57 lines
2 KiB
C
57 lines
2 KiB
C
|
#pragma once
|
||
|
|
|
||
|
|
#include <list>
|
||
|
|
#include <vector>
|
||
|
|
#include "veloslam/veloscan.h"
|
||
|
|
#include "veloslam/tracker.h"
|
||
|
|
|
||
|
|
#include <GL/gl.h> /* OpenGL header file */
|
||
|
|
#include <GL/glu.h> /* OpenGL utilities header file */
|
||
|
|
|
||
|
|
#ifdef _MSC_VER
|
||
|
|
#include <GL/glut.h>
|
||
|
|
#else
|
||
|
|
#include <GL/freeglut.h>
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** for Glut display mode */
|
||
|
|
#define RGBA 4 ///< colors for GLUT display
|
||
|
|
#define RGB 3 ///< colors for GLUT display
|
||
|
|
extern GLenum buffermode_debugView;
|
||
|
|
|
||
|
|
extern void StartShow();
|
||
|
|
|
||
|
|
void GetCurrecntdelteMat(Scan& CurrentScan , double *deltaMat);
|
||
|
|
|
||
|
|
void DrawText(float x, float y, float z, char * outputstring);
|
||
|
|
void DrawTextRGB(float x, float y, float z, float r, float g, float b, char * outputstring);
|
||
|
|
void DrawTextRGB(Point P, float r, float g, float b, char * outputstring);
|
||
|
|
|
||
|
|
void Draw_Line_GL_RGB(float x1, float y1, float z1, float x2, float y2, float z2, float r,float g,float b,float width=1.0);
|
||
|
|
void Draw_Line_GL(float x1, float y1, float z1, float x2, float y2, float z2);
|
||
|
|
void Draw_Line_GL_RGB(Point P1, Point P2, int width, float r,float g,float b, bool arrow);
|
||
|
|
|
||
|
|
void Draw_Cube_GL_RGB(float min_x, float min_y, float min_z,
|
||
|
|
float max_x, float max_y, float max_z,
|
||
|
|
float r,float g,float b);
|
||
|
|
|
||
|
|
void Draw_Inclined_Cube_GL_RGB(double rectangleVexPos[4][2],double min_z,double max_z,
|
||
|
|
float r,float g,float b,float width=1.0);
|
||
|
|
|
||
|
|
void DrawPointsRGB(Point p, float r, float g, float b);
|
||
|
|
void DrawPoint(Point p, int size , float r, float g, float b);
|
||
|
|
void DrawPoint(Point p, int size , float r, float g, float b, double deltaMat[16]);
|
||
|
|
|
||
|
|
int DrawAll_ScanPoints_Number(vector <Scan *> allScans, int psize, float r, float g, float b, int n);
|
||
|
|
|
||
|
|
|
||
|
|
void glDumpWindowPPM_debugView(const char *filename, GLenum mode);
|
||
|
|
|
||
|
|
static void Reshape(int w, int h);
|
||
|
|
static void SpecialKey(int key, int x, int y);
|
||
|
|
static void Draw(void);
|
||
|
|
int Show(int frameno);
|
||
|
|
|
||
|
|
|
||
|
|
|