GlutViewer.h

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#ifndef _GLUTVIEWER_H_
#define _GLUTVIEWER_H_

#include <cxcore.h>

#ifdef WIN32
    #include <windows.h>
    #include <GL/gl.h>
    #include <GL/glu.h>
    #include <glut.h>
#else
    #include <GL/gl.h>
    #include <GL/glu.h>
    #include <GL/glut.h>
#endif

class Drawable
{
public:
        Drawable(double _scale=1, double _r=1, double _g=1, double _b=1);

        void SetScale(double _scale);
        void SetColor(double _r=1, double _g=1, double _b=1);
        
        virtual void Draw();
        virtual void DrawAxis(double scale, double color[3]);
        
        void SetGLMatTraQuat(double *tra, double *quat, bool flip=false);
        void SetGLMatTraRod(double *tra, double *rod);

        double scale;
        double color[3];
        double gl_mat[16];

protected:
        double ax_len;
};

namespace GlutViewer
{
        void Draw();
        void Exit();
        void Start(int argc, char** argv, int w, int h, float r=300.0);
        void Reshape(int w, int h);

        void DrawableClear();
        void DrawableAdd(Drawable* item);

        void DrawVr();
        void DrawAr();
        void DrawFloor();
        void DrawContent();
        void DrawAxis(float scale);
        void Mouse(int button, int state, int x, int y);
        void Motion(int x, int y);
        void SetGlProjectionMatrix(double p[16]);
        void SetGlModelviewMatrix(double p[16]);
        void KeyCallback(int key, int x, int y);

        void SetVideo(const IplImage* _image);
        void DrawVideo();

        double GetXOffset();
        double GetYOffset();
}

#endif