g2o::G2oQGLViewer Class Reference

OpenGL based viewer for the graph. More...

#include <g2o_qglviewer.h>

Inheritance diagram for g2o::G2oQGLViewer:

Collaboration diagram for g2o::G2oQGLViewer:

Public Member Functions
	G2oQGLViewer (QWidget *parent=NULL, const QGLWidget *shareWidget=0, Qt::WindowFlags flags=0)
	~G2oQGLViewer ()
void	draw ()
void	init ()
bool	updateDisplay () const
void	setUpdateDisplay (bool updateDisplay)
DrawAction::Parameters *	parameters ()

Public Attributes
SparseOptimizer *	graph

Protected Attributes
HyperGraphElementAction *	_drawActions
GLuint	_drawList
bool	_updateDisplay
DrawAction::Parameters *	_drawActionParameters

Detailed Description

OpenGL based viewer for the graph.

Definition at line 33 of file g2o_qglviewer.h.

Constructor & Destructor Documentation

g2o::G2oQGLViewer::G2oQGLViewer	(	QWidget *	parent = NULL,
		const QGLWidget *	shareWidget = 0,
		Qt::WindowFlags	flags = 0
	)

Definition at line 85 of file g2o_qglviewer.cpp.

References _drawActionParameters.

                                                                                             :
  QGLViewer(parent, shareWidget, flags),
  graph(0), _drawActions(0), _drawList(0)
{
  setAxisIsDrawn(false);
  _drawActionParameters = new DrawAction::Parameters();
}

g2o::G2oQGLViewer::~G2oQGLViewer

(

)

Definition at line 93 of file g2o_qglviewer.cpp.

References _drawActionParameters, and _drawList.

{
  delete _drawActionParameters;
  glDeleteLists(_drawList, 1);
}

Member Function Documentation

void g2o::G2oQGLViewer::draw

(

)

Definition at line 99 of file g2o_qglviewer.cpp.

References _drawActionParameters, _drawActions, _drawList, _updateDisplay, g2o::HyperGraphActionLibrary::actionByName(), g2o::applyAction(), graph, and g2o::HyperGraphActionLibrary::instance().

{
  if (! graph)
    return;

  if (_drawActions == 0) {
    _drawActions = HyperGraphActionLibrary::instance()->actionByName("draw");
    assert(_drawActions);
  }
  
  if (! _drawActions) // avoid segmentation fault in release build
    return;
  if (_updateDisplay) {
    _updateDisplay = false;
    glNewList(_drawList, GL_COMPILE_AND_EXECUTE);
    applyAction(graph, _drawActions, _drawActionParameters);
    glEndList();
  } else {
    glCallList(_drawList); 
  }
}

void g2o::G2oQGLViewer::init

(

)

Definition at line 121 of file g2o_qglviewer.cpp.

References _drawList, and g2o::types_icp::init().

{
  QGLViewer::init();
  //glDisable(GL_LIGHT0);
 //glDisable(GL_LIGHTING);

  setBackgroundColor(QColor::fromRgb(51, 51, 51));

  // some default settings i like
  glEnable(GL_LINE_SMOOTH);
  glEnable(GL_BLEND); 
  glEnable(GL_DEPTH_TEST);
  glEnable(GL_NORMALIZE);
  //glEnable(GL_CULL_FACE);
  glShadeModel(GL_FLAT);
  //glShadeModel(GL_SMOOTH);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

  setAxisIsDrawn();

  // don't save state
  setStateFileName(QString::null);

  // mouse bindings
#ifdef QGLVIEWER_DEPRECATED_MOUSEBINDING
  setMouseBinding(Qt::NoModifier, Qt::RightButton, CAMERA, ZOOM);
  setMouseBinding(Qt::NoModifier, Qt::MidButton, CAMERA, TRANSLATE);
#else
  setMouseBinding(Qt::RightButton, CAMERA, ZOOM);
  setMouseBinding(Qt::MidButton, CAMERA, TRANSLATE);
#endif

  // keyboard shortcuts
  setShortcut(CAMERA_MODE, 0);
  setShortcut(EXIT_VIEWER, 0);
  //setShortcut(SAVE_SCREENSHOT, 0);

  // replace camera
  qglviewer::Camera* oldcam = camera();
  qglviewer::Camera* cam = new StandardCamera();
  setCamera(cam);
  cam->setPosition(qglviewer::Vec(0., 0., 75.));
  cam->setUpVector(qglviewer::Vec(0., 1., 0.));
  cam->lookAt(qglviewer::Vec(0., 0., 0.));
  delete oldcam;

  // getting a display list
  _drawList = glGenLists(1);
}

DrawAction::Parameters* g2o::G2oQGLViewer::parameters ( )

inline

Definition at line 48 of file g2o_qglviewer.h.

Referenced by ViewerPropertiesWidget::setViewer().

{ return _drawActionParameters;}

void g2o::G2oQGLViewer::setUpdateDisplay

(

bool

updateDisplay

)

Definition at line 171 of file g2o_qglviewer.cpp.

References _updateDisplay, and updateDisplay().

Referenced by ViewerPropertiesWidget::applyProperties(), and g2o::GuiHyperGraphAction::operator()().

{
  _updateDisplay = updateDisplay;
}

bool g2o::G2oQGLViewer::updateDisplay ( ) const

inline

the viewer uses a display list to cache the drawing, use setUpdateDisplay() to force the creation of an updated display list.

Definition at line 45 of file g2o_qglviewer.h.

References updateDisplay().

Referenced by setUpdateDisplay().

{ return _updateDisplay;}

Member Data Documentation

DrawAction::Parameters* g2o::G2oQGLViewer::_drawActionParameters

protected

Definition at line 57 of file g2o_qglviewer.h.

Referenced by draw(), G2oQGLViewer(), and ~G2oQGLViewer().

HyperGraphElementAction* g2o::G2oQGLViewer::_drawActions

protected

Definition at line 54 of file g2o_qglviewer.h.

Referenced by draw().

GLuint g2o::G2oQGLViewer::_drawList

protected

Definition at line 55 of file g2o_qglviewer.h.

Referenced by draw(), init(), and ~G2oQGLViewer().

bool g2o::G2oQGLViewer::_updateDisplay

protected

Definition at line 56 of file g2o_qglviewer.h.

Referenced by draw(), and setUpdateDisplay().

SparseOptimizer* g2o::G2oQGLViewer::graph

Definition at line 51 of file g2o_qglviewer.h.

Referenced by draw().

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

• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.h
• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.cpp