int main(int argc, char **argv) {
int i;
for(i = 1; i < argc; ++i)
if (argv[i][0] != '-') {
id = atoi(argv[i]);
break;
}
carmen_ipc_initialize(argc, argv);
carmen_velodyne_subscribe_pointcloud_message(NULL,
(carmen_handler_t)velodyne_pointcloud_handler, CARMEN_SUBSCRIBE_ALL);
signal(SIGINT, velodyne_sigint_handler);
atexit(velodyne_finalize);
pthread_create(&thread, 0, velodyne_listen, 0);
gl_initialize(argc, argv);
gl_clear_color(1.0, 1.0, 1.0);
gl_clip(0.1, 60.0);
gl_camera(0.0, 0.0, 0.0, 0.0, 89.0, 20.0);
gl_loop();
while (!pointclouds.empty()) {
velodyne_pointcloud_free(&pointclouds.front());
pointclouds.pop_front();
}
return 0;
}
//_____________________________________________________________________________
// redisplay with the current setting (possibly a different viewpoint)
bool VSVR::gl_redisplay( int nslices /*= tex_ni()*/ ) const
//-----------------------------------------------------------------------------
{
if( !_tex) return false ;
// sets the openGL attributes and clipping planes
gl_set () ;
gl_clip() ;
//--------------------------------------------------//
// gets the direction of the observer
double gl_model[16] ; // = { 1.0f,0.0f,0.0f,0.0f, 0.0f,0.0f,-1.0f,0.0f, 0.0f,-1.0f,0.0f,0.0f, 0.0f,0.0f,0.0f,1.0f } ;
double gl_proj [16] ; // = { 1.0f,0.0f,0.0f,0.0f, 0.0f,1.0f,0.0f,0.0f, 0.0f,0.0f,1.0f,0.0f, 0.0f,0.0f,0.0f,1.0f } ;
int gl_view [ 4] ;
::glGetDoublev (GL_MODELVIEW_MATRIX , gl_model);
::glGetDoublev (GL_PROJECTION_MATRIX, gl_proj );
::glGetIntegerv(GL_VIEWPORT , gl_view );
//--------------------------------------------------//
// gets the bounding box of the grid in the screen coordinates
double xmin=FLT_MAX, xmax=-FLT_MAX, ymin=FLT_MAX, ymax=-FLT_MAX, zmin=FLT_MAX, zmax=-FLT_MAX;
for( int i = 0; i < 8; ++i )
{
float bbx = (i&1) ? (float)tex_ni() : 0.0f ;
float bby = (i&2) ? (float)tex_nj() : 0.0f ;
float bbz = (i&4) ? (float)tex_nk() : 0.0f ;
double x,y,z ;
gluProject( bbx,bby,bbz, gl_model, gl_proj, gl_view, &x, &y, &z ) ;
if( x < xmin ) xmin = x;
if( x > xmax ) xmax = x;
if( y < ymin ) ymin = y;
if( y > ymax ) ymax = y;
if( z < zmin ) zmin = z;
if( z > zmax ) zmax = z;
}
//--------------------------------------------------//
// world to tex coordinates
double fx = 1.0 / tex_ni() ;
double fy = 1.0 / tex_nj() ;
double fz = 1.0 / tex_nk() ;
//--------------------------------------------------//
// draw each slice of the texture in the viewer coordinates
float dz = (float)( (zmax-zmin) / nslices ) ;
float z = (float)zmax - dz/2.0f ;
::glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
::glBegin( GL_QUADS ) ;
{
for( int n = nslices-1 ; n >= 0 ; --n, z -= dz )
{
GLdouble point[3] ;
::gluUnProject( xmin,ymin,z, gl_model, gl_proj, gl_view, point + 0, point + 1, point + 2 ) ;
::glTexCoord3d( fx*point[0], fy*point[1], fz*point[2] );
::glVertex3dv( point ) ;
::gluUnProject( xmax,ymin,z, gl_model, gl_proj, gl_view, point + 0, point + 1, point + 2 ) ;
::glTexCoord3d( fx*point[0], fy*point[1], fz*point[2] );
::glVertex3dv( point ) ;
::gluUnProject( xmax,ymax,z, gl_model, gl_proj, gl_view, point + 0, point + 1, point + 2 ) ;
::glTexCoord3d( fx*point[0], fy*point[1], fz*point[2] );
::glVertex3dv( point ) ;
::gluUnProject( xmin,ymax,z, gl_model, gl_proj, gl_view, point + 0, point + 1, point + 2 ) ;
::glTexCoord3d( fx*point[0], fy*point[1], fz*point[2] );
::glVertex3dv( point ) ;
}
}
::glEnd() ; // GL_QUADS
// unsets the openGL attributes and clipping planes
gl_unclip() ;
gl_unset () ;
return true ;
}
