	float	r,
		float	g,
		float	b,
		float	a = `1.0f`
	)

Sets the RGBA colors for glClearColor See also clearColors(), getClearColorR(), getClearColorG(),getClearColorB(), getClearColorA()

◆ setElevationDegrees()

virtual void mrpt::gui::CGlCanvasBase::setElevationDegrees ( float ang )

virtual

Saves the degrees of the elevation camera See also getElevationDegrees()

◆ setMaximumZoom()

void mrpt::gui::CGlCanvasBase::setMaximumZoom ( float zoom )

Sets the maximum of the zoom See also setMinimumZoom(float)

◆ setMinimumZoom()

void mrpt::gui::CGlCanvasBase::setMinimumZoom ( float zoom )

Sets the minimum of the zoom See also setMaximumZoom(float)

◆ setMouseClicked()

void mrpt::gui::CGlCanvasBase::setMouseClicked ( bool is )

Sets the property mouseClicked By default, this property is false.

◆ setMousePos()

void mrpt::gui::CGlCanvasBase::setMousePos	(	int	x,
		int	y
	)

Saves the click position of the mouse See also setMouseClicked(bool)

◆ setOpenGLSceneRef()

void mrpt::gui::CGlCanvasBase::setOpenGLSceneRef ( mrpt::opengl::COpenGLScene::Ptr scene )

◆ setUseCameraFromScene()

void mrpt::gui::CGlCanvasBase::setUseCameraFromScene ( bool is )

If set to true (default=false), the cameraPointingX,...

parameters are ignored and the camera stored in the 3D scene is used instead. See also void bool getUseCameraFromScene()

◆ setZoomDistance()

virtual void mrpt::gui::CGlCanvasBase::setZoomDistance ( float zoom )

virtual

Saves camera zooming See also getZoomDistance()

◆ swapBuffers()

virtual void mrpt::gui::CGlCanvasBase::swapBuffers ( )

protectedpure virtual

◆ updateCameraParams()

mrpt::opengl::CCamera& mrpt::gui::CGlCanvasBase::updateCameraParams ( mrpt::opengl::CCamera & cam ) const

This function gets a reference to mrpt::opengl::CCamera and updates the camera parameters(pointing, zoom, azimuth, elevation, IsProjective, FOV)

◆ updateLastPos()

void mrpt::gui::CGlCanvasBase::updateLastPos	(	int	x,
		int	y
	)

Sets the last mouse position.

◆ updateOrbitCamera()

void mrpt::gui::CGlCanvasBase::updateOrbitCamera	(	CamaraParams &	params,
		int	x,
		int	y
	)		const

This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth.

◆ updatePan()

void mrpt::gui::CGlCanvasBase::updatePan	(	CamaraParams &	params,
		int	x,
		int	y
	)		const

This function for the mouse event It gets a reference to CamaraParams, x, y and updates the pointing of the camera.

◆ updateRotate()

void mrpt::gui::CGlCanvasBase::updateRotate	(	CamaraParams &	params,
		int	x,
		int	y
	)		const

This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth.

◆ updateZoom() [1/2]

void mrpt::gui::CGlCanvasBase::updateZoom	(	CamaraParams &	params,
		int	x,
		int	y
	)		const

This function for the mouse event It gets a reference to CamaraParams, x, y and updates the zoom of the CameraParams.

See also updateZoom(CamaraParams &, float)

◆ updateZoom() [2/2]

void mrpt::gui::CGlCanvasBase::updateZoom	(	CamaraParams &	params,
		float	delta
	)		const

This function for the wheel event It gets a reference to CamaraParams, delta and updates the zoom of the CameraParams.

See also updateZoom(CamaraParams &, int, int)

Member Data Documentation

◆ clearColorA

float mrpt::gui::CGlCanvasBase::clearColorA = 1.f

private

Definition at line 249 of file CGlCanvasBase.h.

◆ clearColorB

float mrpt::gui::CGlCanvasBase::clearColorB = .4f

private

Definition at line 248 of file CGlCanvasBase.h.

◆ clearColorG

float mrpt::gui::CGlCanvasBase::clearColorG = .4f

private

Definition at line 248 of file CGlCanvasBase.h.

◆ clearColorR

float mrpt::gui::CGlCanvasBase::clearColorR = .4f

private

Definition at line 248 of file CGlCanvasBase.h.

◆ m_cameraParams

CamaraParams mrpt::gui::CGlCanvasBase::m_cameraParams

private

Definition at line 258 of file CGlCanvasBase.h.

Referenced by OnUserManuallyMovesCamera().

◆ m_maxZoom

float mrpt::gui::CGlCanvasBase::m_maxZoom = 3200.f

private

Definition at line 257 of file CGlCanvasBase.h.

◆ m_minZoom

float mrpt::gui::CGlCanvasBase::m_minZoom = 1.f

private

Definition at line 256 of file CGlCanvasBase.h.

◆ m_mouseClickX

int mrpt::gui::CGlCanvasBase::m_mouseClickX = 0

private

Definition at line 254 of file CGlCanvasBase.h.

◆ m_mouseClickY

int mrpt::gui::CGlCanvasBase::m_mouseClickY = 0

private

Definition at line 254 of file CGlCanvasBase.h.

◆ m_mouseLastX

int mrpt::gui::CGlCanvasBase::m_mouseLastX = 0

private

Definition at line 253 of file CGlCanvasBase.h.

Referenced by getLastMousePosition().

◆ m_mouseLastY

int mrpt::gui::CGlCanvasBase::m_mouseLastY = 0

private

Definition at line 253 of file CGlCanvasBase.h.

Referenced by getLastMousePosition().

◆ m_openGLScene

mrpt::opengl::COpenGLScene::Ptr mrpt::gui::CGlCanvasBase::m_openGLScene

private

Initial value:

=

mrpt::make_aligned_shared<mrpt::opengl::COpenGLScene>()

Definition at line 251 of file CGlCanvasBase.h.

Referenced by getOpenGLSceneRef().

◆ mouseClicked

bool mrpt::gui::CGlCanvasBase::mouseClicked = false

private

Definition at line 255 of file CGlCanvasBase.h.

◆ SENSIBILITY_DEG_PER_PIXEL

float CGlCanvasBase::SENSIBILITY_DEG_PER_PIXEL = 0.1f

static

Definition at line 191 of file CGlCanvasBase.h.

◆ useCameraFromScene

bool mrpt::gui::CGlCanvasBase::useCameraFromScene = false

private

Definition at line 250 of file CGlCanvasBase.h.

Detailed Description

Classes

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ CGlCanvasBase()

◆ ~CGlCanvasBase()

Member Function Documentation

◆ cameraFOV()

◆ cameraParams()

◆ clearColors()

◆ getAzimuthDegrees()

◆ getCameraPointingX()

◆ getCameraPointingY()

◆ getCameraPointingZ()

◆ getClearColorA()

◆ getClearColorB()

◆ getClearColorG()

◆ getClearColorR()

◆ getElevationDegrees()

◆ getLastMousePosition()

◆ getOpenGLSceneRef()

◆ getRefCameraParams()

◆ getUseCameraFromScene()

◆ getZoomDistance()

◆ isCameraProjective()

◆ OnUserManuallyMovesCamera()

◆ postRender()

◆ preRender()

◆ renderCanvas()

◆ renderError()

◆ resizeViewport()

◆ setAzimuthDegrees()

◆ setCameraFOV()

◆ setCameraParams()

◆ setCameraPointing()

◆ setCameraProjective()

◆ setClearColors()

◆ setElevationDegrees()

◆ setMaximumZoom()

◆ setMinimumZoom()

◆ setMouseClicked()

◆ setMousePos()

◆ setOpenGLSceneRef()

◆ setUseCameraFromScene()

◆ setZoomDistance()

◆ swapBuffers()

◆ updateCameraParams()

◆ updateLastPos()

◆ updateOrbitCamera()

◆ updatePan()

◆ updateRotate()

◆ updateZoom() [1/2]

◆ updateZoom() [2/2]

Member Data Documentation

◆ clearColorA

◆ clearColorB

◆ clearColorG

◆ clearColorR

◆ m_cameraParams

◆ m_maxZoom

◆ m_minZoom

◆ m_mouseClickX

◆ m_mouseClickY

◆ m_mouseLastX

◆ m_mouseLastY

◆ m_openGLScene

◆ mouseClicked

◆ SENSIBILITY_DEG_PER_PIXEL

◆ useCameraFromScene