Detailed Description

A graphical user interface (GUI) for efficiently rendering 3D scenes in real-time.

This class always contains internally an instance of opengl::COpenGLScene, which the objects, viewports, etc. to be rendered.

Images can be grabbed automatically to disk for easy creation of videos. See CDisplayWindow3D::grabImagesStart (and for creating videos, mrpt::vision::CVideoFileWriter).

A short-cut for displaying 2D images (using the OpenGL rendering hardware) is available through setImageView() and setImageView_fast(). Internally, these methods call methods in the "main" viewport of the window (see COpenGLViewport).

Since the 3D rendering is performed in a detached thread, especial care must be taken when updating the 3D scene to be rendered. The process involves an internal critical section and it must always consist of these steps:

mrpt::gui::CDisplayWindow3D  win("My window");
// Adquire the scene:
mrpt::opengl::COpenGLScene::Ptr &ptrScene = win.get3DSceneAndLock();
// Modify the scene:
ptrScene->...
// or replace by another scene:
ptrScene = otherScene;
// Unlock it, so the window can use it for redraw:
win.unlockAccess3DScene();
// Update window, if required
win.forceRepaint();

An alternative way of updating the scene is by creating, before locking the 3D window, a new object of class COpenGLScene, then locking the window only for replacing the smart pointer. This may be advantageous is generating the 3D scene takes a long time, since while the window is locked it will not be responsive to the user input or window redraw.

It is safer against exceptions to use the auxiliary class CDisplayWindow3DLocker.

mrpt::gui::CDisplayWindow3D  win("My window");
// ...
{ // The scene is adquired in this scope
   mrpt::opengl::COpenGLScene::Ptr ptrScene;
   mrpt::gui::CDisplayWindow3DLocker  locker(win,ptrScene);
   //...
} // scene is unlocked upon dtor of `locker`

Notice however that a copy of the smart pointer is made, so replacement of the entire scene via operator = is not possible if using this method. Still, in general it should be preferred because the mutexes are automatically released in case of unexpected exceptions.

The window can also display a set of 2D text messages overlapped to the 3D scene. See CDisplayWindow3D::addTextMessage

For a list of supported events with the observer/observable pattern, see the discussion in mrpt::gui::CBaseGUIWindow. In addition to those events, this class introduces mrpt::gui::mrptEvent3DWindowGrabImageFile

** CDisplayWindow3D mouse view navigation cheatsheet **

Orbit camera: Left-button pressed + move
Zoom in / out:
- Mouse scroll wheel, or
- SHIFT+Left-button pressed + move up/down
Look around (pivot camera): CTRL+Left-button pressed + move up/down
Pan (XY plane): Right-button pressed + move
Move camera along Z axis: SHIFT+Left-button pressed + move left/right

See also: The example /samples/display3D, the tutorial only.

Definition at line 116 of file CDisplayWindow3D.h.

#include <mrpt/gui/CDisplayWindow3D.h>

Inheritance diagram for mrpt::gui::CDisplayWindow3D:

Public Types
using	Ptr = std::shared_ptr< CDisplayWindow3D >

using	ConstPtr = std::shared_ptr< const CDisplayWindow3D >

Public Member Functions
	CDisplayWindow3D (const std::string &windowCaption=std::string(), unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300)
	Constructor. More...

virtual	~CDisplayWindow3D ()
	Destructor. More...

mrpt::opengl::COpenGLScene::Ptr &	get3DSceneAndLock ()
	Gets a reference to the smart shared pointer that holds the internal scene (carefuly read introduction in gui::CDisplayWindow3D before use!) This also locks the critical section for accesing the scene, thus the window will not be repainted until it is unlocked. More...

void	unlockAccess3DScene ()
	Unlocks the access to the internal 3D scene. More...

void	forceRepaint ()
	Repaints the window. More...

void	repaint ()
	Repaints the window. More...

void	updateWindow ()
	Repaints the window. More...

float	getFOV () const
	Return the camera field of view (in degrees) (used for gluPerspective) More...

void	setMinRange (double new_min)
	Changes the camera min clip range (z) (used for gluPerspective). More...

void	setMaxRange (double new_max)
	Changes the camera max clip range (z) (used for gluPerspective. More...

void	setFOV (float v)
	Changes the camera field of view (in degrees) (used for gluPerspective). More...

void	resize (unsigned int width, unsigned int height) override
	Resizes the window, stretching the image to fit into the display area. More...

void	setPos (int x, int y) override
	Changes the position of the window on the screen. More...

void	setWindowTitle (const std::string &str) override
	Changes the window title. More...

void	setCameraElevationDeg (float deg)
	Changes the camera parameters programmatically. More...

void	setCameraAzimuthDeg (float deg)
	Changes the camera parameters programmatically. More...

void	setCameraPointingToPoint (float x, float y, float z)
	Changes the camera parameters programmatically. More...

void	setCameraZoom (float zoom)
	Changes the camera parameters programmatically. More...

void	setCameraProjective (bool isProjective)
	Sets the camera as projective, or orthogonal. More...

float	getCameraElevationDeg () const
	Get camera parameters programmatically. More...

float	getCameraAzimuthDeg () const
	Get camera parameters programmatically. More...

void	getCameraPointingToPoint (float &x, float &y, float &z) const
	Get camera parameters programmatically. More...

float	getCameraZoom () const
	Get camera parameters programmatically. More...

bool	isCameraProjective () const
	Sets the camera as projective, or orthogonal. More...

void	useCameraFromScene (bool useIt=true)
	If set to true (default = false), the mouse-based scene navigation will be disabled and the camera position will be determined by the opengl viewports in the 3D scene. More...

bool	getLastMousePositionRay (mrpt::math::TLine3D &ray) const
	Gets the 3D ray for the direction line of the pixel where the mouse cursor is at. More...

virtual bool	getLastMousePosition (int &x, int &y) const override
	Gets the last x,y pixel coordinates of the mouse. More...

virtual void	setCursorCross (bool cursorIsCross) override
	Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true) More...

void	grabImagesStart (const std::string &grab_imgs_prefix=std::string("video_"))
	Start to save rendered images to disk. More...

void	grabImagesStop ()
	Stops image grabbing started by grabImagesStart. More...

void	captureImagesStart ()
	Enables the grabbing of CImage objects from screenshots of the window. More...

void	captureImagesStop ()
	Stop image grabbing. More...

bool	getLastWindowImage (mrpt::img::CImage &out_img) const
	Retrieve the last captured image from the window. More...

mrpt::img::CImage::Ptr	getLastWindowImagePtr () const
	Retrieve the last captured image from the window, as a smart pointer. More...

std::string	grabImageGetNextFile ()
	Increments by one the image counter and return the next image file name (Users normally don't want to call this method). More...

bool	isCapturingImgs () const

void	addTextMessage (const double x, const double y, const std::string &text, const mrpt::img::TColorf &color=mrpt::img::TColorf(1.0, 1.0, 1.0), const size_t unique_index=0, const mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Add 2D text messages overlapped to the 3D rendered scene. More...

void	addTextMessage (const double x_frac, const double y_frac, const std::string &text, const mrpt::img::TColorf &color, const std::string &font_name, const double font_size, const mrpt::opengl::TOpenGLFontStyle font_style=mrpt::opengl::NICE, const size_t unique_index=0, const double font_spacing=1.5, const double font_kerning=0.1, const bool draw_shadow=false, const mrpt::img::TColorf &shadow_color=mrpt::img::TColorf(0, 0, 0))
	overload with more font parameters - refer to mrpt::opengl::gl_utils::glDrawText() Available fonts are enumerated at mrpt::opengl::gl_utils::glSetFont() More...

void	clearTextMessages ()
	Clear all text messages created with addTextMessage(). More...

double	getRenderingFPS () const
	Get the average Frames Per Second (FPS) value from the last 250 rendering events. More...

mrpt::opengl::COpenGLViewport::Ptr	getDefaultViewport ()
	A short cut for getting the "main" viewport of the scene object, it is equivalent to: More...

void	setImageView (const mrpt::img::CImage &img)
	Set the "main" viewport into "image view"-mode, where an image is efficiently drawn (fitting the viewport area) using an OpenGL textured quad. More...

void	setImageView_fast (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 *	getWxObject ()
	Read-only access to the wxDialog object. More...

void	notifyChildWindowDestruction ()
	Called by wx main thread to set m_hwnd to NULL. More...

void	notifySemThreadReady ()
	Called by wx main thread to signal the semaphore that the wx window is built and ready. More...

bool	isOpen ()
	Returns false if the user has already closed the window. More...

int	waitForKey (bool ignoreControlKeys=true, mrptKeyModifier *out_pushModifier=nullptr)
	Waits for any key to be pushed on the image or the console, and returns the key code. More...

bool	keyHit () const
	Returns true if a key has been pushed, without blocking waiting for a new key being pushed. More...

void	clearKeyHitFlag ()
	Assure that "keyHit" will return false until the next pushed key. More...

int	getPushedKey (mrptKeyModifier *out_pushModifier=nullptr)
	Returns the latest pushed key, or 0 if there is no new key stroke. More...

Static Public Member Functions
static CDisplayWindow3D::Ptr	Create (const std::string &windowCaption, unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300)
	Class factory returning a smart pointer. More...

Protected Member Functions
void	createOpenGLContext ()
	Throws an exception on initialization error. More...

void	doRender ()

void	internalSetMinMaxRange ()

void	internal_setRenderingFPS (double FPS)
	Set the rendering FPS (users don't call this, the method is for internal MRPT objects only) More...

void	internal_emitGrabImageEvent (const std::string &fil)
	called by CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers More...

void	createWxWindow (unsigned int initialWidth, unsigned int initialHeight)
	Must be called by child classes just within the constructor. More...

void	destroyWxWindow ()
	Must be called by child classes in their destructors. 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...

Protected Attributes
mrpt::opengl::COpenGLScene::Ptr	m_3Dscene
	Internal OpenGL object (see general discussion in about usage of this object) More...

std::recursive_mutex	m_csAccess3DScene
	Critical section for accesing m_3Dscene. More...

mrpt::void_ptr_noncopy	m_DisplayDeviceContext

mrpt::void_ptr_noncopy	m_GLRenderingContext

std::string	m_grab_imgs_prefix

unsigned int	m_grab_imgs_idx

bool	m_is_capturing_imgs

mrpt::img::CImage::Ptr	m_last_captured_img

std::mutex	m_last_captured_img_cs

mrpt::system::TTimeStamp	m_lastFullScreen

double	m_last_FPS

std::promise< void >	m_threadReady
	This semaphore will be signaled when the wx window is built and ready. More...

std::promise< void >	m_windowDestroyed
	This semaphore will be signaled when the wx window is destroyed. More...

std::string	m_caption
	The caption of the window. More...

mrpt::void_ptr_noncopy	m_hwnd
	The window handle. More...

volatile bool	m_keyPushed

volatile int	m_keyPushedCode

volatile mrptKeyModifier	m_keyPushedModifier

Friends
class	C3DWindowDialog

class	CMyGLCanvas_DisplayWindow3D

Member Typedef Documentation

◆ ConstPtr

using mrpt::gui::CDisplayWindow3D::ConstPtr = std::shared_ptr<const CDisplayWindow3D>

Definition at line 120 of file CDisplayWindow3D.h.

◆ Ptr

using mrpt::gui::CDisplayWindow3D::Ptr = std::shared_ptr<CDisplayWindow3D>

Definition at line 119 of file CDisplayWindow3D.h.

Constructor & Destructor Documentation

◆ CDisplayWindow3D()

CDisplayWindow3D::CDisplayWindow3D	(	const std::string &	windowCaption = `std::string()`,
		unsigned int	initialWindowWidth = `400`,
		unsigned int	initialWindowHeight = `300`
	)

Constructor.

Definition at line 427 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::createWxWindow(), and m_3Dscene.

Referenced by Create().

◆ ~CDisplayWindow3D()

CDisplayWindow3D::~CDisplayWindow3D ( )

virtual

Destructor.

Definition at line 454 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::destroyWxWindow(), and m_csAccess3DScene.

Member Function Documentation

◆ addTextMessage() [1/2]

void CDisplayWindow3D::addTextMessage	(	const double	x,
		const double	y,
		const std::string &	text,
		const mrpt::img::TColorf &	color = `mrpt::img::TColorf(1.0, 1.0, 1.0)`,
		const size_t	unique_index = `0`,
		const mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)

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

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

x	The 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[.
y	The 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[.
text	The text string to display.
color	The text color. For example: TColorf(1.0,1.0,1.0)
unique_index	An "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

Definition at line 892 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::str, mrpt::gui::WxSubsystem::TRequestToWxMainThread::vector_x, win, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

Referenced by mrpt::graphslam::CWindowManager::addTextMessage(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::resumeExec().

◆ addTextMessage() [2/2]

void CDisplayWindow3D::addTextMessage	(	const double	x_frac,
		const double	y_frac,
		const std::string &	text,
		const mrpt::img::TColorf &	color,
		const std::string &	font_name,
		const double	font_size,
		const mrpt::opengl::TOpenGLFontStyle	font_style = `mrpt::opengl::NICE`,
		const size_t	unique_index = `0`,
		const double	font_spacing = `1.5`,
		const double	font_kerning = `0.1`,
		const bool	draw_shadow = `false`,
		const mrpt::img::TColorf &	shadow_color = `mrpt::img::TColorf(0, 0, 0)`
	)

overload with more font parameters - refer to mrpt::opengl::gl_utils::glDrawText() Available fonts are enumerated at mrpt::opengl::gl_utils::glSetFont()

Definition at line 934 of file CDisplayWindow3D.cpp.

◆ captureImagesStart()

void CDisplayWindow3D::captureImagesStart ( )

Enables the grabbing of CImage objects from screenshots of the window.

See also: getLastWindowImage

Definition at line 855 of file CDisplayWindow3D.cpp.

References m_is_capturing_imgs.

◆ captureImagesStop()

void CDisplayWindow3D::captureImagesStop ( )

Stop image grabbing.

See also: captureImagesStart

Definition at line 859 of file CDisplayWindow3D.cpp.

References m_is_capturing_imgs.

◆ clearKeyHitFlag()

void mrpt::gui::CBaseGUIWindow::clearKeyHitFlag ( )

inlineinherited

Assure that "keyHit" will return false until the next pushed key.

See also: keyHit, waitForKey

Definition at line 143 of file CBaseGUIWindow.h.

References mrpt::gui::CBaseGUIWindow::m_keyPushed.

◆ clearTextMessages()

void CDisplayWindow3D::clearTextMessages ( )

Clear all text messages created with addTextMessage().

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

See also: addTextMessage

Definition at line 992 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, and win.

◆ Create()

CDisplayWindow3D::Ptr CDisplayWindow3D::Create	(	const std::string &	windowCaption,
		unsigned int	initialWindowWidth = `400`,
		unsigned int	initialWindowHeight = `300`
	)

static

Class factory returning a smart pointer.

Definition at line 444 of file CDisplayWindow3D.cpp.

References CDisplayWindow3D().

◆ createOpenGLContext()

void mrpt::gui::CDisplayWindow3D::createOpenGLContext ( )

protected

Throws an exception on initialization error.

◆ createWxWindow()

void CBaseGUIWindow::createWxWindow	(	unsigned int	initialWidth,
		unsigned int	initialHeight
	)

protectedinherited

Must be called by child classes just within the constructor.

Definition at line 42 of file CBaseGUIWindow.cpp.

Referenced by mrpt::gui::CDisplayWindow::CDisplayWindow(), CDisplayWindow3D(), and mrpt::gui::CDisplayWindowPlots::CDisplayWindowPlots().

◆ destroyWxWindow()

void CBaseGUIWindow::destroyWxWindow ( )

protectedinherited

Must be called by child classes in their destructors.

The code cannot be put into this class' destructor.

Definition at line 105 of file CBaseGUIWindow.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::WxSubsystem::isConsoleApp(), mrpt::gui::CBaseGUIWindow::m_CMD_DESTROY_WIN, mrpt::gui::CBaseGUIWindow::m_hwnd, mrpt::gui::CBaseGUIWindow::m_windowDestroyed, mrpt::gui::CBaseGUIWindow::m_winobj_voidptr, MRPT_END, MRPT_START, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source2D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::sourcePlots, and mrpt::gui::WxSubsystem::waitWxShutdownsIfNoWindows().

Referenced by mrpt::gui::CDisplayWindow::~CDisplayWindow(), ~CDisplayWindow3D(), and mrpt::gui::CDisplayWindowPlots::~CDisplayWindowPlots().

◆ doRender()

void mrpt::gui::CDisplayWindow3D::doRender ( )

protected

◆ forceRepaint()

void CDisplayWindow3D::forceRepaint ( )

Repaints the window.

forceRepaint, repaint and updateWindow are all aliases of the same method

Definition at line 558 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, and win.

Referenced by repaint(), mrpt::graphslam::detail::CEdgeCounter::updateTextMessages(), updateWindow(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ get3DSceneAndLock()

opengl::COpenGLScene::Ptr & CDisplayWindow3D::get3DSceneAndLock ( )

Gets a reference to the smart shared pointer that holds the internal scene (carefuly read introduction in gui::CDisplayWindow3D before use!) This also locks the critical section for accesing the scene, thus the window will not be repainted until it is unlocked.

Note: It is safer to use mrpt::gui::CDisplayWindow3DLocker instead.

Definition at line 545 of file CDisplayWindow3D.cpp.

References m_3Dscene, and m_csAccess3DScene.

Referenced by mrpt::gui::CDisplayWindow3DLocker::CDisplayWindow3DLocker(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), and CGraphSlamHandler< GRAPH_T >::initVisualization().

◆ getCameraAzimuthDeg()

float CDisplayWindow3D::getCameraAzimuthDeg ( ) const

Get camera parameters programmatically.

Definition at line 719 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, and win.

◆ getCameraElevationDeg()

float CDisplayWindow3D::getCameraElevationDeg ( ) const

Get camera parameters programmatically.

Definition at line 706 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, and win.

◆ getCameraPointingToPoint()

void CDisplayWindow3D::getCameraPointingToPoint	(	float &	x,
		float &	y,
		float &	z
	)		const

Get camera parameters programmatically.

Definition at line 732 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

◆ getCameraZoom()

float CDisplayWindow3D::getCameraZoom ( ) const

Get camera parameters programmatically.

Definition at line 755 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, and win.

◆ getDefaultViewport()

mrpt::opengl::COpenGLViewport::Ptr CDisplayWindow3D::getDefaultViewport ( )

A short cut for getting the "main" viewport of the scene object, it is equivalent to:

mrpt::opengl::COpenGLScene::Ptr &scene = win3D.get3DSceneAndLock();
viewport = scene->getViewport("main");
win3D.unlockAccess3DScene();

Definition at line 1022 of file CDisplayWindow3D.cpp.

References m_3Dscene, and m_csAccess3DScene.

◆ getFOV()

float CDisplayWindow3D::getFOV ( ) const

Return the camera field of view (in degrees) (used for gluPerspective)

Definition at line 686 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, and win.

◆ getLastMousePosition()

bool CDisplayWindow3D::getLastMousePosition	(	int &	x,
		int &	y
	)		const

overridevirtual

Gets the last x,y pixel coordinates of the mouse.

Returns: False if the window is closed.

See also: getLastMousePositionRay

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 781 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

Referenced by getLastMousePositionRay().

◆ getLastMousePositionRay()

bool CDisplayWindow3D::getLastMousePositionRay ( mrpt::math::TLine3D & ray ) const

Gets the 3D ray for the direction line of the pixel where the mouse cursor is at.

Returns: False if the window is closed.

See also: getLastMousePosition

Definition at line 798 of file CDisplayWindow3D.cpp.

References getLastMousePosition(), m_3Dscene, and m_csAccess3DScene.

◆ getLastWindowImage()

bool CDisplayWindow3D::getLastWindowImage ( mrpt::img::CImage & out_img ) const

Retrieve the last captured image from the window.

You MUST CALL FIRST captureImagesStart to enable image grabbing.

Returns: false if there was no time yet for grabbing any image (then, the output image is undefined).

See also: captureImagesStart, getLastWindowImagePtr

Definition at line 863 of file CDisplayWindow3D.cpp.

References m_last_captured_img, and m_last_captured_img_cs.

◆ getLastWindowImagePtr()

CImage::Ptr CDisplayWindow3D::getLastWindowImagePtr ( ) const

Retrieve the last captured image from the window, as a smart pointer.

This method is more efficient than getLastWindowImage since only a copy of the pointer is performed, while getLastWindowImage would copy the entire image.

You MUST CALL FIRST captureImagesStart to enable image grabbing. If there was no time yet for grabbing any image, an empty smart pointer will be returned.

See also: captureImagesStart, getLastWindowImage

Definition at line 883 of file CDisplayWindow3D.cpp.

References m_last_captured_img, and m_last_captured_img_cs.

◆ getPushedKey()

int CBaseGUIWindow::getPushedKey ( mrptKeyModifier * out_pushModifier = nullptr )

inherited

Returns the latest pushed key, or 0 if there is no new key stroke.

Parameters

out_pushModifier If set to !=nullptr, the modifiers of the key stroke will be saved here.

Returns: The virtual key code, as defined in <mrpt/gui/keycodes.h> (a replication of wxWidgets key codes).

See also: keyHit, waitForKey

Definition at line 190 of file CBaseGUIWindow.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_keyPushed, mrpt::gui::CBaseGUIWindow::m_keyPushedCode, mrpt::gui::CBaseGUIWindow::m_keyPushedModifier, and mrpt::gui::MRPTKMOD_NONE.

◆ getRenderingFPS()

double mrpt::gui::CDisplayWindow3D::getRenderingFPS ( ) const

inline

Get the average Frames Per Second (FPS) value from the last 250 rendering events.

Definition at line 354 of file CDisplayWindow3D.h.

References m_last_FPS.

◆ getWxObject()

void* mrpt::gui::CBaseGUIWindow::getWxObject ( )

inlineinherited

Read-only access to the wxDialog object.

Definition at line 77 of file CBaseGUIWindow.h.

References mrpt::non_copiable_ptr_basic< T >::get(), and mrpt::gui::CBaseGUIWindow::m_hwnd.

Referenced by mrpt::gui::WxSubsystem::CWXMainFrame::OnTimerProcessRequests().

◆ grabImageGetNextFile()

std::string CDisplayWindow3D::grabImageGetNextFile ( )

Increments by one the image counter and return the next image file name (Users normally don't want to call this method).

See also: grabImagesStart

Definition at line 843 of file CDisplayWindow3D.cpp.

References mrpt::format(), m_grab_imgs_idx, and m_grab_imgs_prefix.

◆ grabImagesStart()

void CDisplayWindow3D::grabImagesStart ( const std::string & grab_imgs_prefix = std::string("video_") )

Start to save rendered images to disk.

Images will be saved independently as png files, depending on the template path passed to this method. For example:

path_prefix: "./video_"

Will generate "./video_000001.png", etc.

If this feature is enabled, the window will emit events of the type mrpt::gui::mrptEvent3DWindowGrabImageFile() which you can subscribe to.

See also: grabImagesStop

Definition at line 830 of file CDisplayWindow3D.cpp.

References m_grab_imgs_idx, and m_grab_imgs_prefix.

◆ grabImagesStop()

void CDisplayWindow3D::grabImagesStop ( )

Stops image grabbing started by grabImagesStart.

See also: grabImagesStart

Definition at line 839 of file CDisplayWindow3D.cpp.

References m_grab_imgs_prefix.

◆ 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(), and mrpt::opengl::COpenGLViewport::render().

◆ internal_emitGrabImageEvent()

void CDisplayWindow3D::internal_emitGrabImageEvent ( const std::string & fil )

protected

called by CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers

Definition at line 1015 of file CDisplayWindow3D.cpp.

References mrpt::system::CObservable::publishEvent().

◆ internal_setRenderingFPS()

void CDisplayWindow3D::internal_setRenderingFPS ( double FPS )

protected

Set the rendering FPS (users don't call this, the method is for internal MRPT objects only)

See also: getRenderingFPS

Definition at line 1008 of file CDisplayWindow3D.cpp.

References m_last_FPS.

◆ internalSetMinMaxRange()

void mrpt::gui::CDisplayWindow3D::internalSetMinMaxRange ( )

protected

◆ isCameraProjective()

bool CDisplayWindow3D::isCameraProjective ( ) const

Sets the camera as projective, or orthogonal.

Definition at line 768 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, and win.

◆ isCapturingImgs()

bool mrpt::gui::CDisplayWindow3D::isCapturingImgs ( ) const

inline

Definition at line 305 of file CDisplayWindow3D.h.

References m_is_capturing_imgs.

◆ isOpen()

bool CBaseGUIWindow::isOpen ( )

inherited

Returns false if the user has already closed the window.

Definition at line 213 of file CBaseGUIWindow.cpp.

References mrpt::gui::CBaseGUIWindow::m_hwnd.

◆ keyHit()

bool mrpt::gui::CBaseGUIWindow::keyHit ( ) const

inlineinherited

Returns true if a key has been pushed, without blocking waiting for a new key being pushed.

See also: waitForKey, clearKeyHitFlag

Definition at line 139 of file CBaseGUIWindow.h.

References mrpt::gui::CBaseGUIWindow::m_keyPushed.

◆ notifyChildWindowDestruction()

void CBaseGUIWindow::notifyChildWindowDestruction ( )

inherited

Called by wx main thread to set m_hwnd to NULL.

Definition at line 152 of file CBaseGUIWindow.cpp.

References mrpt::gui::CBaseGUIWindow::m_hwnd.

Referenced by mrpt::gui::CWindowDialog::OnClose(), and mrpt::gui::C3DWindowDialog::OnClose().

◆ notifySemThreadReady()

void CBaseGUIWindow::notifySemThreadReady ( )

inherited

Called by wx main thread to signal the semaphore that the wx window is built and ready.

Definition at line 217 of file CBaseGUIWindow.cpp.

References mrpt::gui::CBaseGUIWindow::m_threadReady.

Referenced by mrpt::gui::WxSubsystem::CWXMainFrame::OnTimerProcessRequests().

◆ 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 48 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by 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(), and mrpt::opengl::COpenGLViewport::render().

◆ repaint()

void mrpt::gui::CDisplayWindow3D::repaint ( )

inline

Repaints the window.

forceRepaint, repaint and updateWindow are all aliases of the same method

Definition at line 187 of file CDisplayWindow3D.h.

References forceRepaint().

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ resize()

void CDisplayWindow3D::resize	(	unsigned int	width,
		unsigned int	height
	)

overridevirtual

Resizes the window, stretching the image to fit into the display area.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 466 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ setCameraAzimuthDeg()

void CDisplayWindow3D::setCameraAzimuthDeg ( float deg )

Changes the camera parameters programmatically.

Definition at line 603 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ setCameraElevationDeg()

void CDisplayWindow3D::setCameraElevationDeg ( float deg )

Changes the camera parameters programmatically.

Definition at line 580 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ setCameraPointingToPoint()

void CDisplayWindow3D::setCameraPointingToPoint	(	float	x,
		float	y,
		float	z
	)

Changes the camera parameters programmatically.

Definition at line 616 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ setCameraProjective()

void CDisplayWindow3D::setCameraProjective ( bool isProjective )

Sets the camera as projective, or orthogonal.

Definition at line 647 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

◆ setCameraZoom()

void CDisplayWindow3D::setCameraZoom ( float zoom )

Changes the camera parameters programmatically.

Definition at line 634 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ setCursorCross()

void CDisplayWindow3D::setCursorCross ( bool cursorIsCross )

overridevirtual

Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true)

See also: getLastMousePositionRay

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 815 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

◆ setFOV()

void CDisplayWindow3D::setFOV ( float v )

Changes the camera field of view (in degrees) (used for gluPerspective).

The window is not updated with this method, call "forceRepaint" to update the 3D view.

Definition at line 695 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, and win.

◆ setImageView()

void CDisplayWindow3D::setImageView ( const mrpt::img::CImage & img )

Set the "main" 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()

See also: setImageView_fast, COpenGLViewport

Note: This method already locks/unlocks the 3D scene of the window, so the user must NOT call get3DSceneAndLock() / unlockAccess3DScene() before/after calling it.

Definition at line 1030 of file CDisplayWindow3D.cpp.

References m_3Dscene, and m_csAccess3DScene.

◆ setImageView_fast()

void CDisplayWindow3D::setImageView_fast ( 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, COpenGLViewport

Note: This method already locks/unlocks the 3D scene of the window, so the user must NOT call get3DSceneAndLock() / unlockAccess3DScene() before/after calling it.

Definition at line 1038 of file CDisplayWindow3D.cpp.

References m_3Dscene, and m_csAccess3DScene.

◆ setMaxRange()

void CDisplayWindow3D::setMaxRange ( double new_max )

Changes the camera max clip range (z) (used for gluPerspective.

The window is not updated with this method, call "forceRepaint" to update the 3D view.

Definition at line 671 of file CDisplayWindow3D.cpp.

References m_3Dscene.

◆ setMinRange()

void CDisplayWindow3D::setMinRange ( double new_min )

Changes the camera min clip range (z) (used for gluPerspective).

The window is not updated with this method, call "forceRepaint" to update the 3D view.

Definition at line 657 of file CDisplayWindow3D.cpp.

References m_3Dscene.

◆ setPos()

void CDisplayWindow3D::setPos	(	int	x,
		int	y
	)

overridevirtual

Changes the position of the window on the screen.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 493 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, mrpt::gui::WxSubsystem::TRequestToWxMainThread::x, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::y.

Referenced by CGraphSlamHandler< GRAPH_T >::initVisualization().

◆ setWindowTitle()

void CDisplayWindow3D::setWindowTitle ( const std::string & str )

overridevirtual

Changes the window title.

Implements mrpt::gui::CBaseGUIWindow.

Definition at line 520 of file CDisplayWindow3D.cpp.

References mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::m_caption, MRPT_UNUSED_PARAM, mrpt::gui::WxSubsystem::TRequestToWxMainThread::OPCODE, mrpt::gui::WxSubsystem::pushPendingWxRequest(), mrpt::gui::WxSubsystem::TRequestToWxMainThread::source3D, and mrpt::gui::WxSubsystem::TRequestToWxMainThread::str.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), and mrpt::detectors::CFaceDetection::experimental_viewRegions().

◆ unlockAccess3DScene()

void CDisplayWindow3D::unlockAccess3DScene ( )

Unlocks the access to the internal 3D scene.

It is safer to use mrpt::gui::CDisplayWindow3DLocker instead. Typically user will want to call forceRepaint after updating the scene.

Definition at line 554 of file CDisplayWindow3D.cpp.

References m_csAccess3DScene.

Referenced by mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), CGraphSlamHandler< GRAPH_T >::initVisualization(), and mrpt::gui::CDisplayWindow3DLocker::~CDisplayWindow3DLocker().

◆ updateWindow()

void mrpt::gui::CDisplayWindow3D::updateWindow ( )

inline

Repaints the window.

forceRepaint, repaint and updateWindow are all aliases of the same method

Definition at line 190 of file CDisplayWindow3D.h.

References forceRepaint().

◆ useCameraFromScene()

void CDisplayWindow3D::useCameraFromScene ( bool useIt = true )

If set to true (default = false), the mouse-based scene navigation will be disabled and the camera position will be determined by the opengl viewports in the 3D scene.

Definition at line 590 of file CDisplayWindow3D.cpp.

References mrpt::non_copiable_ptr_basic< T >::get(), mrpt::gui::CBaseGUIWindow::m_hwnd, MRPT_UNUSED_PARAM, and win.

◆ waitForKey()

int CBaseGUIWindow::waitForKey	(	bool	ignoreControlKeys = `true`,
		mrptKeyModifier *	out_pushModifier = `nullptr`
	)

inherited

Waits for any key to be pushed on the image or the console, and returns the key code.

This method remove key strokes previous to its call, so it will always wait. To get the latest pushed key, see

Parameters

ignoreControlKeys	If set to false, any push of shift, cmd, control, etc... will make this method to return.
out_pushModifier	If set to !=nullptr, the modifiers of the key stroke will be saved here.

Returns: The virtual key code, as defined in mrptKeyCode (a replication of wxWidgets key codes).

See also: getPushedKey, Key codes in the enum mrptKeyCode

Definition at line 156 of file CBaseGUIWindow.cpp.

References mrpt::system::os::getch(), mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::system::os::kbhit(), mrpt::gui::CBaseGUIWindow::m_keyPushed, mrpt::gui::CBaseGUIWindow::m_keyPushedCode, mrpt::gui::CBaseGUIWindow::m_keyPushedModifier, and mrpt::gui::MRPTKMOD_NONE.

Friends And Related Function Documentation

◆ C3DWindowDialog

friend class C3DWindowDialog

friend

Definition at line 123 of file CDisplayWindow3D.h.

◆ CMyGLCanvas_DisplayWindow3D

friend class CMyGLCanvas_DisplayWindow3D

friend

Definition at line 124 of file CDisplayWindow3D.h.

Member Data Documentation

◆ m_3Dscene

mrpt::opengl::COpenGLScene::Ptr mrpt::gui::CDisplayWindow3D::m_3Dscene

protected

Internal OpenGL object (see general discussion in about usage of this object)

Definition at line 128 of file CDisplayWindow3D.h.

Referenced by CDisplayWindow3D(), get3DSceneAndLock(), getDefaultViewport(), getLastMousePositionRay(), setImageView(), setImageView_fast(), setMaxRange(), and setMinRange().

◆ m_caption

std::string mrpt::gui::CBaseGUIWindow::m_caption

protectedinherited

The caption of the window.

Definition at line 60 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::createWxWindow(), mrpt::gui::CDisplayWindowPlots::resize(), resize(), mrpt::gui::CDisplayWindow::resize(), mrpt::gui::CDisplayWindowPlots::setPos(), setPos(), mrpt::gui::CDisplayWindow::setPos(), mrpt::gui::CDisplayWindowPlots::setWindowTitle(), setWindowTitle(), and mrpt::gui::CDisplayWindow::setWindowTitle().

◆ m_csAccess3DScene

std::recursive_mutex mrpt::gui::CDisplayWindow3D::m_csAccess3DScene

mutableprotected

Critical section for accesing m_3Dscene.

Definition at line 130 of file CDisplayWindow3D.h.

Referenced by get3DSceneAndLock(), getDefaultViewport(), getLastMousePositionRay(), setImageView(), setImageView_fast(), unlockAccess3DScene(), and ~CDisplayWindow3D().

◆ m_DisplayDeviceContext

mrpt::void_ptr_noncopy mrpt::gui::CDisplayWindow3D::m_DisplayDeviceContext

protected

Definition at line 135 of file CDisplayWindow3D.h.

◆ m_GLRenderingContext

mrpt::void_ptr_noncopy mrpt::gui::CDisplayWindow3D::m_GLRenderingContext

protected

Definition at line 136 of file CDisplayWindow3D.h.

◆ m_grab_imgs_idx

unsigned int mrpt::gui::CDisplayWindow3D::m_grab_imgs_idx

protected

Definition at line 139 of file CDisplayWindow3D.h.

Referenced by grabImageGetNextFile(), and grabImagesStart().

◆ m_grab_imgs_prefix

std::string mrpt::gui::CDisplayWindow3D::m_grab_imgs_prefix

protected

Definition at line 138 of file CDisplayWindow3D.h.

Referenced by grabImageGetNextFile(), grabImagesStart(), and grabImagesStop().

◆ m_hwnd

mrpt::void_ptr_noncopy mrpt::gui::CBaseGUIWindow::m_hwnd

protectedinherited

The window handle.

Definition at line 62 of file CBaseGUIWindow.h.

Referenced by addTextMessage(), clearTextMessages(), mrpt::gui::CBaseGUIWindow::createWxWindow(), mrpt::gui::CBaseGUIWindow::destroyWxWindow(), forceRepaint(), getCameraAzimuthDeg(), getCameraElevationDeg(), getCameraPointingToPoint(), getCameraZoom(), getFOV(), mrpt::gui::CDisplayWindow::getLastMousePosition(), mrpt::gui::CDisplayWindowPlots::getLastMousePosition(), getLastMousePosition(), mrpt::gui::CBaseGUIWindow::getWxObject(), isCameraProjective(), mrpt::gui::CBaseGUIWindow::isOpen(), mrpt::gui::CBaseGUIWindow::notifyChildWindowDestruction(), setCameraAzimuthDeg(), setCameraElevationDeg(), setCameraPointingToPoint(), setCameraProjective(), setCameraZoom(), mrpt::gui::CDisplayWindow::setCursorCross(), mrpt::gui::CDisplayWindowPlots::setCursorCross(), setCursorCross(), setFOV(), mrpt::gui::CDisplayWindow::showImage(), and useCameraFromScene().

◆ m_is_capturing_imgs

bool mrpt::gui::CDisplayWindow3D::m_is_capturing_imgs

protected

Definition at line 141 of file CDisplayWindow3D.h.

Referenced by captureImagesStart(), captureImagesStop(), and isCapturingImgs().

◆ m_keyPushed

volatile bool mrpt::gui::CBaseGUIWindow::m_keyPushed

protectedinherited

Definition at line 65 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::clearKeyHitFlag(), mrpt::gui::CBaseGUIWindow::getPushedKey(), mrpt::gui::CBaseGUIWindow::keyHit(), mrpt::gui::CWindowDialog::OnChar(), and mrpt::gui::CBaseGUIWindow::waitForKey().

◆ m_keyPushedCode

volatile int mrpt::gui::CBaseGUIWindow::m_keyPushedCode

protectedinherited

Definition at line 66 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::getPushedKey(), mrpt::gui::CWindowDialog::OnChar(), and mrpt::gui::CBaseGUIWindow::waitForKey().

◆ m_keyPushedModifier

volatile mrptKeyModifier mrpt::gui::CBaseGUIWindow::m_keyPushedModifier

protectedinherited

Definition at line 67 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::getPushedKey(), mrpt::gui::CWindowDialog::OnChar(), and mrpt::gui::CBaseGUIWindow::waitForKey().

◆ m_last_captured_img

mrpt::img::CImage::Ptr mrpt::gui::CDisplayWindow3D::m_last_captured_img

protected

Definition at line 142 of file CDisplayWindow3D.h.

Referenced by getLastWindowImage(), and getLastWindowImagePtr().

◆ m_last_captured_img_cs

std::mutex mrpt::gui::CDisplayWindow3D::m_last_captured_img_cs

mutableprotected

Definition at line 143 of file CDisplayWindow3D.h.

Referenced by getLastWindowImage(), and getLastWindowImagePtr().

◆ m_last_FPS

double mrpt::gui::CDisplayWindow3D::m_last_FPS

protected

See also: getRenderingFPS

Definition at line 150 of file CDisplayWindow3D.h.

Referenced by getRenderingFPS(), and internal_setRenderingFPS().

◆ m_lastFullScreen

mrpt::system::TTimeStamp mrpt::gui::CDisplayWindow3D::m_lastFullScreen

protected

Definition at line 147 of file CDisplayWindow3D.h.

◆ m_threadReady

std::promise<void> mrpt::gui::CBaseGUIWindow::m_threadReady

mutableprotectedinherited

This semaphore will be signaled when the wx window is built and ready.

Definition at line 56 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::createWxWindow(), and mrpt::gui::CBaseGUIWindow::notifySemThreadReady().

◆ m_windowDestroyed

std::promise<void> mrpt::gui::CBaseGUIWindow::m_windowDestroyed

mutableprotectedinherited

This semaphore will be signaled when the wx window is destroyed.

Definition at line 58 of file CBaseGUIWindow.h.

Referenced by mrpt::gui::CBaseGUIWindow::destroyWxWindow(), mrpt::gui::CWindowDialog::OnClose(), and mrpt::gui::C3DWindowDialog::OnClose().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CDisplayWindow3D()

◆ ~CDisplayWindow3D()

Member Function Documentation

◆ addTextMessage() [1/2]

◆ addTextMessage() [2/2]

◆ captureImagesStart()

◆ captureImagesStop()

◆ clearKeyHitFlag()

◆ clearTextMessages()

◆ Create()

◆ createOpenGLContext()

◆ createWxWindow()

◆ destroyWxWindow()

◆ doRender()

◆ forceRepaint()

◆ get3DSceneAndLock()

◆ getCameraAzimuthDeg()

◆ getCameraElevationDeg()

◆ getCameraPointingToPoint()

◆ getCameraZoom()

◆ getDefaultViewport()

◆ getFOV()

◆ getLastMousePosition()

◆ getLastMousePositionRay()

◆ getLastWindowImage()

◆ getLastWindowImagePtr()

◆ getPushedKey()

◆ getRenderingFPS()

◆ getWxObject()

◆ grabImageGetNextFile()

◆ grabImagesStart()

◆ grabImagesStop()

◆ hasSubscribers()

◆ internal_emitGrabImageEvent()

◆ internal_setRenderingFPS()

◆ internalSetMinMaxRange()

◆ isCameraProjective()

◆ isCapturingImgs()

◆ isOpen()

◆ keyHit()

◆ notifyChildWindowDestruction()

◆ notifySemThreadReady()

◆ publishEvent()

◆ repaint()

◆ resize()

◆ setCameraAzimuthDeg()

◆ setCameraElevationDeg()

◆ setCameraPointingToPoint()

◆ setCameraProjective()

◆ setCameraZoom()

◆ setCursorCross()

◆ setFOV()

◆ setImageView()

◆ setImageView_fast()

◆ setMaxRange()

◆ setMinRange()

◆ setPos()

◆ setWindowTitle()

◆ unlockAccess3DScene()

◆ updateWindow()

◆ useCameraFromScene()

◆ waitForKey()

Friends And Related Function Documentation

◆ C3DWindowDialog

◆ CMyGLCanvas_DisplayWindow3D

Member Data Documentation

◆ m_3Dscene

◆ m_caption

◆ m_csAccess3DScene