SonarViewGL Class Reference

#include <SonarViewGL.h>

Inherits ImageViewOldGL.

Public Slots
void	repaintFunc ()
void	setXRotation (int angle)
void	setYRotation (int angle)
void	setZRotation (int angle)
void	setxPosition (int value)
void	setyPosition (int value)
void	setzPosition (int value)
void	setWallDist (int bearing, int dist, int dist2)
void	keyPressEvent (QKeyEvent *event)
void	setPosition (const double posX, const double posY, const double sigmaX=0, const double sigmaY=0)
void	setOrientation (const double orientation)
void	setZoomMin (float value)
void	setZoomMax (float value)

Signals
void	xRotationChanged (int angle)
void	yRotationChanged (int angle)
void	zRotationChanged (int angle)
void	xPositionChanged (int value)
void	yPositionChanged (int value)
void	zPositionChanged (int value)

Public Member Functions
	SonarViewGL (ImageViewOld &parent, unsigned int maximumBearings=6400)
virtual	~SonarViewGL ()
QSize	minimumSizeHint () const
QSize	sizeHint () const
void	setPosition (int xRot, int yRot, int zRot, int xMove, int yMove, int zMove, float zoom, int width, int height)
void	setData (const std::vector< uint8_t > data, int bearing)
void	reset (double currentScale)
void	setGroundTrue (double sizeX, double sizeY, double posX, double posY, double rot)
void	drawEllipse (float xradius, float yradius)
Public Member Functions inherited from ImageViewOldGL
	ImageViewOldGL (ImageViewOld &parent)
virtual	~ImageViewOldGL ()
void	setGLViewPoint (int display_width=0, int display_height=0)
void	setAspectRatio (bool value)

Protected Member Functions
void	initializeGL ()
void	paintGL ()
void	resizeGL (int width, int height)
void	mousePressEvent (QMouseEvent *event)
void	mouseMoveEvent (QMouseEvent *event)
void	wheelEvent (QWheelEvent *event)
void	checkGL (const char *)
void	drawList ()
void	drawFaces ()
void	drawSurfaces ()
void	paintSonar ()
GLuint	makeObject ()
GLuint	show_pointcloud ()
void	normalizeAngle (int *angle)
void	createAvalon ()
double	max (double a, double b)

Protected Attributes
bool	deleteSurfaces
int	cloudSize
double	factor
GLuint	groundPlane
float	zoom
float	zoom_min
float	zoom_max
int	lastBearing
int	lastWallBearing
double	orientation
const unsigned int	maximumBearings
std::vector< std::pair< GLuint, QColor > >	colorList
GLuint *	wallDist
GLuint *	bearingList
GLuint	groundTrue
GLuint	avalon
bool *	bearingChanged
bool *	listValid
bool	dataChanged
bool	paintGroundTrue
bool	paintWall
int	xRot
int	yRot
int	zRot
int	xShift
int	yShift
int	zShift
int	medium_ableitung
int	overlay_border
double	currentScale
double	pos [2]
double	sigmaPos [2]
unsigned int	oldSize
volatile GLuint *	indices
volatile GLubyte *	colors
volatile GLfloat *	vertecies
QPoint	lastPos
QPoint	lastPosTrans
QTimer	repaintTimer
QMutex	mutex

Detailed Description

Definition at line 15 of file SonarViewGL.h.

Constructor & Destructor Documentation

SonarViewGL::SonarViewGL	(	ImageViewOld &	parent,
		unsigned int	maximumBearings = 6400
	)

Definition at line 24 of file SonarViewGL.cc.

                                                                         :
ImageViewOldGL(parent),
maximumBearings(maximumBearings)
{
     colors = new GLubyte[maximumBearings]; 
     vertecies = new GLfloat[maximumBearings];
     indices = new GLuint[maximumBearings];
     wallDist = new GLuint[maximumBearings];
     bearingList = new GLuint[maximumBearings];

     bearingChanged = new bool[maximumBearings];
     listValid = new bool[maximumBearings];

     xRot = 0;//180*16;
     yRot = 180*16;
     zRot = 0;
     xShift = 0;
     yShift = 0;
     zShift = 0;
     zoom = 40;
     zoom_min = -6000.0;
     zoom_max = 6000.0;
     overlay_border=0;
     medium_ableitung=1;
     factor=1;
    //repaintTimer.setSingleShot(false);
    //repaintTimer.setInterval(100);
    //connect(&repaintTimer,SIGNAL(timeout()),this,SLOT(repaintFunc()));
    //repaintTimer.start();
    
    for(int i=0;i<maximumBearings;i++){
        glDeleteLists(bearingList[i], 1);
        glDeleteLists(wallDist[i], 1);
        bearingList[i] = glGenLists( 1 );
        wallDist[i] = glGenLists( 1 );
        glNewList( wallDist[i], GL_COMPILE );
        glEndList();
        glNewList( bearingList[i], GL_COMPILE );
        glEndList();
//      listValid=false;
    }
     createAvalon();
     paintGroundTrue=true; 
     paintWall=true;
     lastBearing=0;
     lastWallBearing=0;
}

SonarViewGL::~SonarViewGL ( )

virtual

Definition at line 297 of file SonarViewGL.cc.

{
    //glDeleteLists(object, 1);
}

Member Function Documentation

void SonarViewGL::checkGL ( const char *  msg )

protected

Definition at line 709 of file SonarViewGL.cc.

                                        {
    GLenum err = glGetError();
    switch(err){
    case GL_NO_ERROR:
        break;
    case GL_INVALID_ENUM:
        printf("%s: Invalid enum\n",msg);
        break;
    case GL_INVALID_VALUE:
        printf("%s: invalid value\n",msg);
        break;
    case GL_INVALID_OPERATION:
        printf("%s: invalid operation\n",msg);
        break;
    case GL_STACK_OVERFLOW:
        printf("%s: stack overflow\n",msg);
        break;
    case GL_STACK_UNDERFLOW:
        printf("%s: stack underflow\n",msg);
        break;
    case GL_OUT_OF_MEMORY:
        printf("%s: OpenGL Put of memoty\n",msg);
        break;
    case GL_TABLE_TOO_LARGE:
        printf("%s: GL Table too large\n",msg);
        break;
    }
}

void SonarViewGL::createAvalon ( )

protected

Definition at line 679 of file SonarViewGL.cc.

                              {
                glDeleteLists(avalon, 1);
                avalon= glGenLists( 1 );
                glNewList( avalon, GL_COMPILE );
                    //checkGL("after list create");
                glPushMatrix();
                qglColor(Qt::cyan);
                    //glTranslated(posX, posY, 0);
                //glRotated( rotate, 0.0, 0.0, 1.0);
                glBegin(GL_LINE_LOOP);
                glVertex3d(-1,0.2,0);
                glVertex3d(1,0.2,0);
                glVertex3d(1,-0.2,0);
                glVertex3d(-1,-0.2,0);
                glEnd();
                glPopMatrix();
                glEndList();
                    //checkGL("end of set ground true:");
}

void SonarViewGL::drawEllipse	(	float	xradius,
		float	yradius
	)

Definition at line 434 of file SonarViewGL.cc.

{
    glBegin(GL_LINE_LOOP);
    for(int i=0; i < 360; i++)
    {
        glVertex2f(cos(i/180.0*M_PI)*xradius,sin(i/180.0*M_PI)*yradius);
    } 
    glEnd();
}

void SonarViewGL::drawFaces ( )

protected

void SonarViewGL::drawList ( )

protected

void SonarViewGL::drawSurfaces ( )

protected

void SonarViewGL::initializeGL ( )

protected

Definition at line 362 of file SonarViewGL.cc.

{
  //qglClearColor(QColor(0.1,0.1,0.0));
  //qglClearColor(purple.light());
  //qglClearColor(white);
    qglClearColor(QColor(0.0,0.0,0.0));
    glShadeModel(GL_FLAT);
    
    glEnable(GL_DEPTH_TEST);
    //glDisable(GL_DEPTH_TEST);
    //glEnable(GL_CULL_FACE);
    //glDepthFunc(GL_ALWAYS);
    //glDepthFunc(GL_LESS);
    glDepthFunc(GL_LEQUAL);
//  glClearDepth(0.0);
    //glDepthFunc(GL_GEQUAL);
/*
    GLfloat fogColor[4] = {0.5,0.5,0.5,1.0};

    glFogi (GL_FOG_MODE, GL_LINEAR); //set the fog mode to GL_EXP2
    glFogfv (GL_FOG_COLOR, fogColor ); //set the fog color to our color chosen above
    glFogf (GL_FOG_DENSITY, 0.5); //set the density to the value above
    glHint (GL_FOG_HINT, GL_NICEST); // set the fog to look the nicest, may slow down on older cards

    glFogf(GL_FOG_START, 1.0f);             // Fog Start Depth
    glFogf(GL_FOG_END, 100.0f);               // Fog End Depth
    glDisable(GL_FOG);                   // Enables GL_FOG

    glEnable (GL_BLEND);
    glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

    glEnable(GL_POINT_SMOOTH);
    glEnable(GL_LINE_SMOOTH);
*/
    
   groundPlane = glGenLists(1);
   glNewList(groundPlane, GL_COMPILE);

       #if 1 
       // draw the grid
       glDisable( GL_LIGHTING );
       glDisable( GL_COLOR_MATERIAL ) ;

       float size = 50.0f;
       float interval = 1.0f;


   glColor4f(0.5f,0.5f,1.0f,0.5f);
   glBegin(GL_LINES);
   float x = - size*0.5f;
   while( x <= size*0.5f ) {
       glVertex3f(-size/2.0f, x, 0.01f);
       glVertex3f(size/2.0f, x, 0.01f);
       glVertex3f(x, -size/2.0f, 0.01f);
       glVertex3f(x, size/2.0f, 0.01f);
       x += interval;
   }
   glEnd();

   // draw concentric circles
   float r;
   for(r=0;r<size/2;r+=interval) {
       glBegin(GL_LINES);
       for(x=0;x<(2*3.14152);x+=(2*3.14152)/(r*100)) {
           glVertex3f(cos(x)*r, sin(x)*r, 0.01f);
       }
       glEnd();
   }
   glEndList();
       #endif
}

void SonarViewGL::keyPressEvent ( QKeyEvent *  event )

slot

Definition at line 606 of file SonarViewGL.cc.

                                                   {
    switch (event->key()) {
        case Qt::Key_W:
            paintWall=!paintWall;
        case Qt::Key_G:
            paintGroundTrue=!paintGroundTrue;
            break;
        case Qt::Key_Q:
            //Exit or do something
            break;
        case Qt::Key_I:
            factor+=0.02;
            printf("Gain %f\n",factor);
            //Exit or do something
            break;
        case Qt::Key_D:
            factor-=0.02;
            printf("Gain %f\n",factor);
            //Exit or do something
            break;
        case Qt::Key_O:
            overlay_border+=1;
            printf("Overlay border: %i\n",overlay_border);
            break;
        case Qt::Key_L:
            overlay_border-=1;
            printf("Overlay border: %i\n",overlay_border);
            break;
        case Qt::Key_A:
            medium_ableitung+=1;
            printf("Ableitungglaettung: %i\n",medium_ableitung);
            break;
        case Qt::Key_Y:
            medium_ableitung-=1;
            printf("Ableitungglaettung: %i\n",medium_ableitung);
            break;
        default:
            return;
    }
     repaintFunc();
 }

GLuint SonarViewGL::makeObject ( )

protected

double SonarViewGL::max ( double  a, double  b  )

inlineprotected

Definition at line 71 of file SonarViewGL.h.

                                         {
        return (a>b)?a:b;
     }

QSize SonarViewGL::minimumSizeHint

(

)

const

Definition at line 302 of file SonarViewGL.cc.

{
    return QSize(50, 50);
}

void SonarViewGL::mouseMoveEvent ( QMouseEvent *  event )

protected

Definition at line 565 of file SonarViewGL.cc.

 {
     //int dx = event->x() - lastPos.x();
     //int dy = event->y() - lastPos.y();

     int dxt = event->x() - lastPosTrans.x();
     int dyt = event->y() - lastPosTrans.y();

     if (event->buttons() & Qt::LeftButton) {
         //setXRotation(xRot + 8 * dy);
         //setZRotation(zRot + 8 * dx);
        setxPosition(xShift + dxt);
        setyPosition(yShift - dyt);
     }else if (event->buttons() & Qt::RightButton) {
            zoom += (dyt+dxt)*0.05;
            zoom = std::max<float>( std::min<float>( zoom, zoom_max ), zoom_min);
     }

     lastPos = event->pos();
     lastPosTrans = event->pos();

//     printf("Rot: %i,%i,%i, Pos, (%i,%i,%i), zoom: %f\n",xRot,yRot,zRot,xShift,yShift,zShift,zoom);

     repaintFunc();
 }

void SonarViewGL::mousePressEvent ( QMouseEvent *  event )

protected

Definition at line 558 of file SonarViewGL.cc.

 {
     lastPos = event->pos();
     lastPosTrans = event->pos();
     repaintFunc();
 }

void SonarViewGL::normalizeAngle ( int *  angle )

protected

Definition at line 700 of file SonarViewGL.cc.

 {
     while (*angle < 0)
         *angle += 360 * 16;
     while (*angle > 360 * 16)
         *angle -= 360 * 16;
 }

void SonarViewGL::paintGL ( )

protected

Definition at line 446 of file SonarViewGL.cc.

                         {
//  printf("PaintGL\n");
     //set gui
//     mutex.lock();
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
     glLoadIdentity();
     glTranslated(0, 0, -zoom);
     
    //glMultMatrixf(camera);
     //set movments
     glTranslated(double(xShift)/100.0+pos[0], double(yShift)/100.0+pos[1], double(zShift)/100.0);
     glRotated(orientation, 1.0, 0.0, 0.0);
     glRotated(xRot / 16.0, 1.0, 0.0, 0.0);
     glRotated(yRot / 16.0, 0.0, 1.0, 0.0);
     glRotated(zRot / 16.0, 0.0, 0.0, 1.0);

     
     QColor color("yellow");
     qglColor(color);
     drawEllipse(sigmaPos[0],sigmaPos[1]);

    //gllDist
   // wlCallList(point_list);
    //glCallList(groundPlane);
     //Wegen Nebenläufigkeit die Punkte im GUI Thread zeichnen.
     //if(paintGroundTrue)
//    if(glIsList(groundTrue))
//      glCallList(groundTrue);
       //  else
         // printf("Error gorund true is not an list\n");
     if(glIsList(avalon))
         glCallList(avalon);

     

     //for(unsigned int i=0;i<colorList.size();i++){
     // glCallList(colorList[i].first);
     //}
//   if(paintWall)
     for(int i=0;i<maximumBearings;i++){
        if(glIsList(wallDist[i])){
            glCallList(wallDist[i]);
        }
     }
     for(int i=0;i<maximumBearings;i++){
        if(glIsList(bearingList[i])){
         glCallList(bearingList[i]);
        }
     }
    
  //   mutex.unlock();
  //printf("Paint gl end\n");
 }

void SonarViewGL::paintSonar ( )

protected

Definition at line 287 of file SonarViewGL.cc.

                            {
}

void SonarViewGL::repaintFunc ( )

slot

Definition at line 291 of file SonarViewGL.cc.

                             {
   update();
   updateGL(); //TODO not calling this?

}

void SonarViewGL::reset

(

double

currentScale

)

Definition at line 74 of file SonarViewGL.cc.

                                          {
    this->currentScale = currentScale;
    createAvalon();
//  mutex.lock();
    for(int i=0;i<maximumBearings;i++){
        glDeleteLists(bearingList[i], 1);
        bearingList[i] = glGenLists( 1 );
        glNewList( bearingList[i], GL_COMPILE );
        glEndList();
//      listValid=false;
    }
//  listValid[i]=false;
//
//
    for(int i=0;i<maximumBearings;i++){
        glDeleteLists(wallDist[i], 1);
        wallDist[i] = glGenLists( 1 );
        glNewList( wallDist[i], GL_COMPILE );
        glEndList();
        lastBearing=0;
        lastWallBearing=0;
    }
//  mutex.unlock();
}

void SonarViewGL::resizeGL ( int  width, int  height  )

protected

Definition at line 549 of file SonarViewGL.cc.

 {
    glViewport(0, 0, width, height);
    glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    gluPerspective( 45.0, (float)width/(float)height, 1.0, 1000.0 );
    glMatrixMode(GL_MODELVIEW);
 }

void SonarViewGL::setData	(	const std::vector< uint8_t >	data,
		int	bearing
	)

Definition at line 102 of file SonarViewGL.cc.

                                                                  {
//        printf("Bearing %i\n",bearing);
        //for(int i=0;i<data.size();i++){
         // if(data[i]!= 0){
          //    printf("Got data value :%i\n",data[i]);
          //}
        //}
          
    if(bearing < 0 || bearing > maximumBearings){
        fprintf(stderr,"Cannot Set bearing is out of range\n");
    } 

    if(data.size() != oldSize){
        printf("deleteing lists new Size is: %i\n",(int)data.size());
        oldSize = data.size();
        delete colors;
        delete indices;
        delete vertecies;
            colors = new GLubyte[data.size()*3*maximumBearings];    
        vertecies = new GLfloat[data.size()*3*maximumBearings];
        indices = new GLuint[data.size()*3*maximumBearings];
        //uint16_t c=0;
        for(unsigned int i=0;i<data.size()*3*maximumBearings; i++){
            colors[i]=0;
            vertecies[i]=0;
        
            //if((i%3)==0){
            //  vertecies[i]=0.001*(i%6399);
            //  colors[i]=++c;
            //}else{
            //  colors[i]=c;
            //  vertecies[i]=0;
            //}
            indices[i]=i;
        }
    }
    int begin,end;
    if(lastBearing-bearing>0 || lastBearing-bearing < -3000){
        begin = lastBearing;
        end = lastBearing-bearing;
    }else{
        begin = bearing;
        end = bearing-lastBearing;
    }
    
    
    for(int j=0;j<end;j++){
        int i = ((begin+j));
        if(i < 0 || i > 6399){
            fprintf(stderr,"Error in glwidet, please check value make no sense, prevent crash, not displaying data for index %i (%s:%i)\n",i,__FILE__,__LINE__);
            break;
        }

            
        for(unsigned int k=0; k<data.size(); k+=3){
            int value=data[k]*factor;
            if(value<0)value=0;
            if(value>255)value=255;
            colors[k+0 + i*data.size()*3] = value;
            colors[k+1 + i*data.size()*3 ] = value;
            colors[k+2 + i*data.size()*3 ] = value;
        }

        for(unsigned int k=0; k<data.size(); k+=3){
            vertecies[k+0 + i*data.size()*3] = k*currentScale;
            vertecies[k+1 + i*data.size()*3] = 0;
            vertecies[k+2 + i*data.size()*3] = 0; 
        }
        glDeleteLists(wallDist[i],1);
        wallDist[i] = glGenLists( 1 );
        glNewList( wallDist[i], GL_COMPILE );
        glEndList();

        glDeleteLists(bearingList[i], 1);
        bearingList[i] = glGenLists( 1 );
        glNewList( bearingList[i], GL_COMPILE );
            glEnableClientState(GL_COLOR_ARRAY);
            glEnableClientState(GL_VERTEX_ARRAY);
            glColorPointer(3,GL_UNSIGNED_BYTE,0,(void*)colors);
            glVertexPointer(3,GL_FLOAT,0,(void*)vertecies);
            glPushMatrix();
                double rotate = (double)i/6399.0*360.0;
                glRotated( rotate , 0.0, 0.0, 1.0);
                //if(i == 300){
            //      printf("Making for bearing: %i Color: %i, value: %f index: %i\n ",i, colors[300+i*data.size()],vertecies[300+i*data.size()],indices[300+i*data.size()]);
                if(i*data.size() > data.size()*3*maximumBearings){
                    fprintf(stderr,"CRITIACAL ERROR\n");
                }
                //glPolygonOffset(i,1e-10);
                volatile GLuint *baseIndex = &indices[i*(data.size())];
                //glDrawElements(GL_LINES, data.size(), GL_UNSIGNED_INT, (void*)baseIndex);
                //glDrawElements(GL_LINES, data.size(), GL_UNSIGNED_INT, (void*)baseIndex);
                //glDrawElements(GL_LINE_STRIP, data.size(), GL_UNSIGNED_INT, (void*)baseIndex);
                glDrawElements(GL_POINTS, data.size(), GL_UNSIGNED_INT, (void*)baseIndex);
                //
/*
                glBegin(GL_LINE_STRIP);
                for(unsigned int k=0; k<data.size(); k++){
                    double value=colors[k + i*data.size()];  //data[k]*factor;
                    if(value<0)value=0;
                    if(value>255)value=255;
                    QColor color(value,value,value);
                    qglColor(color);
                    double pos = vertecies[k + i*data.size()];
                    glVertex3f(k*currentScale,0,0);
                }
                glEnd();
                */

                //}
                checkGL((const char*)"after Draw");
            glPopMatrix();
            glDisableClientState(GL_COLOR_ARRAY);
            glDisableClientState(GL_VERTEX_ARRAY); 
        glEndList();
    }



/*

        for(unsigned int k=0; k<data.size(); k++){
            double value=data[k]*factor;
            if(value<0)value=0;
            if(value>255)value=255;
            QColor color(value,value,value);
            qglColor(color);
            glVertex3f(k*currentScale,0,0);
        }
        glEnd();
        */


#if 0
        if(false){ //Paint the overlay
            glBegin(GL_LINE_STRIP);
            int p_max = 0;
            int point;
            for(unsigned int k=medium_ableitung; k<data.size()-medium_ableitung; k++){
                int prevalues =0;
                int aftervalues=0;
                for(int p=1;p<medium_ableitung;p++){
                    
                    prevalues +=    max((data[k-p] - data[(int)max((k/2-p),0)]),0);
                    aftervalues +=  max((data[k+p] - data[(k/2+p)]),0);
                }
                double value= (((prevalues - aftervalues)*data[k])) *factor;
                if(value<0)value=0;
                if(value>255)value=255.0;

                if(value > p_max && k >10){
                    p_max=value;
                    point = k*currentScale;
                }
                QColor color(value,value,value);
                qglColor(color);
                
                glVertex3f(k*currentScale,0,0);
                /*
                if(overlay_border >0){
                    if(value >= overlay_border)
                        glVertex3f(k*currentScale,0,0);
                }else{
                    if(value < overlay_border)
                        glVertex3f(k*currentScale,0,0);

                }
                */
            }
            glEnd();

            glBegin(GL_LINE_STRIP);//;GL_POINTS);
            QColor color("red");
            qglColor(color);
            glVertex3f(0,0,0);
            glVertex3f(point,0,0);
            glEnd();
        }
#endif
//  }
        
    lastBearing = bearing;
//  mutex.unlock();
}

void SonarViewGL::setGroundTrue	(	double	sizeX,
		double	sizeY,
		double	posX,
		double	posY,
		double	rot
	)

Definition at line 657 of file SonarViewGL.cc.

                                                                                              {
                sizeX/=2.0;
                sizeY/=2.0;
                glDeleteLists(groundTrue, 1);
                groundTrue = glGenLists( 1 );
                glNewList( groundTrue, GL_COMPILE );
                    //checkGL("after list create");
                glPushMatrix();
                qglColor(Qt::red);
                glTranslated(-posX, -posY, 0);
                glRotated( rotate, 0.0, 0.0, 1.0);
                glBegin(GL_LINE_LOOP);
                glVertex3d(-sizeX,sizeY,0);
                glVertex3d(sizeX,sizeY,0);
                glVertex3d(sizeX,-sizeY,0);
                glVertex3d(-sizeX,-sizeY,0);
                glEnd();
                glPopMatrix();
                glEndList();
                    //checkGL("end of set ground true:");
}

void SonarViewGL::setOrientation ( const double  orientation )

slot

Definition at line 738 of file SonarViewGL.cc.

                                                        {
    this->orientation = orientation;
}

void SonarViewGL::setPosition	(	int	xRot,
		int	yRot,
		int	zRot,
		int	xMove,
		int	yMove,
		int	zMove,
		float	zoom,
		int	width,
		int	height
	)

Definition at line 592 of file SonarViewGL.cc.

                                                                                                                             {
     resize(width,height);
     this->xRot = xRot;
     this->yRot = yRot;
     this->zRot = zRot;
     this->xShift = xMove;
     this->yShift = yMove;
     this->zShift = zMove;
     this->zoom = zoom;
     //camera[2] = -zoom;

 }

void SonarViewGL::setPosition ( const double  posX, const double  posY, const double  sigmaX = 0, const double  sigmaY = 0  )

slot

Definition at line 742 of file SonarViewGL.cc.

                                                                                                           {
    pos[0] = posX;
    pos[1] = posY;
    sigmaPos[0] = sigmaX;
    sigmaPos[1] = sigmaY;
     repaintFunc();
}

void SonarViewGL::setWallDist ( int  bearing, int  dist, int  dist2  )

slot

Definition at line 501 of file SonarViewGL.cc.

                                                             {
    //printf("Set Wall Dist\n");    
//  mutex.lock();
    
    int begin,end;
    if(lastWallBearing-bearing>0 || lastWallBearing-bearing < -3000){
        begin = lastWallBearing;
        end = lastWallBearing-bearing;
    }else{
        begin = bearing;
        end = bearing-lastWallBearing;
    }
//  printf("Maximum distance: %f\n",currentScale*data.size());
    for(int j=0;j<end-2;j++){
        int i = (begin+j)%6400;
        if(i < 0 || i > 6399){
            fprintf(stderr,"Error in glwidet, please check value make no sense, prevent crash, not displaying data for index %i (%s:%i)\n",i,__FILE__,__LINE__);
            break;
        }
        //glDeleteLists(wallDist[i], 1);
    }
    lastWallBearing = bearing;

    glDeleteLists(wallDist[bearing], 1);
    //generate new one
    //checkGL("delete-list");
    wallDist[bearing] = glGenLists( 1 );
    //checkGL("generate-list");
    glNewList( wallDist[bearing], GL_COMPILE );
    //checkGL("new-list");
    //checkGL("push-Matrix");
    glPushMatrix();
    double rotate = (double)bearing/6399.0*360.0;
    glRotated( rotate, 0.0, 0.0, 1.0);
    glPointSize(2.0);
    glBegin(GL_POINTS);
    QColor color("yellow");
    qglColor(color);
    glVertex3f(dist*currentScale,0,-0.1);
    qglColor(QColor("green"));
    glVertex3f(dist2*currentScale,0,-0.1);
    glEnd();
    glPopMatrix();
    glEndList();
//  mutex.unlock(); 
}

void SonarViewGL::setxPosition ( int  value )

slot

Definition at line 342 of file SonarViewGL.cc.

{
       xShift = value;
       //printf("%d\n",xShift);
       emit xPositionChanged(value);
       //updateGL();
}

void SonarViewGL::setXRotation ( int  angle )

slot

Definition at line 312 of file SonarViewGL.cc.

{
    normalizeAngle(&angle);
    if (angle != xRot) {
        xRot = angle;
        emit xRotationChanged(angle);
        //updateGL();
    }
}

void SonarViewGL::setyPosition ( int  value )

slot

Definition at line 349 of file SonarViewGL.cc.

{
       yShift = value;
       emit yPositionChanged(value);
       //updateGL();
}

void SonarViewGL::setYRotation ( int  angle )

slot

Definition at line 322 of file SonarViewGL.cc.

{
    normalizeAngle(&angle);
    if (angle != yRot) {
        yRot = angle;
        emit yRotationChanged(angle);
        //updateGL();
    }
}

void SonarViewGL::setZoomMax ( float  value )

slot

Definition at line 756 of file SonarViewGL.cc.

{
    zoom_max = value;
}

void SonarViewGL::setZoomMin ( float  value )

slot

Definition at line 751 of file SonarViewGL.cc.

{
    zoom_min = value;
}

void SonarViewGL::setzPosition ( int  value )

slot

Definition at line 355 of file SonarViewGL.cc.

{
       zShift = value;
       emit zPositionChanged(value);
       //updateGL();
}

void SonarViewGL::setZRotation ( int  angle )

slot

Definition at line 332 of file SonarViewGL.cc.

{
    normalizeAngle(&angle);
    if (angle != zRot) {
        zRot = angle;
        emit zRotationChanged(angle);
        //updateGL();
    }
}

GLuint SonarViewGL::show_pointcloud ( )

protected

QSize SonarViewGL::sizeHint

(

)

const

Definition at line 307 of file SonarViewGL.cc.

{
    return QSize(400, 400);
}

void SonarViewGL::wheelEvent ( QWheelEvent *  event )

protected

Definition at line 648 of file SonarViewGL.cc.

 {
    zoom -= (2.0*(float)event->delta()/120.0)*5;
    zoom = std::max<float>( std::min<float>( zoom, zoom_max ), zoom_min);
    event->accept();
   // updateGL();
     repaintFunc();
}

void SonarViewGL::xPositionChanged ( int  value )

signal

void SonarViewGL::xRotationChanged ( int  angle )

signal

void SonarViewGL::yPositionChanged ( int  value )

signal

void SonarViewGL::yRotationChanged ( int  angle )

signal

void SonarViewGL::zPositionChanged ( int  value )

signal

void SonarViewGL::zRotationChanged ( int  angle )

signal

Member Data Documentation

GLuint SonarViewGL::avalon

protected

Definition at line 78 of file SonarViewGL.h.

bool* SonarViewGL::bearingChanged

protected

Definition at line 79 of file SonarViewGL.h.

GLuint * SonarViewGL::bearingList

protected

Definition at line 77 of file SonarViewGL.h.

int SonarViewGL::cloudSize

protected

Definition at line 58 of file SonarViewGL.h.

std::vector<std::pair<GLuint, QColor> > SonarViewGL::colorList

protected

Definition at line 76 of file SonarViewGL.h.

volatile GLubyte* SonarViewGL::colors

protected

Definition at line 98 of file SonarViewGL.h.

double SonarViewGL::currentScale

protected

Definition at line 91 of file SonarViewGL.h.

bool SonarViewGL::dataChanged

protected

Definition at line 80 of file SonarViewGL.h.

bool SonarViewGL::deleteSurfaces

protected

Definition at line 54 of file SonarViewGL.h.

double SonarViewGL::factor

protected

Definition at line 60 of file SonarViewGL.h.

GLuint SonarViewGL::groundPlane

protected

Definition at line 63 of file SonarViewGL.h.

GLuint SonarViewGL::groundTrue

protected

Definition at line 78 of file SonarViewGL.h.

volatile GLuint* SonarViewGL::indices

protected

Definition at line 97 of file SonarViewGL.h.

int SonarViewGL::lastBearing

protected

Definition at line 67 of file SonarViewGL.h.

QPoint SonarViewGL::lastPos

protected

Definition at line 100 of file SonarViewGL.h.

QPoint SonarViewGL::lastPosTrans

protected

Definition at line 101 of file SonarViewGL.h.

int SonarViewGL::lastWallBearing

protected

Definition at line 68 of file SonarViewGL.h.

bool * SonarViewGL::listValid

protected

Definition at line 79 of file SonarViewGL.h.

const unsigned int SonarViewGL::maximumBearings

protected

Definition at line 74 of file SonarViewGL.h.

int SonarViewGL::medium_ableitung

protected

Definition at line 89 of file SonarViewGL.h.

QMutex SonarViewGL::mutex

protected

Definition at line 103 of file SonarViewGL.h.

unsigned int SonarViewGL::oldSize

protected

Definition at line 96 of file SonarViewGL.h.

double SonarViewGL::orientation

protected

Definition at line 69 of file SonarViewGL.h.

int SonarViewGL::overlay_border

protected

Definition at line 90 of file SonarViewGL.h.

bool SonarViewGL::paintGroundTrue

protected

Definition at line 81 of file SonarViewGL.h.

bool SonarViewGL::paintWall

protected

Definition at line 81 of file SonarViewGL.h.

double SonarViewGL::pos[2]

protected

Definition at line 92 of file SonarViewGL.h.

QTimer SonarViewGL::repaintTimer

protected

Definition at line 102 of file SonarViewGL.h.

double SonarViewGL::sigmaPos[2]

protected

Definition at line 93 of file SonarViewGL.h.

volatile GLfloat* SonarViewGL::vertecies

protected

Definition at line 99 of file SonarViewGL.h.

GLuint* SonarViewGL::wallDist

protected

Definition at line 77 of file SonarViewGL.h.

int SonarViewGL::xRot

protected

Definition at line 83 of file SonarViewGL.h.

int SonarViewGL::xShift

protected

Definition at line 86 of file SonarViewGL.h.

int SonarViewGL::yRot

protected

Definition at line 84 of file SonarViewGL.h.

int SonarViewGL::yShift

protected

Definition at line 87 of file SonarViewGL.h.

float SonarViewGL::zoom

protected

Definition at line 66 of file SonarViewGL.h.

float SonarViewGL::zoom_max

protected

Definition at line 66 of file SonarViewGL.h.

float SonarViewGL::zoom_min

protected

Definition at line 66 of file SonarViewGL.h.

int SonarViewGL::zRot

protected

Definition at line 85 of file SonarViewGL.h.

int SonarViewGL::zShift

protected

Definition at line 88 of file SonarViewGL.h.

---

The documentation for this class was generated from the following files:

• /build/rock-master-18.09-gui-rock-widget-collection-0.20180124/src/sonar_view/SonarViewGL.h
• /build/rock-master-18.09-gui-rock-widget-collection-0.20180124/src/sonar_view/SonarViewGL.cc