OpenGLVisualizer.h
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00001 // ****************************************************************************
00002 // This file is part of the Integrating Vision Toolkit (IVT).
00003 //
00004 // The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
00005 // (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
00006 //
00007 // Copyright (C) 2014 Karlsruhe Institute of Technology (KIT).
00008 // All rights reserved.
00009 //
00010 // Redistribution and use in source and binary forms, with or without
00011 // modification, are permitted provided that the following conditions are met:
00012 //
00013 // 1. Redistributions of source code must retain the above copyright
00014 //    notice, this list of conditions and the following disclaimer.
00015 //
00016 // 2. Redistributions in binary form must reproduce the above copyright
00017 //    notice, this list of conditions and the following disclaimer in the
00018 //    documentation and/or other materials provided with the distribution.
00019 //
00020 // 3. Neither the name of the KIT nor the names of its contributors may be
00021 //    used to endorse or promote products derived from this software
00022 //    without specific prior written permission.
00023 //
00024 // THIS SOFTWARE IS PROVIDED BY THE KIT AND CONTRIBUTORS “AS IS” AND ANY
00025 // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00026 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027 // DISCLAIMED. IN NO EVENT SHALL THE KIT OR CONTRIBUTORS BE LIABLE FOR ANY
00028 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00029 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00032 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
00033 // THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034 // ****************************************************************************
00035 // ****************************************************************************
00036 // Filename:  OpenGLVisualizer.h
00037 // Author:    Pedram Azad
00038 // Date:      2004
00039 // ****************************************************************************
00040 // Changes:   25.10.2010, Zhixing Xue
00041 //            * Added COpenGLVisualizer::GetDepthMatrix
00042 // ****************************************************************************
00043 
00044 #ifndef _OPENGL_VISUALIZER_SCENE_H_
00045 #define _OPENGL_VISUALIZER_SCENE_H_
00046 
00047 
00048 // ****************************************************************************
00049 // Necessary includes
00050 // ****************************************************************************
00051 
00052 #include "Math/Math3d.h"
00053 
00054 
00055 // ****************************************************************************
00056 // Forward declarations
00057 // ****************************************************************************
00058 
00059 class GLUquadric;
00060 class CByteImage;
00061 class CCalibration;
00062 class CFloatMatrix;
00063 
00064 
00065 
00066 // ****************************************************************************
00067 // COpenGLVisualizer
00068 // ****************************************************************************
00069 
00070 class COpenGLVisualizer
00071 {
00072 public:
00073         // constructor
00074         COpenGLVisualizer();
00075 
00076         // destructor
00077         ~COpenGLVisualizer();
00078 
00079         // static variables for colors
00080         static const float red[3];
00081         static const float green[3];
00082         static const float blue[3];
00083         static const float yellow[3];
00084 
00085 
00086         // public methods
00087         bool Init(int width = 640, int height = 480, bool bActivateShading = true);
00088         bool InitByCalibration(const CCalibration *pCalibration, bool bActivateShading = true);
00089         void ActivateShading(bool bActivateShading);
00090         void SetProjectionMatrix(const CCalibration *pCalibration);
00091         bool GetImage(CByteImage *pDestinationImage);
00092         bool GetDepthMatrix(CFloatMatrix *pDestinationMatrix);
00093         void SetViewMatrix(const Transformation3d &transformation)
00094         {
00095                 m_ViewMatrix = transformation;
00096         }
00097         
00098         // methods for drawing
00099         void Clear();
00100         void DrawPoint(float x, float y, float z, const float *pColor = 0);
00101         void DrawPoints(Vec3dList &points, const float *pColor = 0);
00102         void DrawSphere(const Vec3d &point, float radius, const float *pColor = 0);
00103         void DrawCylinder(const Vec3d &point1, const Vec3d &point2, float radius1, float radius2, const float color[3]);
00104         void DrawObject(const CFloatMatrix *pMatrix, const Transformation3d &transformation);
00105         
00106         // static methods
00107         static void ConvertToOpenGLMatrix(const Transformation3d &transformation, float resultMatrix[16]);
00108         static void CalculateOpenGLProjectionMatrix(const Mat3d &K, int width, int height, float gnear, float gfar, float *m);
00109         static void CalculateOpenGLProjectionMatrixDefaultPrincipalPoint(const Mat3d &K, int width, int height, float gnear, float gfar, float *m);
00110 
00111 
00112 private:
00113         // private methods
00114         void SetProjectionMatrix(int nWidth, int nHeight);
00115         bool InitExtension();
00116         
00117         // private attributes
00118         int width, height;
00119 
00120         GLUquadric *m_pQuadric;
00121         
00122         // current view matrix
00123         bool                    m_bMatrixOnStack;
00124         Transformation3d        m_ViewMatrix;
00125 };
00126 
00127 
00128 
00129 #endif /* _OPENGL_VISUALIZER_SCENE_H_ */


asr_ivt
Author(s): Allgeyer Tobias, Hutmacher Robin, Kleinert Daniel, Meißner Pascal, Scholz Jonas, Stöckle Patrick
autogenerated on Thu Jun 6 2019 21:46:57