Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 * 

 * RGBDSLAM is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 * 

 * You should have received a copy of the GNU General Public License

 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

#ifndef GLVIEWER_H

#define GLVIEWER_H

#include <QGLWidget>

#include <QList>

#include <QPair>

#include <QMatrix4x4>

#include "parameter_server.h"

//!OpenGL based display of the 3d model 

class GLViewer : public QGLWidget {

    Q_OBJECT

public:

    GLViewer(QWidget *parent = 0);

    ~GLViewer();

    QSize minimumSizeHint() const;

    QSize sizeHint() const;

    void addPointCloud(pointcloud_type * pc, QMatrix4x4 transform);

    void deleteLastNode();

    void updateTransforms(QList<QMatrix4x4>* transforms);

    void setEdges(QList<QPair<int, int> >* edge_list);

    void reset();

    void toggleTriangulation();

public Q_SLOTS:

    void setXRotation(int angle);

    void setYRotation(int angle);

    void setZRotation(int angle);

    void toggleFollowMode(bool on);

    void toggleShowAxis(bool on);

Q_SIGNALS:

    void cloudRendered(pointcloud_type const *);

    //void xRotationChanged(int angle);

    //void yRotationChanged(int angle);

    //void zRotationChanged(int angle);

protected:

    void initializeGL();

    void paintGL();

    void resizeGL(int width, int height);

    void mousePressEvent(QMouseEvent *event);

    void mouseMoveEvent(QMouseEvent *event);

    void wheelEvent(QWheelEvent *event);

    //!Resets to certain perspectives

    ///Double clicks onto an object part will make that part the pivot of 

    ///The camera movement. Depending on the button the position of the camera

    ///will be the most recent frame (left button) or the first frame (right button).

    ///If the background is clicked, the pivot will be the camera position itself

    void mouseDoubleClickEvent(QMouseEvent *event);

    ///Draw colored axis, scale long

    void drawAxis(float scale);

    void drawEdges();

    ///Draw coil. For debugging only

    void drawCoil();

    /**Defines a triangle for opengl */

    bool drawTriangle(const point_type& p1, const point_type& p2, 

                      const point_type& p3);

    //bool startTriangleStrip(pointcloud_type const * pc, int x, int y, int w, int h, bool& flip);

    ///Compile the pointcloud to a GL Display List

    void pointCloud2GLList(pointcloud_type const * pc);

    void pointCloud2GLStrip(pointcloud_type * pc);

    QImage renderList(QMatrix4x4 transform, int list_id);

private:

    int xRot, yRot, zRot;

    float xTra, yTra, zTra;

    QPoint lastPos;

    GLenum polygon_mode;

    QList<GLuint> cloud_list_indices;

    QList<QPair<int, int> >* edge_list_;

    QList<QMatrix4x4>* cloud_matrices;

    QMatrix4x4 viewpoint_tf_;

    //!cam_pose_mat transforms the viewpoint from the origin

    ///cam_pose_mat is inverted, i.e. it should describes the transformation

    ///of the camera itself

    void setViewPoint(QMatrix4x4 cam_pose_mat);

    void setClickedPosition(int x, int y);

    bool show_axis_;

    bool follow_mode_;

};

#endif