114 lines
3.3 KiB
C++
114 lines
3.3 KiB
C++
/*
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* This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
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* Framework Based on Octrees
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* http://octomap.github.io
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*
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* Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
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* All rights reserved. License for the viewer octovis: GNU GPL v2
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* http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
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*
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see http://www.gnu.org/licenses/.
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*/
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#ifndef SCENEOBJECT_H_
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#define SCENEOBJECT_H_
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// fix Windows includes
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#include <qglobal.h>
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#if defined(Q_WS_WIN) || defined(Q_OS_WIN)
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#include <QtCore/qt_windows.h>
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#endif
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#if defined(Q_WS_MAC) || defined(Q_OS_MAC)
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#include <OpenGL/glu.h>
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#else
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#include <GL/glu.h>
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#endif
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#include <octomap/octomap.h>
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namespace octomap {
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/**
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* Abstract base class for objects to be drawn in the ViewerWidget.
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*
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*/
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class SceneObject {
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public:
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enum ColorMode {
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CM_FLAT,
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CM_PRINTOUT,
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CM_COLOR_HEIGHT,
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CM_GRAY_HEIGHT,
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CM_SEMANTIC
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};
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public:
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SceneObject();
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virtual ~SceneObject(){}
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/**
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* Actual draw function which will be called to visualize the object
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*/
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virtual void draw() const = 0;
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/**
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* Clears the object's representation (will be called when it gets invalid)
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*/
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virtual void clear(){}
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public:
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//! the color mode has to be set before calling OcTreDrawer::setMap()
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//! because the cubes are generated in OcTreDrawer::setMap() using the color information
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inline void setColorMode(ColorMode mode) { m_colorMode = mode; }
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inline void enablePrintoutMode(bool enabled = true) { if (enabled) m_colorMode = CM_PRINTOUT; else m_colorMode = CM_FLAT; }
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inline void enableHeightColorMode(bool enabled = true) { if (enabled) m_colorMode = CM_COLOR_HEIGHT; else m_colorMode = CM_FLAT; }
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inline void enableSemanticColoring(bool enabled = true) { if (enabled) m_colorMode = CM_SEMANTIC; else m_colorMode = CM_FLAT; }
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protected:
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/// writes rgb values which correspond to a rel. height in the map.
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/// (glArrayPos needs to have at least size 3!)
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void heightMapColor(double h, GLfloat* glArrayPos) const;
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void heightMapGray(double h, GLfloat* glArrayPos) const;
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double m_zMin;
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double m_zMax;
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ColorMode m_colorMode;
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};
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/**
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* Abstract base class for all objects visualizing ScanGraphs.
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*/
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class ScanGraphDrawer : public SceneObject {
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public:
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ScanGraphDrawer(): SceneObject(){}
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virtual ~ScanGraphDrawer(){}
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/**
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* Notifies drawer of a new or changed ScanGraph, so that the internal
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* representation can be rebuilt. Needs to be overloaded by each specific
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* drawer.
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*
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* @param graph ScanGraph to be visualized
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*/
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virtual void setScanGraph(const octomap::ScanGraph& graph) = 0;
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};
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}
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#endif /* SCENEOBJECT_H_ */
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