3dpcp/.svn/pristine/b6/b65284db33628c56bfa093868cb6be518c62cb35.svn-base

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2012-09-16 12:33:11 +00:00
/*
* show_animate implementation
*
* Copyright (C) Jan Elseberg, Dorit Borrmann
*
* Released under the GPL version 3.
*
*/
#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/colormanager.h"
#include "show/scancolormanager.h"
#include <vector>
#include <float.h>
#include "slam6d/point_type.h"
using std::vector;
ScanColorManager::ScanColorManager(unsigned int _buckets, PointType type) : pointtype(type) {
valid = false;
inverted = false;
buckets = _buckets;
// types = _types;
pointtype = type;
//pointdim = PointType::PointDim(types);
//
mins = new float[pointtype.getPointDim()];
maxs = new float[pointtype.getPointDim()];
for (unsigned int i = 0; i < pointtype.getPointDim(); i++) {
mins[i] = FLT_MAX;
maxs[i] = FLT_MIN;
}
currenttype = PointType::USE_HEIGHT;
currentdim = 0;
}
void ScanColorManager::registerTree(colordisplay *b) { allScans.push_back(b); }
void ScanColorManager::setColorMap(ColorMap &cm) {
makeValid();
for (unsigned int i = 0; i < allManager.size(); i++) {
allManager[i]->setColorMap(cm);
}
}
void ScanColorManager::setColorMap(ColorMap::CM &cm) {
ColorMap cmap = ColorMap::getColorMap(cm);
setColorMap(cmap);
}
void ScanColorManager::setCurrentType(unsigned int type) {
makeValid();
if (type == PointType::USE_NONE) {
for (unsigned int i = 0; i < allScans.size(); i++) {
allScans[i]->setColorManager(0);
}
}
currentdim = pointtype.getType(type);
if(type != PointType::USE_NONE) {
for (unsigned int i = 0; i < allManager.size(); i++) {
allManager[i]->setCurrentDim(currentdim);
}
currenttype = type;
}
}
void ScanColorManager::setMinMax(float min, float max) {
makeValid();
for (unsigned int i = 0; i < allManager.size(); i++) {
allManager[i]->setMinMax(min, max);
}
}
void ScanColorManager::setMode(const unsigned int &mode) {
if (mode == ScanColorManager::MODE_STATIC) {
for (unsigned int i = 0; i < allScans.size(); i++) {
allScans[i]->setColorManager(staticManager[i]);
}
} else if (mode == ScanColorManager::MODE_COLOR_SCAN) {
for (unsigned int i = 0; i < allScans.size(); i++) {
allScans[i]->setColorManager(scanManager[i]);
}
} else if (mode == ScanColorManager::MODE_ANIMATION) {
for (unsigned int i = 0; i < allScans.size(); i++) {
allScans[i]->setColorManager(0);
}
} else if (mode == ScanColorManager::MODE_POINT_COLOR) {
for (unsigned int i = 0; i < allScans.size(); i++) {
allScans[i]->setColorManager(colorsManager[i]);
}
}
}
float ScanColorManager::getMin() { return mins[currentdim];};
float ScanColorManager::getMax() { return maxs[currentdim];};
float ScanColorManager::getMin(unsigned int dim) { return mins[dim];};
float ScanColorManager::getMax(unsigned int dim) { return maxs[dim];};
unsigned int ScanColorManager::getPointDim() { return pointtype.getPointDim(); };
void ScanColorManager::makeValid() {
if (!valid) {
for (unsigned int i = 0; i < allScans.size(); i++) {
colordisplay *scan = allScans[i];
ColorManager *cm = new ColorManager(buckets, pointtype.getPointDim(), mins, maxs);
cm->setCurrentDim(currentdim);
scan->setColorManager(cm);
staticManager.push_back(cm);
// new colormanager for scan index influenced colorscheme
DiffMap m;
// JetMap m;
float c[3] = {0,0,0};
m.calcColor(c, i, allScans.size() );
ColorManager *cmc = new ColorManager(buckets, pointtype.getPointDim(), mins, maxs, c);
scanManager.push_back(cmc);
// new colormanager for the color based on the color of the points
CColorManager *ccm = new CColorManager(buckets, pointtype.getPointDim(), mins, maxs, pointtype.getType(PointType::USE_COLOR));
colorsManager.push_back(ccm);
allManager.push_back(cm);
allManager.push_back(cmc);
allManager.push_back(ccm);
}
valid = true;
}
}
void ScanColorManager::selectColors(Scan::AlgoType type) {
switch(type) {
case Scan::ICP:
glColor4d(0.85, 0.30,0.023, 1.0);
//glColor4d(1.0, 0.30,0.30, 1.0);
//glColor4d(1.0, 0.00,0.00, 1.0);
break;
case Scan::ICPINACTIVE:
glColor4d(0.78, 0.63,0.57, 1.0);
//glColor4d(1.00, 1.00,1.00, 1.0);
break;
case Scan::LUM:
glColor4d(1.0, 0.0,0.0, 1.0);
break;
case Scan::ELCH:
glColor4d(0.0, 1.0,0.0, 1.0);
break;
case Scan::LOOPTORO:
glColor4d(0.0, 0.0, 1.0, 1.0);
break;
case Scan::LOOPHOGMAN:
glColor4d(0.0, 1.0, 1.0, 1.0);
break;
case Scan::GRAPHTORO:
glColor4d(1.0, 0.0, 1.0, 1.0);
break;
case Scan::GRAPHHOGMAN:
glColor4d(1.0, 1.0, 0.0, 1.0);
break;
default:
glColor4d(1.0, 1.0, 1.0, 1.0);
break;
}
}
const unsigned int ScanColorManager::MODE_STATIC = 0;
const unsigned int ScanColorManager::MODE_COLOR_SCAN = 1;
const unsigned int ScanColorManager::MODE_ANIMATION = 2;
const unsigned int ScanColorManager::MODE_POINT_COLOR = 3;