MRPT  2.0.4
CDisplayWindowGUI.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "gui-precomp.h" // Precompiled headers
11 
12 #include <mrpt/core/exceptions.h>
15 
16 using namespace mrpt::gui;
17 
18 #if MRPT_HAS_NANOGUI
19 
21  const std::string& caption, unsigned int width, unsigned int height,
22  const CDisplayWindowGUI_Params& p)
23  : nanogui::Screen(
24  Eigen::Vector2i(width, height), caption, p.resizable, p.fullscreen,
25  p.colorBits, p.alphaBits, p.depthBits, p.stencilBits, p.nSamples,
26  p.glMajor, p.glMinor, p.maximized)
27 {
28  // Set MRPT icon:
29  GLFWimage images;
30  images.width = 64;
31  images.height = 64;
32  images.pixels = default_mrpt_glfw_icon();
33 
34 // glfwSetWindowIcon added in glfw 3.2
35 #if GLFW_VERSION_MAJOR > 3 || \
36  (GLFW_VERSION_MAJOR == 3 && GLFW_VERSION_MINOR >= 2)
37  glfwSetWindowIcon(screen()->glfwWindow(), 1, &images);
38 #endif
39 }
40 
42 {
43  // Close window:
44  nanogui::Screen::setVisible(false);
45 }
46 
48 {
49  // If provided, call the user loop code:
51 
52  // Optional: render background scene.
53  std::lock_guard<std::mutex> lck(background_scene_mtx);
54  if (!background_scene) return;
55 
56  try
57  {
58  // We need the size of the viewport:
59  GLint win_dims[4];
60  glGetIntegerv(GL_VIEWPORT, win_dims);
61 
62  // Set the camera params in the scene:
64  background_scene->getViewport("main");
65  if (!view)
67  "Fatal error: there is no 'main' viewport in the 3D scene!");
68  mrpt::opengl::CCamera& cam = view->getCamera();
70 
71  for (const auto& m_viewport : background_scene->viewports())
72  m_viewport->render(
73  win_dims[2], win_dims[3], win_dims[0], win_dims[1]);
74  }
75  catch (const std::exception& e)
76  {
77  std::cerr << "[CDisplayWindowGUI::drawContents] Exception:\n"
79  }
80 }
81 
82 void CDisplayWindowGUI::resize(unsigned int width, unsigned int height)
83 {
84  Screen::setSize({width, height});
85 }
86 
87 void CDisplayWindowGUI::setPos(int x, int y) { Screen::setPosition({x, y}); }
88 
89 void CDisplayWindowGUI::setWindowTitle(const std::string& str)
90 {
91  Screen::setCaption(str);
92 }
93 
95  const nanogui::Vector2i& p, int button, bool down, int modifiers)
96 {
97  if (!Screen::mouseButtonEvent(p, button, down, modifiers))
98  m_background_canvas.mouseButtonEvent(p, button, down, modifiers);
99 
100  return true;
101 }
102 
104  const nanogui::Vector2i& p, const nanogui::Vector2i& rel, int button,
105  int modifiers)
106 {
107  if (!Screen::mouseMotionEvent(p, rel, button, modifiers))
108  m_background_canvas.mouseMotionEvent(p, rel, button, modifiers);
109 
110  return true;
111 }
112 
114  const nanogui::Vector2i& p, const nanogui::Vector2f& rel)
115 {
116  if (!Screen::scrollEvent(p, rel)) m_background_canvas.scrollEvent(p, rel);
117 
118  return true;
119 }
120 
121 bool CDisplayWindowGUI::dropEvent(const std::vector<std::string>& filenames)
122 {
124  return m_dropFilesCallback(filenames);
125  else
126  return false;
127 }
128 
130  int key, int scancode, int action, int modifiers)
131 {
132  if (m_keyboardCallback)
133  if (m_keyboardCallback(key, scancode, action, modifiers)) return true;
134 
135  if (Screen::keyboardEvent(key, scancode, action, modifiers)) return true;
136 
137  // Process special key events?
138  return false;
139 }
140 
141 #endif // MRPT_HAS_NANOGUI
virtual bool mouseMotionEvent(const nanogui::Vector2i &p, const nanogui::Vector2i &rel, int button, int modifiers) override
std::function< void(void)> m_loopCallback
std::function< bool(const std::vector< std::string > &)> m_dropFilesCallback
mrpt::vision::TCalibrationStereoImageList images
#define THROW_EXCEPTION(msg)
Definition: exceptions.h:67
void scrollEvent(const nanogui::Vector2i &p, const nanogui::Vector2f &rel)
std::function< bool(int, int, int, int)> m_keyboardCallback
void resize(unsigned int width, unsigned int height)
Resizes the window.
virtual bool dropEvent(const std::vector< std::string > &filenames) override
virtual ~CDisplayWindowGUI() override
void setWindowTitle(const std::string &str)
Changes the window title.
CDisplayWindowGUI(const std::string &caption=std::string(), unsigned int width=400, unsigned int height=300, const CDisplayWindowGUI_Params &p=CDisplayWindowGUI_Params())
void render(const RenderContext &rc) const override
Render does nothing here.
Definition: CCamera.h:93
virtual bool scrollEvent(const nanogui::Vector2i &p, const nanogui::Vector2f &rel) override
internal::NanoGUICanvasHeadless m_background_canvas
Used to keep track of mouse events on the camera.
void setPos(int x, int y)
Changes the position of the window on the screen.
mrpt::opengl::COpenGLScene::Ptr background_scene
void mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers)
virtual void drawContents() override
Additional parameters to change the window behavior and OpenGL context.
virtual bool keyboardEvent(int key, int scancode, int action, int modifiers) override
std::string exception_to_str(const std::exception &e)
Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THR...
Definition: exceptions.cpp:59
unsigned char * default_mrpt_glfw_icon()
Returns the default MRPT icon data, as a 64x64 RGBA (32 bit/pixel) image, compatible with GLFW...
virtual bool mouseButtonEvent(const nanogui::Vector2i &p, int button, bool down, int modifiers) override
Classes for creating GUI windows for 2D and 3D visualization.
Definition: about_box.h:14
A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camer...
Definition: CCamera.h:33
void mouseMotionEvent(const nanogui::Vector2i &p, const nanogui::Vector2i &rel, int button, int modifiers)
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)



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