100 lines
2.4 KiB
Text
100 lines
2.4 KiB
Text
|
#ifndef __SCANCOLORMANAGER_H__
|
||
|
|
#define __SCANCOLORMANAGER_H__
|
||
|
|
|
||
|
|
#ifdef _MSC_VER
|
||
|
|
#define _USE_MATH_DEFINES
|
||
|
|
#include <windows.h>
|
||
|
|
#endif
|
||
|
|
#ifdef __APPLE__
|
||
|
|
#include <GLUT/glut.h>
|
||
|
|
#else
|
||
|
|
#include <GL/glut.h>
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#include "slam6d/point.h"
|
||
|
|
#include "slam6d/scan.h"
|
||
|
|
#include "show/colordisplay.h"
|
||
|
|
//#include "show/show_Boctree.h"
|
||
|
|
#include "show/colormanager.h"
|
||
|
|
#include <vector>
|
||
|
|
#include <float.h>
|
||
|
|
#include "slam6d/point_type.h"
|
||
|
|
using std::vector;
|
||
|
|
|
||
|
|
//template <class T> class Show_BOctTree;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* This class is a special ColorManager that handles a set of Colormanagers.
|
||
|
|
* This manager is capable of mapping managers to scans in dependence of the state of the
|
||
|
|
* show program.
|
||
|
|
*/
|
||
|
|
class ScanColorManager {
|
||
|
|
public:
|
||
|
|
|
||
|
|
static const unsigned int MODE_STATIC;
|
||
|
|
static const unsigned int MODE_COLOR_SCAN;
|
||
|
|
static const unsigned int MODE_ANIMATION;
|
||
|
|
static const unsigned int MODE_POINT_COLOR;
|
||
|
|
|
||
|
|
ScanColorManager(unsigned int _buckets, PointType type, bool animation_color = true);
|
||
|
|
|
||
|
|
void registerTree(colordisplay *b);
|
||
|
|
|
||
|
|
void setColorMap(ColorMap &cm);
|
||
|
|
void setColorMap(ColorMap::CM &cm);
|
||
|
|
void setCurrentType(unsigned int type);
|
||
|
|
void setMinMax(float min, float max);
|
||
|
|
void setMode(const unsigned int &mode);
|
||
|
|
void setInvert(bool invert);
|
||
|
|
|
||
|
|
float getMin();
|
||
|
|
float getMax();
|
||
|
|
float getMin(unsigned int dim);
|
||
|
|
float getMax(unsigned int dim);
|
||
|
|
unsigned int getPointDim();
|
||
|
|
void makeValid();
|
||
|
|
|
||
|
|
void selectColors(Scan::AlgoType type);
|
||
|
|
|
||
|
|
template<class P>
|
||
|
|
void updateRanges(P *point);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
unsigned int currentdim;
|
||
|
|
|
||
|
|
vector<colordisplay *> allScans;
|
||
|
|
vector<ColorManager *> allManager;
|
||
|
|
|
||
|
|
vector<ColorManager *> staticManager;
|
||
|
|
vector<ColorManager *> scanManager;
|
||
|
|
vector<CColorManager *> colorsManager;
|
||
|
|
|
||
|
|
unsigned int currenttype;
|
||
|
|
|
||
|
|
unsigned int buckets;
|
||
|
|
|
||
|
|
/** stores minima and maxima for each point dimension */
|
||
|
|
float *mins;
|
||
|
|
float *maxs;
|
||
|
|
/** maps valuetypes to point dimension for easier access */
|
||
|
|
PointType pointtype;
|
||
|
|
|
||
|
|
bool animationColor; /**< Alter colors when animating */
|
||
|
|
|
||
|
|
bool valid;
|
||
|
|
bool colorScans;
|
||
|
|
bool inverted;
|
||
|
|
};
|
||
|
|
|
||
|
|
template<class P>
|
||
|
|
void ScanColorManager::updateRanges(P *point) {
|
||
|
|
for (unsigned int i = 0; i < pointtype.getPointDim(); i++) {
|
||
|
|
if (point[i] < mins[i]) mins[i] = point[i];
|
||
|
|
if (point[i] > maxs[i]) maxs[i] = point[i];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|