Scene Implementation that is used to handle a list of objects and cameras. More...

#include <Scene.h>

Inheritance diagram for icl::geom::Scene:

Classes
struct	PBufferIndex

Public Types
enum	DepthBufferMode { RawDepth01, DistToCamPlane, DistToCamCenter }

Public Types inherited from icl::utils::Configurable
typedef Function< void, const Property & >	Callback
	Function type for changed properties. More...

Public Member Functions
	Scene ()
	Base constructor (creates an empty scene) More...

	~Scene ()
	Destructor. More...

	Scene (const Scene &scene)
	Explicitly implemented deep copy (performs complete deep copy of all cameras and objects) More...

Scene &	operator= (const Scene &scene)
	Assignment operator (complete deep copy) More...

void	addCamera (const Camera &cam, float visSize=1.0)
	Adds a new Camera to the scene. More...

void	removeCamera (int index)
	removed the camera at given index More...

Camera &	getCamera (int camIndex=0)
	returns a reference to the i-th camera More...

const Camera &	getCamera (int camIndex=0) const
	returns the i-th scene camera More...

int	getCameraCount () const
	returns the count of contained cameras More...

std::vector< Camera * >	getAllCameras (int firstIndex=0, int num=-1)
	returns a vector with pointers to all cameras in given range More...

void	addObject (SceneObject *object, bool passOwnerShip=false)
	adds a new top-level object to the Scene instance More...

void	removeObject (int idx)
	removed object at given index More...

void	removeObject (const SceneObject *obj)
	removes given top-level object from scene (not recursive) More...

void	removeObjects (int startIndex, int endIndex=-1)
	removed object at given indices More...

int	getObjectCount () const
	returns the number of top-level objects More...

SceneObject *	getObject (int index)
	returns contained object at given index More...

const SceneObject *	getObject (int index) const
	returns contained object at given index (const) More...

SceneObject *	getObject (const std::vector< int > recursiveIndices)
	returns a child that is deeper in the scene graph More...

SceneObject *	getObject (const std::vector< int > recursiveIndices) const
	returns a child that is deeper in the scene graph (const) More...

std::vector< int >	findPath (const SceneObject *o) const
	finds the recursive indices for a given object. More...

void	clear (bool camerasToo=false)
	deletes and removes all objects, handlers and callbacks More...

qt::MouseHandler *	getMouseHandler (int camIndex=0)
	returns a mouse handler that adapts the scene's camera using mouse-interaction More...

void	setMouseHandler (SceneMouseHandler *sceneMouseHandler, int camIndex=0)
	registeres a custom SceneMouseHandler for given camera index More...

qt::ICLDrawWidget3D::GLCallback *	getGLCallback (int camIndex)
	returns a callback that is used to render the scene into a GL-context More...

const core::Img8u &	render (int camIndx, const core::ImgBase background=0, core::Img32f depthBuffer=0, DepthBufferMode mode=DistToCamCenter, bool fastRendering=false)

void	setDrawCamerasEnabled (bool enabled)
	sets wheter cameras are also visualized in scenes. More...

bool	getDrawCamerasEnabled () const
	returns whether cameras are visualized More...

void	setDrawLightsEnabled (bool enabled, float lightSize=1)
	sets wheter lights are also visualized in scenes. More...

bool	getDrawLightsEnabled () const
	returns whether lights are visualized More...

void	setDrawCoordinateFrameEnabled (bool enabled, float size=120)
	sets wheter a coordinate frame is automatically inserted into the scene More...

bool	getDrawCoordinateFrameEnabled () const
	returns wheter a coordinate frame is automatically shown in the scene More...

void	setDrawObjectFramesEnabled (bool enabled, float size)
	sets whether all object frames are visualized More...

bool	getDrawObjectFramesEnabled () const
	returns whether object frames are visualized More...

void	setCursor (Vec newPosition)
	sets the Position of the cursor More...

Vec	getCursor ()
	gets the Position of the cursor More...

void	activateCursor (bool activate=true)
	activate or deactivate the cursor More...

SceneLight &	getLight (int index)
	returns a reference to a light with given index More...

const SceneLight &	getLight (int index) const
	returns a const reference to a light with given index More...

void	setLightingEnabled (bool flag)
	sets whether OpenGL's lighting is globally activated More...

void	setGlobalAmbientLight (const GeomColor &color)
	this can be used to change OpenGL's global ambient light color More...

Hit	findObject (int camIndex, int xScreen, int yScreen)
	picks the closest contained scene-object clicked at given ScreenPosition More...

Hit	findObject (const ViewRay &v)
	picks the first object that is hit by the given viewray More...

std::vector< Hit >	findObjects (const ViewRay &v)
	retunrs all objects intersected by the given viewray More...

std::vector< Hit >	findObjects (int camIndex, int xScreen, int ySceen)
	retunrs all objects on that are intersected by the defined cameras viewray through given x and y More...

void	setBounds (float minX, float maxX=0, float minY=0, float mayY=0, float minZ=0, float maxZ=0)
	sets the expected bounds of contained objects More...

void	setBackgroundColor (const GeomColor &color)
	sets the scene's background color (alpha is not used) More...

GeomColor	getBackgroundColor () const
	returns the current background colo More...

virtual void	grab (PointCloudObjectBase &dst)
	implements the PointCloudGrabber interface More...

Public Member Functions inherited from icl::utils::Lockable
	Lockable (bool recursive=false)
	Default constructor. More...

	Lockable (const Lockable &l)
	copy constructor (does not copy the source mutex) More...

Lockable &	operator= (const Lockable &l)
	assignment operator (does not copy the source mutex) More...

	~Lockable ()
	Destructor. More...

void	lock () const
	lock object More...

void	unlock () const
	unlock object More...

Mutex &	getMutex () const
	returns mutex of this object More...

Public Member Functions inherited from icl::geom::PointCloudGrabber
virtual	~PointCloudGrabber ()
	virtual, but empty destructor More...

virtual const core::Img32f *	getDepthImage () const
	returns the last grabbed point cloud's underlying depth image (if available) More...

virtual const core::Img8u *	getColorImage () const
	returns the last grabbed point cloud's underlying depth image (if available) More...

virtual Camera	getDepthCamera () const
	returns current depth camera (CAN be implemented by implementation More...

virtual Camera	getColorCamera () const

virtual void	setCameraWorldFrame (const math::FixedMatrix< float, 4, 4 > &T)

virtual void	reinit (const std::string &description)
	re-initializes the current device More...

Public Member Functions inherited from icl::utils::Configurable
virtual	~Configurable ()
	virtual destructor More...

	Configurable (const Configurable &other)
	Copy constructor. More...

Configurable &	operator= (const Configurable &other)
	Assignment operator. More...

void	setConfigurableID (const std::string &ID)
	sets the ID of this configurable More...

const std::string &	getConfigurableID () const
	returns the configurables static ID More...

bool	isOrderedFlagSet () const
	returns whether the ordered flag is set More...

void	deactivateProperty (const std::string &pattern)
	adds an additional deativation pattern More...

void	deleteDeactivationPattern (const std::string &pattern)
	removed a formerly added deactivation pattern More...

std::vector< std::string >	getPropertyListWithoutDeactivated () const
	this returns a filtered list of properties (using all filters added by deactivateProperty) More...

virtual void	adaptProperty (const std::string &name, const std::string &newType, const std::string &newInfo, const std::string &newToolTip)
	this function can be used to adapt a specific property afterwards More...

void	registerCallback (const Callback &cb)
	add a callback for changed properties More...

void	removedCallback (const Callback &cb)
	removes a callback that was registered before More...

void	syncChangesTo (Configurable *others, int num=1)
	this can be used to let this instance also apply property changes to others More...

virtual void	setPropertyValue (const std::string &propertyName, const Any &value)
	sets a property value More...

virtual std::vector< std::string >	getPropertyList () const
	returns a list of All properties, that can be set using setProperty More...

virtual bool	supportsProperty (const std::string &propertyName) const
	base implementation for property check (seaches in the property list) More...

virtual void	saveProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC) const
	writes all available properties into a file More...

virtual void	loadProperties (const std::string &filename, const std::vector< std::string > &propertiesToSkip=EMPTY_VEC)
	reads a camera config file from disc More...

virtual std::string	getPropertyType (const std::string &propertyName) const
	get type of property More...

virtual std::string	getPropertyInfo (const std::string &propertyName) const
	get information of a properties valid values More...

virtual Any	getPropertyValue (const std::string &propertyName) const
	returns the current value of a property or a parameter More...

virtual std::string	getPropertyToolTip (const std::string &propertyName) const
	returns the tooltip description for a given property More...

virtual int	getPropertyVolatileness (const std::string &propertyName) const
	Returns whether this property may be changed internally. More...

Public Attributes
icl::qt::GLFragmentShader *	m_shaders [ShaderUtil::COUNT]
	renders the current scene using an instance of pbuffer More...

RenderSettings *	m_renderSettings

FBOData *	m_fboData

Protected Member Functions
void	createDisplayList (SceneObject *o) const
	creates a displaylist for the given object More...

void	freeDisplayList (SceneObject *o) const
	frees the display list, that is associated with an object More...

void	renderScene (int camIndex, qt::ICLDrawWidget3D *widget=0) const
	internally used rendering method More...

void	renderShadow (const unsigned int light, const unsigned int shadow, unsigned int size, int camID) const
	renders the shadowmap More...

void	renderSceneObjectRecursiveShadow (ShaderUtil util, SceneObject o, int camID) const

void	renderSceneObjectRecursive (SceneObject *o, int camID) const
	internally used rendering method for recursive rendering of the scene graph More...

void	renderSceneObjectRecursive (ShaderUtil util, SceneObject o, int camID) const
	internally used rendering method for recursive rendering of the scene graph More...

void	renderObjectFramesRecursive (SceneObject o, SceneObject cs, int camID) const
	recursively renders object frames for all scene objects More...

float	getMaxSceneDim () const
	internally used utility method that computes the extend of the Scene content More...

void	extendMaxSceneDimRecursive (float &minX, float &maxX, float &minY, float &maxY, float &minZ, float &maxZ, SceneObject *o) const
	recursive utility method More...

void	freeAllPBuffers ()
	frees all pbuffers allocated before More...

void	freePBuffer (const utils::Size &size)
	frees the pbffer associated with given size (if there is one) More...

Protected Member Functions inherited from icl::utils::Configurable
void	addProperty (const std::string &name, const std::string &type, const std::string &info, const Any &value=Any(), const int volatileness=0, const std::string &tooltip=std::string())
	This can be used by derived classes to store supported properties in the internal list. More...

void	addChildConfigurable (Configurable *configurable, const std::string &childPrefix="")
	This adds another configurable as child. More...

void	removeChildConfigurable (Configurable *configurable)
	removes the given child configurable More...

Property &	prop (const std::string &propertyName)
	this CAN be used e.g. to store a property value in internal property-list More...

const Property &	prop (const std::string &propertyName) const
	this CAN be used e.g. to store a property value in internal property-list More...

	Configurable (const std::string &ID="", bool ordered=true)
	create this configurable with given ID More...

void	call_callbacks (const std::string &propertyName, const Configurable *caller) const
	calls all registered callbacks More...

Protected Attributes
std::vector< Camera >	m_cameras
	internal list of cameras More...

std::vector< utils::SmartPtr< SceneObject > >	m_objects
	internal list of top-level objects More...

std::vector< utils::SmartPtr< SceneObject > >	m_cameraObjects
	internal list of top-level camera objects used for camera visualization More...

std::vector< utils::SmartPtr< SceneMouseHandler > >	m_mouseHandlers
	internally used list of mouse handlers More...

std::vector< utils::SmartPtr< GLCallback > >	m_glCallbacks
	internally used list of callbacks More...

std::map< PBufferIndex, PBuffer * >	m_pbuffers

utils::SmartPtr< SceneObject >	m_coordinateFrameObject
	internally used scene object More...

utils::SmartPtr< SceneObject >	m_objectFrameObject
	also internally used object frame object More...

utils::SmartPtr< SceneLight >	m_lights [8]
	internal list of lights More...

utils::SmartPtr< SceneObject >	m_shadowCameraObjects [8]
	list of cameras for visualisation of shadowcameras More...

bool	m_previousLightState [8][4]
	previous lightstate More...

utils::SmartArray< utils::Range32f >	m_bounds
	optionally given bounds of the scene More...

math::FixedColVector< int, 4 >	m_globalAmbientLight
	global ambient light More...

GeomColor	m_backgroundColor
	current scene background color More...

utils::FPSEstimator	m_fps

Protected Attributes inherited from icl::utils::Configurable
std::vector< Callback >	callbacks
	internally managed list of callbacks More...

Static Private Member Functions
static void	freeDisplayList (void *handle)
	called from the SceneObject class More...

Private Attributes
SceneObject *	m_cursor

Friends
class	SceneObject
	make SceneObject friend of Scene More...

Additional Inherited Members
Static Public Member Functions inherited from icl::utils::Configurable
static std::string	create_default_ID (const std::string &prefix)
	this function can be used in subclasses to create a default ID More...

static Configurable *	get (const std::string &id)
	returns configurable by given ID More...

static void	register_configurable_type (const std::string &classname, Function< Configurable * > creator)
	registers a configurable type More...

static std::vector< std::string >	get_registered_configurables ()
	returns a list of all registered configurable classnames More...

static Configurable *	create_configurable (const std::string &classname)
	creates a configurable by given name More...

Static Public Attributes inherited from icl::utils::Configurable
static const std::vector< std::string >	EMPTY_VEC
	used as shortcut – just an empty vector of std::strings More...

Detailed Description

Scene Implementation that is used to handle a list of objects and cameras.

The scene combines visual objects (icl::SceneObject) which define nodes of a scene graph and cameras. You can use ICL's camera calibration tool icl-cam-calib (and icl-cam-calib-2) to calibrate cameras in your scene. Later, you can define a scene (including SceneObject-instances) and use the calibrated camera to draw the Scene as an image overlay.

The following example demonstrates how to use the Scene class. The example can also be found at ICLGeom/examples/geom-demo-simple.cpp. A more complex demo that also uses the Scene's scene graph can be found at ICLGeom/examples/scene-graph-demo.cpp

#include <ICLQt/Common.h>
#include <ICLGeom/Geom.h>
#include <ICLUtils/FPSLimiter.h>
// global data
icl::qt::GUI gui;
Scene scene;
void init(){
  // create graphical user interface with a scene's viewport set of size 640x480
  gui << Draw3D(utils::Size(640,480)).minSize(16,12).handle("draw").label("scene view")
      << FSlider(0.5,20,3).out("f").handle("focal").label("focal length").maxSize(100,3);
  gui.show();
  // create camera and add to scene instance
  Camera cam(Vec(0,0,-10), // position
             Vec(0,0,1),   // view-direction
             Vec(1,0,0));   // up-direction
  scene.addCamera(cam);
  if(pa("-o")){ // either load an .obj file
    scene.addObject(new SceneObject(*pa("-o")));
  }else{ // or create a simple cube
    float data[] = {0,0,0,7,3,2};
    scene.addObject(new SceneObject("cuboid",data));
  }
  // link the scene's first camera with mouse gestures in the draw-GUI-component
  gui["draw"].install(scene.getMouseHandler(0));
}
void run(){
  DrawHandle3D draw = gui["draw"]; // get the draw-GUI compoment
  scene.getCamera(0).setFocalLength(gui["f"]); // update the camera's focal length
  // now simply copy and past this block ...
  draw->link(scene.getGLCallback(0)); // render the whole scene
  draw.render();   // post an update-event (don't use draw->render() !!)
  static FPSLimiter limiter(25);
  limiter.wait();
}
int main(int n, char**ppc){
  return ICLApplication(n,ppc,"-obj|-o(.obj-filename)",init,run).exec();
}

Member Enumeration Documentation

◆ DepthBufferMode

enum icl::geom::Scene::DepthBufferMode

Enumerator
RawDepth01	raw core::depth buffer in range [0,1]
DistToCamPlane	core::depth buffer values define distance to the camera's z=0 plane
DistToCamCenter	core::depth buffer values define distanct to the camera center

Constructor & Destructor Documentation

◆ Scene() [1/2]

icl::geom::Scene::Scene ( )

Base constructor (creates an empty scene)

◆ ~Scene()

icl::geom::Scene::~Scene ( )

Destructor.

◆ Scene() [2/2]

icl::geom::Scene::Scene ( const Scene & scene )

Explicitly implemented deep copy (performs complete deep copy of all cameras and objects)

Member Function Documentation

◆ activateCursor()

void icl::geom::Scene::activateCursor ( bool activate = true )

activate or deactivate the cursor

◆ addCamera()

void icl::geom::Scene::addCamera	(	const Camera &	cam,
		float	visSize = `1.0`
	)

Adds a new Camera to the scene.

Parameters

cam	which is copied into the scene
visSize	this parameter determines the size of the 3D visualized cameras in the scene. If visSize is 1.0, The camera coordinate system is visualized with size 50x50x50. Actually, the visSize you need depends on the unit you use for your scene in your application. The default visSize is quite appropriate if you work with mm. If you e.g. use cm instead, visSize should be set to 0.1.

◆ addObject()

void icl::geom::Scene::addObject	(	SceneObject *	object,
		bool	passOwnerShip = `false`
	)

adds a new top-level object to the Scene instance

By default, the object's memory is managed externally. If you want to pass the ownership to the Scene instance, you have to set passOwnerShip to true.

◆ clear()

void icl::geom::Scene::clear ( bool camerasToo = false )

deletes and removes all objects, handlers and callbacks

If camerasToo is set to true, also all cameras are removed

◆ createDisplayList()

void icl::geom::Scene::createDisplayList ( SceneObject * o ) const

protected

creates a displaylist for the given object

◆ extendMaxSceneDimRecursive()

void icl::geom::Scene::extendMaxSceneDimRecursive	(	float &	minX,
		float &	maxX,
		float &	minY,
		float &	maxY,
		float &	minZ,
		float &	maxZ,
		SceneObject *	o
	)		const

protected

recursive utility method

◆ findObject() [1/2]

Hit icl::geom::Scene::findObject	(	int	camIndex,
		int	xScreen,
		int	yScreen
	)

inline

picks the closest contained scene-object clicked at given ScreenPosition

returns 0 if no object was hit, if contactPos is not 0, the 3D-contact position is stored there.

◆ findObject() [2/2]

Hit icl::geom::Scene::findObject ( const ViewRay & v )

picks the first object that is hit by the given viewray

The first object that is returned has the smallest distance to the given viewRay's offset. If contactPos is not 0, the contact point is stored there.

◆ findObjects() [1/2]

std::vector<Hit> icl::geom::Scene::findObjects ( const ViewRay & v )

retunrs all objects intersected by the given viewray

◆ findObjects() [2/2]

std::vector<Hit> icl::geom::Scene::findObjects	(	int	camIndex,
		int	xScreen,
		int	ySceen
	)

inline

retunrs all objects on that are intersected by the defined cameras viewray through given x and y

◆ findPath()

std::vector<int> icl::geom::Scene::findPath ( const SceneObject * o ) const

finds the recursive indices for a given object.

If no exceptions are thrown, getObject(findPath(o)) is always o. throws ans exception if the given object cannot be found.

◆ freeAllPBuffers()

void icl::geom::Scene::freeAllPBuffers ( )

protected

frees all pbuffers allocated before

◆ freeDisplayList() [1/2]

void icl::geom::Scene::freeDisplayList ( SceneObject * o ) const

protected

frees the display list, that is associated with an object

◆ freeDisplayList() [2/2]

static void icl::geom::Scene::freeDisplayList ( void * handle )

staticprivate

called from the SceneObject class

◆ freePBuffer()

void icl::geom::Scene::freePBuffer ( const utils::Size & size )

protected

frees the pbffer associated with given size (if there is one)

◆ getAllCameras()

std::vector<Camera*> icl::geom::Scene::getAllCameras	(	int	firstIndex = `0`,
		int	num = `-1`
	)

returns a vector with pointers to all cameras in given range

Please note, that the results become invalid if addCamera() or removeCamera() was called. If 'num' selects more cameras than possible, is it just increased appropriately automatically.

◆ getBackgroundColor()

GeomColor icl::geom::Scene::getBackgroundColor ( ) const

returns the current background colo

◆ getCamera() [1/2]

Camera& icl::geom::Scene::getCamera ( int camIndex = 0 )

returns a reference to the i-th camera

This can also be used to set the camera or to set's some of it's properties:

// set a totally new camera
scene.getCamera(0) = Camera(...);
// update the focal length only
scene.getCamera(0).setFocalLength(77);

◆ getCamera() [2/2]

const Camera& icl::geom::Scene::getCamera ( int camIndex = 0 ) const

returns the i-th scene camera

◆ getCameraCount()

int icl::geom::Scene::getCameraCount ( ) const

inline

returns the count of contained cameras

◆ getCursor()

Vec icl::geom::Scene::getCursor ( )

gets the Position of the cursor

◆ getDrawCamerasEnabled()

bool icl::geom::Scene::getDrawCamerasEnabled ( ) const

returns whether cameras are visualized

◆ getDrawCoordinateFrameEnabled()

bool icl::geom::Scene::getDrawCoordinateFrameEnabled ( ) const

returns wheter a coordinate frame is automatically shown in the scene

◆ getDrawLightsEnabled()

bool icl::geom::Scene::getDrawLightsEnabled ( ) const

returns whether lights are visualized

◆ getDrawObjectFramesEnabled()

bool icl::geom::Scene::getDrawObjectFramesEnabled ( ) const

returns whether object frames are visualized

◆ getGLCallback()

qt::ICLDrawWidget3D::GLCallback* icl::geom::Scene::getGLCallback ( int camIndex )

returns a callback that is used to render the scene into a GL-context

please see ICLQt::ICLDrawWidget3D::callback

◆ getLight() [1/2]

SceneLight& icl::geom::Scene::getLight ( int index )

returns a reference to a light with given index

The returned reference cam be used to set lighting parameters. Since OpenGL does only support 8 lights, allowed indices are 0-7. If another index is passed, an exception is thrown.

◆ getLight() [2/2]

const SceneLight& icl::geom::Scene::getLight ( int index ) const

returns a const reference to a light with given index

Since OpenGL does only support 8 lights, allowed indices are 0-7. If another index is passed, an exception is thrown.

◆ getMaxSceneDim()

float icl::geom::Scene::getMaxSceneDim ( ) const

protected

internally used utility method that computes the extend of the Scene content

The extend is used when scene mouse handlers are created. Here, it will e.g. compute a usefull step when moving forward or strafing.

◆ getMouseHandler()

qt::MouseHandler* icl::geom::Scene::getMouseHandler ( int camIndex = 0 )

returns a mouse handler that adapts the scene's camera using mouse-interaction

◆ getObject() [1/4]

SceneObject* icl::geom::Scene::getObject ( int index )

returns contained object at given index

If the index is not valid, an exception is thrown

◆ getObject() [2/4]

const SceneObject* icl::geom::Scene::getObject ( int index ) const

returns contained object at given index (const)

If the index is not valid, an exception is thrown

◆ getObject() [3/4]

SceneObject* icl::geom::Scene::getObject ( const std::vector< int > recursiveIndices )

returns a child that is deeper in the scene graph

e.g. if recursiveIndices is [1,2,3], then first, the Scene's object at index 1 is used. Then this objects child at index 2. And finally that objects child at index 3 is returned. An exception is thrown if one of the indices is wrong.

◆ getObject() [4/4]

SceneObject* icl::geom::Scene::getObject ( const std::vector< int > recursiveIndices ) const

returns a child that is deeper in the scene graph (const)

e.g. if recursiveIndices is [1,2,3], then first, the Scene's object at index 1 is used. Then this objects child at index 2. And finally that objects child at index 3 is returned. An exception is thrown if one of the indices is wrong.

◆ getObjectCount()

int icl::geom::Scene::getObjectCount ( ) const

inline

returns the number of top-level objects

◆ grab()

virtual void icl::geom::Scene::grab ( PointCloudObjectBase & dst )

virtual

implements the PointCloudGrabber interface

Internally uses the camera index that can be defined by setting the int-property "point cloud grabber cam" by setting the "grab depth feature" property, the destination point cloud will be filled with a depth -field as well

Implements icl::geom::PointCloudGrabber.

◆ operator=()

Scene& icl::geom::Scene::operator= ( const Scene & scene )

Assignment operator (complete deep copy)

◆ removeCamera()

void icl::geom::Scene::removeCamera ( int index )

removed the camera at given index

◆ removeObject() [1/2]

void icl::geom::Scene::removeObject ( int idx )

removed object at given index

The object is deleted if it's ownwership was passed

◆ removeObject() [2/2]

void icl::geom::Scene::removeObject ( const SceneObject * obj )

removes given top-level object from scene (not recursive)

The object is deleted if it's ownwership was passed

◆ removeObjects()

void icl::geom::Scene::removeObjects	(	int	startIndex,
		int	endIndex = `-1`
	)

removed object at given indices

The object's are deleted if their ownwership was passed

◆ render()

const core::Img8u& icl::geom::Scene::render	(	int	camIndx,
		const core::ImgBase *	background = `0`,
		core::Img32f *	depthBuffer = `0`,
		DepthBufferMode	mode = `DistToCamCenter`,
		bool	fastRendering = `false`
	)

◆ renderObjectFramesRecursive()

void icl::geom::Scene::renderObjectFramesRecursive	(	SceneObject *	o,
		SceneObject *	cs,
		int	camID
	)		const

protected

recursively renders object frames for all scene objects

◆ renderScene()

void icl::geom::Scene::renderScene	(	int	camIndex,
		qt::ICLDrawWidget3D *	widget = `0`
	)		const

protected

internally used rendering method

◆ renderSceneObjectRecursive() [1/2]

void icl::geom::Scene::renderSceneObjectRecursive	(	SceneObject *	o,
		int	camID
	)		const

inlineprotected

internally used rendering method for recursive rendering of the scene graph

◆ renderSceneObjectRecursive() [2/2]

void icl::geom::Scene::renderSceneObjectRecursive	(	ShaderUtil *	util,
		SceneObject *	o,
		int	camID
	)		const

protected

internally used rendering method for recursive rendering of the scene graph

◆ renderSceneObjectRecursiveShadow()

void icl::geom::Scene::renderSceneObjectRecursiveShadow	(	ShaderUtil *	util,
		SceneObject *	o,
		int	camID
	)		const

protected

◆ renderShadow()

void icl::geom::Scene::renderShadow	(	const unsigned int	light,
		const unsigned int	shadow,
		unsigned int	size,
		int	camID
	)		const

protected

renders the shadowmap

◆ setBackgroundColor()

void icl::geom::Scene::setBackgroundColor ( const GeomColor & color )

sets the scene's background color (alpha is not used)

channel ranges are assumed to be in [0,255]. The default background color is black

◆ setBounds()

void icl::geom::Scene::setBounds	(	float	minX,
		float	maxX = `0`,
		float	minY = `0`,
		float	mayY = `0`,
		float	minZ = `0`,
		float	maxZ = `0`
	)

sets the expected bounds of contained objects

The set information is used when a mouse-handler is created, in order to estimate appropriate step sizes. If the scene bounds were not explicitly, the scene tries to infer this information from the contained objects
Each [min-max] range where min=max, is automatically set to [minX,maxX]. If additionally, minX is equal to maxX, max is is set to -minX. If the resulting x-range has still zero length, the bounds are deleted internally

◆ setCursor()

void icl::geom::Scene::setCursor ( Vec newPosition )

sets the Position of the cursor

◆ setDrawCamerasEnabled()

void icl::geom::Scene::setDrawCamerasEnabled ( bool enabled )

sets wheter cameras are also visualized in scenes.

This means, that you will be able to see e.g. camera 1 in the view of camera 0

◆ setDrawCoordinateFrameEnabled()

void icl::geom::Scene::setDrawCoordinateFrameEnabled	(	bool	enabled,
		float	size = `120`
	)

sets wheter a coordinate frame is automatically inserted into the scene

◆ setDrawLightsEnabled()

void icl::geom::Scene::setDrawLightsEnabled	(	bool	enabled,
		float	lightSize = `1`
	)

sets wheter lights are also visualized in scenes.

◆ setDrawObjectFramesEnabled()

void icl::geom::Scene::setDrawObjectFramesEnabled	(	bool	enabled,
		float	size
	)

sets whether all object frames are visualized

◆ setGlobalAmbientLight()

void icl::geom::Scene::setGlobalAmbientLight ( const GeomColor & color )

this can be used to change OpenGL's global ambient light color

by default, we use a very weak white ambient background light of [255,255,255,20]. The color values are given in ranges [0,255]

◆ setLightingEnabled()

void icl::geom::Scene::setLightingEnabled ( bool flag )

sets whether OpenGL's lighting is globally activated

by default, lighting is activated

◆ setMouseHandler()

void icl::geom::Scene::setMouseHandler	(	SceneMouseHandler *	sceneMouseHandler,
		int	camIndex = `0`
	)

registeres a custom SceneMouseHandler for given camera index

Friends And Related Function Documentation

◆ SceneObject

friend class SceneObject

friend

make SceneObject friend of Scene

Member Data Documentation

◆ m_backgroundColor

GeomColor icl::geom::Scene::m_backgroundColor

protected

current scene background color

◆ m_bounds

utils::SmartArray<utils::Range32f> icl::geom::Scene::m_bounds

protected

optionally given bounds of the scene

◆ m_cameraObjects

std::vector<utils::SmartPtr<SceneObject> > icl::geom::Scene::m_cameraObjects

protected

internal list of top-level camera objects used for camera visualization

◆ m_cameras

std::vector<Camera> icl::geom::Scene::m_cameras

protected

internal list of cameras

◆ m_coordinateFrameObject

utils::SmartPtr<SceneObject> icl::geom::Scene::m_coordinateFrameObject

mutableprotected

internally used scene object

◆ m_cursor

SceneObject* icl::geom::Scene::m_cursor

private

◆ m_fboData

FBOData* icl::geom::Scene::m_fboData

mutable

◆ m_fps

utils::FPSEstimator icl::geom::Scene::m_fps

protected

◆ m_glCallbacks

std::vector<utils::SmartPtr<GLCallback> > icl::geom::Scene::m_glCallbacks

protected

internally used list of callbacks

◆ m_globalAmbientLight

math::FixedColVector<int,4> icl::geom::Scene::m_globalAmbientLight

protected

global ambient light

◆ m_lights

utils::SmartPtr<SceneLight> icl::geom::Scene::m_lights[8]

protected

internal list of lights

◆ m_mouseHandlers

std::vector<utils::SmartPtr<SceneMouseHandler> > icl::geom::Scene::m_mouseHandlers

protected

internally used list of mouse handlers

◆ m_objectFrameObject

utils::SmartPtr<SceneObject> icl::geom::Scene::m_objectFrameObject

mutableprotected

also internally used object frame object

◆ m_objects

std::vector<utils::SmartPtr<SceneObject> > icl::geom::Scene::m_objects

protected

internal list of top-level objects

◆ m_pbuffers

std::map<PBufferIndex, PBuffer*> icl::geom::Scene::m_pbuffers

mutableprotected

◆ m_previousLightState

bool icl::geom::Scene::m_previousLightState[8][4]

mutableprotected

previous lightstate

◆ m_renderSettings

RenderSettings* icl::geom::Scene::m_renderSettings

mutable

◆ m_shaders

icl::qt::GLFragmentShader* icl::geom::Scene::m_shaders[ShaderUtil::COUNT]

mutable

renders the current scene using an instance of pbuffer

This method is currently only supported on linux systems, since the used pbuffer (OpenGL offscreen framebuffer object)

The method trys to create a default r8 g8 b8 pbuffer with 24Bit depthbuffer. If this is not supported, an at least 4 4 4 16 context is tryed to be created. If this does also fail, an exception will be thrown.

Shared Offsceen Rendering

When a single scene is used for both on- and offscreen rendering, an internal optimation needs to be deactivated by calling Scene::enableSharedOffscreenRendering.

Please note: The rendering pbuffer is allocated on the graphics card. Per definition, pbuffers are located in the screenbuffer memory segment which might be much smaller than the actual memory of your graphics card. Therefore, it is strongly recommended to free all pbuffers when they are no longer used. The pbuffer that is created to render the image in this method is stored internally and it will remain allocated for later use. If you need to render images of different sizes (the output image is rendered to the image size that the camera at given index has), you should free the pbuffers from time to time using Scene::freeAllPBuffers and Scene::freePBuffer(const utils::Size&).

If a non-null depthBuffer parameter is provided, it is filled with data from the scene core::depth buffer usually, the raw core::depth buffer does not provide useful information for further processing. In OpenGL, the standard core::depth buffer values are highly non-linearily distributed within the near and far clipping plane. If the core::depth buffer mode is not RawDepth01, this is compensated and the core::depth buffer is filled with (metric) core::depth values that denote either a pixel's distance to the z=0 plane in camera space or the distance to the camera center. For correcting the linearized core::depth buffer values that are computed for the DistToCamPlane mode, a set of correction coefficients has to be computed, which entails creation of all camera viewrays. This can last about a second in the first call. In later calls, the values are just re-used.Vector containing the shaders used in ImprovedShading

◆ m_shadowCameraObjects

utils::SmartPtr<SceneObject> icl::geom::Scene::m_shadowCameraObjects[8]

protected

list of cameras for visualisation of shadowcameras

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

/Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/Scene.h

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ DepthBufferMode

Constructor & Destructor Documentation

◆ Scene() [1/2]

◆ ~Scene()

◆ Scene() [2/2]

Member Function Documentation

◆ activateCursor()

◆ addCamera()

◆ addObject()

◆ clear()

◆ createDisplayList()

◆ extendMaxSceneDimRecursive()

◆ findObject() [1/2]

◆ findObject() [2/2]

◆ findObjects() [1/2]

◆ findObjects() [2/2]

◆ findPath()

◆ freeAllPBuffers()

◆ freeDisplayList() [1/2]

◆ freeDisplayList() [2/2]

◆ freePBuffer()

◆ getAllCameras()

◆ getBackgroundColor()

◆ getCamera() [1/2]

◆ getCamera() [2/2]

◆ getCameraCount()

◆ getCursor()

◆ getDrawCamerasEnabled()

◆ getDrawCoordinateFrameEnabled()

◆ getDrawLightsEnabled()

◆ getDrawObjectFramesEnabled()

◆ getGLCallback()

◆ getLight() [1/2]

◆ getLight() [2/2]

◆ getMaxSceneDim()

◆ getMouseHandler()

◆ getObject() [1/4]

◆ getObject() [2/4]

◆ getObject() [3/4]

◆ getObject() [4/4]

◆ getObjectCount()

◆ grab()

◆ operator=()

◆ removeCamera()

◆ removeObject() [1/2]

◆ removeObject() [2/2]

◆ removeObjects()

◆ render()

◆ renderObjectFramesRecursive()

◆ renderScene()

◆ renderSceneObjectRecursive() [1/2]

◆ renderSceneObjectRecursive() [2/2]

◆ renderSceneObjectRecursiveShadow()

◆ renderShadow()

◆ setBackgroundColor()

◆ setBounds()

◆ setCursor()

◆ setDrawCamerasEnabled()

◆ setDrawCoordinateFrameEnabled()

◆ setDrawLightsEnabled()

◆ setDrawObjectFramesEnabled()

◆ setGlobalAmbientLight()

◆ setLightingEnabled()

◆ setMouseHandler()

Friends And Related Function Documentation

◆ SceneObject

Member Data Documentation

◆ m_backgroundColor