void TrackballViewer::resetCamera()
{
// assume only one dispObjects MainCanvas exist here
Bound* scene_bounds = dynamic_cast<TrackballCanvas*>(dispObjects[0])->getBoundBox();
qglviewer::Vec scene_center;
scene_center = qglviewer::Vec((scene_bounds->minX + scene_bounds->maxX) / 2,
(scene_bounds->minY + scene_bounds->maxY) / 2,
(scene_bounds->minZ + scene_bounds->maxZ) / 2);
setSceneCenter(scene_center);
float x_span = (scene_bounds->maxX - scene_bounds->minX) / 2;
float y_span = (scene_bounds->maxY - scene_bounds->minY) / 2;
float z_span = (scene_bounds->maxZ - scene_bounds->minZ) / 2;
float scene_radius = x_span>y_span ? (x_span > z_span ? x_span : z_span) : (y_span > z_span ? y_span : z_span);
scene_radius *= 1.5;
setSceneRadius(scene_radius);
camera()->fitSphere(scene_center, scene_radius);
setStateFileName(QString((dynamic_cast<TrackballCanvas*>(dispObjects[0])->getFilePath()+"/camera_info.xml").c_str()));
if (restoreStateFromFile())
std::cout << "Load camera info successes...\n";
else
std::cout << "Load camera info failed...\n";
// set the scene in MainCanvasViewer
syncCamera();
main_canvas_viewer->setSceneCenter(sceneCenter());
main_canvas_viewer->setSceneRadius(sceneRadius());
main_canvas_viewer->camera()->setZClippingCoefficient(camera()->zClippingCoefficient());
}
QtGLView::QtGLView(QWidget *parent) :
QGLViewer(parent),
drawLightSource(true)
{
setStateFileName(QString::null);
connect(&textureUpdater, SIGNAL(fileChanged(QString)), this, SLOT(textureChanged(QString)));
setShortcut(DISPLAY_FPS, 0); // Disable stuff that won't work.
setGridIsDrawn(true);
setAxisIsDrawn(true);
}
void G2oQGLViewer::init()
{
QGLViewer::init();
//glDisable(GL_LIGHT0);
//glDisable(GL_LIGHTING);
setBackgroundColor(QColor::fromRgb(51, 51, 51));
// some default settings i like
glEnable(GL_LINE_SMOOTH);
glEnable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glEnable(GL_NORMALIZE);
//glEnable(GL_CULL_FACE);
glShadeModel(GL_FLAT);
//glShadeModel(GL_SMOOTH);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
setAxisIsDrawn();
// don't save state
setStateFileName(QString::null);
// mouse bindings
setMouseBinding(Qt::RightButton, CAMERA, ZOOM);
setMouseBinding(Qt::MidButton, CAMERA, TRANSLATE);
// keyboard shortcuts
setShortcut(CAMERA_MODE, 0);
setShortcut(EXIT_VIEWER, 0);
//setShortcut(SAVE_SCREENSHOT, 0);
// replace camera
qglviewer::Camera* oldcam = camera();
qglviewer::Camera* cam = new StandardCamera();
setCamera(cam);
cam->setPosition(qglviewer::Vec(0., 0., 75.));
cam->setUpVector(qglviewer::Vec(0., 1., 0.));
cam->lookAt(qglviewer::Vec(0., 0., 0.));
delete oldcam;
// getting a display list
_drawList = glGenLists(1);
}
void NICPQGLViewer::init() {
// Init QGLViewer.
QGLViewer::init();
// Set some default settings.
glEnable(GL_LINE_SMOOTH);
glEnable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glEnable(GL_NORMALIZE);
glShadeModel(GL_FLAT);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
// Don't save state.
setStateFileName(QString::null);
// Mouse bindings.
setMouseBinding(Qt::RightButton, CAMERA, ZOOM);
setMouseBinding(Qt::MidButton, CAMERA, TRANSLATE);
// Replace camera.
qglviewer::Camera *oldcam = camera();
qglviewer::Camera *cam = new StandardCamera();
setCamera(cam);
cam->setPosition(qglviewer::Vec(-1.0f, 0.0f, 0.0f));
cam->setUpVector(qglviewer::Vec(0.0f, 0.0f, 1.0f));
cam->lookAt(qglviewer::Vec(0.0f, 0.0f, 0.0f));
delete oldcam;
// Create draw lists.
_ellipsoidDrawList = glGenLists(_numDrawLists);
_pyramidDrawList = glGenLists(_numDrawLists);
// Compile draw lists.
// Ellipsoid.
glNewList(_ellipsoidDrawList, GL_COMPILE);
drawSphere(1.0f);
glEndList();
// Pyramid.
glNewList(_pyramidDrawList, GL_COMPILE);
drawPyramid(0.5f, 0.5f);
glEndList();
}
void Slam2DViewer::init()
{
QGLViewer::init();
// some default settings i like
glEnable(GL_LINE_SMOOTH);
glEnable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glShadeModel(GL_SMOOTH);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
setAxisIsDrawn();
// don't save state
setStateFileName(QString::null);
// mouse bindings
#ifdef QGLVIEWER_DEPRECATED_MOUSEBINDING
setMouseBinding(Qt::NoModifier, Qt::RightButton, CAMERA, ZOOM);
setMouseBinding(Qt::NoModifier, Qt::MidButton, CAMERA, TRANSLATE);
#else
setMouseBinding(Qt::RightButton, CAMERA, ZOOM);
setMouseBinding(Qt::MidButton, CAMERA, TRANSLATE);
#endif
// keyboard shortcuts
setShortcut(CAMERA_MODE, 0);
setShortcut(EXIT_VIEWER, 0);
//setShortcut(SAVE_SCREENSHOT, 0);
// replace camera
qglviewer::Camera* oldcam = camera();
qglviewer::Camera* cam = new StandardCamera();
setCamera(cam);
cam->setPosition(qglviewer::Vec(0., 0., 75.));
cam->setUpVector(qglviewer::Vec(0., 1., 0.));
cam->lookAt(qglviewer::Vec(0., 0., 0.));
delete oldcam;
}
int QGLViewer::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QGLWidget::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
switch (_id) {
case 0: viewerInitialized(); break;
case 1: drawNeeded(); break;
case 2: drawFinished((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 3: animateNeeded(); break;
case 4: helpRequired(); break;
case 5: axisIsDrawnChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 6: gridIsDrawnChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 7: FPSIsDisplayedChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 8: textIsEnabledChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 9: cameraIsEditedChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 10: stereoChanged((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 11: pointSelected((*reinterpret_cast< const QMouseEvent*(*)>(_a[1]))); break;
case 12: mouseGrabberChanged((*reinterpret_cast< qglviewer::MouseGrabber*(*)>(_a[1]))); break;
case 13: setAxisIsDrawn((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 14: setAxisIsDrawn(); break;
case 15: setGridIsDrawn((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 16: setGridIsDrawn(); break;
case 17: setFPSIsDisplayed((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 18: setFPSIsDisplayed(); break;
case 19: setTextIsEnabled((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 20: setTextIsEnabled(); break;
case 21: setCameraIsEdited((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 22: setCameraIsEdited(); break;
case 23: toggleAxisIsDrawn(); break;
case 24: toggleGridIsDrawn(); break;
case 25: toggleFPSIsDisplayed(); break;
case 26: toggleTextIsEnabled(); break;
case 27: toggleCameraIsEdited(); break;
case 28: setBackgroundColor((*reinterpret_cast< const QColor(*)>(_a[1]))); break;
case 29: setForegroundColor((*reinterpret_cast< const QColor(*)>(_a[1]))); break;
case 30: setSceneRadius((*reinterpret_cast< float(*)>(_a[1]))); break;
case 31: setSceneCenter((*reinterpret_cast< const qglviewer::Vec(*)>(_a[1]))); break;
case 32: setSceneBoundingBox((*reinterpret_cast< const qglviewer::Vec(*)>(_a[1])),(*reinterpret_cast< const qglviewer::Vec(*)>(_a[2]))); break;
case 33: showEntireScene(); break;
case 34: setCamera((*reinterpret_cast< qglviewer::Camera*const(*)>(_a[1]))); break;
case 35: setManipulatedFrame((*reinterpret_cast< qglviewer::ManipulatedFrame*(*)>(_a[1]))); break;
case 36: setMouseGrabber((*reinterpret_cast< qglviewer::MouseGrabber*(*)>(_a[1]))); break;
case 37: setFullScreen((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 38: setFullScreen(); break;
case 39: setStereoDisplay((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 40: setStereoDisplay(); break;
case 41: toggleFullScreen(); break;
case 42: toggleStereoDisplay(); break;
case 43: toggleCameraMode(); break;
case 44: saveSnapshot((*reinterpret_cast< bool(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 45: saveSnapshot((*reinterpret_cast< bool(*)>(_a[1]))); break;
case 46: saveSnapshot(); break;
case 47: saveSnapshot((*reinterpret_cast< const QString(*)>(_a[1])),(*reinterpret_cast< bool(*)>(_a[2]))); break;
case 48: saveSnapshot((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 49: setSnapshotFileName((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 50: setSnapshotFormat((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 51: setSnapshotCounter((*reinterpret_cast< int(*)>(_a[1]))); break;
case 52: setSnapshotQuality((*reinterpret_cast< int(*)>(_a[1]))); break;
case 53: { bool _r = openSnapshotFormatDialog();
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 54: snapshotToClipboard(); break;
case 55: copyBufferToTexture((*reinterpret_cast< GLint(*)>(_a[1])),(*reinterpret_cast< GLenum(*)>(_a[2]))); break;
case 56: copyBufferToTexture((*reinterpret_cast< GLint(*)>(_a[1]))); break;
case 57: setAnimationPeriod((*reinterpret_cast< int(*)>(_a[1]))); break;
case 58: startAnimation(); break;
case 59: stopAnimation(); break;
case 60: animate(); break;
case 61: toggleAnimation(); break;
case 62: help(); break;
case 63: aboutQGLViewer(); break;
case 64: select((*reinterpret_cast< const QMouseEvent*(*)>(_a[1]))); break;
case 65: select((*reinterpret_cast< const QPoint(*)>(_a[1]))); break;
case 66: setSelectBufferSize((*reinterpret_cast< int(*)>(_a[1]))); break;
case 67: setSelectRegionWidth((*reinterpret_cast< int(*)>(_a[1]))); break;
case 68: setSelectRegionHeight((*reinterpret_cast< int(*)>(_a[1]))); break;
case 69: setSelectedName((*reinterpret_cast< int(*)>(_a[1]))); break;
case 70: setShortcut((*reinterpret_cast< KeyboardAction(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 71: setKeyboardAccelerator((*reinterpret_cast< KeyboardAction(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 72: setKeyDescription((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< QString(*)>(_a[2]))); break;
case 73: setKeyFrameKey((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 74: setPlayKeyFramePathStateKey((*reinterpret_cast< int(*)>(_a[1]))); break;
case 75: setPlayPathStateKey((*reinterpret_cast< int(*)>(_a[1]))); break;
case 76: setAddKeyFrameStateKey((*reinterpret_cast< int(*)>(_a[1]))); break;
case 77: setPathKey((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 78: setPathKey((*reinterpret_cast< int(*)>(_a[1]))); break;
case 79: setPlayPathKeyboardModifiers((*reinterpret_cast< QtKeyboardModifiers(*)>(_a[1]))); break;
case 80: setAddKeyFrameKeyboardModifiers((*reinterpret_cast< QtKeyboardModifiers(*)>(_a[1]))); break;
case 81: setMouseBinding((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< MouseHandler(*)>(_a[2])),(*reinterpret_cast< MouseAction(*)>(_a[3])),(*reinterpret_cast< bool(*)>(_a[4]))); break;
case 82: setMouseBinding((*reinterpret_cast< int(*)>(_a[1])),(*reinterpret_cast< MouseHandler(*)>(_a[2])),(*reinterpret_cast< MouseAction(*)>(_a[3]))); break;
case 83: setWheelBinding((*reinterpret_cast< QtKeyboardModifiers(*)>(_a[1])),(*reinterpret_cast< MouseHandler(*)>(_a[2])),(*reinterpret_cast< MouseAction(*)>(_a[3])),(*reinterpret_cast< bool(*)>(_a[4]))); break;
case 84: setWheelBinding((*reinterpret_cast< QtKeyboardModifiers(*)>(_a[1])),(*reinterpret_cast< MouseHandler(*)>(_a[2])),(*reinterpret_cast< MouseAction(*)>(_a[3]))); break;
case 85: setHandlerKeyboardModifiers((*reinterpret_cast< MouseHandler(*)>(_a[1])),(*reinterpret_cast< QtKeyboardModifiers(*)>(_a[2]))); break;
case 86: setHandlerStateKey((*reinterpret_cast< MouseHandler(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 87: setMouseStateKey((*reinterpret_cast< MouseHandler(*)>(_a[1])),(*reinterpret_cast< int(*)>(_a[2]))); break;
case 88: initFromDOMElement((*reinterpret_cast< const QDomElement(*)>(_a[1]))); break;
case 89: saveStateToFile(); break;
case 90: { bool _r = restoreStateFromFile();
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 91: setStateFileName((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 92: saveToFile((*reinterpret_cast< const QString(*)>(_a[1]))); break;
case 93: saveToFile(); break;
case 94: { bool _r = restoreFromFile((*reinterpret_cast< const QString(*)>(_a[1])));
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 95: { bool _r = restoreFromFile();
if (_a[0]) *reinterpret_cast< bool*>(_a[0]) = _r; } break;
case 96: resetVisualHints(); break;
case 97: delayedFullScreen(); break;
case 98: hideMessage(); break;
default: ;
}
_id -= 99;
}
return _id;
}
