our main glwindow widget for NGL applications all drawing elements are put in this file More...

#include <GLWindow.h>

Public Member Functions
	GLWindow (QWidget *_parent)
	Constructor for GLWindow.
	~GLWindow ()
void	incrementAngle ()
void	decrementAngle ()
void	zeroAngle ()
Protected Member Functions
void	initializeGL ()
	The following methods must be implimented in the sub class this is called when the window is created.
void	resizeGL (const int _w, const int _h)
	this is called whenever the window is re-sized
void	paintGL ()
	this is the main gl drawing routine which is called whenever the window needs to
Private Member Functions
void	LoadVertexMatrix ()
void	LoadRGBMatrix ()
void	drawPointCloud ()
void	mouseMoveEvent (QMouseEvent *_event)
	this method is called every time a mouse is moved
void	mousePressEvent (QMouseEvent *_event)
	this method is called everytime the mouse button is pressed inherited from QObject and overridden here.
void	mouseReleaseEvent (QMouseEvent *_event)
	this method is called everytime the mouse button is released inherited from QObject and overridden here.
void	timerEvent (QTimerEvent *_event)
	called when the timer is triggered
Private Attributes
int	m_spinXFace
	used to store the x rotation mouse value
int	m_spinYFace
	used to store the y rotation mouse value
bool	m_rotate
	flag to indicate if the mouse button is pressed when dragging
int	m_origX
	the previous x mouse value
int	m_origY
	the previous y mouse value
ngl::Camera *	m_cam
ngl::Camera *	m_pcam
std::vector< uint8_t >	depth
std::vector< uint8_t >	rgb
int	m_fpsTimer
	flag for the fps timer
int	m_fps
	the fps to draw
int	m_frames
QTime	m_timer
ngl::TransformStack	m_transformStack
	transformation stack for the gl transformations etc
float	m_angle
GLuint	gl_depth_tex
GLuint	gl_rgb_tex

Detailed Description

our main glwindow widget for NGL applications all drawing elements are put in this file

Definition at line 24 of file GLWindow.h.

Constructor & Destructor Documentation

GLWindow::GLWindow ( QWidget * _parent )

Constructor for GLWindow.

Parameters:

[in] _parent the parent window to create the GL context in

Definition at line 19 of file GLWindow.cpp.

References m_fps, m_fpsTimer, m_frames, m_rotate, m_spinXFace, m_spinYFace, and m_timer.

                    :
                    QGLWidget(_parent)
{

  // set this widget to have the initial keyboard focus
 // setFocus();
  // re-size the widget to that of the parent (in this case the GLFrame passed in on construction)
  this->resize(_parent->size());
  // Now set the initial GLWindow attributes to default values
  // Roate is false
  m_rotate=false;
  // mouse rotation values set to 0
  m_spinXFace=0;
  m_spinYFace=0;
  m_fpsTimer =startTimer(0);
  m_fps=0;
  m_frames=0;
  m_timer.start();
  //device = &freenect.createDevice(0);
  //device->startVideo();
  //device->startDepth();
  //depth.resize(640*480*4);
  //rgb.resize(640*480*4);
  m_fpsTimer =startTimer(0);
    m_fps=0;
    m_frames=0;
}

GLWindow::~GLWindow ( )

Definition at line 315 of file GLWindow.cpp.

{
  device->stopVideo();
  device->stopDepth();
}

Member Function Documentation

void GLWindow::decrementAngle ( )

Definition at line 334 of file GLWindow.cpp.

References m_angle.

{
  m_angle--;
  if(m_angle < -30)
  {
    m_angle = -30;
  }
  device->setTiltDegrees(m_angle);

}

void GLWindow::drawPointCloud ( ) [private]

Definition at line 391 of file GLWindow.cpp.

References depth, gl_rgb_tex, indices, LoadRGBMatrix(), LoadVertexMatrix(), and rgb.

{

    uint32_t ts;

    static unsigned int indices[480][640];
    static short xyz[480][640][3];
    int i,j;
    for (i = 0; i < 480; i++) {
        for (j = 0; j < 640; j++) {
            xyz[i][j][0] = j;
            xyz[i][j][1] = i;
            xyz[i][j][2] = depth[i*640+j];
            indices[i][j] = i*640+j;
        }
    }

    glLoadIdentity();

    glPushMatrix();
  //  glScalef(zoom,zoom,1);
    glTranslatef(0,0,-3.5);
    //glRotatef(rotangles[0], 1,0,0);
    //glRotatef(rotangles[1], 0,1,0);
    glTranslatef(0,0,1.5);

    LoadVertexMatrix();

    // Set the projection from the XYZ to the texture image
    glMatrixMode(GL_TEXTURE);
    glLoadIdentity();
    glScalef(1/640.0f,1/480.0f,1);
    LoadRGBMatrix();
    LoadVertexMatrix();
    glMatrixMode(GL_MODELVIEW);

    glPointSize(1);

    glEnableClientState(GL_VERTEX_ARRAY);
    glVertexPointer(3, GL_SHORT, 0, xyz);
    glEnableClientState(GL_TEXTURE_COORD_ARRAY);
    glTexCoordPointer(3, GL_SHORT, 0, xyz);

    glEnable(GL_TEXTURE_2D);
    glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
    glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, &rgb[0]);

    glPointSize(2.0f);
    glDrawElements(GL_POINTS, 640*480, GL_UNSIGNED_INT, indices);
    glPopMatrix();
    glDisable(GL_TEXTURE_2D);
}

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void GLWindow::incrementAngle ( )

Definition at line 323 of file GLWindow.cpp.

References m_angle.

{
  m_angle++;
  if(m_angle > 30)
  {
    m_angle = 30;
  }
  qDebug()<<"Tilt"<<m_angle;
  device->setTiltDegrees(m_angle);
}

void GLWindow::initializeGL ( ) [protected]

The following methods must be implimented in the sub class this is called when the window is created.

Note:: these are part of the Qt API so can't be changed to the coding standard so it can't be called initializeGL )

Definition at line 54 of file GLWindow.cpp.

References gl_depth_tex, gl_rgb_tex, m_cam, and m_pcam.

{

  glClearColor(0.4f, 0.4f, 0.4f, 1.0f);        // Grey Background
  // enable depth testing for drawing

  glEnable(GL_DEPTH_TEST);
   ngl::NGLInit *Init = ngl::NGLInit::instance();
   Init->initGlew();


   glClearColor(0.0f, 0.0f, 0.0f, 0.0f);

   glClearDepth(1.0);
     //glDepthFunc(GL_LESS);
     //glDisable(GL_DEPTH_TEST);
     //glEnable(GL_BLEND);
     glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
     glShadeModel(GL_SMOOTH);
     glGenTextures(1, &gl_depth_tex);
     glBindTexture(GL_TEXTURE_2D, gl_depth_tex);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
     glGenTextures(1, &gl_rgb_tex);
     glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);


     glClearColor(0.4f, 0.4f, 0.4f, 1.0f);         // Grey Background
       // enable depth testing for drawing
        glEnable(GL_DEPTH_TEST);
        // Now we will create a basic Camera from the graphics library
        // This is a static camera so it only needs to be set once
        // First create Values for the camera position
        ngl::Vector From(2,2,2);
        ngl::Vector To(0,0,0);
        ngl::Vector Up(0,1,0);
        Init->initGlew();
        Init->initVBO();
        m_cam= new ngl::Camera(From,To,Up,ngl::PERSPECTIVE);
        // set the shape using FOV 45 Aspect Ratio based on Width and Height
        // The final two are near and far clipping planes of 0.5 and 10
        m_cam->setShape(60,(float)720.0/576.0,0.5,10,ngl::PERSPECTIVE);

        m_pcam= new ngl::Camera(ngl::Vector(0,0,8),ngl::Vector(0,0,0),ngl::Vector(0,1,0),ngl::PERSPECTIVE);
        m_pcam->setShape(40,(float)2.5/2.0,0.1,120,ngl::PERSPECTIVE);

        //m_pcam->setOrthoParams(-1,1,-1,1,1,10.0); //setOrthoParams( 0,0,100,100,1,10);
        // set the shape using FOV 45 Aspect Ratio based on Width and Height
        // The final two are near and far clipping planes of 0.5 and 10


        // now to load the shader and set the values
        // grab an instance of shader manager
        ngl::ShaderManager *shader=ngl::ShaderManager::instance();
        // load a frag and vert shaders
        shader->loadShader("gl3xTest","shaders/Vertex.vs","shaders/Fragment.fs");
        // set this as the active shader
        shader->useShader("gl3xTest");
        // now pass the modelView and projection values to the shader
        shader->setShaderParamFromMatrix("gl3xTest","ViewMatrix",m_cam->getModelView());
        shader->setShaderParamFromMatrix("gl3xTest","projectionMatrix",m_cam->getProjection());
        // the shader will use the currently active material and light0 so set them
        shader->setShaderParam1i("gl3xTest","Normalize",true);
          shader->setShaderParam1i("gl3xTest","numLightsEnabled",3);
          shader->setShaderParam3f("gl3xTest","eye",m_cam->getEye()[0],m_cam->getEye()[1],m_cam->getEye()[2]);

        // load a frag and vert shaders for colour no shading
          shader->loadShader("Colour","shaders/Colour.vs","shaders/Colour.fs");
          // set this as the active shader
          shader->useShader("Colour");
          shader->setShaderParamFromMatrix("Colour","ViewMatrix",m_pcam->getModelView());
          shader->setShaderParamFromMatrix("Colour","projectionMatrix",m_pcam->getProjection());


        ngl::Material m(ngl::GOLD);
        m.use();
        ngl::Light *L1 = new ngl::Light(ngl::Vector(5,12,0,1),ngl::Colour(1,1,1,1),ngl::LIGHTLOCAL);
        L1->enable();
        ngl::VBOPrimitives *prim=ngl::VBOPrimitives::instance();
        prim->createVBOQuadPlane("plane",2.5,2,20,20,ngl::Vector(0,1,0));
}

void GLWindow::LoadRGBMatrix ( ) [private]

Definition at line 378 of file GLWindow.cpp.

{
    float mat[16] = {
        5.34866271e+02,   3.89654806e+00,   0.00000000e+00,   1.74704200e-02,
        -4.70724694e+00,  -5.28843603e+02,   0.00000000e+00,  -1.22753400e-02,
        -3.19670762e+02,  -2.60999685e+02,   0.00000000e+00,  -9.99772000e-01,
        -6.98445586e+00,   3.31139785e+00,   0.00000000e+00,   1.09167360e-02
    };
    glMultMatrixf(mat);
}

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void GLWindow::LoadVertexMatrix ( ) [private]

Definition at line 358 of file GLWindow.cpp.

{
    float fx = 594.21f;
    float fy = 591.04f;
    float a = -0.0030711f;
    float b = 3.3309495f;
    float cx = 339.5f;
    float cy = 242.7f;
    GLfloat mat[16] = {
        1/fx,     0,  0, 0,
        0,    -1/fy,  0, 0,
        0,       0,  0, a,
        -cx/fx, cy/fy, -1, b
    };
    glMultMatrixf(mat);
}

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void GLWindow::mouseMoveEvent ( QMouseEvent * _event ) [private]

this method is called every time a mouse is moved

Parameters:

_event the Qt Event structure

Note:: these are part of the Qt API so can't be changed to the coding standard so it can't be called MouseMoveEvent )

Definition at line 249 of file GLWindow.cpp.

References m_origX, m_origY, m_rotate, m_spinXFace, and m_spinYFace.

{
  // note the method buttons() is the button state when event was called
  // this is different from button() which is used to check which button was
  // pressed when the mousePress/Release event is generated
  if(m_rotate && _event->buttons() == Qt::LeftButton)
  {
    m_spinYFace = ( m_spinYFace + (_event->x() - m_origX) ) % 360 ;
    m_spinXFace = ( m_spinXFace + (_event->y() - m_origY) ) % 360 ;
    m_origX = _event->x();
    m_origY = _event->y();
  }
  // re-draw GL
  updateGL();
}

void GLWindow::mousePressEvent ( QMouseEvent * _event ) [private]

this method is called everytime the mouse button is pressed inherited from QObject and overridden here.

Parameters:

_event the Qt Event structure

Note:: these are part of the Qt API so can't be changed to the coding standard so it can't be called MousePressEvent )

Definition at line 269 of file GLWindow.cpp.

References m_origX, m_origY, and m_rotate.

{
  // this method is called when the mouse button is pressed in this case we
  // store the value where the maouse was clicked (x,y) and set the Rotate flag to true
  if(_event->button() == Qt::LeftButton)
  {
    m_origX = _event->x();
    m_origY = _event->y();
    m_rotate =true;
  }
}

void GLWindow::mouseReleaseEvent ( QMouseEvent * _event ) [private]

this method is called everytime the mouse button is released inherited from QObject and overridden here.

Parameters:

_event the Qt Event structure

Note:: these are part of the Qt API so can't be changed to the coding standard so it can't be called MousePressEvent )

Definition at line 284 of file GLWindow.cpp.

References m_rotate.

{
  // this event is called when the mouse button is released
  // we then set Rotate to false
  if (_event->button() == Qt::LeftButton)
  {
    m_rotate=false;
  }
}

void GLWindow::paintGL ( ) [protected]

this is the main gl drawing routine which is called whenever the window needs to

Definition at line 165 of file GLWindow.cpp.

References depth, gl_depth_tex, gl_rgb_tex, m_fps, m_frames, m_spinXFace, m_spinYFace, m_transformStack, and rgb.

{

//    device->getDepth(depth);
//    device->getRGB(rgb);




  // clear the screen and depth buffer
  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

  glDisable(GL_TEXTURE_2D);
  // grab an instance of the shader manager
    ngl::ShaderManager *shader=ngl::ShaderManager::instance();
    shader->useShader("gl3xTest");
    // clear the screen and depth buffer
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    // Rotation based on the mouse position for our global
    // transform
    ngl::Transformation trans;
    trans.setRotation(m_spinXFace,m_spinYFace,0);
    // set this in the TX stack
    m_transformStack.setGlobal(trans);
    // now set this value in the shader for the current ModelMatrix
    shader->setShaderParamFromMatrix("gl3xTest","ModelMatrix",m_transformStack.getCurrAndGlobal().getMatrix());
    // get the VBO instance and draw the built in teapot
    ngl::VBOPrimitives *prim=ngl::VBOPrimitives::instance();



    m_transformStack.pushTransform();
    {
      //m_transformStack.getCurrentTransform().setScale(4,4,4);
      shader->setShaderParamFromMatrix("gl3xTest","ModelMatrix",m_transformStack.getCurrAndGlobal().getMatrix());
      prim->draw("teapot");
    } // and before a pop
    m_transformStack.popTransform();


    glBindTexture(GL_TEXTURE_2D, gl_depth_tex);
    glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, &depth[0]);
    glDisable(GL_LIGHTING);
    shader->useShader("Colour");

    m_transformStack.pushTransform();
    {
      m_transformStack.getCurrentTransform().setPosition(-3,2,0);
      m_transformStack.getCurrentTransform().setRotation(90.0f,0,180);
      shader->setShaderParamFromMatrix("Colour","ModelMatrix",m_transformStack.getCurrentTransform().getMatrix());
      prim->draw("plane");
    } // and before a pop
    m_transformStack.popTransform();



    glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
    glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, &rgb[0]);

    m_transformStack.pushTransform();
    {
      m_transformStack.getCurrentTransform().setPosition(-3,-0.5,0);
      m_transformStack.getCurrentTransform().setRotation(90.0f,0,180);
      shader->setShaderParamFromMatrix("Colour","ModelMatrix",m_transformStack.getCurrentTransform().getMatrix());
      prim->draw("plane");
    } // and before a pop
    m_transformStack.popTransform();

    // calculate and draw FPS
      ++m_frames;
      glUseProgramObjectARB(0);
      glColor3f(1,1,1);
      QFont font;
      font.setPointSize(20);
      QString text=QString("Kinect Demo %1 fps").arg(m_fps);
      renderText(500,20,text,font);
      double x,y,z;
      device->getState().getAccelerometers(&x,&y,&z);
      text=QString("Accel %1 %2 %3").arg(x).arg(y).arg(z);
      renderText(400,40,text,font);

}

void GLWindow::resizeGL	(	const int	_w,
		const int	_h
	)		`[protected]`

this is called whenever the window is re-sized

Parameters:

[in]	_w	the width of the resized window
[in]	_h	the height of the resized window

Note:: these are part of the Qt API so can't be changed to the coding standard so it can't be called resizeGL )

Definition at line 141 of file GLWindow.cpp.

References m_cam, and m_pcam.

{
  glViewport(0,0,_w,_h);
  m_cam->setShape(45,(float)_w/_h,0.5,10,ngl::PERSPECTIVE);
    ngl::ShaderManager *shader=ngl::ShaderManager::instance();
  shader->useShader("gl3xTest");
  shader->setShaderParamFromMatrix("gl3xTest","projectionMatrix",m_cam->getProjection());
  shader->useShader("Colour");
  shader->setShaderParamFromMatrix("Colour","projectionMatrix",m_pcam->getProjection());

/*
  glMatrixMode(GL_PROJECTION);
    glLoadIdentity();
    glOrtho (0, 1280, 480, 0, -1.0f, 1.0f);
    glMatrixMode(GL_MODELVIEW);
*/
}

void GLWindow::timerEvent ( QTimerEvent * _event ) [private]

called when the timer is triggered

Definition at line 296 of file GLWindow.cpp.

References m_fps, m_fpsTimer, m_frames, and m_timer.

{

    if(_event->timerId() == m_fpsTimer)
    {
      if( m_timer.elapsed() > 1000.0)
      {
        m_fps=m_frames;
        m_frames=0;
        m_timer.restart();
      }
     }
      // re-draw GL
  updateGL();

}

void GLWindow::zeroAngle ( )

Definition at line 345 of file GLWindow.cpp.

References m_angle.

{
  m_angle=0;
  device->setTiltDegrees(m_angle);

}

Member Data Documentation

std::vector<uint8_t> GLWindow::depth [private]

Definition at line 57 of file GLWindow.h.

GLuint GLWindow::gl_depth_tex [private]

Definition at line 69 of file GLWindow.h.

GLuint GLWindow::gl_rgb_tex [private]

Definition at line 70 of file GLWindow.h.

float GLWindow::m_angle [private]

Definition at line 68 of file GLWindow.h.

ngl::Camera* GLWindow::m_cam [private]

Definition at line 54 of file GLWindow.h.

int GLWindow::m_fps [private]

the fps to draw

Definition at line 62 of file GLWindow.h.

int GLWindow::m_fpsTimer [private]

flag for the fps timer

Definition at line 60 of file GLWindow.h.

int GLWindow::m_frames [private]

Definition at line 63 of file GLWindow.h.

int GLWindow::m_origX [private]

the previous x mouse value

Definition at line 47 of file GLWindow.h.

int GLWindow::m_origY [private]

the previous y mouse value

Definition at line 49 of file GLWindow.h.

ngl::Camera* GLWindow::m_pcam [private]

Definition at line 55 of file GLWindow.h.

bool GLWindow::m_rotate [private]

flag to indicate if the mouse button is pressed when dragging

Definition at line 45 of file GLWindow.h.

int GLWindow::m_spinXFace [private]

used to store the x rotation mouse value

Definition at line 41 of file GLWindow.h.

int GLWindow::m_spinYFace [private]

used to store the y rotation mouse value

Definition at line 43 of file GLWindow.h.

QTime GLWindow::m_timer [private]

Definition at line 64 of file GLWindow.h.

ngl::TransformStack GLWindow::m_transformStack [private]

transformation stack for the gl transformations etc

Definition at line 66 of file GLWindow.h.

std::vector<uint8_t> GLWindow::rgb [private]

Definition at line 58 of file GLWindow.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation