3dpcp/.svn/pristine/c2/c2586d689c6af775ccccc6c96c5edaacee466e5d.svn-base
2012-09-16 14:33:11 +02:00

278 lines
6.2 KiB
Text

/*
* display implementation
*
* Copyright (C) Dorit Borrmann, Jan Elseberg
*
* Released under the GPL version 3.
*
*/
#include <glui.h>
#include "show/display.h"
#include "slam6d/globals.icc"
#include <fstream>
using std::ifstream;
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#ifdef __APPLE__
#include <GLUT/glut.h>
#elif WITH_FREEGLUT
#include <GL/freeglut.h>
#else
#include <GL/glut.h>
#endif
double SDisplay::mirror[16] = {1,0,0,0,
0,1,0,0,
0,0,-1,0,
0,0,0,1};
void SDisplay::displayAll() {
// TODO ensure all settings are set to default
//
glPushMatrix();
glMultMatrixd(mirror);
displayObject();
glPopMatrix();
}
void SDisplay::readDisplays(string &filename, vector<SDisplay*> &displays) {
ifstream input;
input.open(filename.c_str());
string type;
string objectfile;
while(input.good()) {
input >> type;
try {
input >> objectfile;
if(strcmp(type.c_str(), "Plane") == 0) {
float * color = new float[3];
for(int i = 0; i < 3; i++) {
color[i] = rand()/((double)RAND_MAX);
}
displays.push_back(PlaneDisplay::readFromFile(objectfile, color));
} else if(strcmp(type.c_str(), "Point") == 0) {
displays.push_back(PointDisplay::readFromFile(objectfile));
} else if(strcmp(type.c_str(), "Line") == 0) {
displays.push_back(LineDisplay::readFromFile(objectfile));
} else if(strcmp(type.c_str(), "GroupPlane") == 0) {
displays.push_back(GroupPlaneDisplay::readFromFile(objectfile));
} else {
cerr << "Unknown SDisplay Object" << endl;
}
} catch(...) {
cerr << "Wrong display type" << endl;
}
}
input.close();
input.clear();
}
PointDisplay::PointDisplay(vector<float*> &p, vector<string> &l) {
points = p;
labels = l;
}
SDisplay * PointDisplay::readFromFile(string &filename) {
ifstream input;
input.open(filename.c_str());
vector<float*> points;
vector<string> labels;
while (input.good()) {
try {
float *p = new float[3];
input >> p[0] >> p[1] >> p[2];
points.push_back(p);
string l;
input >> l;
labels.push_back(l);
} catch (...) {
break;
}
}
points.pop_back();
labels.pop_back();
input.close();
input.clear();
return new PointDisplay(points, labels);
}
void PointDisplay::displayObject() {
glColor3f(1.0, 0.3, 0.3);
glPointSize(5);
glBegin(GL_POINTS);
for (unsigned int i = 0; i < points.size(); i++) {
glVertex3f(points[i][0], points[i][1], points[i][2]);
}
glEnd();
glPushMatrix();
for(unsigned int i = 0; i < points.size(); i++) {
glRasterPos3f(points[i][0], points[i][1], points[i][2]);
_glutBitmapString(GLUT_BITMAP_HELVETICA_10, labels[i].c_str());
//_glutBitmapString(GLUT_BITMAP_9_BY_15, "http://threedtk.de");
}
glPopMatrix();
}
LineDisplay::LineDisplay(vector<float*> &l) {
lines = l;
}
SDisplay * LineDisplay::readFromFile(string &filename) {
ifstream input;
input.open(filename.c_str());
vector<float*> lines;
while (input.good()) {
try {
float *p = new float[6];
input >> p[0] >> p[1] >> p[2];
input >> p[3] >> p[4] >> p[5];
lines.push_back(p);
} catch (...) {
break;
}
}
lines.pop_back();
input.close();
input.clear();
return new LineDisplay(lines);
}
void LineDisplay::displayObject() {
glColor3f(1.0, 0.3, 0.3);
glLineWidth(1.0);
glBegin(GL_LINES);
for (unsigned int i = 0; i < lines.size(); i++) {
glColor3f(1,0.3,0.3);
glVertex3f(lines[i][0], lines[i][1], lines[i][2]);
glColor3f(0.3,1,0.3);
glVertex3f(lines[i][3], lines[i][4], lines[i][5]);
}
glEnd();
glBegin(GL_POINTS);
for (unsigned int i = 0; i < lines.size(); i++) {
glColor3f(1,0.3,0.3);
glVertex3f(lines[i][0], lines[i][1], lines[i][2]);
glColor3f(0.3,1,0.3);
glVertex3f(lines[i][3], lines[i][4], lines[i][5]);
}
glEnd();
}
GroupPlaneDisplay::GroupPlaneDisplay(vector<PlaneDisplay*> &p) {
planes = p;
}
void GroupPlaneDisplay::displayObject() {
for(unsigned int i = 0; i < planes.size(); i++) {
planes[i]->displayObject();
}
}
SDisplay* GroupPlaneDisplay::readFromFile(string &filename) {
ifstream input;
input.open(filename.c_str());
vector<PlaneDisplay*> planes;
if(input.good()) {
int end = filename.find_last_of('/');
string dir = filename.substr(0, end);
string tmp;
input >> tmp;
if(dir.length() != 0) dir = dir + "/";
try {
if(strcmp(tmp.c_str(), "randomcolor") != 0) {
while(input.good()) {
int planeNr;
input >> planeNr;
string planename = dir + "plane" + to_string(planeNr, 3) + ".3d";
float * color = new float[3];
for(int i = 0; i < 3; i++) {
input >> color[i];
}
planes.push_back((PlaneDisplay*)PlaneDisplay::readFromFile(planename, color));
}
} else {
while(input.good()) {
int planeNr;
input >> planeNr;
string planename = dir + "/plane" + to_string(planeNr, 3) + ".3d";
float * color = new float[3];
for(int i = 0; i < 3; i++) {
color[i] = rand()/((double)RAND_MAX);
}
planes.push_back((PlaneDisplay*)PlaneDisplay::readFromFile(planename, color));
}
}
} catch(...) {}
}
input.close();
input.clear();
return new GroupPlaneDisplay(planes);
}
PlaneDisplay::PlaneDisplay(vector<float*> &p, float* c) {
points = p;
color = c;
}
SDisplay * PlaneDisplay::readFromFile(string &filename, float* color) {
ifstream input;
input.open(filename.c_str());
vector<float*> points;
while (input.good()) {
try {
float *p = new float[3];
input >> p[0] >> p[1] >> p[2];
points.push_back(p);
} catch (...) {
break;
}
}
points.pop_back();
input.close();
input.clear();
return new PlaneDisplay(points, color);
}
void PlaneDisplay::displayObject() {
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); // TODO
glColor4d(color[0], color[1], color[2], 0.5);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glBegin(GL_POLYGON);
for(vector<float*>::iterator point = (points).begin();
point != (points).end(); point++) {
glVertex3f((*point)[0], (*point)[1], (*point)[2]);
}
glEnd();
glBlendFunc(GL_ONE, GL_ZERO); // TODO
}