ViewerWidget.h

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/*
 * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
 * Framework Based on Octrees
 * http://octomap.github.io
 *
 * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved. License for the viewer octovis: GNU GPL v2
 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
 *
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see http://www.gnu.org/licenses/.
 */
 
#ifndef VIEWERWIDGET_H_
#define VIEWERWIDGET_H_
 
#include "SceneObject.h"
#include "SelectionBox.h"
#include <octomap/octomap.h>
#include <qglviewer.h>
 
namespace octomap{
 
class ViewerWidget : public QGLViewer {
  Q_OBJECT
 
 public:
 
  ViewerWidget(QWidget* parent = NULL);
  void clearAll();
 
  void addSceneObject(SceneObject* obj);
 
  void removeSceneObject(SceneObject* obj);
 
 public slots:
  void enablePrintoutMode (bool enabled = true);
  void enableHeightColorMode (bool enabled = true);
  void enableSemanticColoring (bool enabled = true);
  void enableSelectionBox (bool enabled = true);
  void setCamPosition(double x, double y, double z, double lookX, double lookY, double lookZ);
  void setCamPose(const octomath::Pose6D& pose);
  virtual void setSceneBoundingBox(const qglviewer::Vec& min, const qglviewer::Vec& max);
  void deleteCameraPath(int id);
  void appendToCameraPath(int id, const octomath::Pose6D& pose);
  void appendCurrentToCameraPath(int id);
  void addCurrentToCameraPath(int id, int frame);
  void removeFromCameraPath(int id, int frame);
  void updateCameraPath(int id, int frame);
  void jumpToCamFrame(int id, int frame);
  void playCameraPath(int id, int start_frame);
  void stopCameraPath(int id);
  const SelectionBox& selectionBox() const { return m_selectionBox;}
 
  void resetView();
 
private slots:
   void cameraPathFinished();
   void cameraPathInterpolated();
 
signals:
   void cameraPathStopped(int id);
   void cameraPathFrameChanged(int id, int current_camera_frame);
   void select(const QMouseEvent* e);
 
 protected:
 
  virtual void draw();
  virtual void drawWithNames();
  virtual void init();
  virtual void postDraw();
  virtual void postSelection(const QPoint&);
  virtual QString helpString() const;
 
  qglviewer::Quaternion poseToQGLQuaternion(const octomath::Pose6D& pose);
 
  std::vector<SceneObject*> m_sceneObjects;
  SelectionBox m_selectionBox;
 
  bool m_printoutMode;
  bool m_heightColorMode;
  bool m_semantic_coloring;
 
  bool m_drawAxis; // actual state of axis (original overwritten)
  bool m_drawGrid; // actual state of grid (original overwritten)
  bool m_drawSelectionBox;
 
  double m_zMin;
  double m_zMax;
 
  int m_current_camera_path;
  int m_current_camera_frame;
};
 
}
 
#endif /* VIEWERWIDGET_H_ */