mrpt::gui::CDisplayWindow3D Class Reference

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

#include <mrpt/gui/CDisplayWindow3D.h>

Inheritance diagram for mrpt::gui::CDisplayWindow3D:

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Collaboration diagram for mrpt::gui::CDisplayWindow3D:

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List of all members.

Public Member Functions
	CDisplayWindow3D (const std::string &windowCaption=std::string(), unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300)
	Constructor.
virtual	~CDisplayWindow3D ()
	Destructor.
opengl::COpenGLScenePtr &	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.
void	unlockAccess3DScene ()
	Unlocks the access to the internal 3D scene.
void	forceRepaint ()
	Repaints the window.
void	repaint ()
	Repaints the window.
void	updateWindow ()
	Repaints the window.
float	getMinRange () const
	Return the camera min range (z) (used for gluPerspective).
float	getMaxRange () const
	Return the camera max range (z) (used for gluPerspective).
float	getFOV () const
	Return the camera field of view (in degrees) (used for gluPerspective).
void	setMinRange (float v)
	Changes the camera min range (z) (used for gluPerspective).
void	setMaxRange (float v)
	Changes the camera max range (z) (used for gluPerspective).
void	setFOV (float v)
	Changes the camera field of view (in degrees) (used for gluPerspective).
void	resize (unsigned int width, unsigned int height)
	Resizes the window, stretching the image to fit into the display area.
void	setPos (int x, int y)
	Changes the position of the window on the screen.
void	setWindowTitle (const std::string &str)
	Changes the window title.
void	setCameraElevationDeg (float deg)
	Changes the camera parameters programatically.
void	setCameraAzimuthDeg (float deg)
	Changes the camera parameters programatically.
void	setCameraPointingToPoint (float x, float y, float z)
	Changes the camera parameters programatically.
void	setCameraZoom (float zoom)
	Changes the camera parameters programatically.
void	setCameraProjective (bool isProjective)
	Sets the camera as projective, or orthogonal.
float	getCameraElevationDeg () const
	Get camera parameters programatically.
float	getCameraAzimuthDeg () const
	Get camera parameters programatically.
void	getCameraPointingToPoint (float &x, float &y, float &z) const
	Get camera parameters programatically.
float	getCameraZoom () const
	Get camera parameters programatically.
bool	isCameraProjective () const
	Sets the camera as projective, or orthogonal.
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.
bool	getLastMousePosition (int &x, int &y) const
	Gets the last x,y pixel coordinates of the mouse.
void	setCursorCross (bool cursorIsCross)
	Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true).
void	grabImagesStart (const std::string &grab_imgs_prefix=std::string("video_"))
	Start to save rendered images to disk.
void	grabImagesStop ()
	Stops image grabbing started by grabImagesStart.
void	captureImagesStart ()
	Enables the grabbing of CImage objects from screenshots of the window.
void	captureImagesStop ()
	Stop image grabbing.
void	getLastWindowImage (mrpt::utils::CImage &out_img) const
	Retrieve the last captured image from the window.
mrpt::utils::CImagePtr	getLastWindowImagePtr () const
	Retrieve the last captured image from the window, as a smart pointer.
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).
bool	isCapturingImgs () const
void	addTextMessage (const double x_frac, const double y_frac, const std::string &text, const mrpt::utils::TColorf &color=mrpt::utils::TColorf(1.0, 1.0, 1.0), const size_t unique_index=0, const TOpenGLFont font=MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Add 2D text messages overlapped to the 3D rendered scene.
void	clearTextMessages ()
	Clear all text messages created with addTextMessage().
Static Public Member Functions
static CDisplayWindow3DPtr	Create (const std::string &windowCaption=std::string(), unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300)
	Class factory returning a smart pointer.
Private Member Functions
void	createOpenGLContext ()
	Throws an exception on initialization error.
void	doRender ()
Private Attributes
float	m_minRange
float	m_maxRange
float	m_FOV
opengl::COpenGLScenePtr	m_3Dscene
	Internal OpenGL object (see general discussion in about usage of this object).
synch::CCriticalSection	m_csAccess3DScene
	Critical section for accesing m_3Dscene.
void_ptr_noncopy	m_DisplayDeviceContext
void_ptr_noncopy	m_GLRenderingContext
std::string	m_grab_imgs_prefix
unsigned int	m_grab_imgs_idx
bool	m_is_capturing_imgs
CImagePtr	m_last_captured_img
synch::CCriticalSection	m_last_captured_img_cs
Friends
class	C3DWindowDialog
class	CMyGLCanvas_DisplayWindow3D

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::utils::CVideoFileWriter).

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:

                        CDisplayWindow3D        win("My window");

                        // Adquire the scene:
                        opengl::COpenGLScenePtr &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.

The window can also display a set of 2D text messages overlapped to the 3D scene. See CDisplayWindow3D::add2DTextMessage

For a list of supported events with the observer/observable pattern, see the discussion in mrpt::gui::CBaseGUIWindow.

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

Definition at line 99 of file CDisplayWindow3D.h.

Constructor & Destructor Documentation

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

Constructor.

virtual mrpt::gui::CDisplayWindow3D::~CDisplayWindow3D ( ) [virtual]

Destructor.

Member Function Documentation

void mrpt::gui::CDisplayWindow3D::addTextMessage	(	const double	x_frac,
		const double	y_frac,
		const std::string &	text,
		const mrpt::utils::TColorf &	color = `mrpt::utils::TColorf(1.0, 1.0, 1.0)`,
		const size_t	unique_index = `0`,
		const TOpenGLFont	font = `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_frac	The X position, in the range [0,1] (left,right, of the 3D viewport).
	y_frac	The Y position, in the range [0,1] (bottom,top, of the 3D viewport).
	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

void mrpt::gui::CDisplayWindow3D::captureImagesStart ( )

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

See also:: getLastWindowImage

void mrpt::gui::CDisplayWindow3D::captureImagesStop ( )

Stop image grabbing.

See also:: captureImagesStart

void mrpt::gui::CDisplayWindow3D::clearTextMessages ( )

Clear all text messages created with addTextMessage().

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

See also:: addTextMessage

static CDisplayWindow3DPtr mrpt::gui::CDisplayWindow3D::Create	(	const std::string &	windowCaption = `std::string()`,
		unsigned int	initialWindowWidth = `400`,
		unsigned int	initialWindowHeight = `300`
	)			`[inline, static]`

Class factory returning a smart pointer.

Definition at line 144 of file CDisplayWindow3D.h.

void mrpt::gui::CDisplayWindow3D::createOpenGLContext ( ) [private]

Throws an exception on initialization error.

void mrpt::gui::CDisplayWindow3D::doRender ( ) [private]

void mrpt::gui::CDisplayWindow3D::forceRepaint ( )

Repaints the window.

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

opengl::COpenGLScenePtr& mrpt::gui::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.

float mrpt::gui::CDisplayWindow3D::getCameraAzimuthDeg ( ) const

Get camera parameters programatically.

float mrpt::gui::CDisplayWindow3D::getCameraElevationDeg ( ) const

Get camera parameters programatically.

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

Get camera parameters programatically.

float mrpt::gui::CDisplayWindow3D::getCameraZoom ( ) const

Get camera parameters programatically.

float mrpt::gui::CDisplayWindow3D::getFOV ( ) const [inline]

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

Definition at line 191 of file CDisplayWindow3D.h.

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

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

Returns:: False if the window is closed.

void mrpt::gui::CDisplayWindow3D::getLastWindowImage ( mrpt::utils::CImage & out_img ) const

Retrieve the last captured image from the window.

You MUST CALL FIRST captureImagesStart to enable image grabbing.

See also:: captureImagesStart, getLastWindowImagePtr

mrpt::utils::CImagePtr mrpt::gui::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.

See also:: captureImagesStart, getLastWindowImage

float mrpt::gui::CDisplayWindow3D::getMaxRange ( ) const [inline]

Return the camera max range (z) (used for gluPerspective).

Definition at line 187 of file CDisplayWindow3D.h.

float mrpt::gui::CDisplayWindow3D::getMinRange ( ) const [inline]

Return the camera min range (z) (used for gluPerspective).

Definition at line 183 of file CDisplayWindow3D.h.

std::string mrpt::gui::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

void mrpt::gui::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.

See also:: grabImagesStop

void mrpt::gui::CDisplayWindow3D::grabImagesStop ( )

Stops image grabbing started by grabImagesStart.

See also:: grabImagesStart

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

Sets the camera as projective, or orthogonal.

bool mrpt::gui::CDisplayWindow3D::isCapturingImgs ( ) const [inline]

Definition at line 312 of file CDisplayWindow3D.h.

void mrpt::gui::CDisplayWindow3D::repaint ( ) [inline]

Repaints the window.

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

Definition at line 174 of file CDisplayWindow3D.h.

void mrpt::gui::CDisplayWindow3D::resize	(	unsigned int	width,
		unsigned int	height
	)			`[virtual]`

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

Implements mrpt::gui::CBaseGUIWindow.

void mrpt::gui::CDisplayWindow3D::setCameraAzimuthDeg ( float deg )

Changes the camera parameters programatically.

void mrpt::gui::CDisplayWindow3D::setCameraElevationDeg ( float deg )

Changes the camera parameters programatically.

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

Changes the camera parameters programatically.

void mrpt::gui::CDisplayWindow3D::setCameraProjective ( bool isProjective )

Sets the camera as projective, or orthogonal.

void mrpt::gui::CDisplayWindow3D::setCameraZoom ( float zoom )

Changes the camera parameters programatically.

void mrpt::gui::CDisplayWindow3D::setCursorCross ( bool cursorIsCross )

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

void mrpt::gui::CDisplayWindow3D::setFOV ( float v ) [inline]

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 206 of file CDisplayWindow3D.h.

void mrpt::gui::CDisplayWindow3D::setMaxRange ( float v ) [inline]

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

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

Definition at line 201 of file CDisplayWindow3D.h.

void mrpt::gui::CDisplayWindow3D::setMinRange ( float v ) [inline]

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

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

Definition at line 196 of file CDisplayWindow3D.h.

void mrpt::gui::CDisplayWindow3D::setPos	(	int	x,
		int	y
	)			`[virtual]`

Changes the position of the window on the screen.

Implements mrpt::gui::CBaseGUIWindow.

void mrpt::gui::CDisplayWindow3D::setWindowTitle ( const std::string & str ) [virtual]

Changes the window title.

Implements mrpt::gui::CBaseGUIWindow.

void mrpt::gui::CDisplayWindow3D::unlockAccess3DScene ( )

Unlocks the access to the internal 3D scene.

Typically user will want to call forceRepaint after updating the scene.

void mrpt::gui::CDisplayWindow3D::updateWindow ( ) [inline]

Repaints the window.

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

Definition at line 179 of file CDisplayWindow3D.h.

void mrpt::gui::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.