MRPT  2.0.5
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes | Friends
mrpt::opengl::COpenGLViewport Class Reference

Detailed Description

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::system::CObserver) for the following events (see mrpt::system::mrptEvent):

Two directional light sources at infinity are created by default, with directions (-1,-1,-1) and (1,2,1), respectively.

Lighting parameters are accessible via lightParameters().

Refer to mrpt::opengl::COpenGLScene for further details.

Definition at line 61 of file COpenGLViewport.h.

#include <mrpt/opengl/COpenGLViewport.h>

Inheritance diagram for mrpt::opengl::COpenGLViewport:

Public Member Functions

 ~COpenGLViewport () override
 Destructor: clears all objects. More...
 
 COpenGLViewport (COpenGLScene *parent=nullptr, const std::string &name=std::string(""))
 Constructor, invoked from COpenGLScene only. More...
 
void render (const int render_width, const int render_height, const int render_offset_x=0, const int render_offset_y=0) const
 Render the objects in this viewport (called from COpenGLScene) More...
 
virtual mxArraywriteToMatlab () 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...
 
void clearTextMessages ()
 
void addTextMessage (const double x_frac, const double y_frac, const std::string &text, const size_t unique_index=0, const TFontParams &fontParams=TFontParams())
 Add 2D text messages overlapped to the 3D rendered scene. More...
 
bool updateTextMessage (const size_t unique_index, const std::string &text)
 Just updates the text of a given text message, without touching the other parameters. More...
 
const TListTextMessagesgetTextMessages () const
 
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::img::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 (mrpt::img::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
 
const TLightParameterslightParameters () const
 
TLightParameterslightParameters ()
 
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 float clip_min, const float clip_max)
 Set the min/max clip depth distances of the rendering frustum (default: 0.1 - 10000) More...
 
void getViewportClipDistances (float &clip_min, float &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...
 
unsigned int getBorderSize () const
 
void setBorderColor (const mrpt::img::TColor &c)
 
const mrpt::img::TColorgetBorderColor () const
 
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::img::TColorf &color)
 Set a background color different from that of the parent GUI window. More...
 
mrpt::img::TColorf getCustomBackgroundColor () const
 
void get3DRayForPixelCoord (const double x_coord, const double y_coord, mrpt::math::TLine3D &out_ray, mrpt::poses::CPose3D *out_cameraPose=nullptr) 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...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Protected Member Functions

void initializeTextures ()
 Initializes all textures in the scene (See opengl::CTexturedPlane::initializeTextures) More...
 
void dumpListOfObjects (std::vector< std::string > &lst)
 Retrieves a list of all objects in text form. More...
 
void renderImageMode () const
 Render in image mode. More...
 
void renderNormalSceneMode () const
 Render a normal scene with 3D objects. More...
 
void renderViewportBorder () const
 Render the viewport border, if enabled. More...
 
void loadDefaultShaders () const
 Load all MPRT predefined shader programs into m_shaders. More...
 
void unloadShaders ()
 Unload shader programs in m_shaders. More...
 
void internal_enableImageView ()
 
void renderTextMessages () const
 Renders all messages in the underlying class CTextMessageCapable. More...
 
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
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

opengl::CCamera m_camera
 The camera associated to the viewport. More...
 
mrpt::safe_ptr< COpenGLScenem_parent
 The scene that contains this viewport. More...
 
bool m_isCloned {false}
 Set by setCloneView. More...
 
bool m_isClonedCamera {false}
 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 {false}
 Whether to clear color buffer. More...
 
uint32_t m_borderWidth {0}
 Default=0, the border around the viewport. More...
 
mrpt::img::TColor m_borderColor {255, 255, 255, 255}
 
double m_view_x {0}
 The viewport position [0,1]. More...
 
double m_view_y {0}
 
double m_view_width {1}
 
double m_view_height {1}
 
float m_clip_min = 0.1f
 The min/max clip depth distances (default: 0.1 - 10000) More...
 
float m_clip_max = 10000.0f
 
bool m_custom_backgb_color {false}
 
mrpt::img::TColorf m_background_color = {0.6f, 0.6f, 0.6f}
 used only if m_custom_backgb_color More...
 
bool m_isImageView {false}
 Set by setImageView. More...
 
mrpt::opengl::CTexturedPlane::Ptr m_imageview_plane
 The image to display, after calling setImageView() More...
 
mrpt::opengl::CSetOfLines::Ptr m_borderLines
 
TRenderMatrices m_state
 Info updated with each "render()" and used in "get3DRayForPixelCoord". More...
 
std::map< shader_id_t, mrpt::opengl::Program::Ptrm_shaders
 Default shader program. More...
 
opengl::CListOpenGLObjects m_objects
 The list of objects that comprise the 3D scene. More...
 
bool m_OpenGL_enablePolygonNicest {true}
 
TLightParameters m_lights
 
TListTextMessages m_2D_texts
 

Friends

class COpenGLScene
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::opengl ::COpenGLViewport >
 
using ConstPtr = std::shared_ptr< const mrpt::opengl ::COpenGLViewport >
 
using UniquePtr = std::unique_ptr< mrpt::opengl ::COpenGLViewport >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::opengl ::COpenGLViewport >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::opengl" "::" "COpenGLViewport"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Contained objects set/get/search

using const_iterator = CListOpenGLObjects::const_iterator
 
using iterator = CListOpenGLObjects::iterator
 
const_iterator begin () const
 
const_iterator end () const
 
iterator begin ()
 
iterator end ()
 
void clear ()
 Delete all internal obejcts. More...
 
void insert (const CRenderizable::Ptr &newObject)
 Insert a new object into the list. More...
 
void getCurrentCameraPose (mrpt::poses::CPose3D &out_cameraPose) const
 Compute the current 3D camera pose. More...
 
void setCurrentCameraFromPose (mrpt::poses::CPose3D &p)
 Changes the point of view of the camera, from a given pose. More...
 
CRenderizable::Ptr getByName (const std::string &str)
 Returns the first object with a given name, or nullptr if not found. More...
 
template<typename T >
T::Ptr getByClass (size_t ith=0) const
 Returns the i'th object of a given class (or of a descendant class), or nullptr (an empty smart pointer) if not found. More...
 
void removeObject (const CRenderizable::Ptr &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::CCameragetCamera ()
 Get a reference to the camera associated with this viewport. More...
 
const opengl::CCameragetCamera () 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...
 

Member Typedef Documentation

◆ const_iterator

using mrpt::opengl::COpenGLViewport::const_iterator = CListOpenGLObjects::const_iterator

Definition at line 240 of file COpenGLViewport.h.

◆ ConstPtr

Definition at line 65 of file COpenGLViewport.h.

◆ ConstUniquePtr

using mrpt::opengl::COpenGLViewport::ConstUniquePtr = std::unique_ptr<const mrpt::opengl :: COpenGLViewport >

Definition at line 65 of file COpenGLViewport.h.

◆ iterator

using mrpt::opengl::COpenGLViewport::iterator = CListOpenGLObjects::iterator

Definition at line 241 of file COpenGLViewport.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 65 of file COpenGLViewport.h.

◆ UniquePtr

using mrpt::opengl::COpenGLViewport::UniquePtr = std::unique_ptr< mrpt::opengl :: COpenGLViewport >

Definition at line 65 of file COpenGLViewport.h.

Constructor & Destructor Documentation

◆ ~COpenGLViewport()

COpenGLViewport::~COpenGLViewport ( )
override

Destructor: clears all objects.

Definition at line 56 of file COpenGLViewport.cpp.

References clear().

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◆ COpenGLViewport()

COpenGLViewport::COpenGLViewport ( COpenGLScene parent = nullptr,
const std::string &  name = std::string("") 
)

Constructor, invoked from COpenGLScene only.

Definition at line 51 of file COpenGLViewport.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::opengl::COpenGLViewport::_GetBaseClass ( )
staticprotected

◆ addTextMessage()

void CTextMessageCapable::addTextMessage ( const double  x_frac,
const double  y_frac,
const std::string &  text,
const size_t  unique_index = 0,
const TFontParams fontParams = TFontParams() 
)
inherited

Add 2D text messages overlapped to the 3D rendered scene.

overload with more font parameters - refer to mrpt::opengl::gl_utils::glDrawText()

The string will remain displayed in the 3D window until it's changed with subsequent calls to this same method, or all the texts are cleared with clearTextMessages().

Parameters
xThe X position, interpreted as absolute pixels from the left if X>=1, absolute pixels from the left if X<0 or as a width factor if in the range [0,1[.
yThe Y position, interpreted as absolute pixels from the bottom if Y>=1, absolute pixels from the top if Y<0 or as a height factor if in the range [0,1[.
textThe text string to display.
colorThe text color. For example: TColorf(1.0,1.0,1.0)
unique_indexAn "index" for this text message, so that subsequent calls with the same index will overwrite this text message instead of creating new ones.

You'll need to refresh the display manually with forceRepaint().

See also
clearTextMessages, updateTextMessage

Definition at line 64 of file CTextMessageCapable.cpp.

References mrpt::opengl::T2DTextData::text, mrpt::opengl::T2DTextData::x, and mrpt::opengl::T2DTextData::y.

Referenced by serializeFrom().

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◆ begin() [1/2]

const_iterator mrpt::opengl::COpenGLViewport::begin ( ) const
inline

Definition at line 243 of file COpenGLViewport.h.

References m_objects.

◆ begin() [2/2]

iterator mrpt::opengl::COpenGLViewport::begin ( )
inline

Definition at line 245 of file COpenGLViewport.h.

References m_objects.

◆ clear()

void COpenGLViewport::clear ( )

Delete all internal obejcts.

See also
insert

Definition at line 95 of file COpenGLViewport.cpp.

References m_objects.

Referenced by serializeFrom(), setCloneView(), and ~COpenGLViewport().

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◆ clearTextMessages()

void CTextMessageCapable::clearTextMessages ( )
inherited

Definition at line 42 of file CTextMessageCapable.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::COpenGLViewport::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::opengl::COpenGLViewport::Create ( Args &&...  args)
inlinestatic

Definition at line 65 of file COpenGLViewport.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::opengl::COpenGLViewport::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 65 of file COpenGLViewport.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::opengl::COpenGLViewport::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::opengl::COpenGLViewport::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 65 of file COpenGLViewport.h.

◆ dumpListOfObjects()

void COpenGLViewport::dumpListOfObjects ( std::vector< std::string > &  lst)
protected

Retrieves a list of all objects in text form.

Definition at line 705 of file COpenGLViewport.cpp.

References CLASS_ID_NAMESPACE, and m_objects.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ empty()

bool mrpt::opengl::COpenGLViewport::empty ( ) const
inline

Definition at line 312 of file COpenGLViewport.h.

References m_objects.

Referenced by loadDefaultShaders().

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◆ enablePolygonNicest()

void mrpt::opengl::COpenGLViewport::enablePolygonNicest ( bool  enable = true)
inline

Sets glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST) is enabled, or GL_FASTEST otherwise.

Definition at line 117 of file COpenGLViewport.h.

References m_OpenGL_enablePolygonNicest.

◆ end() [1/2]

const_iterator mrpt::opengl::COpenGLViewport::end ( ) const
inline

Definition at line 244 of file COpenGLViewport.h.

References m_objects.

◆ end() [2/2]

iterator mrpt::opengl::COpenGLViewport::end ( )
inline

Definition at line 246 of file COpenGLViewport.h.

References m_objects.

◆ get3DRayForPixelCoord()

void COpenGLViewport::get3DRayForPixelCoord ( const double  x_coord,
const double  y_coord,
mrpt::math::TLine3D out_ray,
mrpt::poses::CPose3D out_cameraPose = nullptr 
) 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.

Parameters
x_coordHorizontal coordinate with the usual meaning (0:left of the viewport, W-1: right border).
y_coordHorizontal coordinate with the usual meaning (0:top of the viewport, H-1: right border).
out_cameraPoseIf not nullptr, will have the camera 3D pose as a mrpt::poses::CPose3D. See also
Note
(x,y) refer to VIEWPORT coordinates. Take into account this when viewports do not extend to the whole window size.
x and y are double instead of integers to allow sub-pixel precision.
See also
getCurrentCameraPose

Definition at line 764 of file COpenGLViewport.cpp.

References ASSERTDEB_, mrpt::opengl::TRenderMatrices::azimuth, mrpt::math::crossProduct3D(), mrpt::DEG2RAD(), mrpt::math::TLine3D::director, mrpt::opengl::TRenderMatrices::elev, mrpt::opengl::TRenderMatrices::eye, mrpt::opengl::TRenderMatrices::eyeDistance, mrpt::opengl::TRenderMatrices::FOV, mrpt::opengl::TRenderMatrices::is_projective, m_state, mrpt::math::TLine3D::pBase, mrpt::math::UNINITIALIZED_MATRIX, mrpt::opengl::TRenderMatrices::viewport_height, mrpt::opengl::TRenderMatrices::viewport_width, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by getCurrentCameraPose().

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◆ getBorderColor()

const mrpt::img::TColor& mrpt::opengl::COpenGLViewport::getBorderColor ( ) const
inline

Definition at line 193 of file COpenGLViewport.h.

References m_borderColor.

◆ getBorderSize()

unsigned int mrpt::opengl::COpenGLViewport::getBorderSize ( ) const
inline

Definition at line 190 of file COpenGLViewport.h.

References m_borderWidth.

◆ getBoundingBox()

void 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.

Definition at line 931 of file COpenGLViewport.cpp.

References bb_max, bb_min, mrpt::keep_max(), mrpt::keep_min(), m_objects, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ getByClass()

template<typename T >
T::Ptr mrpt::opengl::COpenGLViewport::getByClass ( size_t  ith = 0) const
inline

Returns the i'th object of a given class (or of a descendant class), or nullptr (an empty smart pointer) if not found.

Example:

CSphere::Ptr obs = view.getByClass<CSphere>();

By default (ith=0), the first observation is returned.

Definition at line 280 of file COpenGLViewport.h.

References CLASS_ID_NAMESPACE, m_objects, MRPT_END, and MRPT_START.

Referenced by renderNormalSceneMode().

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◆ getByName()

CRenderizable::Ptr COpenGLViewport::getByName ( const std::string &  str)

Returns the first object with a given name, or nullptr if not found.

Definition at line 681 of file COpenGLViewport.cpp.

References CLASS_ID_NAMESPACE, and m_objects.

◆ getCamera() [1/2]

opengl::CCamera& mrpt::opengl::COpenGLViewport::getCamera ( )
inline

Get a reference to the camera associated with this viewport.

Definition at line 314 of file COpenGLViewport.h.

References m_camera.

◆ getCamera() [2/2]

const opengl::CCamera& mrpt::opengl::COpenGLViewport::getCamera ( ) const
inline

Get a reference to the camera associated with this viewport.

Definition at line 316 of file COpenGLViewport.h.

References m_camera.

◆ getClassName()

static constexpr auto mrpt::opengl::COpenGLViewport::getClassName ( )
inlinestatic

Definition at line 65 of file COpenGLViewport.h.

◆ getCurrentCameraPose()

void COpenGLViewport::getCurrentCameraPose ( mrpt::poses::CPose3D out_cameraPose) const

Compute the current 3D camera pose.

See also
get3DRayForPixelCoord

Definition at line 887 of file COpenGLViewport.cpp.

References get3DRayForPixelCoord().

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◆ getCustomBackgroundColor()

mrpt::img::TColorf mrpt::opengl::COpenGLViewport::getCustomBackgroundColor ( ) const
inline

Definition at line 210 of file COpenGLViewport.h.

References m_background_color.

◆ getName()

std::string mrpt::opengl::COpenGLViewport::getName ( )
inline

Returns the name of the viewport.

Definition at line 132 of file COpenGLViewport.h.

References m_name.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::opengl::COpenGLViewport::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::COpenGLViewport::GetRuntimeClassIdStatic ( )
static

◆ getTextMessages()

const TListTextMessages& mrpt::opengl::CTextMessageCapable::getTextMessages ( ) const
inlineinherited

◆ getViewportClipDistances()

void COpenGLViewport::getViewportClipDistances ( float &  clip_min,
float &  clip_max 
) const

Get the current min/max clip depth distances of the rendering frustum (default: 0.1 - 10000)

See also
setViewportClipDistances

Definition at line 754 of file COpenGLViewport.cpp.

References m_clip_max, and m_clip_min.

◆ getViewportPosition()

void 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:

  • If in the range [0,1], they are factors with respect to the actual window sizes (i.e. width=1 means the entire width of the rendering window).
  • If >1, they are interpreted as pixels.
    Note
    (x,y) specify the lower left corner of the viewport rectangle.
    See also
    setViewportPosition

Definition at line 83 of file COpenGLViewport.cpp.

References m_view_height, m_view_width, m_view_x, and m_view_y.

◆ hasSubscribers()

bool mrpt::system::CObservable::hasSubscribers ( ) const
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 53 of file CObservable.h.

References mrpt::system::CObservable::m_subscribers.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), render(), and renderNormalSceneMode().

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◆ initializeTextures()

void COpenGLViewport::initializeTextures ( )
protected

Initializes all textures in the scene (See opengl::CTexturedPlane::initializeTextures)

Definition at line 700 of file COpenGLViewport.cpp.

References m_objects.

◆ insert()

void COpenGLViewport::insert ( const CRenderizable::Ptr 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.

Definition at line 99 of file COpenGLViewport.cpp.

References m_objects.

◆ internal_enableImageView()

void COpenGLViewport::internal_enableImageView ( )
protected

Definition at line 917 of file COpenGLViewport.cpp.

References mrpt::opengl::CTexturedPlane::Create(), m_imageview_plane, and m_isImageView.

Referenced by setImageView().

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◆ isPolygonNicestEnabled()

bool mrpt::opengl::COpenGLViewport::isPolygonNicestEnabled ( ) const
inline

Definition at line 121 of file COpenGLViewport.h.

References m_OpenGL_enablePolygonNicest.

◆ isTransparent()

bool mrpt::opengl::COpenGLViewport::isTransparent ( )
inline

Return whether the viewport will be rendered transparent over previous viewports.

Definition at line 198 of file COpenGLViewport.h.

References m_isTransparent.

◆ lightParameters() [1/2]

const TLightParameters& mrpt::opengl::COpenGLViewport::lightParameters ( ) const
inline

Definition at line 123 of file COpenGLViewport.h.

References m_lights.

◆ lightParameters() [2/2]

TLightParameters& mrpt::opengl::COpenGLViewport::lightParameters ( )
inline

Definition at line 124 of file COpenGLViewport.h.

References m_lights.

◆ loadDefaultShaders()

void COpenGLViewport::loadDefaultShaders ( ) const
protected

Load all MPRT predefined shader programs into m_shaders.

Definition at line 187 of file COpenGLViewport.cpp.

References ASSERT_, empty(), mrpt::opengl::LoadDefaultShader(), m_shaders, MRPT_END, MRPT_START, mrpt::opengl::DefaultShaderID::POINTS, mrpt::opengl::DefaultShaderID::TEXT, mrpt::opengl::DefaultShaderID::TEXTURED_TRIANGLES, mrpt::opengl::DefaultShaderID::TRIANGLES, and mrpt::opengl::DefaultShaderID::WIREFRAME.

Referenced by render(), and renderTextMessages().

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◆ publishEvent()

void CObservable::publishEvent ( const mrptEvent e) const
protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

Definition at line 57 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), render(), and renderNormalSceneMode().

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◆ removeObject()

void COpenGLViewport::removeObject ( const CRenderizable::Ptr obj)

Removes the given object from the scene (it also deletes the object to free its memory).

Definition at line 731 of file COpenGLViewport.cpp.

References CLASS_ID_NAMESPACE, and m_objects.

◆ render()

void COpenGLViewport::render ( const int  render_width,
const int  render_height,
const int  render_offset_x = 0,
const int  render_offset_y = 0 
) const

◆ renderImageMode()

void COpenGLViewport::renderImageMode ( ) const
protected

Render in image mode.

Definition at line 129 of file COpenGLViewport.cpp.

References mrpt::opengl::enqueForRendering(), m_imageview_plane, m_lights, m_shaders, m_state, and mrpt::opengl::processRenderQueue().

Referenced by render().

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◆ renderNormalSceneMode()

void COpenGLViewport::renderNormalSceneMode ( ) const
protected

◆ renderTextMessages()

void COpenGLViewport::renderTextMessages ( ) const
protected

◆ renderViewportBorder()

void COpenGLViewport::renderViewportBorder ( ) const
protected

Render the viewport border, if enabled.

Definition at line 342 of file COpenGLViewport.cpp.

References mrpt::opengl::CSetOfLines::Create(), mrpt::opengl::enqueForRendering(), m_borderColor, m_borderLines, m_borderWidth, m_lights, m_shaders, m_state, MRPT_END, MRPT_START, mrpt::opengl::TRenderMatrices::mv_matrix, mrpt::opengl::processRenderQueue(), and mrpt::math::MatrixBase< Scalar, Derived >::setIdentity().

Referenced by render().

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◆ resetCloneView()

void mrpt::opengl::COpenGLViewport::resetCloneView ( )
inline

Reset the viewport to normal mode: rendering its own objects.

See also
setCloneView, setNormalMode

Definition at line 99 of file COpenGLViewport.h.

References setNormalMode().

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◆ serializeFrom() [1/2]

void COpenGLViewport::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 592 of file COpenGLViewport.cpp.

References mrpt::img::TColorf::A, mrpt::opengl::CTextMessageCapable::addTextMessage(), mrpt::img::TColorf::B, clear(), mrpt::opengl::TFontParams::color, mrpt::opengl::TFontParams::draw_shadow, mrpt::img::TColorf::G, mrpt::opengl::CTextMessageCapable::m_2D_texts, m_background_color, m_borderWidth, m_camera, m_clonedViewport, m_custom_backgb_color, m_isCloned, m_isClonedCamera, m_isTransparent, m_lights, m_name, m_objects, m_OpenGL_enablePolygonNicest, m_view_height, m_view_width, m_view_x, m_view_y, mrpt::opengl::CTextMessageCapable::TListTextMessages::messages, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::img::TColorf::R, mrpt::serialization::CArchive::ReadAs(), mrpt::opengl::TFontParams::shadow_color, mrpt::opengl::TFontParams::vfont_kerning, mrpt::opengl::TFontParams::vfont_name, mrpt::opengl::TFontParams::vfont_scale, mrpt::opengl::TFontParams::vfont_spacing, and mrpt::opengl::TFontParams::vfont_style.

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t COpenGLViewport::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 553 of file COpenGLViewport.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeTo() [2/2]

void COpenGLViewport::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

◆ setBorderColor()

void mrpt::opengl::COpenGLViewport::setBorderColor ( const mrpt::img::TColor c)
inline

Definition at line 192 of file COpenGLViewport.h.

References m_borderColor.

◆ setBorderSize()

void mrpt::opengl::COpenGLViewport::setBorderSize ( unsigned int  lineWidth)
inline

Set the border size ("frame") of the viewport (default=0)

Definition at line 186 of file COpenGLViewport.h.

References m_borderWidth.

◆ setCloneCamera()

void mrpt::opengl::COpenGLViewport::setCloneCamera ( bool  enable)
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 103 of file COpenGLViewport.h.

References m_isClonedCamera.

◆ setCloneView()

void 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

See also
resetCloneView

Definition at line 58 of file COpenGLViewport.cpp.

References clear(), m_clonedViewport, and m_isCloned.

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◆ setCurrentCameraFromPose()

void COpenGLViewport::setCurrentCameraFromPose ( mrpt::poses::CPose3D p)

Changes the point of view of the camera, from a given pose.

See also
getCurrentCameraPose

Definition at line 881 of file COpenGLViewport.cpp.

References m_camera, mrpt::opengl::CCamera::set6DOFMode(), and mrpt::opengl::CRenderizable::setPose().

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◆ setCustomBackgroundColor()

void mrpt::opengl::COpenGLViewport::setCustomBackgroundColor ( const mrpt::img::TColorf color)
inline

Set a background color different from that of the parent GUI window.

Definition at line 204 of file COpenGLViewport.h.

References m_background_color, and m_custom_backgb_color.

◆ setImageView() [1/2]

void COpenGLViewport::setImageView ( const mrpt::img::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()

Definition at line 906 of file COpenGLViewport.cpp.

References internal_enableImageView(), and m_imageview_plane.

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◆ setImageView() [2/2]

void COpenGLViewport::setImageView ( mrpt::img::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.

See also
setImageView

Definition at line 911 of file COpenGLViewport.cpp.

References internal_enableImageView(), and m_imageview_plane.

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◆ setNormalMode()

void COpenGLViewport::setNormalMode ( )

Resets the viewport to a normal 3D viewport.

See also
setCloneView, setImageView

Definition at line 896 of file COpenGLViewport.cpp.

References m_imageview_plane, m_isCloned, m_isClonedCamera, and m_isImageView.

Referenced by resetCloneView().

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◆ setTransparent()

void mrpt::opengl::COpenGLViewport::setTransparent ( bool  trans)
inline

Set the transparency, that is, whether the viewport will be rendered transparent over previous viewports (default=false).

Definition at line 202 of file COpenGLViewport.h.

References m_isTransparent.

◆ setViewportClipDistances()

void COpenGLViewport::setViewportClipDistances ( const float  clip_min,
const float  clip_max 
)

Set the min/max clip depth distances of the rendering frustum (default: 0.1 - 10000)

See also
getViewportClipDistances

Definition at line 745 of file COpenGLViewport.cpp.

References ASSERT_ABOVE_, m_clip_max, and m_clip_min.

◆ setViewportPosition()

void 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:

  • If in the range [0,1], they are factors with respect to the actual window sizes (i.e. width=1 means the entire width of the rendering window).
  • If >1, they are interpreted as pixels.

width & height can be interpreted as:

  • If >1, they are the size of the viewport in that dimension, in pixels.
  • If in [0,1], they are the size of the viewport in that dimension, in a factor of the width/height.
  • If in [-1,0[, the size is computed such as the right/top border ends up in the given coordinate, interpreted as a factor (e.g. -1: up to the end of the viewport, -0.5: up to the middle of it).
  • If <-1 the size is computed such as the right/top border ends up in the given absolute coordinate (e.g. -200: up to the row/column 200px).
Note
(x,y) specify the lower left corner of the viewport rectangle.
See also
getViewportPosition

Definition at line 65 of file COpenGLViewport.cpp.

References ASSERT_, m_view_height, m_view_width, m_view_x, m_view_y, MRPT_END, and MRPT_START.

◆ size()

size_t mrpt::opengl::COpenGLViewport::size ( ) const
inline

Number of objects contained.

Definition at line 311 of file COpenGLViewport.h.

References m_objects.

◆ unloadShaders()

void COpenGLViewport::unloadShaders ( )
protected

Unload shader programs in m_shaders.

Definition at line 185 of file COpenGLViewport.cpp.

References m_shaders.

◆ updateTextMessage()

bool CTextMessageCapable::updateTextMessage ( const size_t  unique_index,
const std::string &  text 
)
inherited

Just updates the text of a given text message, without touching the other parameters.

Returns
false if given ID doesn't exist.

Definition at line 48 of file CTextMessageCapable.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
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.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ COpenGLScene

friend class COpenGLScene
friend

Definition at line 66 of file COpenGLViewport.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::opengl::COpenGLViewport::className = "mrpt::opengl" "::" "COpenGLViewport"
static

Definition at line 65 of file COpenGLViewport.h.

◆ m_2D_texts

TListTextMessages mrpt::opengl::CTextMessageCapable::m_2D_texts
protectedinherited

◆ m_background_color

mrpt::img::TColorf mrpt::opengl::COpenGLViewport::m_background_color = {0.6f, 0.6f, 0.6f}
protected

used only if m_custom_backgb_color

Definition at line 383 of file COpenGLViewport.h.

Referenced by getCustomBackgroundColor(), render(), serializeFrom(), serializeTo(), and setCustomBackgroundColor().

◆ m_borderColor

mrpt::img::TColor mrpt::opengl::COpenGLViewport::m_borderColor {255, 255, 255, 255}
protected

Definition at line 375 of file COpenGLViewport.h.

Referenced by getBorderColor(), renderViewportBorder(), and setBorderColor().

◆ m_borderLines

mrpt::opengl::CSetOfLines::Ptr mrpt::opengl::COpenGLViewport::m_borderLines
mutableprotected

Definition at line 390 of file COpenGLViewport.h.

Referenced by renderViewportBorder().

◆ m_borderWidth

uint32_t mrpt::opengl::COpenGLViewport::m_borderWidth {0}
protected

Default=0, the border around the viewport.

Definition at line 373 of file COpenGLViewport.h.

Referenced by getBorderSize(), renderViewportBorder(), serializeFrom(), serializeTo(), and setBorderSize().

◆ m_camera

opengl::CCamera mrpt::opengl::COpenGLViewport::m_camera
protected

The camera associated to the viewport.

Definition at line 359 of file COpenGLViewport.h.

Referenced by getCamera(), renderNormalSceneMode(), serializeFrom(), serializeTo(), and setCurrentCameraFromPose().

◆ m_clip_max

float mrpt::opengl::COpenGLViewport::m_clip_max = 10000.0f
protected

◆ m_clip_min

float mrpt::opengl::COpenGLViewport::m_clip_min = 0.1f
protected

The min/max clip depth distances (default: 0.1 - 10000)

Definition at line 380 of file COpenGLViewport.h.

Referenced by getViewportClipDistances(), renderNormalSceneMode(), and setViewportClipDistances().

◆ m_clonedViewport

std::string mrpt::opengl::COpenGLViewport::m_clonedViewport
protected

Only if m_isCloned=true.

Definition at line 367 of file COpenGLViewport.h.

Referenced by renderNormalSceneMode(), serializeFrom(), serializeTo(), and setCloneView().

◆ m_custom_backgb_color

bool mrpt::opengl::COpenGLViewport::m_custom_backgb_color {false}
protected

Definition at line 381 of file COpenGLViewport.h.

Referenced by render(), serializeFrom(), serializeTo(), and setCustomBackgroundColor().

◆ m_imageview_plane

mrpt::opengl::CTexturedPlane::Ptr mrpt::opengl::COpenGLViewport::m_imageview_plane
protected

The image to display, after calling setImageView()

Definition at line 388 of file COpenGLViewport.h.

Referenced by internal_enableImageView(), renderImageMode(), setImageView(), and setNormalMode().

◆ m_isCloned

bool mrpt::opengl::COpenGLViewport::m_isCloned {false}
protected

Set by setCloneView.

Definition at line 363 of file COpenGLViewport.h.

Referenced by renderNormalSceneMode(), serializeFrom(), serializeTo(), setCloneView(), and setNormalMode().

◆ m_isClonedCamera

bool mrpt::opengl::COpenGLViewport::m_isClonedCamera {false}
protected

Set by setCloneCamera.

Definition at line 365 of file COpenGLViewport.h.

Referenced by renderNormalSceneMode(), serializeFrom(), serializeTo(), setCloneCamera(), and setNormalMode().

◆ m_isImageView

bool mrpt::opengl::COpenGLViewport::m_isImageView {false}
protected

Set by setImageView.

Definition at line 385 of file COpenGLViewport.h.

Referenced by internal_enableImageView(), render(), and setNormalMode().

◆ m_isTransparent

bool mrpt::opengl::COpenGLViewport::m_isTransparent {false}
protected

Whether to clear color buffer.

Definition at line 371 of file COpenGLViewport.h.

Referenced by isTransparent(), render(), serializeFrom(), serializeTo(), and setTransparent().

◆ m_lights

TLightParameters mrpt::opengl::COpenGLViewport::m_lights
protected

◆ m_name

std::string mrpt::opengl::COpenGLViewport::m_name
protected

The viewport's name.

Definition at line 369 of file COpenGLViewport.h.

Referenced by getName(), serializeFrom(), and serializeTo().

◆ m_objects

opengl::CListOpenGLObjects mrpt::opengl::COpenGLViewport::m_objects
protected

The list of objects that comprise the 3D scene.

Objects are automatically deleted when calling "clear" or in the destructor.

Definition at line 408 of file COpenGLViewport.h.

Referenced by begin(), clear(), dumpListOfObjects(), empty(), end(), getBoundingBox(), getByClass(), getByName(), initializeTextures(), insert(), removeObject(), renderNormalSceneMode(), serializeFrom(), serializeTo(), and size().

◆ m_OpenGL_enablePolygonNicest

bool mrpt::opengl::COpenGLViewport::m_OpenGL_enablePolygonNicest {true}
protected

◆ m_parent

mrpt::safe_ptr<COpenGLScene> mrpt::opengl::COpenGLViewport::m_parent
protected

The scene that contains this viewport.

Definition at line 361 of file COpenGLViewport.h.

Referenced by renderNormalSceneMode().

◆ m_shaders

std::map<shader_id_t, mrpt::opengl::Program::Ptr> mrpt::opengl::COpenGLViewport::m_shaders
mutableprotected

◆ m_state

TRenderMatrices mrpt::opengl::COpenGLViewport::m_state
mutableprotected

Info updated with each "render()" and used in "get3DRayForPixelCoord".

Definition at line 393 of file COpenGLViewport.h.

Referenced by get3DRayForPixelCoord(), render(), renderImageMode(), renderNormalSceneMode(), renderTextMessages(), and renderViewportBorder().

◆ m_view_height

double mrpt::opengl::COpenGLViewport::m_view_height {1}
protected

◆ m_view_width

double mrpt::opengl::COpenGLViewport::m_view_width {1}
protected

◆ m_view_x

double mrpt::opengl::COpenGLViewport::m_view_x {0}
protected

The viewport position [0,1].

Definition at line 378 of file COpenGLViewport.h.

Referenced by getViewportPosition(), render(), serializeFrom(), serializeTo(), and setViewportPosition().

◆ m_view_y

double mrpt::opengl::COpenGLViewport::m_view_y {0}
protected

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::COpenGLViewport::runtimeClassId
staticprotected

Definition at line 65 of file COpenGLViewport.h.




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