void Viewer::keyPressEvent(QKeyEvent *pEvent_)
{
using namespace btl::kinect;
using namespace Eigen;
// Defines the Alt+R shortcut.
if (pEvent_->key() == Qt::Key_0)
{
_pData->_bCameraFollow = !_pData->_bCameraFollow;
camera()->setPosition(qglviewer::Vec(0, 0, 0));
camera()->setUpVector(qglviewer::Vec(0, -1, 0));
camera()->setViewDirection(qglviewer::Vec(0, 0, 1));
updateGL(); // Refres
#ifdef INACCURATE_METHOD_0
Affine3f prj_w_t_c; _pData->_pTracker->getCurrentProjectionMatrix(&prj_w_t_c);
Vector3f pos = -prj_w_t_c.linear().transpose() * prj_w_t_c.translation();
Vector3f upv = prj_w_t_c.linear()*Vector3f(0, -1, 0); //up vector
Vector3f vdr = prj_w_t_c.linear()*Vector3f(0, 0, 1); //viewing direction
camera()->setPosition(qglviewer::Vec(pos(0), pos(1), pos(2)));
camera()->setUpVector(qglviewer::Vec(upv(0), upv(1), upv(2)));
camera()->setViewDirection(qglviewer::Vec(vdr(0), vdr(1), vdr(2)));
updateGL(); // Refresh display
#endif
#ifdef INACCURATE_METHOD_1
glMatrixMode(GL_MODELVIEW);
Affine3f init; init.setIdentity(); init(1, 1) = -1.f; init(2, 2) = -1.f;// rotate the default opengl camera orientation to make it facing positive z
Affine3f prj_w_t_c; _pData->_pTracker->getCurrentProjectionMatrix(&prj_w_t_c);
prj_w_t_c = init * prj_w_t_c; //the order matters
glLoadMatrixf(prj_w_t_c.data());//times with manipulation matrix
GLdouble mvm[16];
glGetDoublev(GL_MODELVIEW_MATRIX, mvm);
camera()->setFromModelViewMatrix(mvm);
updateGL(); // Refresh display
#endif
}
else if (pEvent_->key() == Qt::Key_BracketLeft)
{
//_idx_view--;
//Affine3f prj_w_t_c = _pData->getTrackerPtr()->getView(&_idx_view);
//Affine3f init; init.setIdentity(); init(1, 1) = -1.f; init(2, 2) = -1.f;// rotate the default opengl camera orientation to make it facing positive z
//prj_w_t_c = init * prj_w_t_c; //the order matters
//Affine3d mTmp = prj_w_t_c.cast<double>();
//mTmp.linear().transposeInPlace();
//camera()->setFromModelViewMatrix(mTmp.data());
camera()->setPosition(qglviewer::Vec(0, 0, 0));
camera()->setUpVector(qglviewer::Vec(0, -1, 0));
camera()->setViewDirection(qglviewer::Vec(0, 0, 1));
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_BracketRight)
{
//_idx_view++;
//Affine3f prj_c_f_w = _pData->getTrackerPtr()->getView(&_idx_view);
//Affine3f init; init.setIdentity(); init(1, 1) = -1.f; init(2, 2) = -1.f;// rotate the default opengl camera orientation to make it facing positive z
//prj_c_f_w = init * prj_c_f_w; //the order matters
//Affine3d mTmp = prj_c_f_w.cast<double>();
//mTmp.linear().transposeInPlace();
//camera()->setFromModelViewMatrix(mTmp.data());
//camera()->setPosition(qglviewer::Vec(0, 0, 0));
//camera()->setUpVector(qglviewer::Vec(0, -1, 0));
//camera()->setViewDirection(qglviewer::Vec(0, 0, 1));
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_1)
{
_bShowText = !_bShowText;
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_2)
{
//Matrix4f mModelView;
//Affine3f prj;
//_pData->getTrackerPtr()->getCurrentFeatureProjectionMatrix(&prj);
//mModelView = btl::utility::setModelViewGLfromPrj(prj);
//Matrix4d mTmp = mModelView.cast<double>();
//mTmp.linear().transposeInPlace();
//camera()->setFromModelViewMatrix(mTmp.data());
//updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_4 && !(pEvent_->modifiers() & Qt::ShiftModifier)){
_pData->switchShowTexts();
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_6) {
//_pData->switchShowMatchedFeaturesForRelocalisation();
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_7) {
_pData->switchShowSurfaces();
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_8) {
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_9) {
_pData->switchPyramid();
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_L && !(pEvent_->modifiers() & Qt::ShiftModifier)) {
_pData->switchLighting();
updateGL(); // Refresh display
}
else if (pEvent_->key() == Qt::Key_F2) {
_pData->switchImgPlane();
updateGL();
}
else if (pEvent_->key() == Qt::Key_F3) {
_pData->switchReferenceFrame();
updateGL();
}
else if (pEvent_->key() == Qt::Key_F4){
_pData->switchCurrentFrame();
updateGL();
}
else if (pEvent_->key() == Qt::Key_F5){
_pData->switchCameraPath();
updateGL();
}
else if (pEvent_->key() == Qt::Key_F6){
_pData->switchShowCamera();
updateGL();
}
else if (pEvent_->key() == Qt::Key_R && !(pEvent_->modifiers() & Qt::ShiftModifier)){
_pData->loadFromYml();
_pData->reset();
updateGL();
}
else if (pEvent_->key() == Qt::Key_A && !(pEvent_->modifiers() & Qt::ShiftModifier)){
//lower a
_pData->_bSave = !_pData->_bSave;
updateGL();
}
else if (pEvent_->key() == Qt::Key_S && !(pEvent_->modifiers() & Qt::ShiftModifier)){
_pData->switchCapturing();
updateGL();
}
else if (pEvent_->key() == Qt::Key_T && !(pEvent_->modifiers() & Qt::ShiftModifier)){//t
_pData->switchTrackOnly();
updateGL();
}
else if (pEvent_->key() == Qt::Key_T && (pEvent_->modifiers() & Qt::ShiftModifier)){ //T
_pData->_bToneMapper = !_pData->_bToneMapper;
updateGL();
}
else if (pEvent_->key() == Qt::Key_P && !(pEvent_->modifiers() & Qt::ShiftModifier)){
_pData->switchCapturing();
updateGL();
}
else if (pEvent_->key() == Qt::Key_P && (pEvent_->modifiers() & Qt::ShiftModifier)){
_pData->switchContinuous();
updateGL();
}
else if (pEvent_->key() == Qt::Key_Escape && !(pEvent_->modifiers() & Qt::ShiftModifier)){
QCoreApplication::instance()->quit();
}
else if (pEvent_->key() == Qt::Key_F && (pEvent_->modifiers() & Qt::ShiftModifier)){
if (!isFullScreen()){
toggleFullScreen();
}
else{
setFullScreen(false);
resize(1280, 960);
}
}
else if (pEvent_->key() == Qt::Key_M ){
updateGL();
}
else if (pEvent_->key() == Qt::Key_Z && !(pEvent_->modifiers() & Qt::ShiftModifier)){ //'z'
_pData->_bExportRT = true;
updateGL();
}
QGLViewer::keyPressEvent(pEvent_);
}
Matrix4f Camera::getViewMatrix() const {
Affine3f view;
view.setIdentity();
view.translate(-zoom*Z_AXIS).rotate(rotation).translate(-center);
return view.matrix();
}
