ITexture class
#include <iDynTree/Visualizer.h>
The interface for an object that can be used as an additional target for the renderer.
This allows rendering the scene using dimensions and environment that are different from the main window. The camera is in common. Any camera change in the main window is also reflected in the other textures.
Constructors, destructors, conversion operators
- ~ITexture() pure virtual
- Destructor.
Public functions
- auto environment() -> IEnvironment& pure virtual
- Return an interface to manipulate the texture environment.
- auto getPixelColor(unsigned int width, unsigned int height) const -> ColorViz pure virtual
- Get the color of the pixel at the given position in the additional texture.
- auto getPixels(std::vector<PixelViz>& pixels) const -> bool pure virtual
- Get the pixels of the texture.
- auto drawToFile(const std::string filename = "iDynTreeVisualizerTextureScreenshot.png") const -> bool pure virtual
- Draw the current texture to a image file.
- void enableDraw(bool enabled = true) pure virtual
- Enable/disable the drawing on the texture.
- auto width() const -> int pure virtual
- Get the texture width.
- auto height() const -> int pure virtual
- Get the texture height.
- auto setSubDrawArea(int xOffsetFromTopLeft, int yOffsetFromTopLeft, int subImageWidth, int subImageHeight) -> bool pure virtual
- Set the area used for drawing operations.
Function documentation
ColorViz iDynTree::
Get the color of the pixel at the given position in the additional texture.
| Parameters | |
|---|---|
| width | The width of the pixel |
| height | The height of the pixel |
| Returns | The color of the pixel |
Remember to call draw() first.
bool iDynTree::
Get the pixels of the texture.
| Parameters | |
|---|---|
| pixels | The output pixels. The size of the vector will be equal to the total number of pixels of the rendered texture, i.e. width of the texture times its height. Both these two parameters can be set in the textureOptions passed to the method ITexturesHandler:: |
| Returns | True in case of success, false otherwise |
Remember to call draw() first.
bool iDynTree::
Draw the current texture to a image file.
| Returns | true if all went ok, false otherwise. |
|---|
The format of the image is desumed from the filename.
For more info on the process of writing the image, check irr::video::IVideoDriver::writeImageToFile irrlicht method.
void iDynTree::
Enable/disable the drawing on the texture.
| Parameters | |
|---|---|
| enabled | If true (default), the visualizer will draw on the texture when calling draw(); |
bool iDynTree::
Set the area used for drawing operations.
The entirety of the texture is cleared between two draw() calls. Use this in conjunction with subDraw() to draw on different parts of the same texture. Use call it with (0, 0, width(), height()) to draw on the full texture (this is done by default).