mrpt::gui::CGlCanvasBase Class Reference

Detailed Description

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

Definition at line 28 of file CGlCanvasBase.h.

#include <mrpt/gui/CGlCanvasBase.h>

Classes
struct	CamaraParams

Public Member Functions
	CGlCanvasBase ()
virtual	~CGlCanvasBase ()
void	setMinimumZoom (float zoom)
	Sets the minimum of the zoom See also setMaximumZoom(float) More...
void	setMaximumZoom (float zoom)
	Sets the maximum of the zoom See also setMinimumZoom(float) More...
void	setMousePos (int x, int y)
	Saves the click position of the mouse See also setMouseClicked(bool) More...
void	setMouseClicked (bool is)
	Sets the property mouseClicked By default, this property is false. More...
void	updateLastPos (int x, int y)
	Sets the last mouse position. More...
void	resizeViewport (int w, int h)
	Calls the glViewport function. More...
void	clearColors ()
	Calls the glClearColor function See also setClearColors(float, float, float, float) More...
void	updateZoom (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the zoom of the CameraParams. More...
void	updateZoom (CamaraParams &params, float delta) const
	This function for the wheel event It gets a reference to CamaraParams, delta and updates the zoom of the CameraParams. More...
void	updateRotate (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth. More...
void	updateOrbitCamera (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the elevation and azimuth. More...
void	updatePan (CamaraParams &params, int x, int y) const
	This function for the mouse event It gets a reference to CamaraParams, x, y and updates the pointing of the camera. More...
CamaraParams	cameraParams () const
	Returns a copy of CamaraParams See also getRefCameraParams(), setCameraParams(const CamaraParams &) More...
const CamaraParams &	getRefCameraParams () const
	Returns a reference to CamaraParams See also cameraParams(), setCameraParams(const CamaraParams &) More...
virtual void	setCameraParams (const CamaraParams &params)
	Sets the CamaraParams See also cameraParams(), getRefCameraParams() More...
mrpt::opengl::CCamera &	updateCameraParams (mrpt::opengl::CCamera &cam) const
	This function gets a reference to mrpt::opengl::CCamera and updates the camera parameters(pointing, zoom, azimuth, elevation, IsProjective, FOV) More...
void	setUseCameraFromScene (bool is)
	If set to true (default=false), the cameraPointingX,... More...
bool	getUseCameraFromScene () const
	See also void setUseCameraFromScene(bool) More...
virtual void	setCameraPointing (float pointX, float pointY, float pointZ)
	Saves the pointing of the camera See also getCameraPointingX(), getCameraPointingY(), getCameraPointingZ() More...
float	getCameraPointingX () const
	Returns the x pointing of the camera See also setCameraPointing(float, float, float) More...
float	getCameraPointingY () const
	Returns the y pointing of the camera See also setCameraPointing(float, float, float) More...
float	getCameraPointingZ () const
	Returns the z pointing of the camera See also setCameraPointing(float, float, float) More...
virtual void	setZoomDistance (float zoom)
	Saves camera zooming See also getZoomDistance() More...
float	getZoomDistance () const
	Returns a zoom See also setZoomDistance(float) More...
virtual void	setAzimuthDegrees (float ang)
	Saves the degrees of the azimuth camera See also getAzimuthDegrees() More...
float	getAzimuthDegrees () const
	Returns a azimuth degrees See also setAzimuthDegrees(float) More...
virtual void	setElevationDegrees (float ang)
	Saves the degrees of the elevation camera See also getElevationDegrees() More...
float	getElevationDegrees () const
	Returns a elevation degrees See also setElevationDegrees(float) More...
virtual void	setCameraProjective (bool is)
bool	isCameraProjective () const
virtual void	setCameraFOV (float FOV)
float	cameraFOV () const
void	setClearColors (float r, float g, float b, float a=1.0f)
	Sets the RGBA colors for glClearColor See also clearColors(), getClearColorR(), getClearColorG(),getClearColorB(), getClearColorA() More...
float	getClearColorR () const
float	getClearColorG () const
float	getClearColorB () const
float	getClearColorA () const
virtual void	OnUserManuallyMovesCamera (float new_cameraPointingX, float new_cameraPointingY, float new_cameraPointingZ, float new_cameraZoomDistance, float new_cameraElevationDeg, float new_cameraAzimuthDeg)
	Overload this method to limit the capabilities of the user to move the camera using the mouse. More...
void	getLastMousePosition (int &x, int &y) const
mrpt::opengl::COpenGLScene::Ptr &	getOpenGLSceneRef ()
	At constructor an empty scene is created. More...
void	setOpenGLSceneRef (mrpt::opengl::COpenGLScene::Ptr scene)

Static Public Attributes
static float	SENSIBILITY_DEG_PER_PIXEL = 0.1f

Protected Member Functions
virtual void	swapBuffers ()=0
virtual void	preRender ()=0
virtual void	postRender ()=0
virtual void	renderError (const std::string &err_msg)=0
virtual double	renderCanvas (int width=-1, int height=-1)

Private Attributes
float	clearColorR = .4f
float	clearColorG = .4f
float	clearColorB = .4f
float	clearColorA = 1.f
bool	useCameraFromScene = false
mrpt::opengl::COpenGLScene::Ptr	m_openGLScene
int	m_mouseLastX = 0
int	m_mouseLastY = 0
int	m_mouseClickX = 0
int	m_mouseClickY = 0
bool	mouseClicked = false
float	m_minZoom = 1.f
float	m_maxZoom = 3200.f
CamaraParams	m_cameraParams

Constructor & Destructor Documentation

CGlCanvasBase()

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

inline

Definition at line 44 of file CGlCanvasBase.h.

~CGlCanvasBase()

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

inlinevirtual

Definition at line 45 of file CGlCanvasBase.h.

Member Function Documentation

cameraFOV()

float CGlCanvasBase::cameraFOV

(

)

const

Definition at line 213 of file CGlCanvasBase.cpp.

cameraParams()

CGlCanvasBase::CamaraParams CGlCanvasBase::cameraParams

(

)

const

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

Definition at line 141 of file CGlCanvasBase.cpp.

clearColors()

void CGlCanvasBase::clearColors

(

)

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

Definition at line 123 of file CGlCanvasBase.cpp.

References glClearColor().

getAzimuthDegrees()

float CGlCanvasBase::getAzimuthDegrees

(

)

const

Returns a azimuth degrees See also setAzimuthDegrees(float)

Definition at line 192 of file CGlCanvasBase.cpp.

getCameraPointingX()

float CGlCanvasBase::getCameraPointingX

(

)

const

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

Definition at line 238 of file CGlCanvasBase.cpp.

getCameraPointingY()

float CGlCanvasBase::getCameraPointingY

(

)

const

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

Definition at line 243 of file CGlCanvasBase.cpp.

getCameraPointingZ()

float CGlCanvasBase::getCameraPointingZ

(

)

const

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

Definition at line 248 of file CGlCanvasBase.cpp.

getClearColorA()

float CGlCanvasBase::getClearColorA

(

)

const

Definition at line 225 of file CGlCanvasBase.cpp.

getClearColorB()

float CGlCanvasBase::getClearColorB

(

)

const

Definition at line 224 of file CGlCanvasBase.cpp.

getClearColorG()

float CGlCanvasBase::getClearColorG

(

)

const

Definition at line 223 of file CGlCanvasBase.cpp.

getClearColorR()

float CGlCanvasBase::getClearColorR

(

)

const

Definition at line 222 of file CGlCanvasBase.cpp.

getElevationDegrees()

float CGlCanvasBase::getElevationDegrees

(

)

const

Returns a elevation degrees See also setElevationDegrees(float)

Definition at line 197 of file CGlCanvasBase.cpp.

getLastMousePosition()

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

inline

Definition at line 223 of file CGlCanvasBase.h.

References m_mouseLastX, and m_mouseLastY.

getOpenGLSceneRef()

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

inline

At constructor an empty scene is created.

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

Definition at line 233 of file CGlCanvasBase.h.

References m_openGLScene.

getRefCameraParams()

const CGlCanvasBase::CamaraParams & CGlCanvasBase::getRefCameraParams

(

)

const

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

Definition at line 146 of file CGlCanvasBase.cpp.

getUseCameraFromScene()

bool CGlCanvasBase::getUseCameraFromScene

(

)

const

See also void setUseCameraFromScene(bool)

Definition at line 181 of file CGlCanvasBase.cpp.

getZoomDistance()

float CGlCanvasBase::getZoomDistance

(

)

const

Returns a zoom See also setZoomDistance(float)

Definition at line 156 of file CGlCanvasBase.cpp.

isCameraProjective()

bool CGlCanvasBase::isCameraProjective

(

)

const

Definition at line 207 of file CGlCanvasBase.cpp.

OnUserManuallyMovesCamera()

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

inlinevirtual

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

For all these variables:

• cameraPointingX
• cameraPointingY
• cameraPointingZ
• cameraZoomDistance
• cameraElevationDeg
• cameraAzimuthDeg

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

Definition at line 210 of file CGlCanvasBase.h.

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

postRender()

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

protectedpure virtual

preRender()

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

protectedpure virtual

renderCanvas()

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

protectedvirtual

Definition at line 253 of file CGlCanvasBase.cpp.

References GL_ALL_ATTRIB_BITS, GL_ALPHA_TEST, GL_DEPTH_TEST, GL_MODELVIEW, GL_TEXTURE_2D, glEnable(), glFlush(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPushAttrib(), mrpt::system::CTicTac::Tac(), THROW_EXCEPTION, and mrpt::system::CTicTac::Tic().

renderError()

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

protectedpure virtual

resizeViewport()

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

Calls the glViewport function.

Definition at line 114 of file CGlCanvasBase.cpp.

References glViewport().

setAzimuthDegrees()

void CGlCanvasBase::setAzimuthDegrees ( float  ang )

virtual

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

Definition at line 182 of file CGlCanvasBase.cpp.

setCameraFOV()

void CGlCanvasBase::setCameraFOV ( float  FOV )

virtual

Definition at line 212 of file CGlCanvasBase.cpp.

setCameraParams()

void CGlCanvasBase::setCameraParams ( const CamaraParams &  params )

virtual

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

Definition at line 151 of file CGlCanvasBase.cpp.

setCameraPointing()

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

virtual

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

Definition at line 231 of file CGlCanvasBase.cpp.

setCameraProjective()

void CGlCanvasBase::setCameraProjective ( bool  is )

virtual

Definition at line 202 of file CGlCanvasBase.cpp.

setClearColors()

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

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

Definition at line 214 of file CGlCanvasBase.cpp.

setElevationDegrees()

void CGlCanvasBase::setElevationDegrees ( float  ang )

virtual

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

Definition at line 187 of file CGlCanvasBase.cpp.

setMaximumZoom()

void CGlCanvasBase::setMaximumZoom

(

float

zoom

)

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

Definition at line 43 of file CGlCanvasBase.cpp.

setMinimumZoom()

void CGlCanvasBase::setMinimumZoom

(

float

zoom

)

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

Definition at line 42 of file CGlCanvasBase.cpp.

setMouseClicked()

void CGlCanvasBase::setMouseClicked

(

bool

is

)

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

See also setMousePos(int, int)

Definition at line 50 of file CGlCanvasBase.cpp.

setMousePos()

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

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

Definition at line 44 of file CGlCanvasBase.cpp.

setOpenGLSceneRef()

void CGlCanvasBase::setOpenGLSceneRef

(

mrpt::opengl::COpenGLScene::Ptr

scene

)

Definition at line 226 of file CGlCanvasBase.cpp.

setUseCameraFromScene()

void CGlCanvasBase::setUseCameraFromScene

(

bool

is

)

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

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

Definition at line 180 of file CGlCanvasBase.cpp.

setZoomDistance()

void CGlCanvasBase::setZoomDistance ( float  zoom )

virtual

Saves camera zooming See also getZoomDistance()

Definition at line 161 of file CGlCanvasBase.cpp.

swapBuffers()

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

protectedpure virtual

updateCameraParams()

CCamera & CGlCanvasBase::updateCameraParams

(

mrpt::opengl::CCamera &

cam

)

const

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

Definition at line 166 of file CGlCanvasBase.cpp.

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

updateLastPos()

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

Sets the last mouse position.

Definition at line 108 of file CGlCanvasBase.cpp.

updateOrbitCamera()

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

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

See also getElevationDegrees(), getAzimuthDegrees()

Definition at line 101 of file CGlCanvasBase.cpp.

updatePan()

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

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

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

Definition at line 130 of file CGlCanvasBase.cpp.

References mrpt::DEG2RAD().

updateRotate()

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

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

See also getElevationDegrees(), getAzimuthDegrees()

Definition at line 71 of file CGlCanvasBase.cpp.

References mrpt::DEG2RAD().

updateZoom() [1/2]

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

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

See also updateZoom(CamaraParams &, int, int)

Definition at line 63 of file CGlCanvasBase.cpp.

updateZoom() [2/2]

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

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

See also updateZoom(CamaraParams &, float)

Definition at line 51 of file CGlCanvasBase.cpp.

Member Data Documentation

clearColorA

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

private

Definition at line 249 of file CGlCanvasBase.h.

clearColorB

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

private

Definition at line 248 of file CGlCanvasBase.h.

clearColorG

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

private

Definition at line 248 of file CGlCanvasBase.h.

clearColorR

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

private

Definition at line 248 of file CGlCanvasBase.h.

m_cameraParams

CamaraParams mrpt::gui::CGlCanvasBase::m_cameraParams

private

Definition at line 258 of file CGlCanvasBase.h.

Referenced by OnUserManuallyMovesCamera().

m_maxZoom

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

private

Definition at line 257 of file CGlCanvasBase.h.

m_minZoom

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

private

Definition at line 256 of file CGlCanvasBase.h.

m_mouseClickX

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

private

Definition at line 254 of file CGlCanvasBase.h.

m_mouseClickY

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

private

Definition at line 254 of file CGlCanvasBase.h.

m_mouseLastX

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

private

Definition at line 253 of file CGlCanvasBase.h.

Referenced by getLastMousePosition().

m_mouseLastY

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

private

Definition at line 253 of file CGlCanvasBase.h.

Referenced by getLastMousePosition().

m_openGLScene

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

private

Initial value:

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

Definition at line 251 of file CGlCanvasBase.h.

Referenced by getOpenGLSceneRef().

mouseClicked

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

private

Definition at line 255 of file CGlCanvasBase.h.

SENSIBILITY_DEG_PER_PIXEL

float CGlCanvasBase::SENSIBILITY_DEG_PER_PIXEL = 0.1f

static

Definition at line 191 of file CGlCanvasBase.h.

useCameraFromScene

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

private

Definition at line 250 of file CGlCanvasBase.h.