root / rgbdslam / src / glviewer.h @ 9240aaa3
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/* This file is part of RGBDSLAM.
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*
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* RGBDSLAM is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RGBDSLAM is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef GLVIEWER_H
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#define GLVIEWER_H
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#include <QGLWidget> |
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#include <QList> |
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#include <QPair> |
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#include <QMatrix4x4> |
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#include "parameter_server.h" |
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//!OpenGL based display of the 3d model
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class GLViewer : public QGLWidget { |
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Q_OBJECT |
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public: |
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GLViewer(QWidget *parent = 0);
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~GLViewer(); |
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QSize minimumSizeHint() const;
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QSize sizeHint() const;
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void addPointCloud(pointcloud_type * pc, QMatrix4x4 transform);
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void deleteLastNode();
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void updateTransforms(QList<QMatrix4x4>* transforms);
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void setEdges(QList<QPair<int, int> >* edge_list); |
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void reset();
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void toggleTriangulation();
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public Q_SLOTS: |
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void setXRotation(int angle); |
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void setYRotation(int angle); |
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void setZRotation(int angle); |
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void toggleFollowMode(bool on); |
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void toggleShowAxis(bool on); |
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Q_SIGNALS:
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void cloudRendered(pointcloud_type const *); |
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//void xRotationChanged(int angle);
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//void yRotationChanged(int angle);
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//void zRotationChanged(int angle);
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protected:
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void initializeGL();
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void paintGL();
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void resizeGL(int width, int height); |
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void mousePressEvent(QMouseEvent *event);
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void mouseMoveEvent(QMouseEvent *event);
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void wheelEvent(QWheelEvent *event);
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//!Resets to certain perspectives
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///Double clicks onto an object part will make that part the pivot of
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///The camera movement. Depending on the button the position of the camera
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///will be the most recent frame (left button) or the first frame (right button).
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///If the background is clicked, the pivot will be the camera position itself
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void mouseDoubleClickEvent(QMouseEvent *event);
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///Draw colored axis, scale long
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void drawAxis(float scale); |
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void drawEdges();
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///Draw coil. For debugging only
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void drawCoil();
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/**Defines a triangle for opengl */
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bool drawTriangle(const point_type& p1, const point_type& p2, |
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const point_type& p3);
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//bool startTriangleStrip(pointcloud_type const * pc, int x, int y, int w, int h, bool& flip);
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///Compile the pointcloud to a GL Display List
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void pointCloud2GLList(pointcloud_type const * pc); |
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void pointCloud2GLStrip(pointcloud_type * pc);
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QImage renderList(QMatrix4x4 transform, int list_id);
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private:
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int xRot, yRot, zRot;
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float xTra, yTra, zTra;
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QPoint lastPos; |
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GLenum polygon_mode; |
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QList<GLuint> cloud_list_indices; |
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QList<QPair<int, int> >* edge_list_; |
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QList<QMatrix4x4>* cloud_matrices; |
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QMatrix4x4 viewpoint_tf_; |
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//!cam_pose_mat transforms the viewpoint from the origin
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///cam_pose_mat is inverted, i.e. it should describes the transformation
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///of the camera itself
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void setViewPoint(QMatrix4x4 cam_pose_mat);
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void setClickedPosition(int x, int y); |
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bool show_axis_;
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bool follow_mode_;
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}; |
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#endif
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