void WZMOpenGLWidget::setModel(MODEL *model)
{
double dimension;
if (!model)
{
return;
}
prepareModel(model);
gl_errors();
psModel = model;
// Calculate best z offset
for (int i = 0; i < psModel->meshes; i++)
{
MESH *psMesh = &psModel->mesh[i];
for (int j = 0; j < psMesh->vertices * 3; j++)
{
dimension = MAX(fabs(psMesh->vertexArray[j]), dimension);
}
}
setSceneRadius(dimension);
showEntireScene();
timer.start();
}
void Camera::initialize(
const Point3& scene_centre, float scene_radius,
int window_width_in_pixels, int window_height_in_pixels,
int viewport_x1, int viewport_y1, int viewport_x2, int viewport_y2
) {
_initialGround = Vector3( 0, 1, 0 );
ASSERT_IS_NORMALIZED( _initialGround );
setSceneCentre( scene_centre );
setSceneRadius( scene_radius );
_minimum_feature_size = _nearPlaneFactor * _scene_radius;
_near_plane = _minimum_feature_size;
_window_width_in_pixels = window_width_in_pixels;
_window_height_in_pixels = window_height_in_pixels;
_viewport_x1 = viewport_x1;
_viewport_y1 = viewport_y1;
_viewport_x2 = viewport_x2;
_viewport_y2 = viewport_y2;
reset();
resizeViewport(
window_width_in_pixels, window_height_in_pixels,
viewport_x1, viewport_y1, viewport_x2, viewport_y2
);
}
void TrackballViewer::init()
{
std::cout << "Initialize Trackball Viewer.\n";
BasicViewer::init();
// Set shader
glEnable(GL_DEPTH_TEST);
glDisable(GL_BLEND);
//glEnable(GL_CULL_FACE);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glShadeModel(GL_FLAT);
qglClearColor(QColor(Qt::white));
setBackgroundColor(QColor(Qt::white));
setForegroundColor(QColor(Qt::white));
setSceneCenter(qglviewer::Vec(0, 0, 0));
setSceneRadius(50);
camera()->fitSphere(qglviewer::Vec(0, 0, 0), 5);
camera()->setType(qglviewer::Camera::Type::PERSPECTIVE);
camera()->setFlySpeed(0.5);
setWheelandMouse();
}
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());
}
void PointCloudViewer::reset()
{
if(currentCamDisplay != 0)
delete currentCamDisplay;
if(graphDisplay != 0)
delete graphDisplay;
currentCamDisplay = new KeyFrameDisplay();
graphDisplay = new KeyFrameGraphDisplay();
KFcurrent = 0;
KFLastPCSeq = -1;
resetRequested=false;
save_folder = ros::package::getPath("lsd_slam_viewer")+"/save/";
localMsBetweenSaves = 1;
simMsBetweenSaves = 1;
lastCamID = -1;
lastAnimTime = lastCamTime = lastSaveTime = 0;
char buf[500];
snprintf(buf,500,"rm -rf %s",save_folder.c_str());
int k = system(buf);
snprintf(buf,500,"mkdir %s",save_folder.c_str());
k += system(buf);
assert(k != -42);
setSceneRadius(80);
setTextIsEnabled(false);
lastAutoplayCheckedSaveTime = -1;
animationPlaybackEnabled = false;
}
void KnotsViewer::set_scene(Bbox_3 &box)
{
Mesh::Point bbMin(box.xmin(), box.ymin(), box.zmin());
Mesh::Point bbMax(box.xmax(), box.ymax(), box.zmax());
Mesh::Point center= (bbMin + bbMax)*0.5;
double radius=0.5*(bbMin - bbMax).norm();
setSceneCenter(Vec(center[0], center[1], center[2]));
setSceneRadius(radius);
camera()->showEntireScene();
}
void Viewer::import(const std::string& surfaceMesh)
{
cgogn::io::import_surface<Vec3>(map, surfaceMesh);
vertex_position_ = map.get_attribute<Vec3, Map2::VERTEX>("position");
vertex_normal_ = map.add_attribute<Vec3, Map2::VERTEX>("normal");
cgogn::geometry::compute_normal_vertices<Vec3>(map, vertex_position_, vertex_normal_);
cgogn::geometry::compute_bounding_box(vertex_position_, bb_);
setSceneRadius(bb_.diag_size());
Vec3 center = bb_.center();
setSceneCenter(qoglviewer::Vec(center[0], center[1], center[2]));
showEntireScene();
}
void QGCodeViewer::clear()
{
// reset bounding box
aabb[0] = std::numeric_limits<double>::max();
aabb[1] = std::numeric_limits<double>::max();
aabb[2] = std::numeric_limits<double>::max();
aabb[3] = std::numeric_limits<double>::min();
aabb[4] = std::numeric_limits<double>::min();
aabb[5] = std::numeric_limits<double>::min();
setSceneRadius(1);
lines.clear();
dirty = false;
//updateGL();
}
void QGCodeViewer::update()
{
// qDebug() << "QGCodeViewer::update";
Vec c((aabb[0] + aabb[3])/2, (aabb[1] + aabb[4])/2, (aabb[2] + aabb[5])/2);
double radius = qMax(aabb[0] + aabb[3], aabb[1] + aabb[4]);
radius = qMax(radius, aabb[2] + aabb[5]) / 2;
setSceneRadius(radius);
qDebug() << "radius" << radius;
if (_autoZoom)
showEntireScene();
if (dirty) {
dirty = false;
updateGL();
}
}
void Viewer::initializeGL()
{
qglClearColor(Qt::black);
glShadeModel(GL_FLAT);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
glDisable(GL_LIGHTING);
pCamera->setPosition(qglviewer::Vec(0,0,-2));
pCamera->setViewDirection(qglviewer::Vec(0,0,1));
pCamera->setUpVector(qglviewer::Vec(0,1,0));
setCamera(pCamera);
setSceneRadius(1.0);
setSceneCenter(qglviewer::Vec(0,0,0));
camera()->showEntireScene();
QGLViewer::initializeGL();
}
void Viewer::init()
{
if (bFirstInit) {
// - init GLEW
OpenGL::init();
fprintf(stdout, "Status: Using GLEW %s\n", glewGetString(GLEW_VERSION));
// Restore previous viewer state.
//restoreStateFromFile();
// Set position of light's camera
qgl_cam_light.setPosition( qglviewer::Vec(0, 50, 0) );
qgl_cam_light.fitBoundingBox( qglviewer::Vec(-1, -1, -1), qglviewer::Vec(+1, +1, +1) );
// Add a manipulated frame to the viewer.
setManipulatedFrame( qgl_cam_light.frame() );
setAnimationPeriod(0.);
setSceneCenter(qglviewer::Vec(0, 0, 0));
setSceneRadius(10.f);
}
initAll( !bFirstInit );
if (bFirstInit) {
qgl_mf_vbo.setPosition( -qglviewer::Vec(ts->getCenter()) );
f_scale_vbo = 1.f / ( ts->getRadius() );
}
bFirstInit = false;
// On vérifie les erreurs
MSG_CHECK_GL;
}
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;
}
void Drawing::init()
{
setSceneRadius(5.0);
setSceneCenter(qoglviewer::Vec(0.0,0.0,0.0));
showEntireScene();
glClearColor(0.1f,0.1f,0.3f,0.0f);
this->makeCurrent();
if (m_first!=this)
{
drawer_ = m_first->drawer_;
drawer2_ = m_first->drawer2_;
wp_ = m_first->wp_;
button_ = m_first->button_;
drawer_rend_ = drawer_->generate_renderer();
drawer2_rend_ = drawer2_->generate_renderer();
wp_rend_ = wp_->generate_renderer();
button_rend_ = button_->generate_renderer();
return;
}
wp_ = std::make_shared<cgogn::rendering::WallPaper>(QImage(QString(DEFAULT_MESH_PATH) + QString("../images/cgogn2.png")));
button_ = std::make_shared<cgogn::rendering::WallPaper>(QImage(QString(DEFAULT_MESH_PATH) + QString("../images/igg.png")));
// button_->set_local_position(this->width(),this->height(),10,10,50,50);
button_->set_local_position(0.1f,0.1f,0.2f,0.2f);
wp_rend_ = wp_->generate_renderer();
button_rend_ = button_->generate_renderer();
// drawer for simple old-school g1 rendering
drawer_ = std::make_shared<cgogn::rendering::DisplayListDrawer>();
drawer_rend_ = drawer_->generate_renderer();
drawer_->new_list();
drawer_->line_width(2.0);
drawer_->begin(GL_LINE_LOOP);
drawer_->color3f(1.0,0.0,0.0);
drawer_->vertex3f(0.0,0.0,0.0);
drawer_->color3f(0.0,1.0,1.0);
drawer_->vertex3f(1,0,0);
drawer_->color3f(1.0,0.0,1.0);
drawer_->vertex3f(1.0f,1.0f,0.0f);
drawer_->color3f(1.0,1.0,0.0);
drawer_->vertex3f(0,1,0);
drawer_->end();
drawer_->line_width_aa(3.0);
drawer_->begin(GL_LINES);
drawer_->color3f(0.0,0.8,0.0);
drawer_->vertex3fv(Vec3(-1,2,0));
drawer_->color3f(0.0,0.0,0.8);
drawer_->vertex3fv(Vec3(-1.3,0,0));
drawer_->color3f(0.0,0.0,0.8);
drawer_->vertex3fv(Vec3(-2,1,0));
drawer_->color3f(0.8,0.0,0.0);
drawer_->vertex3fv(Vec3(-2.3,3,0));
drawer_->end();
drawer_->begin(GL_TRIANGLES);
drawer_->color3f(1.0,0.0,0.0);
drawer_->vertex3fv({{2,2,0}});
drawer_->color3f(0.0,1.0,0.0);
drawer_->vertex3fv({{4,3,0}});
drawer_->color3f(0.0,0.0,1.0);
drawer_->vertex3fv({{2.5,1,0}});
drawer_->end();
drawer_->point_size_aa(7.0);
drawer_->begin(GL_POINTS);
for (float a=0.0f; a < 1.0f; a+= 0.1f)
{
Vec3 P(4.0+std::cos(6.28*a),-2.0+std::sin(6.28*a),0.0);
Vec3 C(a,0.5,1.0-a);
drawer_->color3fv(C);
drawer_->vertex3fv(P);
}
drawer_->end();
drawer_->ball_size(0.1f);
drawer_->begin(GL_POINTS);
for (float a=0.05f; a < 1.0f; a+= 0.1f)
{
Vec3 P(4.0+std::cos(6.28*a)*1.2,-2.0+ std::sin(6.28*a)*1.2, std::sin(6.28*a)*0.2 );
Vec3 C(a,0.5,1.0-a);
drawer_->color3fv(C);
drawer_->vertex3fv(P);
}
drawer_->end();
drawer_->end_list();
drawer2_ = std::make_shared<cgogn::rendering::DisplayListDrawer>();
drawer2_rend_ = drawer2_->generate_renderer();
drawer2_->new_list();
drawer2_->point_size_aa(5.0);
drawer2_->begin(GL_POINTS);
drawer2_->color3f(1.0,1.0,1.0);
for (float z=-1.0f; z < 1.0f; z+= 0.1f)
for (float y=-2.0f; y < 0.0f; y+= 0.1f)
for (float x=0.0f; x < 2.0f; x+= 0.1f)
{
drawer2_->vertex3f(x,y,z);
}
drawer2_->end();
drawer2_->ball_size(0.03f);
drawer2_->begin(GL_POINTS);
drawer2_->color3f(1.0,1.0,1.0);
for (float z=-1.0f; z < 1.0f; z+= 0.2f)
for (float y=-2.0f; y < 0.0f; y+= 0.2f)
for (float x=-3.0f; x < -1.0f; x+= 0.2f)
{
drawer2_->vertex3f(x,y,z);
}
drawer2_->end();
drawer2_->end_list();
}