MRPT  1.9.9
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mrpt::gui::CGlCanvasBase Class Referenceabstract

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 ()=default
 
virtual ~CGlCanvasBase ()=default
 
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 CamaraParamsgetRefCameraParams () 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::CCameraupdateCameraParams (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::PtrgetOpenGLSceneRef ()
 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 ( )
default

◆ ~CGlCanvasBase()

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

Member Function Documentation

◆ cameraFOV()

float CGlCanvasBase::cameraFOV ( ) const

Definition at line 214 of file CGlCanvasBase.cpp.

◆ cameraParams()

CGlCanvasBase::CamaraParams CGlCanvasBase::cameraParams ( ) const

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

Definition at line 142 of file CGlCanvasBase.cpp.

◆ clearColors()

void CGlCanvasBase::clearColors ( )

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

Definition at line 124 of file CGlCanvasBase.cpp.

◆ getAzimuthDegrees()

float CGlCanvasBase::getAzimuthDegrees ( ) const

Returns a azimuth degrees See also setAzimuthDegrees(float)

Definition at line 193 of file CGlCanvasBase.cpp.

◆ getCameraPointingX()

float CGlCanvasBase::getCameraPointingX ( ) const

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

Definition at line 239 of file CGlCanvasBase.cpp.

◆ getCameraPointingY()

float CGlCanvasBase::getCameraPointingY ( ) const

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

Definition at line 244 of file CGlCanvasBase.cpp.

◆ getCameraPointingZ()

float CGlCanvasBase::getCameraPointingZ ( ) const

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

Definition at line 249 of file CGlCanvasBase.cpp.

◆ getClearColorA()

float CGlCanvasBase::getClearColorA ( ) const

Definition at line 226 of file CGlCanvasBase.cpp.

◆ getClearColorB()

float CGlCanvasBase::getClearColorB ( ) const

Definition at line 225 of file CGlCanvasBase.cpp.

◆ getClearColorG()

float CGlCanvasBase::getClearColorG ( ) const

Definition at line 224 of file CGlCanvasBase.cpp.

◆ getClearColorR()

float CGlCanvasBase::getClearColorR ( ) const

Definition at line 223 of file CGlCanvasBase.cpp.

◆ getElevationDegrees()

float CGlCanvasBase::getElevationDegrees ( ) const

Returns a elevation degrees See also setElevationDegrees(float)

Definition at line 198 of file CGlCanvasBase.cpp.

◆ 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 CGlCanvasBase::CamaraParams & CGlCanvasBase::getRefCameraParams ( ) const

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

Definition at line 147 of file CGlCanvasBase.cpp.

◆ getUseCameraFromScene()

bool CGlCanvasBase::getUseCameraFromScene ( ) const

See also void setUseCameraFromScene(bool)

Definition at line 182 of file CGlCanvasBase.cpp.

◆ getZoomDistance()

float CGlCanvasBase::getZoomDistance ( ) const

Returns a zoom See also setZoomDistance(float)

Definition at line 157 of file CGlCanvasBase.cpp.

◆ isCameraProjective()

bool CGlCanvasBase::isCameraProjective ( ) const

Definition at line 208 of file CGlCanvasBase.cpp.

◆ 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()

double CGlCanvasBase::renderCanvas ( int  width = -1,
int  height = -1 
)
protectedvirtual

Definition at line 254 of file CGlCanvasBase.cpp.

References mrpt::system::CTicTac::Tac(), THROW_EXCEPTION, and mrpt::system::CTicTac::Tic().

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◆ renderError()

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

◆ resizeViewport()

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

Calls the glViewport function.

Definition at line 115 of file CGlCanvasBase.cpp.

◆ setAzimuthDegrees()

void CGlCanvasBase::setAzimuthDegrees ( float  ang)
virtual

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

Definition at line 183 of file CGlCanvasBase.cpp.

◆ setCameraFOV()

void CGlCanvasBase::setCameraFOV ( float  FOV)
virtual

Definition at line 213 of file CGlCanvasBase.cpp.

◆ setCameraParams()

void CGlCanvasBase::setCameraParams ( const CamaraParams params)
virtual

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

Definition at line 152 of file CGlCanvasBase.cpp.

References params.

◆ setCameraPointing()

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

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

Definition at line 232 of file CGlCanvasBase.cpp.

◆ setCameraProjective()

void CGlCanvasBase::setCameraProjective ( bool  is)
virtual

Definition at line 203 of file CGlCanvasBase.cpp.

◆ setClearColors()

void 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()

Definition at line 215 of file CGlCanvasBase.cpp.

◆ setElevationDegrees()

void CGlCanvasBase::setElevationDegrees ( float  ang)
virtual

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

Definition at line 188 of file CGlCanvasBase.cpp.

◆ setMaximumZoom()

void CGlCanvasBase::setMaximumZoom ( float  zoom)

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

Definition at line 44 of file CGlCanvasBase.cpp.

◆ setMinimumZoom()

void CGlCanvasBase::setMinimumZoom ( float  zoom)

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

Definition at line 43 of file CGlCanvasBase.cpp.

◆ setMouseClicked()

void CGlCanvasBase::setMouseClicked ( bool  is)

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

See also setMousePos(int, int)

Definition at line 51 of file CGlCanvasBase.cpp.

◆ setMousePos()

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

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

Definition at line 45 of file CGlCanvasBase.cpp.

◆ setOpenGLSceneRef()

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

Definition at line 227 of file CGlCanvasBase.cpp.

◆ setUseCameraFromScene()

void 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()

Definition at line 181 of file CGlCanvasBase.cpp.

◆ setZoomDistance()

void CGlCanvasBase::setZoomDistance ( float  zoom)
virtual

Saves camera zooming See also getZoomDistance()

Definition at line 162 of file CGlCanvasBase.cpp.

◆ swapBuffers()

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

◆ updateCameraParams()

CCamera & 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)

Definition at line 167 of file CGlCanvasBase.cpp.

References mrpt::opengl::CCamera::setAzimuthDegrees(), mrpt::opengl::CCamera::setElevationDegrees(), mrpt::opengl::CCamera::setPointingAt(), mrpt::opengl::CCamera::setProjectiveFOVdeg(), mrpt::opengl::CCamera::setProjectiveModel(), and mrpt::opengl::CCamera::setZoomDistance().

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◆ updateLastPos()

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

Sets the last mouse position.

Definition at line 109 of file CGlCanvasBase.cpp.

◆ updateOrbitCamera()

void 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.

See also getElevationDegrees(), getAzimuthDegrees()

Definition at line 102 of file CGlCanvasBase.cpp.

References params.

◆ updatePan()

void 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.

See also getCameraPointingX(), getCameraPointingY(), getCameraPointingZ()

Definition at line 131 of file CGlCanvasBase.cpp.

References mrpt::DEG2RAD(), and params.

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◆ updateRotate()

void 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.

See also getElevationDegrees(), getAzimuthDegrees()

Definition at line 72 of file CGlCanvasBase.cpp.

References mrpt::DEG2RAD(), and params.

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◆ updateZoom() [1/2]

void 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)

Definition at line 52 of file CGlCanvasBase.cpp.

References params.

◆ updateZoom() [2/2]

void 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)

Definition at line 64 of file CGlCanvasBase.cpp.

References params.

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:

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.




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