OpenGL based display of the 3d model. More...

#include <glviewer.h>

Public Slots
void	addPointCloud (pointcloud_type *pc, QMatrix4x4 transform)
void	deleteLastNode ()
void	drawToPS (QString filname)
void	reset ()
void	setEdges (QList< QPair< int, int > > *edge_list)
void	setRotationGrid (double rot_step_in_degree)
void	setStereoShift (double shift)
void	setXRotation (int angle)
void	setYRotation (int angle)
void	setZRotation (int angle)
void	toggleBackgroundColor (bool on)
void	toggleFollowMode (bool on)
void	toggleShowClouds (bool on)
void	toggleShowEdges (bool on)
void	toggleShowIDs (bool on)
void	toggleShowPoses (bool on)
void	toggleStereo (bool on)
void	toggleTriangulation ()
void	updateTransforms (QList< QMatrix4x4 > *transforms)
Signals
void	cloudRendered (pointcloud_type const *)
Public Member Functions
	GLViewer (QWidget *parent=0)
QSize	minimumSizeHint () const
QSize	sizeHint () const
	~GLViewer ()
Protected Member Functions
void	drawAxis (float scale)
	Draw colored axis, scale long.
void	drawClouds (float xshift)
	Draw the scene. Xshift allows for a camera shift in x direction for the stereo view.
void	drawEdges ()
	Draw pose graph edges in opengl.
void	drawTriangle (const point_type &p1, const point_type &p2, const point_type &p3)
void	initializeGL ()
void	mouseDoubleClickEvent (QMouseEvent *event)
void	mouseMoveEvent (QMouseEvent *event)
void	mousePressEvent (QMouseEvent *event)
void	paintGL ()
void	pointCloud2GLList (pointcloud_type const *pc)
	Compile the pointcloud to a GL Display List.
void	pointCloud2GLStrip (pointcloud_type *pc)
QImage	renderList (QMatrix4x4 transform, int list_id)
void	resizeGL (int width, int height)
void	wheelEvent (QWheelEvent *event)
Private Member Functions
bool	setClickedPosition (int x, int y)
void	setViewPoint (QMatrix4x4 cam_pose_mat)
Private Attributes
float	bg_col_ [4]
QList< GLuint >	cloud_list_indices
QList< QMatrix4x4 > *	cloud_matrices
QList< QPair< int, int > > *	edge_list_
bool	follow_mode_
double	fov_
int	height_
QPoint	lastPos
GLenum	polygon_mode
double	rotation_stepping_
bool	show_clouds_
bool	show_edges_
bool	show_ids_
bool	show_poses_
bool	stereo_
double	stereo_shift_
QMatrix4x4	viewpoint_tf_
int	width_
int	xRot
float	xTra
int	yRot
float	yTra
int	zRot
float	zTra

Detailed Description

OpenGL based display of the 3d model.

Definition at line 27 of file glviewer.h.

Constructor & Destructor Documentation

GLViewer::GLViewer ( QWidget * parent = 0 )

Definition at line 42 of file glviewer.cpp.

GLViewer::~GLViewer ( )

Definition at line 72 of file glviewer.cpp.

Member Function Documentation

void GLViewer::addPointCloud	(	pointcloud_type *	pc,
		QMatrix4x4	transform
	)		`[slot]`

Definition at line 352 of file glviewer.cpp.

void GLViewer::cloudRendered ( pointcloud_type const * ) [signal]

void GLViewer::deleteLastNode ( ) [slot]

Definition at line 504 of file glviewer.cpp.

void GLViewer::drawAxis ( float scale ) [protected]

Draw colored axis, scale long.

Definition at line 165 of file glviewer.cpp.

void GLViewer::drawClouds ( float xshift ) [protected]

Draw the scene. Xshift allows for a camera shift in x direction for the stereo view.

Definition at line 205 of file glviewer.cpp.

void GLViewer::drawEdges ( ) [protected]

Draw pose graph edges in opengl.

Definition at line 587 of file glviewer.cpp.

void GLViewer::drawToPS ( QString filname ) [slot]

Definition at line 662 of file glviewer.cpp.

void GLViewer::drawTriangle	(	const point_type &	p1,
		const point_type &	p2,
		const point_type &	p3
	)		`[inline, protected]`

Draw a triangle in opengl Assumes gl mode for triangles

Definition at line 141 of file glviewer.cpp.

void GLViewer::initializeGL ( ) [protected]

Definition at line 123 of file glviewer.cpp.

QSize GLViewer::minimumSizeHint ( ) const

Definition at line 74 of file glviewer.cpp.

void GLViewer::mouseDoubleClickEvent ( QMouseEvent * event ) [protected]

Resets to certain perspectives Double clicks onto an object part will make that part the pivot of The camera movement. Depending on the button the position of the camera will be the most recent frame (left button) or the first frame (right button). If the background is clicked, the pivot will be the camera position itself

Definition at line 261 of file glviewer.cpp.

void GLViewer::mouseMoveEvent ( QMouseEvent * event ) [protected]

Definition at line 325 of file glviewer.cpp.

void GLViewer::mousePressEvent ( QMouseEvent * event ) [protected]

Definition at line 317 of file glviewer.cpp.

void GLViewer::paintGL ( ) [protected]

Definition at line 183 of file glviewer.cpp.

void GLViewer::pointCloud2GLList ( pointcloud_type const * pc ) [protected]

Compile the pointcloud to a GL Display List.

Definition at line 514 of file glviewer.cpp.

void GLViewer::pointCloud2GLStrip ( pointcloud_type * pc ) [protected]

Definition at line 359 of file glviewer.cpp.

QImage GLViewer::renderList	(	QMatrix4x4	transform,
		int	list_id
	)		`[protected]`

Definition at line 578 of file glviewer.cpp.

void GLViewer::reset ( ) [slot]

Definition at line 568 of file glviewer.cpp.

void GLViewer::resizeGL	(	int	width,
		int	height
	)		`[protected]`

Definition at line 240 of file glviewer.cpp.

bool GLViewer::setClickedPosition	(	int	x,
		int	y
	)		`[private]`

Definition at line 623 of file glviewer.cpp.

void GLViewer::setEdges ( QList< QPair< int, int > > * edge_list ) [slot]

Definition at line 582 of file glviewer.cpp.

void GLViewer::setRotationGrid ( double rot_step_in_degree ) [slot]

Definition at line 106 of file glviewer.cpp.

void GLViewer::setStereoShift ( double shift ) [slot]

Definition at line 110 of file glviewer.cpp.

void GLViewer::setViewPoint ( QMatrix4x4 cam_pose_mat ) [private]

cam_pose_mat transforms the viewpoint from the origin cam_pose_mat is inverted, i.e. it should describes the transformation of the camera itself

Moving the camera is inverse to moving the points to draw

Definition at line 618 of file glviewer.cpp.

void GLViewer::setXRotation ( int angle ) [slot]

Definition at line 89 of file glviewer.cpp.

void GLViewer::setYRotation ( int angle ) [slot]

Definition at line 98 of file glviewer.cpp.

void GLViewer::setZRotation ( int angle ) [slot]

Definition at line 115 of file glviewer.cpp.

QSize GLViewer::sizeHint ( ) const

Definition at line 78 of file glviewer.cpp.

void GLViewer::toggleBackgroundColor ( bool on ) [slot]

Definition at line 288 of file glviewer.cpp.

void GLViewer::toggleFollowMode ( bool on ) [slot]

Definition at line 314 of file glviewer.cpp.

void GLViewer::toggleShowClouds ( bool on ) [slot]

Definition at line 298 of file glviewer.cpp.

void GLViewer::toggleShowEdges ( bool on ) [slot]

Definition at line 306 of file glviewer.cpp.

void GLViewer::toggleShowIDs ( bool on ) [slot]

Definition at line 302 of file glviewer.cpp.

void GLViewer::toggleShowPoses ( bool on ) [slot]

Definition at line 310 of file glviewer.cpp.

void GLViewer::toggleStereo ( bool on ) [slot]

Definition at line 283 of file glviewer.cpp.

void GLViewer::toggleTriangulation ( ) [slot]

Definition at line 649 of file glviewer.cpp.

void GLViewer::updateTransforms ( QList< QMatrix4x4 > * transforms ) [slot]

Definition at line 343 of file glviewer.cpp.

void GLViewer::wheelEvent ( QWheelEvent * event ) [protected]

Definition at line 321 of file glviewer.cpp.

Member Data Documentation

float GLViewer::bg_col_[4] [private]

Definition at line 96 of file glviewer.h.

QList<GLuint> GLViewer::cloud_list_indices [private]

Definition at line 99 of file glviewer.h.

QList<QMatrix4x4>* GLViewer::cloud_matrices [private]

Definition at line 101 of file glviewer.h.

QList<QPair<int, int> >* GLViewer::edge_list_ [private]

Definition at line 100 of file glviewer.h.

bool GLViewer::follow_mode_ [private]

Definition at line 112 of file glviewer.h.

double GLViewer::fov_ [private]

Definition at line 115 of file glviewer.h.

int GLViewer::height_ [private]

Definition at line 114 of file glviewer.h.

QPoint GLViewer::lastPos [private]

Definition at line 97 of file glviewer.h.

GLenum GLViewer::polygon_mode [private]

Definition at line 98 of file glviewer.h.

double GLViewer::rotation_stepping_ [private]

Definition at line 116 of file glviewer.h.

bool GLViewer::show_clouds_ [private]

Definition at line 111 of file glviewer.h.

bool GLViewer::show_edges_ [private]

Definition at line 110 of file glviewer.h.

bool GLViewer::show_ids_ [private]

Definition at line 109 of file glviewer.h.

bool GLViewer::show_poses_ [private]

Definition at line 108 of file glviewer.h.

bool GLViewer::stereo_ [private]

Definition at line 113 of file glviewer.h.

double GLViewer::stereo_shift_ [private]

Definition at line 115 of file glviewer.h.

QMatrix4x4 GLViewer::viewpoint_tf_ [private]

Definition at line 102 of file glviewer.h.

int GLViewer::width_ [private]

Definition at line 114 of file glviewer.h.

int GLViewer::xRot [private]

Definition at line 94 of file glviewer.h.

float GLViewer::xTra [private]

Definition at line 95 of file glviewer.h.

int GLViewer::yRot [private]

Definition at line 94 of file glviewer.h.

float GLViewer::yTra [private]

Definition at line 95 of file glviewer.h.

int GLViewer::zRot [private]

Definition at line 94 of file glviewer.h.

float GLViewer::zTra [private]

Definition at line 95 of file glviewer.h.

The documentation for this class was generated from the following files:

Public Slots

Signals

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation