void ThreeDWidget::paintGL()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
drawView();
drawFloor();
drawOriginal();
// drawSkeleton();
drawPointCloud();
if(_calibrated)
drawCameras();
}
void GLScenePane::drawGLObjs() {
glClearColor(1.0, 1.0, 1.0, 1.0);
if (m_followCamId < 0) {
glScaled(1. / m_scale, 1. / m_scale, 1. / m_scale);
glTranslated(-m_center[0], -m_center[1], -m_center[2]);
} else {
if (m_pSLAM) {
const CamPoseItem* cam =
m_pSLAM->slam[m_followCamId].m_camPos.current();
if (cam) {
double mat[16];
glGetDoublev(GL_MODELVIEW_MATRIX, mat);
glMatrixMode(GL_MODELVIEW);
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
mat[j * 4 + i] = cam->R[i * 3 + j];
mat[j * 4 + 3] = 0;
}
}
mat[12] = cam->t[0];
mat[13] = cam->t[1];
mat[14] = cam->t[2];
mat[15] = 1.0;
glMultMatrixd(mat);
}
}
}
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_POINT_SMOOTH);
glEnable(GL_LINE_SMOOTH);
glEnable(GL_POLYGON_SMOOTH);
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST);
if (m_pSLAM && m_pSLAM->curMapPts.getNum() > 0 && m_pSLAM->curFrame > 1) {
MyApp::bBusyDrawingModel = true;
drawPoints();
drawCameras();
//drawInfo();
drawCameraGroups();
MyApp::bBusyDrawingModel = false;
}
}
