mrpt::opengl::COpenGLViewport Class Reference

A viewport within a COpenGLScene, containing a set of OpenGL objects to render. More...

#include <mrpt/opengl/COpenGLViewport.h>

Inheritance diagram for mrpt::opengl::COpenGLViewport:

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Collaboration diagram for mrpt::opengl::COpenGLViewport:

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List of all members.

Classes
struct	TLastProjectiveMatrixInfo
Public Types
typedef CListOpenGLObjects::const_iterator	const_iterator
typedef CListOpenGLObjects::iterator	iterator
Public Member Functions
const_iterator	begin () const
const_iterator	end () const
iterator	begin ()
iterator	end ()
void	setCloneView (const std::string &clonedViewport)
	Set this view as a clone of some other viewport, given its name - as a side effect, current list of internal OpenGL objects is cleared.
void	resetCloneView ()
	Reset the viewport to normal mode: rendering its own objects.
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.
void	clear ()
	Delete all internal obejcts.
void	insert (const CRenderizablePtr &newObject)
	Insert a new object into the list.
std::string	getName ()
	Returns the name of the viewport.
void	setViewportPosition (const double x, const double y, const double width, const double height)
	Change the viewport position and dimension on the rendering window.
void	getViewportPosition (double &x, double &y, double &width, double &height)
	Get the current viewport position and dimension on the rendering window.
void	setViewportClipDistances (const double clip_min, const double clip_max)
	Set the min/max clip depth distances for rendering (default: 0.1 - 10000).
void	getViewportClipDistances (double &clip_min, double &clip_max) const
	Get the current min/max clip depth distances for rendering (default: 0.1 - 10000).
void	setBorderSize (unsigned int lineWidth)
	Set the border size ("frame") of the viewport (default=0).
bool	isTransparent ()
	Return whether the viewport will be rendered transparent over previous viewports.
void	setTransparent (bool trans)
	Set the transparency, that is, whether the viewport will be rendered transparent over previous viewports (default=false).
void	setCustomBackgroundColor (const TColorf &color)
	Set a background color different from that of the parent GUI window.
bool	hasCustomBackgroundColor () const
TColorf	getCustomBackgroundColor () const
virtual	~COpenGLViewport ()
	Destructor: clears all objects.
void	get3DRayForPixelCoord (const double x_coord, const double y_coord, mrpt::math::TLine3D &out_ray, mrpt::poses::CPose3D *out_cameraPose=NULL) 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.
void	getCurrentCameraPose (mrpt::poses::CPose3D &out_cameraPose) const
	Compute the current 3D camera pose.
CRenderizablePtr	getByName (const std::string &str)
	Returns the first object with a given name, or NULL if not found.
template<typename T >
T::SmartPtr	getByClass (const size_t &ith=0) const
	Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.
void	removeObject (const CRenderizablePtr &obj)
	Removes the given object from the scene (it also deletes the object to free its memory).
size_t	size () const
	Number of objects contained.
bool	empty () const
opengl::CCamera &	getCamera ()
	Get a reference to the camera associated with this viewport.
const opengl::CCamera &	getCamera () const
	Get a reference to the camera associated with this viewport.
Protected Member Functions
	COpenGLViewport (COpenGLScene *parent=NULL, const std::string &name=std::string(""))
	Constructor, invoked from COpenGLScene only.
void	initializeAllTextures ()
	Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL).
void	dumpListOfObjects (utils::CStringList &lst)
	Retrieves a list of all objects in text form.
void	render (const int render_width, const int render_height) const
	Render the objects in this viewport (called from COpenGLScene only).
Protected Attributes
opengl::CCamera	m_camera
	The camera associated to the viewport.
utils::safe_ptr< COpenGLScene >	m_parent
	The scene that contains this viewport.
bool	m_isCloned
	Set by setCloneView.
bool	m_isClonedCamera
	Set by setCloneCamera.
std::string	m_clonedViewport
	Only if m_isCloned=true.
std::string	m_name
	The viewport's name.
bool	m_isTransparent
	Whether to clear color buffer.
uint32_t	m_borderWidth
	Default=0, the border around the viewport.
double	m_view_x
double	m_view_y
double	m_view_width
double	m_view_height
	The viewport position [0,1].
double	m_clip_min
double	m_clip_max
	The min/max clip depth distances (default: 0.1 - 10000).
bool	m_custom_backgb_color
TColorf	m_background_color
	used only if m_custom_backgb_color
TLastProjectiveMatrixInfo	m_lastProjMat
	Info updated with each "render()" and used in "get3DRayForPixelCoord".
opengl::CListOpenGLObjects	m_objects
	The list of objects that comprise the 3D scene.
Friends
class	COpenGLScene

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. Refer to opengl::COpenGLScene for further details.

Definition at line 57 of file COpenGLViewport.h.

Member Typedef Documentation

typedef CListOpenGLObjects::const_iterator mrpt::opengl::COpenGLViewport::const_iterator

Definition at line 64 of file COpenGLViewport.h.

typedef CListOpenGLObjects::iterator mrpt::opengl::COpenGLViewport::iterator

Definition at line 65 of file COpenGLViewport.h.

Constructor & Destructor Documentation

virtual mrpt::opengl::COpenGLViewport::~COpenGLViewport ( ) [virtual]

Destructor: clears all objects.

mrpt::opengl::COpenGLViewport::COpenGLViewport	(	COpenGLScene *	parent = `NULL`,
		const std::string &	name = `std::string("")`
	)			`[protected]`

Constructor, invoked from COpenGLScene only.

Member Function Documentation

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

Definition at line 69 of file COpenGLViewport.h.

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

Definition at line 67 of file COpenGLViewport.h.

void mrpt::opengl::COpenGLViewport::clear ( )

Delete all internal obejcts.

See also:: insert

void mrpt::opengl::COpenGLViewport::dumpListOfObjects ( utils::CStringList & lst ) [protected]

Retrieves a list of all objects in text form.

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

Definition at line 217 of file COpenGLViewport.h.

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

Definition at line 70 of file COpenGLViewport.h.

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

Definition at line 68 of file COpenGLViewport.h.

void mrpt::opengl::COpenGLViewport::get3DRayForPixelCoord	(	const double	x_coord,
		const double	y_coord,
		mrpt::math::TLine3D &	out_ray,
		mrpt::poses::CPose3D *	out_cameraPose = `NULL`
	)			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_coord	Horizontal coordinate with the usual meaning (0:left of the viewport, W-1: right border).
	y_coord	Horizontal coordinate with the usual meaning (0:top of the viewport, H-1: right border).
	out_cameraPose	If not NULL, 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

template<typename T >

T::SmartPtr mrpt::opengl::COpenGLViewport::getByClass ( const size_t & ith = 0 ) const [inline]

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

Example:

                                        CSpherePtr obs = view.getByClass<CSphere>();

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

Definition at line 185 of file COpenGLViewport.h.

References CLASS_ID_NAMESPACE, MRPT_END, and MRPT_START.

CRenderizablePtr mrpt::opengl::COpenGLViewport::getByName ( const std::string & str )

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

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

Get a reference to the camera associated with this viewport.

Definition at line 222 of file COpenGLViewport.h.

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

Get a reference to the camera associated with this viewport.

Definition at line 220 of file COpenGLViewport.h.

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

Compute the current 3D camera pose.

See also:: get3DRayForPixelCoord

TColorf mrpt::opengl::COpenGLViewport::getCustomBackgroundColor ( ) const [inline]

Definition at line 153 of file COpenGLViewport.h.

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

Returns the name of the viewport.

Definition at line 100 of file COpenGLViewport.h.

void mrpt::opengl::COpenGLViewport::getViewportClipDistances	(	double &	clip_min,
		double &	clip_max
	)			const

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

See also:: setViewportClipDistances

void mrpt::opengl::COpenGLViewport::getViewportPosition	(	double &	x,
		double &	y,
		double &	width,
		double &	height
	)

Get the current viewport position and dimension on the rendering window.

Coordinates here are alwasys in the range [0,1], relative to the actual window sizes (i.e. width=1 means the entire width of the rendering window).

Note:: (x,y) specify the lower left corner of the viewport rectangle.

See also:: setViewportPosition

bool mrpt::opengl::COpenGLViewport::hasCustomBackgroundColor ( ) const [inline]

Definition at line 151 of file COpenGLViewport.h.

void mrpt::opengl::COpenGLViewport::initializeAllTextures ( ) [protected]

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

void mrpt::opengl::COpenGLViewport::insert ( const CRenderizablePtr & 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.

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

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

Definition at line 142 of file COpenGLViewport.h.

void mrpt::opengl::COpenGLViewport::removeObject ( const CRenderizablePtr & obj )

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

void mrpt::opengl::COpenGLViewport::render	(	const int	render_width,
		const int	render_height
	)			const `[protected]`

Render the objects in this viewport (called from COpenGLScene only).

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

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

See also:: setCloneView

Definition at line 82 of file COpenGLViewport.h.

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

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

Definition at line 138 of file COpenGLViewport.h.

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 86 of file COpenGLViewport.h.

void mrpt::opengl::COpenGLViewport::setCloneView ( const std::string & clonedViewport )

Set this view 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

void mrpt::opengl::COpenGLViewport::setCustomBackgroundColor ( const TColorf & color ) [inline]

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

Definition at line 149 of file COpenGLViewport.h.

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 146 of file COpenGLViewport.h.

void mrpt::opengl::COpenGLViewport::setViewportClipDistances	(	const double	clip_min,
		const double	clip_max
	)

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

See also:: getViewportClipDistances

void mrpt::opengl::COpenGLViewport::setViewportPosition	(	const double	x,
		const double	y,
		const double	width,
		const double	height
	)

Change the viewport position and dimension on the rendering window.

Coordinates here are alwasys in the range [0,1], relative to the actual window sizes (i.e. width=1 means the entire width of the rendering window).

Note:: (x,y) specify the lower left corner of the viewport rectangle.

See also:: getViewportPosition

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

Number of objects contained.

Definition at line 215 of file COpenGLViewport.h.

Friends And Related Function Documentation

friend class COpenGLScene [friend]

Definition at line 61 of file COpenGLViewport.h.

Member Data Documentation

TColorf mrpt::opengl::COpenGLViewport::m_background_color [protected]

used only if m_custom_backgb_color

Definition at line 252 of file COpenGLViewport.h.

uint32_t mrpt::opengl::COpenGLViewport::m_borderWidth [protected]

Default=0, the border around the viewport.

Definition at line 248 of file COpenGLViewport.h.

opengl::CCamera mrpt::opengl::COpenGLViewport::m_camera [protected]

The camera associated to the viewport.

Definition at line 241 of file COpenGLViewport.h.

double mrpt::opengl::COpenGLViewport::m_clip_max [protected]

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

Definition at line 250 of file COpenGLViewport.h.

double mrpt::opengl::COpenGLViewport::m_clip_min [protected]

Definition at line 250 of file COpenGLViewport.h.

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

Only if m_isCloned=true.

Definition at line 245 of file COpenGLViewport.h.

bool mrpt::opengl::COpenGLViewport::m_custom_backgb_color [protected]

Definition at line 251 of file COpenGLViewport.h.

bool mrpt::opengl::COpenGLViewport::m_isCloned [protected]

Set by setCloneView.

Definition at line 243 of file COpenGLViewport.h.

bool mrpt::opengl::COpenGLViewport::m_isClonedCamera [protected]

Set by setCloneCamera.

Definition at line 244 of file COpenGLViewport.h.

bool mrpt::opengl::COpenGLViewport::m_isTransparent [protected]

Whether to clear color buffer.

Definition at line 247 of file COpenGLViewport.h.

TLastProjectiveMatrixInfo mrpt::opengl::COpenGLViewport::m_lastProjMat [mutable, protected]

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

Definition at line 267 of file COpenGLViewport.h.

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

The viewport's name.

Definition at line 246 of file COpenGLViewport.h.

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 272 of file COpenGLViewport.h.

utils::safe_ptr<COpenGLScene> mrpt::opengl::COpenGLViewport::m_parent [protected]

The scene that contains this viewport.

Definition at line 242 of file COpenGLViewport.h.

double mrpt::opengl::COpenGLViewport::m_view_height [protected]

The viewport position [0,1].

Definition at line 249 of file COpenGLViewport.h.

double mrpt::opengl::COpenGLViewport::m_view_width [protected]

Definition at line 249 of file COpenGLViewport.h.

double mrpt::opengl::COpenGLViewport::m_view_x [protected]

Definition at line 249 of file COpenGLViewport.h.

double mrpt::opengl::COpenGLViewport::m_view_y [protected]

Definition at line 249 of file COpenGLViewport.h.

mrpt::opengl::COpenGLViewport Class Reference

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation