Detailed Description

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

This class has protected constuctor, thus it cannot be created by users. Use COpenGLScene::createViewport instead. A viewport has these "operation modes":

Normal (default): It renders the contained objects.
Cloned: It clones the objects from another viewport. See setCloneView()
Image mode: It renders an image (e.g. from a video stream) efficiently using a textued quad. See setImageView().

In any case, the viewport can be resized to only fit a part of the entire parent viewport. There will be always at least one viewport in a COpenGLScene named "main".

This class can be observed (see mrpt::utils::CObserver) for the following events (see mrpt::utils::mrptEvent):

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

#include <mrpt/opengl/COpenGLViewport.h>

Inheritance diagram for mrpt::opengl::COpenGLViewport:

[legend]

List of all members.

Classes
struct	TLastProjectiveMatrixInfo
Public Member Functions
virtual	~COpenGLViewport ()
	Destructor: clears all objects.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
Set the viewport "modes"
void	setCloneView (const std::string &clonedViewport)
	Set this viewport as a clone of some other viewport, given its name - as a side effect, current list of internal OpenGL objects is cleared.
void	setImageView (const mrpt::utils::CImage &img)
	Set this viewport into "image view"-mode, where an image is efficiently drawn (fitting the viewport area) using an OpenGL textured quad.
void	setImageView_fast (mrpt::utils::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.
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	setNormalMode ()
	Resets the viewport to a normal 3D viewport.
Change or read viewport properties (except "viewport modes")
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 of the rendering frustum (default: 0.1 - 10000)
void	getViewportClipDistances (double &clip_min, double &clip_max) const
	Get the current min/max clip depth distances of the rendering frustum (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
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.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
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)
void	internal_setImageView_fast (const mrpt::utils::CImage &img, bool is_fast)
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
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.
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.
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
bool	m_isImageView
	Set by setImageView.
mrpt::utils::CImagePtr	m_imageview_img
	The image to display, after calling setImageView()
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
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
RTTI stuff
typedef COpenGLViewportPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_COpenGLViewport
static mrpt::utils::TRuntimeClassId	classCOpenGLViewport
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static COpenGLViewportPtr	Create ()
Contained objects set/get/search
typedef CListOpenGLObjects::const_iterator	const_iterator
typedef CListOpenGLObjects::iterator	iterator
const_iterator	begin () const
const_iterator	end () const
iterator	begin ()
iterator	end ()
void	clear ()
	Delete all internal obejcts.
void	insert (const CRenderizablePtr &newObject)
	Insert a new object into the list.
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.

Member Typedef Documentation

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

Definition at line 203 of file COpenGLViewport.h.

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

Definition at line 204 of file COpenGLViewport.h.

typedef COpenGLViewportPtr mrpt::opengl::COpenGLViewport::SmartPtr

A typedef for the associated smart pointer

Definition at line 74 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

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::COpenGLViewport::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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

Definition at line 206 of file COpenGLViewport.h.

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

Definition at line 208 of file COpenGLViewport.h.

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

Delete all internal obejcts.

See also:: insert

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static COpenGLViewportPtr mrpt::opengl::COpenGLViewport::Create ( ) [static]

static mrpt::utils::CObject* mrpt::opengl::COpenGLViewport::CreateObject ( ) [static]

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

Retrieves a list of all objects in text form.

virtual mrpt::utils::CObject* mrpt::opengl::COpenGLViewport::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

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

Definition at line 267 of file COpenGLViewport.h.

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

Definition at line 207 of file COpenGLViewport.h.

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

Definition at line 209 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 237 of file COpenGLViewport.h.

References MRPT_START, CLASS_ID_NAMESPACE, and MRPT_END.

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

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

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

Get a reference to the camera associated with this viewport.

Definition at line 270 of file COpenGLViewport.h.

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

Get a reference to the camera associated with this viewport.

Definition at line 272 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 183 of file COpenGLViewport.h.

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

Returns the name of the viewport.

Definition at line 121 of file COpenGLViewport.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::COpenGLViewport::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

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

Get the current min/max clip depth distances of the rendering frustum (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.

X & Y coordinates here can have two interpretations:

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

See also:
setViewportPosition

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

Definition at line 181 of file COpenGLViewport.h.

bool mrpt::utils::CObservable::hasSubscribers ( ) const [inline, protected, inherited]

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 69 of file CObservable.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.

void mrpt::opengl::COpenGLViewport::internal_setImageView_fast	(	const mrpt::utils::CImage &	img,
		bool	is_fast
	)		`[protected]`

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

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

Definition at line 172 of file COpenGLViewport.h.

void mrpt::utils::CObservable::publishEvent ( const mrptEvent & e ) const [protected, inherited]

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

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

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, setNormalMode

Definition at line 103 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 168 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 107 of file COpenGLViewport.h.

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

Set this viewport as a clone of some other viewport, given its name - as a side effect, current list of internal OpenGL objects is cleared.

By default, only the objects are cloned, not the camera. See

See also:: resetCloneView

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

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

Definition at line 179 of file COpenGLViewport.h.

void mrpt::opengl::COpenGLViewport::setImageView ( const mrpt::utils::CImage & img )

Set this viewport into "image view"-mode, where an image is efficiently drawn (fitting the viewport area) using an OpenGL textured quad.

Call this method with the new image to update the displayed image (but recall to first lock the parent openglscene's critical section, then do the update, then release the lock, and then issue a window repaint). Internally, the texture is drawn using a mrpt::opengl::CTexturedPlane The viewport can be reverted to behave like a normal viewport by calling setNormalMode()

See also:: setImageView_fast

void mrpt::opengl::COpenGLViewport::setImageView_fast ( mrpt::utils::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

void mrpt::opengl::COpenGLViewport::setNormalMode ( )

Resets the viewport to a normal 3D viewport.

See also:: setCloneView, setImageView

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 176 of file COpenGLViewport.h.

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

Set the min/max clip depth distances of the rendering frustum (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.

X & Y coordinates here can have two interpretations:

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

width & height can be interpreted as:

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

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

See also:: getViewportPosition

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

Number of objects contained.

Definition at line 265 of file COpenGLViewport.h.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer