OpenGLVisualizer.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  OpenGLVisualizer.h
// Author:    Pedram Azad
// Date:      2004
// ****************************************************************************
// Changes:   25.10.2010, Zhixing Xue
//            * Added COpenGLVisualizer::GetDepthMatrix
// ****************************************************************************

#ifndef _OPENGL_VISUALIZER_SCENE_H_
#define _OPENGL_VISUALIZER_SCENE_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Math/Math3d.h"


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class GLUquadric;
class CByteImage;
class CCalibration;
class CFloatMatrix;



// ****************************************************************************
// COpenGLVisualizer
// ****************************************************************************

class COpenGLVisualizer
{
public:
        // constructor
        COpenGLVisualizer();

        // destructor
        ~COpenGLVisualizer();

        // static variables for colors
        static const float red[3];
        static const float green[3];
        static const float blue[3];
        static const float yellow[3];


        // public methods
        bool Init(int width = 640, int height = 480, bool bActivateShading = true);
        bool InitByCalibration(const CCalibration *pCalibration, bool bActivateShading = true);
        void ActivateShading(bool bActivateShading);
        void SetProjectionMatrix(const CCalibration *pCalibration);
        bool GetImage(CByteImage *pDestinationImage);
        bool GetDepthMatrix(CFloatMatrix *pDestinationMatrix);
        void SetViewMatrix(const Transformation3d &transformation)
        {
                m_ViewMatrix = transformation;
        }
        
        // methods for drawing
        void Clear();
        void DrawPoint(float x, float y, float z, const float *pColor = 0);
        void DrawPoints(Vec3dList &points, const float *pColor = 0);
        void DrawSphere(const Vec3d &point, float radius, const float *pColor = 0);
        void DrawCylinder(const Vec3d &point1, const Vec3d &point2, float radius1, float radius2, const float color[3]);
        void DrawObject(const CFloatMatrix *pMatrix, const Transformation3d &transformation);
        
        // static methods
        static void ConvertToOpenGLMatrix(const Transformation3d &transformation, float resultMatrix[16]);
        static void CalculateOpenGLProjectionMatrix(const Mat3d &K, int width, int height, float gnear, float gfar, float *m);
        static void CalculateOpenGLProjectionMatrixDefaultPrincipalPoint(const Mat3d &K, int width, int height, float gnear, float gfar, float *m);


private:
        // private methods
        void SetProjectionMatrix(int nWidth, int nHeight);
        bool InitExtension();
        
        // private attributes
        int width, height;

        GLUquadric *m_pQuadric;
        
        // current view matrix
        bool                    m_bMatrixOnStack;
        Transformation3d        m_ViewMatrix;
};



#endif /* _OPENGL_VISUALIZER_SCENE_H_ */