3dpcp/include/veloslam/debugview.h

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2012-09-16 12:33:11 +00:00
#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);