g2o::G2oQGLViewer Class Reference

OpenGL based viewer for the graph. More...

#include <g2o_qglviewer.h>

Inheritance diagram for g2o::G2oQGLViewer:

Collaboration diagram for g2o::G2oQGLViewer:

Public Member Functions
	G2oQGLViewer (QWidget *parent=NULL, const QGLWidget *shareWidget=0)
	G2oQGLViewer (const G2oQGLViewer &)=delete
G2oQGLViewer &	operator= (const G2oQGLViewer &)=delete
	~G2oQGLViewer ()
void	draw ()
void	init ()
bool	updateDisplay () const
void	setUpdateDisplay (bool updateDisplay)
DrawAction::Parameters *	parameters ()

Public Attributes
SparseOptimizer *	graph

Protected Attributes
HyperGraphElementAction *	_drawActions
GLuint	_drawList
bool	_updateDisplay
DrawAction::Parameters *	_drawActionParameters

Detailed Description

OpenGL based viewer for the graph.

Definition at line 33 of file g2o_qglviewer.h.

Constructor & Destructor Documentation

G2oQGLViewer() [1/2]

g2o::G2oQGLViewer::G2oQGLViewer	(	QWidget *	parent = NULL,
		const QGLWidget *	shareWidget = 0
	)

Definition at line 88 of file g2o_qglviewer.cpp.

    : QGLViewer(parent, shareWidget),
      graph(0),
      _drawActions(0),
      _drawList(0),
      _updateDisplay(true) {
  setAxisIsDrawn(false);
  _drawActionParameters = new DrawAction::Parameters();
}

References _drawActionParameters.

G2oQGLViewer() [2/2]

g2o::G2oQGLViewer::G2oQGLViewer ( const G2oQGLViewer &  )

delete

~G2oQGLViewer()

g2o::G2oQGLViewer::~G2oQGLViewer

(

)

Definition at line 98 of file g2o_qglviewer.cpp.

                            {
  delete _drawActionParameters;
  glDeleteLists(_drawList, 1);
}

References _drawActionParameters, and _drawList.

Member Function Documentation

draw()

void g2o::G2oQGLViewer::draw

(

)

Definition at line 103 of file g2o_qglviewer.cpp.

                        {
  if (!graph) return;
 
  if (_drawActions == 0) {
    _drawActions = HyperGraphActionLibrary::instance()->actionByName("draw");
    assert(_drawActions);
  }
 
  if (!_drawActions)  // avoid segmentation fault in release build
    return;
  if (_updateDisplay) {
    _updateDisplay = false;
    glNewList(_drawList, GL_COMPILE_AND_EXECUTE);
    applyAction(graph, _drawActions, _drawActionParameters);
    glEndList();
  } else {
    glCallList(_drawList);
  }
}

References _drawActionParameters, _drawActions, _drawList, _updateDisplay, g2o::HyperGraphActionLibrary::actionByName(), g2o::applyAction(), graph, and g2o::HyperGraphActionLibrary::instance().

init()

void g2o::G2oQGLViewer::init

(

)

Definition at line 123 of file g2o_qglviewer.cpp.

                        {
  QGLViewer::init();
  // glDisable(GL_LIGHT0);
  // glDisable(GL_LIGHTING);
 
  setBackgroundColor(QColor::fromRgb(51, 51, 51));
 
  // some default settings i like
  glEnable(GL_LINE_SMOOTH);
  glEnable(GL_BLEND);
  glEnable(GL_DEPTH_TEST);
  glEnable(GL_NORMALIZE);
  // glEnable(GL_CULL_FACE);
  glShadeModel(GL_FLAT);
  // glShadeModel(GL_SMOOTH);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 
  setAxisIsDrawn();
 
  // don't save state
  setStateFileName(QString());
 
  // mouse bindings
#ifdef QGLVIEWER_DEPRECATED_MOUSEBINDING
  setMouseBinding(Qt::NoModifier, Qt::RightButton, CAMERA, TRANSLATE);
  setMouseBinding(Qt::NoModifier, Qt::MiddleButton, CAMERA, TRANSLATE);
#else
  setMouseBinding(Qt::RightButton, CAMERA, TRANSLATE);
  setMouseBinding(Qt::MidButton, CAMERA, TRANSLATE);
#endif
 
  // keyboard shortcuts
  setShortcut(CAMERA_MODE, 0);
  setShortcut(EXIT_VIEWER, 0);
  // setShortcut(SAVE_SCREENSHOT, 0);
 
  // replace camera
  qglviewer::Camera* oldcam = camera();
  qglviewer::Camera* cam = new StandardCamera();
  setCamera(cam);
  cam->setPosition(qglviewer::Vec(0., 0., 75.));
  cam->setUpVector(qglviewer::Vec(0., 1., 0.));
  cam->lookAt(qglviewer::Vec(0., 0., 0.));
  delete oldcam;
 
  // getting a display list
  _drawList = glGenLists(1);
}

References _drawList.

operator=()

G2oQGLViewer & g2o::G2oQGLViewer::operator= ( const G2oQGLViewer &  )

delete

parameters()

DrawAction::Parameters * g2o::G2oQGLViewer::parameters ( )

inline

Definition at line 50 of file g2o_qglviewer.h.

{ return _drawActionParameters; }

Referenced by ViewerPropertiesWidget::setViewer().

setUpdateDisplay()

void g2o::G2oQGLViewer::setUpdateDisplay

(

bool

updateDisplay

)

Definition at line 172 of file g2o_qglviewer.cpp.

                                                      {
  _updateDisplay = updateDisplay;
}

References _updateDisplay, and updateDisplay().

Referenced by ViewerPropertiesWidget::applyProperties(), and g2o::GuiHyperGraphAction::operator()().

updateDisplay()

bool g2o::G2oQGLViewer::updateDisplay ( ) const

inline

the viewer uses a display list to cache the drawing, use setUpdateDisplay() to force the creation of an updated display list.

Definition at line 47 of file g2o_qglviewer.h.

{ return _updateDisplay; }

Referenced by setUpdateDisplay().

Member Data Documentation

_drawActionParameters

DrawAction::Parameters* g2o::G2oQGLViewer::_drawActionParameters

protected

Definition at line 59 of file g2o_qglviewer.h.

Referenced by draw(), G2oQGLViewer(), and ~G2oQGLViewer().

_drawActions

HyperGraphElementAction* g2o::G2oQGLViewer::_drawActions

protected

Definition at line 56 of file g2o_qglviewer.h.

Referenced by draw().

_drawList

GLuint g2o::G2oQGLViewer::_drawList

protected

Definition at line 57 of file g2o_qglviewer.h.

Referenced by draw(), init(), and ~G2oQGLViewer().

_updateDisplay

bool g2o::G2oQGLViewer::_updateDisplay

protected

Definition at line 58 of file g2o_qglviewer.h.

Referenced by draw(), and setUpdateDisplay().

graph

SparseOptimizer* g2o::G2oQGLViewer::graph

Definition at line 53 of file g2o_qglviewer.h.

Referenced by draw().

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

• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_viewer/g2o_qglviewer.h
• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_viewer/g2o_qglviewer.cpp