Class representing an OpenGL based QT Widget for 3D visualization of the SceneGraph SceneOpenGL. More...

#include <SceneOpenGLViewer.hpp>

Inherits QOpenGLWidget, and SceneViewerWidget.

Public Types
typedef rw::core::Ptr< SceneOpenGLViewer >	Ptr
	Smart pointer type for SceneOpenGLViewer.

Public Types inherited from SceneViewerWidget
typedef rw::core::Ptr< SceneViewerWidget >	Ptr
	Smart pointer type for a SceneViewerWidget.

Public Types inherited from SceneViewer
typedef rw::core::Ptr< SceneViewer >	Ptr
	smart pointer type to this class

typedef boost::function< void(const rw::math::Vector3D<> &)>	PositionSelectedListener
	Defines a listener for position change events. More...

typedef rw::core::Event< PositionSelectedListener, const rw::math::Vector3D<> & >	PositionSelectedEvent
	Defines event for PositionChanged.

Public Member Functions
	SceneOpenGLViewer (QWidget *parent=0)
	Constructor. More...

	SceneOpenGLViewer (rw::core::PropertyMap &pmap, QWidget *parent=0)
	Constructs an OpenGL based QT Widget. More...

virtual	~SceneOpenGLViewer ()
	Destructor.

rw::graphics::SceneGraph::RenderInfo &	getRenderInfo ()
	Get rendering info for the scene. More...

rw::graphics::DrawableNode::Ptr	getPivotDrawable ()
	Get the drawable used for pivoting. More...

QWidget *	getWidget ()
	Get the Qt widget for visualization of the scene. More...

rw::graphics::SceneGraph::Ptr	getScene ()
	get the current scene graph More...

rw::core::PropertyMap &	getPropertyMap ()
	get propertymap More...

virtual rw::graphics::SceneCamera::Ptr	getViewCamera ()
	Get the view camera. More...

void	setWorldNode (rw::graphics::GroupNode::Ptr wnode)
	Set the world group node. More...

rw::graphics::GroupNode::Ptr	getWorldNode ()
	Get the world node. More...

virtual View::Ptr	createView (const std::string &name, bool enableBackground=false)
	Create a new view. More...

virtual View::Ptr	getMainView ()
	Get the main view. More...

virtual void	destroyView (View::Ptr view)
	Destroy view. More...

virtual void	selectView (View::Ptr view)
	Select a view. More...

virtual View::Ptr	getCurrentView ()
	Get the currently selected view. More...

virtual std::vector< View::Ptr >	getViews ()
	Get all views. More...

void	updateState (const rw::kinematics::State &state)
	Set a new state. More...

void	updateView ()
	Update the view. More...

rw::math::Vector3D	getViewCenter ()
	Get the view center. More...

void	setLogo (const std::string &string)
	set the logo that is displayed in the 3d scene More...

const std::string &	getLogo () const
	get the logo that is displayed in the 3d scene More...

virtual void	setTransform (const rw::math::Transform3D<> &t3d)
	set the orientation of the view. The view will look in the positive direction of the z-axis, with x-axis as the width and the y-axis as the height. Origin of view is in the center of the image. More...

rw::graphics::DrawableNode::Ptr	pickDrawable (int x, int y)
	picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates. More...

rw::graphics::DrawableNode::Ptr	pickDrawable (rw::graphics::SceneGraph::RenderInfo &info, int x, int y)

void	saveBufferToFile (const std::string &filename, const int fillR, const int fillG, const int fillB)
	Saves the current 3D view to disk as either jpg, bmp or png. More...

void	clear ()
	Clears the list of Drawables and WorkCells.

void	keyPressEvent (QKeyEvent *e)
	key pressed listener function. Key events in the opengl view will trigger this method. More...

void	setCameraController (CameraController::Ptr camController)
	set the camera view controller. More...

CameraController::Ptr	getCameraController ()
	Returns the camera controller. More...

void	propertyChangedListener (rw::core::PropertyBase *base)
	listener callback for property changed in getPropertyMap More...

rw::kinematics::Frame *	pickFrame (int x, int y)
	picks the frame that has drawables that intersect the ray cast into the screen from the screen coordinates x and y. More...

void	renderView (View::Ptr view)
	Render a view. More...

Public Member Functions inherited from SceneViewer
	SceneViewer ()
	Constructor.

virtual	~SceneViewer ()
	Destructor.

virtual void	destroyView (View::Ptr view)=0
	Destroy view. More...

virtual void	selectView (View::Ptr view)=0
	Select a view. More...

virtual void	renderView (View::Ptr view)=0
	Render a view. More...

PositionSelectedEvent &	positionSelectedEvent ()
	Returns PositionChangedEvent object needed for subscription to and firing of event. More...

virtual rw::math::Transform3D	getTransform ()
	get the current rotation of the view More...

Protected Member Functions
void	initializeGL ()
	Overridden from QOpenGLWidget.

void	paintGL ()
	Overridden from QOpenGLWidget.

void	resizeGL (int width, int height)
	Overridden from QOpenGLWidget.

void	mouseDoubleClickEvent (QMouseEvent *event)
	Overridden from QOpenGLWidget.

void	mousePressEvent (QMouseEvent *event)
	Overridden from QOpenlGLWidget.

void	mouseMoveEvent (QMouseEvent *event)
	Overridden from QOpenGLWidget.

void	wheelEvent (QWheelEvent *event)
	Overridden from QOpenGLWidget.

void	setWorkCellScene (rw::core::Ptr< rw::graphics::WorkCellScene > wcscene)
	Set the WorkCell scene. More...

void	zoom (double amount)
	Move the camera along its z-axis. More...

void	autoZoom ()
	Automatically fits all frames inside the viewport by moving camera in its z-axis. More...

Additional Inherited Members
Protected Attributes inherited from SceneViewer
PositionSelectedEvent	_positionSelectedEvent
	Event for selection of a position.

rw::core::Ptr< class WorkCellScene >	_wcscene
	The WorkCell scene.

Detailed Description

Class representing an OpenGL based QT Widget for 3D visualization of the SceneGraph SceneOpenGL.

One of the main responsibilities of the view is to define an opengl context in which the scenegraph can operate and render.

The view will add a "view" camera group and a "view" camera to the scene which it will control through its gui events (mouse and keyboard).

Multiple camera

Constructor & Destructor Documentation

◆ SceneOpenGLViewer() [1/2]

SceneOpenGLViewer ( QWidget * parent = 0 )

Constructor.

Parameters

parent [in] the parent widget (the owner of this widget).

◆ SceneOpenGLViewer() [2/2]

SceneOpenGLViewer	(	rw::core::PropertyMap &	pmap,
		QWidget *	parent = `0`
	)

Constructs an OpenGL based QT Widget.

Parameters

pmap	[in] propertyies for the viewer.
parent	[in] the parent widget (the owner of this widget).

Member Function Documentation

◆ autoZoom()

void autoZoom ( )

protectedvirtual

Automatically fits all frames inside the viewport by moving camera in its z-axis.

Implements SceneViewer.

◆ createView()

virtual View::Ptr createView	(	const std::string &	name,
		bool	enableBackground = `false`
	)

virtual

Create a new view.

Parameters

name	[in] name of view.
enableBackground	[in] (optional) enable the background. Default is false.

Returns: the new view.

Implements SceneViewer.

◆ destroyView()

virtual void destroyView ( View::Ptr view )

virtual

Destroy view.

Parameters

view	[in] the view to destroy.

◆ getCameraController()

CameraController::Ptr getCameraController ( )

inline

Returns the camera controller.

Camera controller

◆ getCurrentView()

virtual View::Ptr getCurrentView ( )

inlinevirtual

Get the currently selected view.

Returns: the view.

Implements SceneViewer.

◆ getLogo()

const std::string& getLogo ( ) const

inlinevirtual

get the logo that is displayed in the 3d scene

Implements SceneViewer.

◆ getMainView()

virtual View::Ptr getMainView ( )

inlinevirtual

Get the main view.

Returns: main view.

Implements SceneViewer.

◆ getPivotDrawable()

rw::graphics::DrawableNode::Ptr getPivotDrawable ( )

inlinevirtual

Get the drawable used for pivoting.

Returns: the drawable node.

Implements SceneViewerWidget.

◆ getPropertyMap()

rw::core::PropertyMap& getPropertyMap ( )

inlinevirtual

get propertymap

Implements SceneViewer.

◆ getRenderInfo()

rw::graphics::SceneGraph::RenderInfo& getRenderInfo ( )

inlinevirtual

Get rendering info for the scene.

Returns: the render info.

Implements SceneViewerWidget.

◆ getScene()

rw::graphics::SceneGraph::Ptr getScene ( )

inlinevirtual

get the current scene graph

Implements SceneViewer.

◆ getViewCamera()

virtual rw::graphics::SceneCamera::Ptr getViewCamera ( )

inlinevirtual

Get the view camera.

Returns: a scene camera.

Implements SceneViewer.

◆ getViewCenter()

rw::math::Vector3D getViewCenter ( )

inlinevirtual

Get the view center.

Returns: the center.

Implements SceneViewer.

◆ getViews()

virtual std::vector<View::Ptr> getViews ( )

inlinevirtual

Get all views.

Returns: the views.

Implements SceneViewer.

◆ getWidget()

QWidget* getWidget ( )

inlinevirtual

Get the Qt widget for visualization of the scene.

Returns: the Qt widget.

Implements SceneViewerWidget.

◆ getWorldNode()

rw::graphics::GroupNode::Ptr getWorldNode ( )

inlinevirtual

Get the world node.

Returns: the world node.

Implements SceneViewer.

◆ keyPressEvent()

void keyPressEvent ( QKeyEvent * e )

key pressed listener function. Key events in the opengl view will trigger this method.

Parameters

e	[in] the event.

◆ pickDrawable() [1/2]

rw::graphics::DrawableNode::Ptr pickDrawable	(	int	x,
		int	y
	)

virtual

picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates.

Parameters

x	[in] first camera coordinate.
y	[in] second camera coordinate.

Returns: the picked drawable.

Implements SceneViewer.

◆ pickDrawable() [2/2]

rw::graphics::DrawableNode::Ptr pickDrawable	(	rw::graphics::SceneGraph::RenderInfo &	info,
		int	x,
		int	y
	)

virtual

rw::graphics::SceneViewer::pickDrawable(rw::graphics::SceneGraph::RenderInfo&,int,int)

Implements SceneViewer.

◆ pickFrame()

rw::kinematics::Frame* pickFrame	(	int	x,
		int	y
	)

picks the frame that has drawables that intersect the ray cast into the screen from the screen coordinates x and y.

Parameters

x	[in] x coordinate
y	[in] y coordinate

Returns: the frame that was selected, Null if no frames where selected.

◆ propertyChangedListener()

void propertyChangedListener ( rw::core::PropertyBase * base )

listener callback for property changed in getPropertyMap

Parameters

base

◆ renderView()

void renderView ( View::Ptr view )

Render a view.

Parameters

view	[in] the view to render

◆ saveBufferToFile()

void saveBufferToFile	(	const std::string &	filename,
		const int	fillR,
		const int	fillG,
		const int	fillB
	)

virtual

Saves the current 3D view to disk as either jpg, bmp or png.

If failing a std::string is thrown with a detailed description of what when wrong.

Parameters

filename	[in] Path and name of the file. The filename extension should be either ".jpg", ".bmp" or ".png" to specify which format to use.
fillR	[in] Fill color if viewport is smaller than image, red component [0,255]
fillG	[in] Fill color if viewport is smaller than image, green component [0,255]
fillB	[in] Fill color if viewport is smaller than image, blue component [0,255]

Implements SceneViewer.

◆ selectView()

virtual void selectView ( View::Ptr view )

virtual

Select a view.

Parameters

view	[in] the view to select.

◆ setCameraController()

void setCameraController ( CameraController::Ptr camController )

inline

set the camera view controller.

Parameters

camController

◆ setLogo()

void setLogo ( const std::string & string )

inlinevirtual

set the logo that is displayed in the 3d scene

Implements SceneViewer.

◆ setTransform()

virtual void setTransform ( const rw::math::Transform3D<> & t3d )

inlinevirtual

set the orientation of the view. The view will look in the positive direction of the z-axis, with x-axis as the width and the y-axis as the height. Origin of view is in the center of the image.

Parameters

t3d	[in] transform relative to world

Reimplemented from SceneViewer.

◆ setWorkCellScene()

void setWorkCellScene ( rw::core::Ptr< rw::graphics::WorkCellScene > wcscene )

inlineprotectedvirtual

Set the WorkCell scene.

Parameters

wcscene [in] the workcell scene.

Reimplemented from SceneViewer.

◆ setWorldNode()

void setWorldNode ( rw::graphics::GroupNode::Ptr wnode )

virtual

Set the world group node.

Parameters

wnode [in] the world node.

Implements SceneViewer.

◆ updateState()

void updateState ( const rw::kinematics::State & state )

virtual

Set a new state.

Parameters

state [in] new state.

Implements SceneViewer.

◆ updateView()

void updateView ( )

inlinevirtual

Update the view.

Implements SceneViewer.

◆ zoom()

void zoom ( double amount )

protectedvirtual

Move the camera along its z-axis.

Parameters

amount [in] the amount of zoom.

Implements SceneViewer.

The documentation for this class was generated from the following file:

SceneOpenGLViewer.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SceneOpenGLViewer() [1/2]

◆ SceneOpenGLViewer() [2/2]

Member Function Documentation

◆ autoZoom()

◆ createView()

◆ destroyView()

◆ getCameraController()

◆ getCurrentView()

◆ getLogo()

◆ getMainView()

◆ getPivotDrawable()

◆ getPropertyMap()

◆ getRenderInfo()

◆ getScene()

◆ getViewCamera()

◆ getViewCenter()

◆ getViews()

◆ getWidget()

◆ getWorldNode()

◆ keyPressEvent()

◆ pickDrawable() [1/2]

◆ pickDrawable() [2/2]

◆ pickFrame()

◆ propertyChangedListener()

◆ renderView()

◆ saveBufferToFile()

◆ selectView()

◆ setCameraController()

◆ setLogo()

◆ setTransform()

◆ setWorkCellScene()

◆ setWorldNode()

◆ updateState()

◆ updateView()

◆ zoom()