root / rgbdslam / src / glviewer.h @ 9240aaa3
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1 | 9240aaa3 | Alex | /* This file is part of RGBDSLAM.
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2 | *
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3 | * RGBDSLAM is free software: you can redistribute it and/or modify
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4 | * it under the terms of the GNU General Public License as published by
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5 | * the Free Software Foundation, either version 3 of the License, or
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6 | * (at your option) any later version.
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7 | *
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8 | * RGBDSLAM is distributed in the hope that it will be useful,
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9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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11 | * GNU General Public License for more details.
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12 | *
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13 | * You should have received a copy of the GNU General Public License
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14 | * along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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15 | */
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16 | |||
17 | |||
18 | #ifndef GLVIEWER_H
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19 | #define GLVIEWER_H
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20 | #include <QGLWidget> |
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21 | #include <QList> |
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22 | #include <QPair> |
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23 | #include <QMatrix4x4> |
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24 | #include "parameter_server.h" |
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25 | |||
26 | //!OpenGL based display of the 3d model
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27 | class GLViewer : public QGLWidget { |
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28 | Q_OBJECT |
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29 | |||
30 | public: |
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31 | GLViewer(QWidget *parent = 0);
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32 | ~GLViewer(); |
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33 | |||
34 | QSize minimumSizeHint() const;
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35 | QSize sizeHint() const;
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36 | void addPointCloud(pointcloud_type * pc, QMatrix4x4 transform);
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37 | void deleteLastNode();
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38 | void updateTransforms(QList<QMatrix4x4>* transforms);
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39 | void setEdges(QList<QPair<int, int> >* edge_list); |
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40 | void reset();
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41 | void toggleTriangulation();
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42 | |||
43 | public Q_SLOTS: |
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44 | void setXRotation(int angle); |
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45 | void setYRotation(int angle); |
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46 | void setZRotation(int angle); |
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47 | void toggleFollowMode(bool on); |
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48 | void toggleShowAxis(bool on); |
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49 | |||
50 | Q_SIGNALS:
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51 | void cloudRendered(pointcloud_type const *); |
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52 | //void xRotationChanged(int angle);
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53 | //void yRotationChanged(int angle);
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54 | //void zRotationChanged(int angle);
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55 | |||
56 | protected:
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57 | void initializeGL();
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58 | void paintGL();
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59 | void resizeGL(int width, int height); |
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60 | void mousePressEvent(QMouseEvent *event);
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61 | void mouseMoveEvent(QMouseEvent *event);
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62 | void wheelEvent(QWheelEvent *event);
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63 | //!Resets to certain perspectives
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64 | ///Double clicks onto an object part will make that part the pivot of
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65 | ///The camera movement. Depending on the button the position of the camera
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66 | ///will be the most recent frame (left button) or the first frame (right button).
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67 | ///If the background is clicked, the pivot will be the camera position itself
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68 | void mouseDoubleClickEvent(QMouseEvent *event);
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69 | ///Draw colored axis, scale long
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70 | void drawAxis(float scale); |
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71 | void drawEdges();
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72 | ///Draw coil. For debugging only
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73 | void drawCoil();
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74 | /**Defines a triangle for opengl */
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75 | bool drawTriangle(const point_type& p1, const point_type& p2, |
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76 | const point_type& p3);
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77 | //bool startTriangleStrip(pointcloud_type const * pc, int x, int y, int w, int h, bool& flip);
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78 | ///Compile the pointcloud to a GL Display List
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79 | void pointCloud2GLList(pointcloud_type const * pc); |
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80 | void pointCloud2GLStrip(pointcloud_type * pc);
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81 | QImage renderList(QMatrix4x4 transform, int list_id);
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82 | |||
83 | private:
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84 | int xRot, yRot, zRot;
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85 | float xTra, yTra, zTra;
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86 | QPoint lastPos; |
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87 | GLenum polygon_mode; |
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88 | QList<GLuint> cloud_list_indices; |
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89 | QList<QPair<int, int> >* edge_list_; |
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90 | QList<QMatrix4x4>* cloud_matrices; |
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91 | QMatrix4x4 viewpoint_tf_; |
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92 | //!cam_pose_mat transforms the viewpoint from the origin
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93 | ///cam_pose_mat is inverted, i.e. it should describes the transformation
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94 | ///of the camera itself
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95 | void setViewPoint(QMatrix4x4 cam_pose_mat);
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96 | void setClickedPosition(int x, int y); |
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97 | bool show_axis_;
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98 | bool follow_mode_;
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99 | |||
100 | }; |
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101 | |||
102 | #endif |