///////////////////////////////////////////////////////////////////////////////
// draw bottom window (3rd person view)
///////////////////////////////////////////////////////////////////////////////
void ModelGL::drawSub2()
{
// set bottom viewport
setViewportSub(0, 0, windowWidth, windowHeight/2, 1, 100);
// clear buffer
glClearColor(bgColor[0], bgColor[1], bgColor[2], bgColor[3]); // background color
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glPushMatrix();
// First, transform the camera (viewing matrix) from world space to eye space
glTranslatef(0, 0, -cameraDistance);
glRotatef(cameraAngleX, 1, 0, 0); // pitch
glRotatef(cameraAngleY, 0, 1, 0); // heading
// draw grid
drawGrid(10, 1);
// draw balls
drawSpheres();
// draw the camera
glPushMatrix();
glTranslatef(0, 0, 7);
drawCamera();
drawFrustum(projectionLeft, projectionRight, projectionBottom, projectionTop, projectionNear, projectionFar);
glPopMatrix();
glPopMatrix();
}
void renderFunction()
{
float grey = 241.0;
glClearColor(grey/255.0, grey/255.0, grey/255.0, 0.0);
glClear(GL_COLOR_BUFFER_BIT);
glLoadIdentity();
glOrtho(-20.0, areaWidth+25.0, -20.0, areaHeight+25.0, -1.0, 1.0);
drawAxes();
drawCamera(simCamera.position(), 1.0, 0.0, 0.0);
drawCamera(filter.position(), 0.0, 0.0, 1.0);
printf("\n");
drawLandmarks();
glutSwapBuffers();
glFlush();
}
void
RGBID_SLAM::CameraView::updateCamera(const Eigen::Affine3d &new_pose)
{
bool not_first_pose_flag = removeCamera();
camera_pose_ = new_pose.cast<float>();
{
drawCamera(camera_pose_, 1.0, 0.0, 0.0);
}
//drawMotionUncertainty(cov_mat_, camera_pose_, 1.0, 1.0, 1.0) ;
}
void display(void)
{
float aspect = 1.0f * graphicsWinWidth / graphicsWinHeight;
glClear(GL_COLOR_BUFFER_BIT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45.0f, aspect, 0.01f, 10.f);
gluLookAt(0.9, 0.8, 0.8, 0, 0, 0, 0, 1, 0);
glRotated(xAngle,1,0,0);
glRotated(yAngle,0,1,0);
drawXYZAxes();
drawBoard(CHESS_ROW_DX/1000.0f, CHESS_ROW_NUM, CHESS_COL_NUM);
drawCamera(transGL, rotGL);
glutSwapBuffers();
}
///////////////////////////////////////////////////////////////////////////////
// draw bottom window (3rd person view)
///////////////////////////////////////////////////////////////////////////////
void ModelGL::drawSub2()
{
// set bottom viewport
setViewportSub(0, 0, windowWidth, windowHeight/2, NEAR_PLANE, FAR_PLANE);
// clear buffer
glClearColor(bgColor[0], bgColor[1], bgColor[2], bgColor[3]); // background color
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glPushMatrix();
// First, transform the camera (viewing matrix) from world space to eye space
glTranslatef(0, 0, -cameraDistance);
glRotatef(cameraAngleX, 1, 0, 0); // pitch
glRotatef(cameraAngleY, 0, 1, 0); // heading
// draw grid
drawGrid(10, 1);
// draw a teapot
glPushMatrix();
glTranslatef(modelPosition[0], modelPosition[1], modelPosition[2]);
glRotatef(modelAngle[0], 1, 0, 0);
glRotatef(modelAngle[1], 0, 1, 0);
glRotatef(modelAngle[2], 0, 0, 1);
drawAxis(4);
drawTeapot();
glPopMatrix();
// draw the camera
glPushMatrix();
glTranslatef(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
glRotatef(cameraAngle[0], 1, 0, 0);
glRotatef(cameraAngle[1], 0, 1, 0);
glRotatef(cameraAngle[2], 0, 0, 1);
drawCamera();
drawFrustum(FOV_Y, 1, 1, 10);
glPopMatrix();
glPopMatrix();
}
void OpenGLTransformation::drawSub2()
{
glViewport(windowWidth / 2, 0, windowWidth / 2, windowHeight);
glScissor(windowWidth / 2, 0, windowWidth / 2, windowHeight);
glClearColor(0.f, 0.f, 0.f, 1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
MatStack.matrixMode(tgt::MatrixStack::PROJECTION);
MatStack.pushMatrix();
MatStack.loadMatrix(cameraRight->getProjectionMatrix(glm::ivec2(windowWidth * 0.5f, windowHeight)));
MatStack.matrixMode(tgt::MatrixStack::MODELVIEW);
MatStack.pushMatrix();
MatStack.loadMatrix(cameraRight->getViewMatrix());
// always draw the grid at the origin (before any modeling transform)
drawGrid(10, 1);
drawAxis(4);
glm::mat4 cubeModel = glm::translate(glm::vec3(-0.5f));
MatStack.pushMatrix();
MatStack.loadMatrix(cameraRight->getViewMatrix() * cubeModel);
drawCube();
MatStack.popMatrix();
// draw the camera
glm::mat4 camModel = glm::translate(camera->getPosition()) * glm::inverse(camera->getRotateMatrix());
MatStack.pushMatrix();
MatStack.loadMatrix(cameraRight->getViewMatrix() * camModel);
drawCamera();
drawFrustum(camera->getFovy(), camera->getRatio(), camera->getNearDist(), camera->getFarDist());
MatStack.popMatrix();
MatStack.matrixMode(tgt::MatrixStack::PROJECTION);
MatStack.popMatrix();
MatStack.matrixMode(tgt::MatrixStack::MODELVIEW);
MatStack.popMatrix();
}
void CCY457OpenGLView::RenderScene ()
{
glLoadIdentity();
glTranslatef(m_xPos, m_yPos, m_zPos);
glRotatef(m_xAngle, 1.0f,0.0f,0.0f);
glRotatef(m_yAngle, 0.0f,1.0f,0.0f);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
//ground
if(m_ground){
glBegin(GL_QUADS);
glColor4f(0.2f,0.2f,0.2f,1.0f);
glVertex3f( 500.0f, -CUBELINE*10,-500.0f);
glVertex3f(-500.0f, -CUBELINE*10,-500.0f);
glVertex3f(-500.0f, -CUBELINE*10, 500.0f);
glVertex3f( 500.0f, -CUBELINE*10, 500.0f);
glEnd();
}
//table
if(m_table){
glDepthMask(GL_FALSE);
glBegin(GL_QUADS);
glColor4f(1.0f,1.0f,1.0f,0.5f);
glVertex3f( CUBELINE*4, -0.01f,-CUBELINE*4);
glVertex3f(-CUBELINE*4, -0.01f,-CUBELINE*4);
glVertex3f(-CUBELINE*4, -0.01f, CUBELINE*4);
glVertex3f( CUBELINE*4, -0.01f, CUBELINE*4);
glEnd();
glDepthMask(GL_TRUE);
}
//cube
if(m_cube){
glColor4f(0.8f,0.8f,0.8f,1.0f);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,m_Texture[1]);
//Front Face
glBegin(GL_POLYGON);
glTexCoord2f(0,0);
glVertex3f(0.0f, 0.0f,CUBELINE);
glTexCoord2f(1,0);
glVertex3f(CUBELINE, 0.0f,CUBELINE);
glTexCoord2f(1,1);
glVertex3f(CUBELINE, CUBELINE,CUBELINE);
glTexCoord2f(0,1);
glVertex3f(0.0f, CUBELINE,CUBELINE);
glEnd();
glBindTexture(GL_TEXTURE_2D,m_Texture[3]);
//Back Face
glBegin(GL_POLYGON);
glTexCoord2f(1,0);
glVertex3f(0.0f, 0.0f,0.0f);
glTexCoord2f(1,1);
glVertex3f(0.0f, CUBELINE,0.0f);
glTexCoord2f(0,1);
glVertex3f(CUBELINE, CUBELINE,0.0f);
glTexCoord2f(0,0);
glVertex3f(CUBELINE, 0.0f,0.0f);
glEnd();
glBindTexture(GL_TEXTURE_2D,m_Texture[2]);
//Left Face
glBegin(GL_POLYGON);
glTexCoord2f(1,0);
glVertex3f(0.0f, 0.0f, CUBELINE);
glTexCoord2f(1,1);
glVertex3f(0.0f, CUBELINE, CUBELINE);
glTexCoord2f(0,1);
glVertex3f(0.0f, CUBELINE, 0.0f);
glTexCoord2f(0,0);
glVertex3f(0.0f, 0.0f, 0.0f);
glEnd();
glBindTexture(GL_TEXTURE_2D,m_Texture[4]);
//Right Face
glBegin(GL_POLYGON);
glTexCoord2f(0,0);
glVertex3f(CUBELINE, 0.0f, CUBELINE);
glTexCoord2f(1,0);
glVertex3f(CUBELINE, 0.0f, 0.0f);
glTexCoord2f(1,1);
glVertex3f(CUBELINE, CUBELINE, 0.0f);
glTexCoord2f(0,1);
glVertex3f(CUBELINE, CUBELINE, CUBELINE);
glEnd();
glBindTexture(GL_TEXTURE_2D,m_Texture[5]);
//Top Face
glBegin(GL_POLYGON);
glTexCoord2f(0,0);
glVertex3f(0.0f, CUBELINE, CUBELINE);
glTexCoord2f(1,0);
glVertex3f(CUBELINE, CUBELINE, CUBELINE);
glTexCoord2f(1,1);
glVertex3f(CUBELINE, CUBELINE, 0.0f);
glTexCoord2f(0,1);
glVertex3f(0.0f, CUBELINE, 0.0f);
glEnd();
//Bottom Face
glBindTexture(GL_TEXTURE_2D,m_Texture[0]);
glBegin(GL_POLYGON);
glTexCoord2f(0,0);
glVertex3f(0.0f, 0.0f, CUBELINE);
glTexCoord2f(1,0);
glVertex3f(CUBELINE, 0.0f, CUBELINE);
glTexCoord2f(1,1);
glVertex3f(CUBELINE, 0.0f, 0.0f);
glTexCoord2f(0,1);
glVertex3f(0.0f, 0.0f, 0.0f);
glEnd();
glDisable(GL_TEXTURE_2D);
}
//axia
if(m_axia){
float i;
glColor4f(1.0f,0.0f,0.0f,1.0f);
glBegin(GL_LINES);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(100.0f,0.0f,0.0f);
glEnd();
for(i=0;i<500;i++){
glBegin(GL_LINES);
glVertex3f(i/10,0.0f,0.0f);
glVertex3f(i/10,0.0f,0.05f);
glEnd();
}
glColor4f(0.0f,1.0f,0.0f,1.0f);
glBegin(GL_LINES);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(0.0f,100.0f,0.0f);
glEnd();
for(i=0;i<500;i++){
glBegin(GL_LINES);
glVertex3f(0.0f,i/10,0.0f);
glVertex3f(0.0f,i/10,0.05f);
glEnd();
}
glColor4f(0.0f,0.0f,1.0f,1.0f);
glBegin(GL_LINES);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(0.0f,0.0f,100.0f);
glEnd();
for(i=0;i<500;i++){
glBegin(GL_LINES);
glVertex3f(0.0f,0.0f,i/10);
glVertex3f(0.05f,0.0f,i/10);
glEnd();
}
}
//camera
if(m_camera){
glDepthMask(GL_FALSE);
int j;
for(j=0;j<m_cameraCount;j++){
drawCamera(m_cameraData+j);
}
glDepthMask(GL_TRUE);
}
}
void DebuggingView::draw()
{
if (!valid())
{
glShadeModel( GL_SMOOTH );
glEnable( GL_DEPTH_TEST );
glEnable( GL_LIGHTING );
glEnable( GL_LIGHT0 );
glEnable( GL_LIGHT1 );
glEnable( GL_NORMALIZE );
}
glViewport( 0, 0, w(), h() );
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(30.0,-float(w())/float(h()),1.0,100.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_camera->applyViewingTransform();
// Need to apply an extra transform so that our camera 'approximately'
// lines up with the scene camera, initially, and to correct for our
// definition of "up."
{
Vec3d uAxis = raytracer->getScene().getCamera().getU();
Vec3d vAxis = raytracer->getScene().getCamera().getV();
Vec3d wAxis = uAxis ^ vAxis;
uAxis = wAxis ^ vAxis;
uAxis.normalize();
vAxis.normalize();
wAxis.normalize();
GLdouble rotMat[16];
rotMat[0] = uAxis[0];
rotMat[1] = vAxis[0];
rotMat[2] = wAxis[0];
rotMat[3] = 0.0;
rotMat[4] = uAxis[1];
rotMat[5] = vAxis[1];
rotMat[6] = wAxis[1];
rotMat[7] = 0.0;
rotMat[8] = uAxis[2];
rotMat[9] = vAxis[2];
rotMat[10] = wAxis[2];
rotMat[11] = 0.0;
rotMat[12] = 0.0;
rotMat[13] = 0.0;
rotMat[14] = 0.0;
rotMat[15] = 1.0;
glMultMatrixd( rotMat );
}
if( m_showAxes )
drawAxes();
if( raytracer == 0 || !raytracer->sceneLoaded() )
return;
if( m_showLights )
drawLights();
if( m_showGeometry )
{
lightScene();
drawScene();
}
drawRays();
if( m_showCamera )
drawCamera();
}
void Scene::paintGL()
{
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glMatrixMode( GL_PROJECTION );
glLoadIdentity();
glOrtho( 0, RESOLUTION_WIDTH, 0, RESOLUTION_HEIGHT, 1, 1000 );
glMatrixMode( GL_MODELVIEW );
glLoadIdentity();
// Inicio: Gráfico de cámara
glEnable( GL_TEXTURE_2D );
glColor3f( 1, 1, 1 );
glBindTexture( GL_TEXTURE_2D, textures->at( 0 )->id );
glBegin( GL_QUADS );
glTexCoord2f( 0, 0 ); glVertex3f( 0, RESOLUTION_HEIGHT, -999 );
glTexCoord2f( 1, 0 ); glVertex3f( RESOLUTION_WIDTH, RESOLUTION_HEIGHT, -999 );
glTexCoord2f( 1, 1 ); glVertex3f( RESOLUTION_WIDTH, 0, -999 );
glTexCoord2f( 0, 1 ); glVertex3f( 0, 0, -999 );
glEnd();
glDisable( GL_TEXTURE_2D );
// Fin: Gráfico de cámara
glMatrixMode( GL_PROJECTION );
double projectionMatrix[16];
cv::Size2i sceneSize( RESOLUTION_WIDTH, RESOLUTION_HEIGHT );
cv::Size2i openGlSize( RESOLUTION_WIDTH, RESOLUTION_HEIGHT );
cameraParameters->glGetProjectionMatrix( sceneSize, openGlSize, projectionMatrix, 0.05, 10 );
glLoadMatrixd( projectionMatrix );
glMatrixMode( GL_MODELVIEW );
double modelview_matrix[16];
// Inicio: Gráfico en marcadores
bool musicDetected = false;
ThreeDWriter textoParaCredencial(80, "Arial", -0.04f, 0.045f, -0.001f, 0.3f, 0.02f, 0.0001f);
QString comando_sql;
QString textoParaMostrar;
QVector<QStringList> vDatos;
for( int i = 0 ; i < detectedMarkers.size() ; i++ )
{
detectedMarkers.operator []( i ).glGetModelViewMatrix( modelview_matrix );
glLoadMatrixd( modelview_matrix );
glTranslatef( xTranslationOption, yTranslationOption, zTranslationOption );
if( rotateOption )
{
emit message( "Rotando" );
zRotationOption += rotationVelocityOption;
}
glRotatef( xRotationOption, 1, 0, 0 );
glRotatef( yRotationOption, 0, 1, 0 );
glRotatef( zRotationOption, 0, 0, 1 );
/*
||**************************************************************************************************************||
|| ||
|| MÉTODOS LISTOS PARA USAR EN MARCADORES: ||
|| ||
|| DrawSheet - DrawBox - DrawCamera - DrawCameraBox - DrawModel - DrawVideo - DrawWebImage - ListenWebMusic ||
|| Siempre agregar "+ scaleOption" al parámetro percentage para que la escala pueda ser modificada ||
|| ||
|| *************************************************************************************************************||
|| ||
|| RECORDAR: Ajustar la escala que se envía como parámetro ( percentage ). ||
|| IMPORTANTE: Para que los modelos se vean bien, las imagenes y el sonido, agregar antes de usar: ||
|| ||
|| DrawBox: glRotatef( -90, 0, 1, 0 ); ||
|| DrawCamera: glRotatef( 90, 0, 1, 0 ); ||
|| DrawCameraBox: glRotatef( 90, 0, 1, 0 ); ||
|| DrawSheet: glRotatef( 90, 0, 1, 0 ); ||
|| DrawWebImage: glRotatef( 180, 0, 0, 1 ); glRotatef( -90, 0, 1, 0 ); ||
|| DrawVideo: glRotatef( 90, 0, 1, 0 ); glRotatef( 180, 0, 0, 1 ); ||
|| ListenWebMusic: glRotatef( 180, 0, 0, 1 ); drawWebImage(); ||
|| musicDetected = true; webMusicPlayer->setVolume( detectedMarkers.at( i ).getArea() / 1000 ); ||
|| ||
|| House: glRotatef( -90, 0, 1, 0 ); ||
|| IPhone: glTranslatef( 0.032, 0, -0.025 ); glRotatef( 90, 1, 0, 0 ); ||
|| Man: glTranslatef( 0, 0, -0.012 ); glRotatef( -90, 1, 0, 0 ); glRotatef( 90, 0, 0, 1 ); ||
|| Oil: glRotatef( 90, 1, 0, 0 ); ||
|| Wagen: glRotatef( 90, 1, 0, 0 ); glRotatef( 90, 0, 0, 1 ); ||
|| Woman: glRotatef( 90, 1, 0, 0 ); glRotatef( 90, 0, 0, 1 ); ||
|| ||
|| *************************************************************************************************************||
*/
switch( detectedMarkers.at( i ).id )
{
case 0: { glRotatef( 270, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawCamera( 130 + scaleOption );
emit message( "Dibujando Cámara" );
break; }
case 1: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawCameraBox( 130 + scaleOption );
emit message( "Dibujando Cubo de la Cámara" );
break; }
case 2: { glRotatef( 90+180, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawWebImage( 150 + scaleOption );
break; }
case 3: { glRotatef( -90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawWebMusicImage( 150 + scaleOption );
musicDetected = true;
int volume = detectedMarkers.at( i ).getArea() / 150;
if( volume > 100 ) volume = 100;
webMusicPlayer->setVolume( volume );
emit message( "Volumen audio: " + QString::number( volume ) );
listenWebMusic(); break; }
case 4: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "Danger.jpg", 100 + scaleOption );
emit message( "Dibujando la Famosa Caja Danger" );
break; }
case 5: { glRotatef( 180, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
glTranslatef( -0.03, 0.05, 0);
drawModel( "IPhone.3ds", 70 + scaleOption );
emit message( "Dibujando Modelo 3d: IPhone" );
break;}
case 6: { glTranslatef( 0, 0.02, 0 );
glRotatef( -90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
glRotatef( 90+180, 1, 0, 0 );
drawModel( "Man.3ds", 3 + scaleOption );
emit message( "Dibujando Modelo 3d: Man" );
break; }
case 7: { glRotatef( 90, 0, 1, 0 );
glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawModel( "Oil.3ds", 150 + scaleOption );
emit message( "Dibujando Modelo 3d: Oil" );
break; }
case 8: { glRotatef( 270, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
int volume = detectedMarkers.at( i ).getArea() / 150;
if( volume > 100 ) volume = 100;
emit message( "Volumen video: " + QString::number( volume ) );
drawVideo( "trailer-RF7.mp4", volume, 200 + 2*scaleOption );
break; }
case 9: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "Ubp.png", 150 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
case 10: {
if ( ! seguirRostroOption)
actualizaServoSiCorresponde(detectedMarkers.at( i ).getCenter().x, 50);
glBegin(GL_LINES);
glColor3f (1, 0, 0);
glVertex3f( 0, 0, 0);
glVertex3f( 0, 100, 0);
glColor3f (0, 0, 1);
glVertex3f( 0, 0, 0);
glVertex3f( -100, 0, 0);
glEnd();
emit message( "Control de Servo" );
break; }
case 11: { glRotatef( 270, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
int volume = detectedMarkers.at( i ).getArea() / 150;
if( volume > 100 ) volume = 100;
emit message( "Volumen video: " + QString::number( volume ) );
drawVideo( "stic.mp4", volume, 200 + 2*scaleOption );
break; }
case 12: { glRotatef( 270, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
int volume = detectedMarkers.at( i ).getArea() / 150;
if( volume > 100 ) volume = 100;
emit message( "Volumen video: " + QString::number( volume ) );
drawVideo( "trailer-relato.mp4", volume, 200 + 2*scaleOption );
break; }
case 13:
comando_sql = "SELECT sorteo FROM invitados WHERE apellido = 'House'";
vDatos = adminDB.ejecutarComandoSelect(comando_sql);
for (int i=0 ; i<vDatos.size() ; i++) {
textoParaMostrar = vDatos.at(i).at(0);
}
glRotatef( 90, 1, 0, 0 );
glRotatef( 270, 0, 1, 0 );
glTranslatef( 0, 0, 0.005 );
drawSheet( "drhouse.jpg", 130 + scaleOption );
glLoadMatrixd( modelview_matrix ); // Cargamos la matriz inicial
glRotatef( 90, 0, 0, 1 );
glRotated(180, 0, 0, 5);
textoParaCredencial.writeText(textoParaMostrar);
break;
case 14:
comando_sql = "SELECT sorteo FROM invitados WHERE apellido = 'Messi'";
vDatos = adminDB.ejecutarComandoSelect(comando_sql);
for (int i=0 ; i<vDatos.size() ; i++) {
textoParaMostrar = vDatos.at(i).at(0);
}
glRotatef( 90, 1, 0, 0 );
glRotatef( 270, 0, 1, 0 );
glTranslatef( 0, 0, 0.005 );
drawSheet( "messi.png", 130 + scaleOption );
glLoadMatrixd( modelview_matrix ); // Cargamos la matriz inicial
glRotatef( 90, 0, 0, 1 );
glRotated(180, 0, 0, 5);
textoParaCredencial.writeText(textoParaMostrar);
break;
case 17: {
glRotatef( -90, 0, 0, 1 );
glRotatef( 90, 1, 0, 0 );
drawModel( "House.3ds", 40 + scaleOption );
emit message( "Dibujando Modelo 3d: Casa" );
break; }
case 15: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "caja.bmp", 100 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
case 16: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "caja.bmp", 100 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
case 18: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "caja.bmp", 100 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
case 19: { glRotatef( 90, 1, 0, 0 );
glRotatef( 90, 0, 1, 0 );
drawBox( "caja.bmp", 100 + scaleOption );
emit message( "Dibujando Cubo de la UBP" );
break; }
default: { break; }
}
}
if( musicDetected ) musicActive = true;
else if( musicActive )
{
emit message( "<div style=\"color:red;\">Marcador no detectado, la música se pausará</div>" );
webMusicPlayer->setVolume( webMusicPlayer->volume() - 1 );
if( webMusicPlayer->volume() <= 0 )
{
emit message( "Musica pausada" );
webMusicPlayer->pause();
musicActive = false;
}
}
// La siguiente linea se ejecuta siempre. Habria que ingeniarsela de otra forma para bajar el volumen
decreaseVideosVolume();
// Fin: Gráfico en marcadores
glFlush();
}
void GLScenePane::drawCameras() {
//draw camera trajectory
for (int i = 0; i < m_pSLAM->numCams; i++) {
const CamPoseItem* cam = m_pSLAM->slam[i].m_camPos.first();
while (cam->f < m_pSLAM->m_lastFrmBundle)
cam = cam->next;
//glColor3f(CAMERA_COLORS[3 * i], CAMERA_COLORS[3 * i + 1], CAMERA_COLORS[3 * i + 2]);
glLineWidth(2.0f);
glColor3f(0.5f, 0.5f, 0.5f);
glBegin(GL_LINE_STRIP);
while (cam) {
// drawCamCenter(cam, PT_COLOR + 3 * i);
//if (cam->f >= m_pSLAM->curFrame - 200)
{
double org[3];
getCamCenter(cam, org);
glVertex3d(org[0], org[1], org[2]);
}
cam = cam->next;
}
glEnd();
glPointSize(2.0);
glBegin(GL_LINE_STRIP);
cam = m_pSLAM->slam[i].m_camPos.first();
while (cam) {
// drawCamCenter(cam, PT_COLOR + 3 * i);
//if (cam->f >= m_pSLAM->curFrame - 200)
{
double org[3];
getCamCenter(cam, org);
glVertex3d(org[0], org[1], org[2]);
}
cam = cam->next;
}
glEnd();
cam = m_pSLAM->slam[i].m_camPos.first();
glColor3f(0.5f, 0.5f, 0.5f);
glLineWidth(2.0f);
glBegin(GL_LINE_STRIP);
while (cam && cam->f <= m_pSLAM->m_lastFrmBundle) {
// drawCamCenter(cam, PT_COLOR + 3 * i);
if (cam->f >= m_pSLAM->m_firstFrmBundle) {
double org[3];
getCamCenter(cam, org);
glVertex3d(org[0], org[1], org[2]);
}
cam = cam->next;
}
glEnd();
drawCamera(m_pSLAM->slam[i].videoReader->_w,
m_pSLAM->slam[i].videoReader->_h, m_pSLAM->slam[i].K.data,
m_pSLAM->slam[i].m_camPos.current(), m_camSize,
CAMERA_COLORS + 3 * i, 100);
}
//draw key camera poses
for (int i = 0; i < m_pSLAM->numCams; i++) {
for (size_t n = 0; n < m_pSLAM->slam[i].m_selfKeyPose.size(); ++n) {
const KeyPose* keyPose = m_pSLAM->slam[i].m_selfKeyPose[n];
drawCameraPose(keyPose->cam, m_camSize, CAMERA_COLORS + 3 * i, 4);
}
const KeyPose* keyPose = m_pSLAM->slam[i].m_keyPose.first();
int n = 0;
while (keyPose) {
drawCameraPose(keyPose->cam, m_camSize * 0.5,
CAMERA_COLORS + 3 * i);
n++;
keyPose = keyPose->next;
}
}
}
void
myDisplay(void)
{
int range;
middleX= windowWidth/2;
middleY= windowHeight/2;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
/* draw shaded view in perspective as seen from the camera */
/* in top right quadrant */
glViewport(middleX, middleY, windowWidth/2, windowHeight/2);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(cameraAngle, aspectRatio, 0.1, 100.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(lookFrom[0], lookFrom[1], lookFrom[2],
lookAt[0], lookAt[1], lookAt[2],
lookUp[0], lookUp[1], lookUp[2]);
drawModel(0);
/* draw the orthographic views */
if(aspectRatio < 1.0)
range= GRID_SIZE;
else
range= GRID_SIZE*aspectRatio+1;
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(-GRID_SIZE*aspectRatio, GRID_SIZE*aspectRatio, -GRID_SIZE, GRID_SIZE, -GRID_SIZE*aspectRatio, GRID_SIZE*aspectRatio);
glMatrixMode(GL_MODELVIEW);
/* draw xy ortho view in top left quadrant */
glLoadIdentity();
gluLookAt(0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0);
glViewport(0, middleY, windowWidth/2, windowHeight/2);
drawGrid(XY, range);
drawModel(1);
drawCamera(lookFrom, lookAt, lookUp, cameraAngle, aspectRatio);
/* draw xz ortho view in bottom left quadrant */
glLoadIdentity();
gluLookAt(0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, -1.0);
glViewport(0, 0, windowWidth/2, windowHeight/2);
drawGrid(XZ, range);
drawModel(1);
drawCamera(lookFrom, lookAt, lookUp, cameraAngle, aspectRatio);
/* draw yz ortho view in bottom right quadrant */
glLoadIdentity();
gluLookAt(0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0, 0.0);
glViewport(middleX, 0, windowWidth/2, windowHeight/2);
drawGrid(YZ, range);
drawModel(1);
drawCamera(lookFrom, lookAt, lookUp, cameraAngle, aspectRatio);
/* draw subwindow borders */
glViewport(0, 0, windowWidth, windowHeight);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0.0, windowWidth, 0.0, windowHeight);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glColor3f(1.0, 1.0, 1.0);
glBegin(GL_LINES);
glVertex2i(0, middleY);
glVertex2i(windowWidth, middleY);
glVertex2i(middleX, 0);
glVertex2i(middleX, windowHeight);
glEnd();
glutSwapBuffers();
}
void GLWidget::paintGL()
{
int i;
QList<Point3D> points;
QImage image;
//Set backgroung
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
rotateCamera();
drawGround( 10.0f, 1.0f, 0);
//Using stack of matrix
glPushMatrix();
//Draw all objects
glEnable(GL_TEXTURE_2D);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
//colors of glObject are replaced by texture. other - GL_REPLACE - combination
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
float refl;
int shine;
//need to draw pictures then objects
//Drawing images
for( i = 0; i < Scene::Instance().stub_objects().size(); i++)
{
//checking type of object - lense or picture
LensObjectStub* n = dynamic_cast<LensObjectStub*>(Scene::Instance().stub_objects()[i]);
if (!(n))
{
shine = 10;
refl = 0.5;
//textures
PictureObjectStub* picobj = (PictureObjectStub*)Scene::Instance().stub_objects()[i];
image = convertToGLFormat(picobj->image());
glTexImage2D(GL_TEXTURE_2D, 0, 3, (GLsizei)image.width(), (GLsizei)image.height(), 0,
GL_RGBA, GL_UNSIGNED_BYTE, image.bits());
if (Scene::Instance().stub_objects()[i]->selected())
{
glColor4f( 0.1, 0.1, 1.0, 1.0);
} else {
glColor4f( 1.0, 1.0, 1.0, 1.0);
}
float specref[] = { refl, refl, refl};
glMaterialfv( GL_FRONT_AND_BACK, GL_SPECULAR, specref);
glMaterialf( GL_FRONT_AND_BACK, GL_SHININESS, shine); //0..128 - reflection
points = Scene::Instance().stub_objects()[i]->getPoints();
//qDebug() << points;
//Drawing pictures
glBegin( GL_QUADS);
//Draw normals for lighting TODO
//glNormal3f( x, y ,z);
glTexCoord2f(0, 1);
glVertex3f( points[0].x, points[0].y, points[0].z);
glTexCoord2f(1, 1);
glVertex3f( points[1].x, points[1].y, points[1].z);
glTexCoord2f(1, 0);
glVertex3f( points[2].x, points[2].y, points[2].z);
glTexCoord2f(0, 0);
glVertex3f( points[3].x, points[3].y, points[3].z);
glEnd();
}
}
//Drawing lenses
for( i = 0; i < Scene::Instance().stub_objects().size(); i++)
{
//checking type of object - lense or picture
LensObjectStub* n = dynamic_cast<LensObjectStub*>(Scene::Instance().stub_objects()[i]);
if (n)
{
shine = 128;
refl = 1.0;
glEnable(GL_CULL_FACE);
glCullFace(GL_FRONT);
image = convertToGLFormat(n->heightMap1());
glTexImage2D(GL_TEXTURE_2D, 0, 3, (GLsizei)image.width(), (GLsizei)image.height(), 0,
GL_RGBA, GL_UNSIGNED_BYTE, image.bits());
if (Scene::Instance().stub_objects()[i]->selected())
{
glColor4f( 0.1, 0.1, 1.0, 0.5);
} else {
glColor4f( 1.0, 1.0, 1.0, 0.5);
}
float specref[] = { refl, refl, refl};
glMaterialfv( GL_FRONT_AND_BACK, GL_SPECULAR, specref);
glMaterialf( GL_FRONT_AND_BACK, GL_SHININESS, shine); //0..128 - reflection
points = Scene::Instance().stub_objects()[i]->getPoints();
//qDebug() << points;
//Drawing pictures
glBegin( GL_QUADS);
//Draw normals for lighting TODO
//glNormal3f( x, y ,z);
glTexCoord2f(0, 1);
glVertex3f( points[0].x, points[0].y, points[0].z);
glTexCoord2f(1, 1);
glVertex3f( points[1].x, points[1].y, points[1].z);
glTexCoord2f(1, 0);
glVertex3f( points[2].x, points[2].y, points[2].z);
glTexCoord2f(0, 0);
glVertex3f( points[3].x, points[3].y, points[3].z);
glEnd();
//draw back with diff texture
glCullFace(GL_BACK);
image = convertToGLFormat(n->heightMap2());
glTexImage2D(GL_TEXTURE_2D, 0, 3, (GLsizei)image.width(), (GLsizei)image.height(), 0,
GL_RGBA, GL_UNSIGNED_BYTE, image.bits());
glBegin( GL_QUADS);
//Draw again wi other texture
glTexCoord2f(0, 1);
glVertex3f( points[0].x, points[0].y, points[0].z);
glTexCoord2f(1, 1);
glVertex3f( points[1].x, points[1].y, points[1].z);
glTexCoord2f(1, 0);
glVertex3f( points[2].x, points[2].y, points[2].z);
glTexCoord2f(0, 0);
glVertex3f( points[3].x, points[3].y, points[3].z);
glEnd();
glCullFace(GL_FRONT_AND_BACK);
glDisable(GL_CULL_FACE);
}
}
/*glPushMatrix();
glBegin(GL_LINES);
glVertex3f(8, -9, 5);
glVertex3f(0, 0, 0);
glEnd();
glPopMatrix();*/
glPopMatrix();
drawCamera();
//clear drawing command stack
swapBuffers();
}
