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

#include <glviewer.h>

Public Slots
void	addFeatures (const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > *feature_locations_3d)
void	addPointCloud (pointcloud_type *pc, QMatrix4x4 transform)
void	deleteLastNode ()
void	drawToPS (QString filname)
void	reset ()
void	setEdges (const QList< QPair< int, int > > *edge_list)
void	setRenderable (Renderable *r)
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	toggleShowFeatures (bool on)
void	toggleShowGrid (bool on)
void	toggleShowIDs (bool on)
void	toggleShowOctoMap (bool on)
void	toggleShowPoses (bool on)
void	toggleShowTFs (bool on)
void	toggleStereo (bool on)
void	toggleTriangulation ()
void	updateTransforms (QList< QMatrix4x4 > *transforms)
Signals
void	clickedPosition (float x, float y, float z)
void	cloudRendered (pointcloud_type *)
Public Member Functions
	GLViewer (QWidget *parent=0)
QSize	minimumSizeHint () const
QSize	sizeHint () const
	~GLViewer ()
Protected Member Functions
void	drawAxes (float scale, float thickness=4.0)
	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	drawGrid ()
	Draw size x size grid into world coordinate system.
void	drawNavigationAxis (int axis_idx, float scale, QString text)
void	drawOneCloud (int i)
	Draw one of the clouds with the given list index.
void	drawRenderable ()
void	drawTriangle (const point_type &p1, const point_type &p2, const point_type &p3)
void	initializeGL ()
void	initialPosition ()
void	makeCurrent ()
	Only switch to own context if necessary.
void	mouseDoubleClickEvent (QMouseEvent *event)
void	mouseMoveEvent (QMouseEvent *event)
void	mousePressEvent (QMouseEvent *event)
void	mouseReleaseEvent (QMouseEvent *event)
void	paintGL ()
void	pointCloud2GLEllipsoids (pointcloud_type *pc)
	Draw ellipsoids instead of points, that represent the depth std deviation of each point.
void	pointCloud2GLPoints (pointcloud_type *pc)
	Compile the pointcloud to a GL Display List using GL_POINT.
void	pointCloud2GLStrip (pointcloud_type *pc)
	Compile the pointcloud to a GL Display List using GL_TRIANGLE_STRIPs.
void	pointCloud2GLTriangleList (pointcloud_type const *pc)
	Compile the pointcloud to a GL Display List using GL_TRIANGLES.
QImage	renderList (QMatrix4x4 transform, int list_id)
void	resizeGL (int width, int height)
void	wheelEvent (QWheelEvent *event)
Protected Attributes
float	bg_col_ [4]
Private Member Functions
void	clearAndUpdate ()
bool	setClickedPosition (int x, int y)
void	setViewPoint (QMatrix4x4 cam_pose_mat)
Private Attributes
bool	black_background_
bool	button_pressed_
QList< GLuint >	cloud_list_indices
QList< QMatrix4x4 > *	cloud_matrices
QList< QPair< int, int > >	edge_list_
Renderable *	external_renderable
unsigned int	fast_rendering_step_
QList< GLuint >	feature_list_indices
bool	follow_mode_
double	fov_
int	height_
QPoint	lastPos
QWidget *	myparent
bool	non_interactive_update_
GLenum	polygon_mode
double	rotation_stepping_
bool	show_clouds_
bool	show_edges_
bool	show_features_
bool	show_grid_
bool	show_ids_
bool	show_octomap_
bool	show_poses_
bool	show_tfs_
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 28 of file glviewer.h.

Constructor & Destructor Documentation

GLViewer::GLViewer ( QWidget * parent = 0 )

Definition at line 98 of file glviewer.cpp.

GLViewer::~GLViewer ( )

Definition at line 135 of file glviewer.cpp.

Member Function Documentation

void GLViewer::addFeatures ( const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > * feature_locations_3d ) [slot]

Definition at line 737 of file glviewer.cpp.

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

Definition at line 693 of file glviewer.cpp.

void GLViewer::clearAndUpdate ( ) [inline, private]

Definition at line 1200 of file glviewer.cpp.

void GLViewer::clickedPosition	(	float	x,
		float	y,
		float	z
	)		`[signal]`

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

void GLViewer::deleteLastNode ( ) [slot]

Definition at line 908 of file glviewer.cpp.

void GLViewer::drawAxes	(	float	scale,
		float	thickness = `4.0`
	)		`[protected]`

Draw colored axis, scale long.

Definition at line 266 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 348 of file glviewer.cpp.

void GLViewer::drawEdges ( ) [protected]

Draw pose graph edges in opengl.

Definition at line 1065 of file glviewer.cpp.

void GLViewer::drawGrid ( ) [protected]

Draw size x size grid into world coordinate system.

Definition at line 225 of file glviewer.cpp.

void GLViewer::drawNavigationAxis	(	int	axis_idx,
		float	scale,
		QString	text
	)		`[protected]`

Definition at line 1234 of file glviewer.cpp.

void GLViewer::drawOneCloud ( int i ) [protected]

Draw one of the clouds with the given list index.

Definition at line 339 of file glviewer.cpp.

void GLViewer::drawRenderable ( ) [protected]

Definition at line 334 of file glviewer.cpp.

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

Definition at line 1169 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 214 of file glviewer.cpp.

void GLViewer::initializeGL ( ) [protected]

Definition at line 195 of file glviewer.cpp.

void GLViewer::initialPosition ( ) [protected]

Definition at line 137 of file glviewer.cpp.

void GLViewer::makeCurrent ( ) [protected]

Only switch to own context if necessary.

Definition at line 284 of file glviewer.cpp.

QSize GLViewer::minimumSizeHint ( ) const

Definition at line 146 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 448 of file glviewer.cpp.

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

Definition at line 651 of file glviewer.cpp.

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

Definition at line 623 of file glviewer.cpp.

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

Create context menu

Definition at line 526 of file glviewer.cpp.

void GLViewer::paintGL ( ) [protected]

Definition at line 291 of file glviewer.cpp.

void GLViewer::pointCloud2GLEllipsoids ( pointcloud_type * pc ) [protected]

Draw ellipsoids instead of points, that represent the depth std deviation of each point.

Definition at line 922 of file glviewer.cpp.

void GLViewer::pointCloud2GLPoints ( pointcloud_type * pc ) [protected]

Compile the pointcloud to a GL Display List using GL_POINT.

Definition at line 955 of file glviewer.cpp.

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

Compile the pointcloud to a GL Display List using GL_TRIANGLE_STRIPs.

Definition at line 776 of file glviewer.cpp.

void GLViewer::pointCloud2GLTriangleList ( pointcloud_type const * pc ) [protected]

Compile the pointcloud to a GL Display List using GL_TRIANGLES.

Definition at line 989 of file glviewer.cpp.

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

Definition at line 1055 of file glviewer.cpp.

void GLViewer::reset ( ) [slot]

Definition at line 1044 of file glviewer.cpp.

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

Definition at line 427 of file glviewer.cpp.

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

Definition at line 1127 of file glviewer.cpp.

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

Definition at line 1059 of file glviewer.cpp.

void GLViewer::setRenderable ( Renderable * r ) [slot]

Definition at line 1249 of file glviewer.cpp.

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

Definition at line 186 of file glviewer.cpp.

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

Definition at line 190 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 1122 of file glviewer.cpp.

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

Definition at line 161 of file glviewer.cpp.

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

Definition at line 170 of file glviewer.cpp.

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

Definition at line 178 of file glviewer.cpp.

QSize GLViewer::sizeHint ( ) const

Definition at line 150 of file glviewer.cpp.

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

Definition at line 478 of file glviewer.cpp.

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

Definition at line 521 of file glviewer.cpp.

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

Definition at line 497 of file glviewer.cpp.

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

Definition at line 513 of file glviewer.cpp.

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

Definition at line 489 of file glviewer.cpp.

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

Definition at line 505 of file glviewer.cpp.

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

Definition at line 509 of file glviewer.cpp.

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

Definition at line 493 of file glviewer.cpp.

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

Definition at line 517 of file glviewer.cpp.

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

Definition at line 501 of file glviewer.cpp.

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

Definition at line 473 of file glviewer.cpp.

void GLViewer::toggleTriangulation ( ) [slot]

Definition at line 1155 of file glviewer.cpp.

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

Definition at line 681 of file glviewer.cpp.

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

Definition at line 628 of file glviewer.cpp.

Member Data Documentation

float GLViewer::bg_col_[4] [protected]

Definition at line 110 of file glviewer.h.

bool GLViewer::black_background_ [private]

Definition at line 145 of file glviewer.h.

bool GLViewer::button_pressed_ [private]

Definition at line 150 of file glviewer.h.

QList<GLuint> GLViewer::cloud_list_indices [private]

Definition at line 124 of file glviewer.h.

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

Definition at line 127 of file glviewer.h.

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

Definition at line 126 of file glviewer.h.

Renderable* GLViewer::external_renderable [private]

Definition at line 153 of file glviewer.h.

unsigned int GLViewer::fast_rendering_step_ [private]

Definition at line 152 of file glviewer.h.

QList<GLuint> GLViewer::feature_list_indices [private]

Definition at line 125 of file glviewer.h.

bool GLViewer::follow_mode_ [private]

Definition at line 143 of file glviewer.h.

double GLViewer::fov_ [private]

Definition at line 147 of file glviewer.h.

int GLViewer::height_ [private]

Definition at line 146 of file glviewer.h.

QPoint GLViewer::lastPos [private]

Definition at line 122 of file glviewer.h.

QWidget* GLViewer::myparent [private]

Definition at line 149 of file glviewer.h.

bool GLViewer::non_interactive_update_ [private]

Definition at line 151 of file glviewer.h.

GLenum GLViewer::polygon_mode [private]

Definition at line 123 of file glviewer.h.

double GLViewer::rotation_stepping_ [private]

Definition at line 148 of file glviewer.h.

bool GLViewer::show_clouds_ [private]

Definition at line 140 of file glviewer.h.

bool GLViewer::show_edges_ [private]

Definition at line 139 of file glviewer.h.

bool GLViewer::show_features_ [private]

Definition at line 142 of file glviewer.h.

bool GLViewer::show_grid_ [private]

Definition at line 137 of file glviewer.h.

bool GLViewer::show_ids_ [private]

Definition at line 136 of file glviewer.h.

bool GLViewer::show_octomap_ [private]

Definition at line 141 of file glviewer.h.

bool GLViewer::show_poses_ [private]

Definition at line 135 of file glviewer.h.

bool GLViewer::show_tfs_ [private]

Definition at line 138 of file glviewer.h.

bool GLViewer::stereo_ [private]

Definition at line 144 of file glviewer.h.

double GLViewer::stereo_shift_ [private]

Definition at line 147 of file glviewer.h.

QMatrix4x4 GLViewer::viewpoint_tf_ [private]

Definition at line 128 of file glviewer.h.

int GLViewer::width_ [private]

Definition at line 146 of file glviewer.h.

int GLViewer::xRot [private]

Definition at line 120 of file glviewer.h.

float GLViewer::xTra [private]

Definition at line 121 of file glviewer.h.

int GLViewer::yRot [private]

Definition at line 120 of file glviewer.h.

float GLViewer::yTra [private]

Definition at line 121 of file glviewer.h.

int GLViewer::zRot [private]

Definition at line 120 of file glviewer.h.

float GLViewer::zTra [private]

Definition at line 121 of file glviewer.h.

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

Public Slots

Signals

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation