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:
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::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
Definition at line 78 of file CDisplayWindow3D.h.
#include <mrpt/gui/CDisplayWindow3D.h>
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CDisplayWindow3D (const std::string &windowCaption=std::string(), unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300) | |
Constructor. More... | |
virtual | ~CDisplayWindow3D () |
Destructor. More... | |
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. More... | |
void | unlockAccess3DScene () |
Unlocks the access to the internal 3D scene. More... | |
void | forceRepaint () |
Repaints the window. forceRepaint, repaint and updateWindow are all aliases of the same method. More... | |
void | repaint () |
void | updateWindow () |
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). The window is not updated with this method, call "forceRepaint" to update the 3D view. More... | |
void | 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. More... | |
void | 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. More... | |
void | resize (unsigned int width, unsigned int height) MRPT_OVERRIDE |
Resizes the window, stretching the image to fit into the display area. More... | |
void | setPos (int x, int y) MRPT_OVERRIDE |
Changes the position of the window on the screen. More... | |
void | setWindowTitle (const std::string &str) MRPT_OVERRIDE |
Changes the window title. More... | |
void | setCameraElevationDeg (float deg) |
Changes the camera parameters programatically. More... | |
void | setCameraAzimuthDeg (float deg) |
Changes the camera parameters programatically. More... | |
void | setCameraPointingToPoint (float x, float y, float z) |
Changes the camera parameters programatically. More... | |
void | setCameraZoom (float zoom) |
Changes the camera parameters programatically. More... | |
void | setCameraProjective (bool isProjective) |
Sets the camera as projective, or orthogonal. More... | |
float | getCameraElevationDeg () const |
Get camera parameters programatically. More... | |
float | getCameraAzimuthDeg () const |
Get camera parameters programatically. More... | |
void | getCameraPointingToPoint (float &x, float &y, float &z) const |
Get camera parameters programatically. More... | |
float | getCameraZoom () const |
Get camera parameters programatically. 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 MRPT_OVERRIDE |
Gets the last x,y pixel coordinates of the mouse. More... | |
virtual void | setCursorCross (bool cursorIsCross) MRPT_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::utils::CImage &out_img) const |
Retrieve the last captured image from the window. More... | |
mrpt::utils::CImagePtr | 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::utils::TColorf &color=mrpt::utils::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::utils::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::utils::TColorf &shadow_color=mrpt::utils::TColorf(0, 0, 0)) |
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::COpenGLViewportPtr | getDefaultViewport () |
A short cut for getting the "main" viewport of the scene object, it is equivalent to: More... | |
void | setImageView (const mrpt::utils::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::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. 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=NULL) |
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=NULL) |
Returns the latest pushed key, or 0 if there is no new key stroke. More... | |
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). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static CDisplayWindow3DPtr | Create (const std::string &windowCaption, unsigned int initialWindowWidth=400, unsigned int initialWindowHeight=300) |
Class factory returning a smart pointer. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCBaseGUIWindow |
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. The code cannot be put into this class' destructor. 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... | |
Friends | |
class | C3DWindowDialog |
class | CMyGLCanvas_DisplayWindow3D |
RTTI stuff | |
typedef CDisplayWindow3DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CDisplayWindow3D |
static mrpt::utils::TRuntimeClassId | classCDisplayWindow3D |
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. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CDisplayWindow3DPtr | Create () |
typedef CDisplayWindow3DPtr mrpt::gui::CDisplayWindow3D::SmartPtr |
A typedef for the associated smart pointer
Definition at line 81 of file CDisplayWindow3D.h.
mrpt::gui::CDisplayWindow3D::CDisplayWindow3D | ( | const std::string & | windowCaption = std::string() , |
unsigned int | initialWindowWidth = 400 , |
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unsigned int | initialWindowHeight = 300 |
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Constructor.
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Destructor.
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void mrpt::gui::CDisplayWindow3D::addTextMessage | ( | const double | x, |
const double | y, | ||
const std::string & | text, | ||
const mrpt::utils::TColorf & | color = mrpt::utils::TColorf(1.0, 1.0, 1.0) , |
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const size_t | unique_index = 0 , |
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const mrpt::opengl::TOpenGLFont | font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 |
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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().
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().
void mrpt::gui::CDisplayWindow3D::addTextMessage | ( | const double | x_frac, |
const double | y_frac, | ||
const std::string & | text, | ||
const mrpt::utils::TColorf & | color, | ||
const std::string & | font_name, | ||
const double | font_size, | ||
const mrpt::opengl::TOpenGLFontStyle | font_style = mrpt::opengl::NICE , |
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const size_t | unique_index = 0 , |
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const double | font_spacing = 1.5 , |
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const double | font_kerning = 0.1 , |
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const bool | draw_shadow = false , |
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const mrpt::utils::TColorf & | shadow_color = mrpt::utils::TColorf(0, 0, 0) |
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void mrpt::gui::CDisplayWindow3D::captureImagesStart | ( | ) |
Enables the grabbing of CImage objects from screenshots of the window.
void mrpt::gui::CDisplayWindow3D::captureImagesStop | ( | ) |
Stop image grabbing.
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inlineinherited |
Assure that "keyHit" will return false until the next pushed key.
Definition at line 127 of file CBaseGUIWindow.h.
References DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE, and GUI_IMPEXP.
void mrpt::gui::CDisplayWindow3D::clearTextMessages | ( | ) |
Clear all text messages created with addTextMessage().
You'll need to refresh the display manually with forceRepaint().
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Class factory returning a smart pointer.
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Throws an exception on initialization error.
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protectedinherited |
Must be called by child classes just within the constructor.
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Must be called by child classes in their destructors. The code cannot be put into this class' destructor.
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Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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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.
mrpt::opengl::COpenGLViewportPtr mrpt::gui::CDisplayWindow3D::getDefaultViewport | ( | ) |
A short cut for getting the "main" viewport of the scene object, it is equivalent to:
float mrpt::gui::CDisplayWindow3D::getFOV | ( | ) | const |
Return the camera field of view (in degrees) (used for gluPerspective)
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Gets the last x,y pixel coordinates of the mouse.
Implements mrpt::gui::CBaseGUIWindow.
bool mrpt::gui::CDisplayWindow3D::getLastMousePositionRay | ( | mrpt::math::TLine3D & | ray | ) | const |
Gets the 3D ray for the direction line of the pixel where the mouse cursor is at.
bool 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.
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. If there was no time yet for grabbing any image, an empty smart pointer will be returned.
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Returns the latest pushed key, or 0 if there is no new key stroke.
out_pushModifier | If set to !=NULL, the modifiers of the key stroke will be saved here. |
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Get the average Frames Per Second (FPS) value from the last 250 rendering events.
Definition at line 268 of file CDisplayWindow3D.h.
References DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE, and GUI_IMPEXP.
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::gui::CBaseGUIWindow.
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Read-only access to the wxDialog object.
Definition at line 75 of file CBaseGUIWindow.h.
References mrpt::utils::non_copiable_ptr_basic< T >::get().
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).
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.
If this feature is enabled, the window will emit events of the type mrpt::gui::mrptEvent3DWindowGrabImageFile() which you can subscribe to.
void mrpt::gui::CDisplayWindow3D::grabImagesStop | ( | ) |
Stops image grabbing started by grabImagesStart.
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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 52 of file CObservable.h.
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called by CMyGLCanvas_DisplayWindow3D::OnPostRenderSwapBuffers
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Set the rendering FPS (users don't call this, the method is for internal MRPT objects only)
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bool mrpt::gui::CDisplayWindow3D::isCameraProjective | ( | ) | const |
Sets the camera as projective, or orthogonal.
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Definition at line 219 of file CDisplayWindow3D.h.
References mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24, and mrpt::opengl::NICE.
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Returns false if the user has already closed the window.
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Returns true if a key has been pushed, without blocking waiting for a new key being pushed.
Definition at line 122 of file CBaseGUIWindow.h.
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Called by wx main thread to set m_hwnd to NULL.
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Called by wx main thread to signal the semaphore that the wx window is built and ready.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Called when you want this object to emit an event to all the observers currently subscribed to this object.
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Definition at line 141 of file CDisplayWindow3D.h.
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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.
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Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true)
Implements mrpt::gui::CBaseGUIWindow.
void mrpt::gui::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.
void mrpt::gui::CDisplayWindow3D::setImageView | ( | const mrpt::utils::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()
void mrpt::gui::CDisplayWindow3D::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 mrpt::gui::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.
void mrpt::gui::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.
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Changes the position of the window on the screen.
Implements mrpt::gui::CBaseGUIWindow.
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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.
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Definition at line 143 of file CDisplayWindow3D.h.
References MRPT_OVERRIDE.
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.
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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
ignoreControlKeys | If set to false, any push of shift, cmd, control, etc... will make this method to return. |
out_pushModifier | If set to !=NULL, the modifiers of the key stroke will be saved here. |
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Definition at line 84 of file CDisplayWindow3D.h.
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Definition at line 85 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 49 of file CBaseGUIWindow.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Definition at line 81 of file CDisplayWindow3D.h.
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Internal OpenGL object (see general discussion in about usage of this object)
Definition at line 88 of file CDisplayWindow3D.h.
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The caption of the window.
Definition at line 63 of file CBaseGUIWindow.h.
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Critical section for accesing m_3Dscene.
Definition at line 92 of file CDisplayWindow3D.h.
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Definition at line 98 of file CDisplayWindow3D.h.
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Definition at line 99 of file CDisplayWindow3D.h.
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Definition at line 102 of file CDisplayWindow3D.h.
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Definition at line 101 of file CDisplayWindow3D.h.
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The window handle.
Definition at line 64 of file CBaseGUIWindow.h.
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Definition at line 104 of file CDisplayWindow3D.h.
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Definition at line 67 of file CBaseGUIWindow.h.
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Definition at line 68 of file CBaseGUIWindow.h.
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protectedinherited |
Definition at line 69 of file CBaseGUIWindow.h.
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Definition at line 105 of file CDisplayWindow3D.h.
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Definition at line 106 of file CDisplayWindow3D.h.
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Definition at line 112 of file CDisplayWindow3D.h.
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Definition at line 110 of file CDisplayWindow3D.h.
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This semaphore will be signaled when the wx window is built and ready.
Definition at line 61 of file CBaseGUIWindow.h.
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This semaphore will be signaled when the wx window is destroyed.
Definition at line 62 of file CBaseGUIWindow.h.
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