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COpenGLViewport.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef opengl_COpenGLViewport_H
10#define opengl_COpenGLViewport_H
11
14#include <mrpt/utils/CImage.h>
15#include <mrpt/opengl/CCamera.h>
17#include <mrpt/opengl/CLight.h>
22
23namespace mrpt
24{
25 namespace utils { class CImage; }
26
27 namespace opengl
28 {
29 class COpenGLScene;
30 class CRenderizable;
31
32 // This must be added to any CSerializable derived class:
34
35 /** A viewport within a COpenGLScene, containing a set of OpenGL objects to render.
36 * This class has protected constuctor, thus it cannot be created by users. Use COpenGLScene::createViewport instead.
37 * A viewport has these "operation modes":
38 * - Normal (default): It renders the contained objects.
39 * - Cloned: It clones the objects from another viewport. See \a setCloneView()
40 * - Image mode: It renders an image (e.g. from a video stream) efficiently using a textued quad. See \a setImageView().
41 *
42 * In any case, the viewport can be resized to only fit a part of the entire parent viewport.
43 * There will be always at least one viewport in a COpenGLScene named "main".
44 *
45 * This class can be observed (see mrpt::utils::CObserver) for the following events (see mrpt::utils::mrptEvent):
46 * - mrpt::opengl::mrptEventGLPreRender
47 * - mrpt::opengl::mrptEventGLPostRender
48 *
49 * Two directional light sources at infinity are created by default, with directions (-1,-1,-1) and (1,2,1), respectively.
50 * All OpenGL properties of light sources are accesible via the methods: setNumberOfLights(), lightsClearAll(), addLight(), and getLight().
51 * Please, refer to mrpt::opengl::CLight and the standard OpenGL documentation for the meaning of all light properties.
52 *
53 * Refer to mrpt::opengl::COpenGLScene for further details.
54 * \ingroup mrpt_opengl_grp
55 */
57 public mrpt::utils::CSerializable,
58 public mrpt::utils::CObservable
59 {
61 friend class COpenGLScene;
62 public:
63 // -------------------------------------------------------------------
64 /** @name Set the viewport "modes"
65 @{ */
66
67 /** 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.
68 * By default, only the objects are cloned, not the camera. See
69 * \sa resetCloneView
70 */
71 void setCloneView( const std::string &clonedViewport );
72
73 /** Set this viewport into "image view"-mode, where an image is efficiently drawn (fitting the viewport area) using an OpenGL textured quad.
74 * 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).
75 * Internally, the texture is drawn using a mrpt::opengl::CTexturedPlane
76 * The viewport can be reverted to behave like a normal viewport by calling setNormalMode()
77 * \sa setImageView_fast
78 */
79 void setImageView(const mrpt::utils::CImage &img);
80
81 /** Just like \a setImageView but moves the internal image memory instead of making a copy, so it's faster but empties the input image.
82 * \sa setImageView
83 */
84 void setImageView_fast(mrpt::utils::CImage &img);
85
86 /** Reset the viewport to normal mode: rendering its own objects.
87 * \sa setCloneView, setNormalMode
88 */
89 inline void resetCloneView() { setNormalMode(); }
90
91 /** If set to true, and setCloneView() has been called, this viewport will be rendered using the camera of the cloned viewport.
92 */
93 inline void setCloneCamera(bool enable) { m_isClonedCamera = enable; }
94
95 /** Resets the viewport to a normal 3D viewport \sa setCloneView, setImageView */
97
98 /** @} */ // end of Set the "viewport mode"
99 // ------------------------------------------------------
100
101
102 /** @name OpenGL global settings that affect rendering all objects in the scene/viewport
103 @{ */
104
105 /** Sets glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST) is enabled, or GL_FASTEST otherwise. */
106 void enablePolygonNicest(bool enable=true) { m_OpenGL_enablePolygonNicest=enable; }
107 bool isPolygonNicestEnabled() const { return m_OpenGL_enablePolygonNicest; }
108
109 /** Removes all lights (and disables the global "GL_LIGHTING") */
110 void lightsClearAll() { m_lights.clear(); }
111
112 /** Append a new light to the scene. By default there are two lights. "GL_LIGHTING" is disabled if all lights are removed */
113 void addLight(const CLight &l) { m_lights.push_back(l); }
114
115 /** Allocates a number of lights, which must be correctly defined via getLight(i), etc. */
116 void setNumberOfLights(const size_t N) { m_lights.resize(N); }
117
118 CLight & getLight(const size_t i) { ASSERT_BELOW_(i,m_lights.size()) return m_lights[i]; }
119 const CLight & getLight(const size_t i) const { ASSERT_BELOW_(i,m_lights.size()) return m_lights[i]; }
120
121 /** @} */ // end of OpenGL settings
122
123 // -------------------------------------------------------------------
124 /** @name Change or read viewport properties (except "viewport modes")
125 @{ */
126
127 /** Returns the name of the viewport */
128 inline std::string getName() { return m_name; }
129
130 /** Change the viewport position and dimension on the rendering window.
131 * X & Y coordinates here can have two interpretations:
132 * - 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).
133 * - If >1, they are interpreted as pixels.
134 *
135 * width & height can be interpreted as:
136 * - If >1, they are the size of the viewport in that dimension, in pixels.
137 * - If in [0,1], they are the size of the viewport in that dimension, in a factor of the width/height.
138 * - 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).
139 * - 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).
140 *
141 * \note (x,y) specify the lower left corner of the viewport rectangle.
142 * \sa getViewportPosition
143 */
145 const double x,
146 const double y,
147 const double width,
148 const double height );
149
150 /** Get the current viewport position and dimension on the rendering window.
151 * X & Y coordinates here can have two interpretations:
152 * - 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).
153 * - If >1, they are interpreted as pixels.
154 * \note (x,y) specify the lower left corner of the viewport rectangle.
155 * \sa setViewportPosition
156 */
158 double &x,
159 double &y,
160 double &width,
161 double &height );
162
163 /** Set the min/max clip depth distances of the rendering frustum (default: 0.1 - 10000)
164 * \sa getViewportClipDistances
165 */
166 void setViewportClipDistances(const double clip_min, const double clip_max);
167
168 /** Get the current min/max clip depth distances of the rendering frustum (default: 0.1 - 10000)
169 * \sa setViewportClipDistances
170 */
171 void getViewportClipDistances(double &clip_min, double &clip_max) const;
172
173 /** Set the border size ("frame") of the viewport (default=0).
174 */
175 inline void setBorderSize( unsigned int lineWidth ) { m_borderWidth = lineWidth; }
176
177 /** Return whether the viewport will be rendered transparent over previous viewports.
178 */
179 inline bool isTransparent() { return m_isTransparent; }
180
181 /** Set the transparency, that is, whether the viewport will be rendered transparent over previous viewports (default=false).
182 */
183 inline void setTransparent( bool trans ) { m_isTransparent=trans; }
184
185 /** Set a background color different from that of the parent GUI window */
186 inline void setCustomBackgroundColor( const mrpt::utils::TColorf &color ) { m_custom_backgb_color = true; m_background_color = color; }
187
188 inline mrpt::utils::TColorf getCustomBackgroundColor() const { return m_background_color; }
189
190 /** 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.
191 * \param x_coord Horizontal coordinate with the usual meaning (0:left of the viewport, W-1: right border).
192 * \param y_coord Horizontal coordinate with the usual meaning (0:top of the viewport, H-1: right border).
193 * \param out_cameraPose If not NULL, will have the camera 3D pose as a mrpt::poses::CPose3D. See also
194 * \note (x,y) refer to VIEWPORT coordinates. Take into account this when viewports do not extend to the whole window size.
195 * \note x and y are double instead of integers to allow sub-pixel precision.
196 * \sa getCurrentCameraPose
197 */
198 void get3DRayForPixelCoord( const double x_coord, const double y_coord, mrpt::math::TLine3D &out_ray, mrpt::poses::CPose3D *out_cameraPose=NULL ) const;
199
200 /** @} */ // end of Change or read viewport properties
201 // ------------------------------------------------------
202
203
204 // -------------------------------------------------------------------
205 /** @name Contained objects set/get/search
206 @{ */
207
208 typedef CListOpenGLObjects::const_iterator const_iterator;
209 typedef CListOpenGLObjects::iterator iterator;
210
211 inline const_iterator begin() const { return m_objects.begin(); }
212 inline const_iterator end() const { return m_objects.end(); }
213 inline iterator begin() { return m_objects.begin(); }
214 inline iterator end() { return m_objects.end(); }
215
216 /** Delete all internal obejcts
217 * \sa insert */
218 void clear();
219
220 /** Insert a new object into the list.
221 * The object MUST NOT be deleted, it will be deleted automatically by this object when not required anymore.
222 */
223 void insert( const CRenderizablePtr &newObject );
224
225 /** Compute the current 3D camera pose.
226 * \sa get3DRayForPixelCoord
227 */
228 void getCurrentCameraPose( mrpt::poses::CPose3D &out_cameraPose ) const;
229
230 /** Returns the first object with a given name, or NULL if not found.
231 */
232 CRenderizablePtr getByName( const std::string &str );
233
234 /** Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.
235 * Example:
236 * \code
237 CSpherePtr obs = view.getByClass<CSphere>();
238 * \endcode
239 * By default (ith=0), the first observation is returned.
240 */
241 template <typename T>
242 typename T::SmartPtr getByClass( const size_t &ith = 0 ) const
243 {
245 size_t foundCount = 0;
246 const mrpt::utils::TRuntimeClassId* class_ID = T::classinfo;
247 for (CListOpenGLObjects::const_iterator it = m_objects.begin();it!=m_objects.end();++it)
248 if ( (*it).present() && (*it)->GetRuntimeClass()->derivedFrom( class_ID ) )
249 if (foundCount++ == ith)
250 return typename T::SmartPtr(*it);
251
252 // If not found directly, search recursively:
253 for (CListOpenGLObjects::const_iterator it=m_objects.begin();it!=m_objects.end();++it)
254 {
255 if ( (*it).present() && (*it)->GetRuntimeClass() == CLASS_ID_NAMESPACE(CSetOfObjects,mrpt::opengl))
256 {
257 typename T::SmartPtr o = CSetOfObjectsPtr(*it)->getByClass<T>(ith);
258 if (o.present()) return o;
259 }
260 }
261 return typename T::SmartPtr(); // Not found: return empty smart pointer
263 }
264
265 /** Removes the given object from the scene (it also deletes the object to free its memory).
266 */
267 void removeObject( const CRenderizablePtr & obj );
268
269 /** Number of objects contained. */
270 inline size_t size() const { return m_objects.size(); }
271
272 inline bool empty() const { return m_objects.empty(); }
273
274 opengl::CCamera& getCamera() { return m_camera;} //!< Get a reference to the camera associated with this viewport.
275
276 const opengl::CCamera & getCamera() const { return m_camera;} //!< Get a reference to the camera associated with this viewport.
277
278 /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
280
281 /** @} */ // end of Contained objects set/get/search
282 // ------------------------------------------------------
283
284
285 virtual ~COpenGLViewport(); //!< Destructor: clears all objects.
286
287
288 protected:
289 /** Constructor, invoked from COpenGLScene only.
290 */
291 COpenGLViewport( COpenGLScene *parent=NULL, const std::string &name=std::string("") );
292
293 /** Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)
294 */
296
297 /** Retrieves a list of all objects in text form.
298 */
300
301 /** Render the objects in this viewport (called from COpenGLScene only) */
302 void render( const int render_width, const int render_height ) const;
303
304 /** The camera associated to the viewport */
306 utils::safe_ptr<COpenGLScene> m_parent; //!< The scene that contains this viewport.
307 bool m_isCloned; //!< Set by setCloneView
308 bool m_isClonedCamera; //!< Set by setCloneCamera
309 std::string m_clonedViewport; //!< Only if m_isCloned=true
310 std::string m_name; //!< The viewport's name
311 bool m_isTransparent; //!< Whether to clear color buffer.
312 uint32_t m_borderWidth; //!< Default=0, the border around the viewport.
313 double m_view_x, m_view_y,m_view_width,m_view_height; //!< The viewport position [0,1]
314 double m_clip_min,m_clip_max; //!< The min/max clip depth distances (default: 0.1 - 10000)
316 mrpt::utils::TColorf m_background_color; //!< used only if m_custom_backgb_color
317 bool m_isImageView; //!< Set by setImageView
318 //CRenderizablePtr m_imageview_quad ; //!< A mrpt::opengl::CTexturedPlane used after setImageView() is called
319 mrpt::utils::CImagePtr m_imageview_img; //!< The image to display, after calling \a setImageView()
320
322 {
323 TLastProjectiveMatrixInfo() : eye(0,0,0),pointing(0,0,0),up(0,0,0), viewport_width(640), viewport_height(480), FOV(30), azimuth(0), elev(0), zoom(1),is_projective(true)
324 {}
325 mrpt::math::TPoint3D eye; //!< The camera is here.
326 mrpt::math::TPoint3D pointing; //!< The camera points to here
327 mrpt::math::TPoint3D up; //!< Up vector of the camera.
328 size_t viewport_width, viewport_height; //!< In pixels. This may be smaller than the total render window.
329 float FOV; //!< FOV in degrees.
330 float azimuth, elev; //!< Camera elev & azimuth, in radians.
331 float zoom;
332 bool is_projective; // true: projective, false: ortho
333 };
334 mutable TLastProjectiveMatrixInfo m_lastProjMat; //!< Info updated with each "render()" and used in "get3DRayForPixelCoord"
335
336 /** The list of objects that comprise the 3D scene.
337 * Objects are automatically deleted when calling "clear" or in the destructor.
338 */
340
341 void internal_setImageView_fast(const mrpt::utils::CImage &img, bool is_fast);
342
343 // OpenGL global settings:
345
346 std::vector<CLight> m_lights;
347 };
349 /**
350 * Inserts an openGL object into a viewport. Allows call chaining.
351 * \sa mrpt::opengl::COpenGLViewport::insert
352 */
354 s->insert(r);
355 return s;
356 }
357 /**
358 * Inserts any iterable set of openGL objects into a viewport. Allows call chaining.
359 * \sa mrpt::opengl::COpenGLViewport::insert
360 */
361 inline COpenGLViewportPtr &operator<<(COpenGLViewportPtr &s,const std::vector<CRenderizablePtr> &v) {
362 for (std::vector<CRenderizablePtr>::const_iterator it=v.begin();it!=v.end();++it) s->insert(*it);
363 return s;
364 }
365
366
367
368 /** @name Events emitted by COpenGLViewport
369 @{ */
370
371 /** An event sent by an mrpt::opengl::COpenGLViewport just after clearing the viewport and setting the GL_PROJECTION matrix, and before calling the scene OpenGL drawing primitives.
372 *
373 * While handling this event you can call OpenGL glBegin(),glEnd(),gl* functions or those in mrpt::opengl::gl_utils to draw stuff *in the back* of the normal
374 * objects contained in the COpenGLScene.
375 *
376 * After processing this event, COpenGLViewport will change the OpenGL matrix mode into "GL_MODELVIEW" and load an identity matrix to continue
377 * rendering the scene objects as usual. Any change done to the GL_PROJECTION will have effects, so do a glPushMatrix()/glPopMatrix() if that is not your intention.
378 *
379 *
380 * IMPORTANTE NOTICE: Event handlers in your observer class will most likely be invoked from an internal GUI thread of MRPT,
381 * so all your code in the handler must be thread safe.
382 */
384 {
385 protected:
386 void do_nothing() MRPT_OVERRIDE { } //!< Just to allow this class to be polymorphic
387 public:
388 inline mrptEventGLPreRender(const COpenGLViewport* obj) : source_viewport(obj) { }
390 }; // End of class def.
391
392 /** An event sent by an mrpt::opengl::COpenGLViewport after calling the scene OpenGL drawing primitives and before doing a glSwapBuffers
393 *
394 * While handling this event you can call OpenGL glBegin(),glEnd(),gl* functions or those in mrpt::opengl::gl_utils to draw stuff *on the top* of the normal
395 * objects contained in the COpenGLScene.
396 *
397 * IMPORTANTE NOTICE: Event handlers in your observer class will most likely be invoked from an internal GUI thread of MRPT,
398 * so all your code in the handler must be thread safe.
399 */
401 {
402 protected:
403 void do_nothing() MRPT_OVERRIDE { } //!< Just to allow this class to be polymorphic
404 public:
405 inline mrptEventGLPostRender(const COpenGLViewport* obj) : source_viewport(obj) { }
407 }; // End of class def.
408
409
410 /** @} */
411
412
413
414 } // end namespace
415
416} // End of namespace
417
418
419#endif
#define CLASS_ID_NAMESPACE(class_name, namespaceName)
Access to runtime class ID for a defined class name.
Definition CObject.h:92
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camer...
Definition CCamera.h:32
This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives.
A viewport within a COpenGLScene, containing a set of OpenGL objects to render.
CLight & getLight(const size_t i)
const_iterator end() const
std::string m_clonedViewport
Only if m_isCloned=true.
opengl::CListOpenGLObjects m_objects
The list of objects that comprise the 3D scene.
void internal_setImageView_fast(const mrpt::utils::CImage &img, bool is_fast)
std::string getName()
Returns the name of the viewport.
CListOpenGLObjects::iterator iterator
bool isTransparent()
Return whether the viewport will be rendered transparent over previous viewports.
size_t size() const
Number of objects contained.
void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
void getViewportClipDistances(double &clip_min, double &clip_max) const
Get the current min/max clip depth distances of the rendering frustum (default: 0....
void enablePolygonNicest(bool enable=true)
Sets glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST) is enabled, or GL_FASTEST otherwise.
COpenGLViewport(COpenGLScene *parent=NULL, const std::string &name=std::string(""))
Constructor, invoked from COpenGLScene only.
void setCustomBackgroundColor(const mrpt::utils::TColorf &color)
Set a background color different from that of the parent GUI window.
void setTransparent(bool trans)
Set the transparency, that is, whether the viewport will be rendered transparent over previous viewpo...
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)...
bool m_isClonedCamera
Set by setCloneCamera.
const opengl::CCamera & getCamera() const
Get a reference to the camera associated with this viewport.
void setNumberOfLights(const size_t N)
Allocates a number of lights, which must be correctly defined via getLight(i), etc.
uint32_t m_borderWidth
Default=0, the border around the viewport.
virtual ~COpenGLViewport()
Destructor: clears all objects.
void dumpListOfObjects(mrpt::utils::CStringList &lst)
Retrieves a list of all objects in text form.
void lightsClearAll()
Removes all lights (and disables the global "GL_LIGHTING")
void initializeAllTextures()
Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)
bool m_isTransparent
Whether to clear color buffer.
void addLight(const CLight &l)
Append a new light to the scene.
double m_clip_max
The min/max clip depth distances (default: 0.1 - 10000)
utils::safe_ptr< COpenGLScene > m_parent
The scene that contains this viewport.
void insert(const CRenderizablePtr &newObject)
Insert a new object into the list.
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 sel...
bool m_isImageView
Set by setImageView.
opengl::CCamera & getCamera()
Get a reference to the camera associated with this 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.
double m_view_height
The viewport position [0,1].
void getCurrentCameraPose(mrpt::poses::CPose3D &out_cameraPose) const
Compute the current 3D camera pose.
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)
opengl::CCamera m_camera
The camera associated to the viewport.
std::vector< CLight > m_lights
mrpt::utils::CImagePtr m_imageview_img
The image to display, after calling setImageView()
const CLight & getLight(const size_t i) const
mrpt::utils::TColorf getCustomBackgroundColor() const
void setCloneCamera(bool enable)
If set to true, and setCloneView() has been called, this viewport will be rendered using the camera o...
bool m_isCloned
Set by setCloneView.
void render(const int render_width, const int render_height) const
Render the objects in this viewport (called from COpenGLScene only)
void getViewportPosition(double &x, double &y, double &width, double &height)
Get the current viewport position and dimension on the rendering window.
CRenderizablePtr getByName(const std::string &str)
Returns the first object with a given name, or NULL if not found.
TLastProjectiveMatrixInfo m_lastProjMat
Info updated with each "render()" and used in "get3DRayForPixelCoord".
std::string m_name
The viewport's name.
mrpt::utils::TColorf m_background_color
used only if m_custom_backgb_color
void setBorderSize(unsigned int lineWidth)
Set the border size ("frame") of the viewport (default=0).
void clear()
Delete all internal obejcts.
CListOpenGLObjects::const_iterator const_iterator
const_iterator begin() const
void removeObject(const CRenderizablePtr &obj)
Removes the given object from the scene (it also deletes the object to free its memory).
void setNormalMode()
Resets the viewport to a normal 3D viewport.
A set of object, which are referenced to the coordinates framework established in this object.
An event sent by an mrpt::opengl::COpenGLViewport after calling the scene OpenGL drawing primitives a...
void do_nothing() MRPT_OVERRIDE
Just to allow this class to be polymorphic.
const COpenGLViewport *const source_viewport
mrptEventGLPostRender(const COpenGLViewport *obj)
An event sent by an mrpt::opengl::COpenGLViewport just after clearing the viewport and setting the GL...
void do_nothing() MRPT_OVERRIDE
Just to allow this class to be polymorphic.
mrptEventGLPreRender(const COpenGLViewport *obj)
const COpenGLViewport *const source_viewport
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition CPose3D.h:73
A class for storing images as grayscale or RGB bitmaps.
Definition CImage.h:102
A class for storing a list of text lines.
Definition CStringList.h:33
The basic event type for the observer-observable pattern in MRPT.
Definition mrptEvent.h:35
EIGEN_STRONG_INLINE void eye()
Make the matrix an identity matrix
#define MRPT_START
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition mrpt_macros.h:28
#define MRPT_END
#define ASSERT_BELOW_(__A, __B)
The namespace for 3D scene representation and rendering.
std::deque< CRenderizablePtr > CListOpenGLObjects
A list of objects pointers, automatically managing memory free at destructor, and managing copies cor...
struct OPENGL_IMPEXP COpenGLViewportPtr
struct OPENGL_IMPEXP CRenderizablePtr
class OPENGL_IMPEXP CRenderizable
struct OPENGL_IMPEXP CSetOfObjectsPtr
OPENGL_IMPEXP mrpt::utils::CStream & operator<<(mrpt::utils::CStream &out, const mrpt::opengl::CLight &o)
class OPENGL_IMPEXP COpenGLScene
class BASE_IMPEXP CImage
Definition CImage.h:52
struct BASE_IMPEXP CImagePtr
Definition CImage.h:52
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
STL namespace.
unsigned long uint32_t
Definition pstdint.h:216
3D line, represented by a base point and a director vector.
Lightweight 3D point.
Each of the possible lights of a 3D scene.
Definition CLight.h:29
mrpt::math::TPoint3D pointing
The camera points to here.
mrpt::math::TPoint3D up
Up vector of the camera.
size_t viewport_height
In pixels. This may be smaller than the total render window.
A RGB color - floats in the range [0,1].
Definition TColor.h:53
A structure that holds runtime class type information.
Definition CObject.h:47
A wrapper class for pointers that can be safely copied with "=" operator without problems.



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