vertex_line3d.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#include "vertex_line3d.h"
 
#include "g2o/stuff/misc.h"
#include "g2o/stuff/opengl_wrapper.h"
 
namespace g2o {
 
VertexLine3D::VertexLine3D() : BaseVertex<4, Line3D>(), color(1., 0.5, 0.) {}
 
bool VertexLine3D::read(std::istream& is) {
  Vector6 lv;
  bool state = internal::readVector(is, lv);
  setEstimate(Line3D(lv));
  return state;
}
 
bool VertexLine3D::write(std::ostream& os) const {
  return internal::writeVector(os, _estimate);
}
 
#ifdef G2O_HAVE_OPENGL
VertexLine3DDrawAction::VertexLine3DDrawAction()
    : DrawAction(typeid(VertexLine3D).name()),
      _lineLength(nullptr),
      _lineWidth(nullptr) {}
 
bool VertexLine3DDrawAction::refreshPropertyPtrs(
    HyperGraphElementAction::Parameters* params_) {
  if (!DrawAction::refreshPropertyPtrs(params_)) {
    return false;
  }
  if (_previousParams) {
    _lineLength = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::LINE_LENGTH", 15);
    _lineWidth = _previousParams->makeProperty<FloatProperty>(
        _typeName + "::LINE_WIDTH", 5);
  } else {
    _lineLength = 0;
    _lineWidth = 0;
  }
  return true;
}
 
HyperGraphElementAction* VertexLine3DDrawAction::operator()(
    HyperGraph::HyperGraphElement* element,
    HyperGraphElementAction::Parameters* params_) {
  if (typeid(*element).name() != _typeName) {
    return nullptr;
  }
 
  refreshPropertyPtrs(params_);
  if (!_previousParams) {
    return this;
  }
 
  if (_show && !_show->value()) {
    return this;
  }
 
  VertexLine3D* that = static_cast<VertexLine3D*>(element);
  Line3D line = that->estimate();
  line.normalize();
  Vector3 direction = line.d();
  Vector3 npoint = line.d().cross(line.w());
  glPushMatrix();
  glColor3f(float(that->color(0)), float(that->color(1)),
            float(that->color(2)));
  if (_lineLength && _lineWidth) {
    glLineWidth(float(_lineWidth->value()));
    glBegin(GL_LINES);
    glNormal3f(float(npoint.x()), float(npoint.y()), float(npoint.z()));
    glVertex3f(float(npoint.x() - direction.x() * _lineLength->value() / 2),
               float(npoint.y() - direction.y() * _lineLength->value() / 2),
               float(npoint.z() - direction.z() * _lineLength->value() / 2));
    glVertex3f(float(npoint.x() + direction.x() * _lineLength->value() / 2),
               float(npoint.y() + direction.y() * _lineLength->value() / 2),
               float(npoint.z() + direction.z() * _lineLength->value() / 2));
    glEnd();
  }
  glPopMatrix();
 
  return this;
}
#endif
 
}  // namespace g2o