g2o_qglviewer.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
//
// This file is part of g2o.
//
// g2o 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 3 of the License, or
// (at your option) any later version.
//
// g2o 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 g2o.  If not, see <http://www.gnu.org/licenses/>.
 
#include "g2o_qglviewer.h"
 
#include <cassert>
 
#include "g2o/core/hyper_graph_action.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o/stuff/opengl_primitives.h"
 
// some macro helpers for identifying the version number of QGLViewer
// QGLViewer changed some parts of its API in version 2.6.
// The following preprocessor hack accounts for this. THIS SUCKS!!!
#if (((QGLVIEWER_VERSION & 0xff0000) >> 16) >= 2 && \
     ((QGLVIEWER_VERSION & 0x00ff00) >> 8) >= 6)
#define qglv_real qreal
#else
#define qglv_real float
#endif
 
// Again, some API changes in QGLViewer which produce annoying text in the
// console if the old API is used.
#if (((QGLVIEWER_VERSION & 0xff0000) >> 16) >= 2 && \
     ((QGLVIEWER_VERSION & 0x00ff00) >> 8) >= 5)
#define QGLVIEWER_DEPRECATED_MOUSEBINDING
#endif
 
#ifdef __APPLE__
#include <OpenGL/gl.h>
#else
#include <GL/gl.h>
#include <GL/glu.h>
#endif
 
#include <iostream>
using namespace std;
 
namespace g2o {
 
namespace {

class StandardCamera : public qglviewer::Camera {
 public:
  StandardCamera() : _standard(true){};
 
  qglv_real zNear() const {
    if (_standard)
      return qglv_real(0.001);
    else
      return Camera::zNear();
  }
 
  qglv_real zFar() const {
    if (_standard)
      return qglv_real(10000.0);
    else
      return Camera::zFar();
  }
 
  bool standard() const { return _standard; }
  void setStandard(bool s) { _standard = s; }
 
 private:
  bool _standard;
};
 
}  // end anonymous namespace
 
G2oQGLViewer::G2oQGLViewer(QWidget* parent, const QGLWidget* shareWidget)
    : QGLViewer(parent, shareWidget),
      graph(0),
      _drawActions(0),
      _drawList(0),
      _updateDisplay(true) {
  setAxisIsDrawn(false);
  _drawActionParameters = new DrawAction::Parameters();
}
 
G2oQGLViewer::~G2oQGLViewer() {
  delete _drawActionParameters;
  glDeleteLists(_drawList, 1);
}
 
void G2oQGLViewer::draw() {
  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 G2oQGLViewer::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());
 
  // mouse bindings
#ifdef QGLVIEWER_DEPRECATED_MOUSEBINDING
  setMouseBinding(Qt::NoModifier, Qt::RightButton, CAMERA, TRANSLATE);
  setMouseBinding(Qt::NoModifier, Qt::MiddleButton, CAMERA, TRANSLATE);
#else
  setMouseBinding(Qt::RightButton, CAMERA, TRANSLATE);
  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);
}
 
void G2oQGLViewer::setUpdateDisplay(bool updateDisplay) {
  _updateDisplay = updateDisplay;
}
 
}  // namespace g2o