/usr/include/octovis/SceneObject.h is in liboctovis-dev 1.8.1+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 | /*
* This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
* Framework Based on Octrees
* http://octomap.github.io
*
* Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
* All rights reserved. License for the viewer octovis: GNU GPL v2
* http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#ifndef SCENEOBJECT_H_
#define SCENEOBJECT_H_
// fix Windows includes
#include <qglobal.h>
#ifdef Q_WS_WIN
#include <QtCore/qt_windows.h>
#endif
#ifdef Q_WS_MAC
#include <OpenGL/glu.h>
#else
#include <GL/glu.h>
#endif
#include <octomap/octomap.h>
namespace octomap {
/**
* Abstract base class for objects to be drawn in the ViewerWidget.
*
*/
class SceneObject {
public:
enum ColorMode {
CM_FLAT,
CM_PRINTOUT,
CM_COLOR_HEIGHT,
CM_GRAY_HEIGHT,
CM_SEMANTIC
};
public:
SceneObject();
virtual ~SceneObject(){};
/**
* Actual draw function which will be called to visualize the object
*/
virtual void draw() const = 0;
/**
* Clears the object's representation (will be called when it gets invalid)
*/
virtual void clear(){};
public:
//! the color mode has to be set before calling OcTreDrawer::setMap()
//! because the cubes are generated in OcTreDrawer::setMap() using the color information
inline void setColorMode(ColorMode mode) { m_colorMode = mode; }
inline void enablePrintoutMode(bool enabled = true) { if (enabled) m_colorMode = CM_PRINTOUT; else m_colorMode = CM_FLAT; }
inline void enableHeightColorMode(bool enabled = true) { if (enabled) m_colorMode = CM_COLOR_HEIGHT; else m_colorMode = CM_FLAT; }
inline void enableSemanticColoring(bool enabled = true) { if (enabled) m_colorMode = CM_SEMANTIC; else m_colorMode = CM_FLAT; }
protected:
/// writes rgb values which correspond to a rel. height in the map.
/// (glArrayPos needs to have at least size 3!)
void heightMapColor(double h, GLfloat* glArrayPos) const;
void heightMapGray(double h, GLfloat* glArrayPos) const;
double m_zMin;
double m_zMax;
ColorMode m_colorMode;
};
/**
* Abstract base class for all objects visualizing ScanGraphs.
*/
class ScanGraphDrawer : public SceneObject {
public:
ScanGraphDrawer(): SceneObject(){};
virtual ~ScanGraphDrawer(){};
/**
* Notifies drawer of a new or changed ScanGraph, so that the internal
* representation can be rebuilt. Needs to be overloaded by each specific
* drawer.
*
* @param graph ScanGraph to be visualized
*/
virtual void setScanGraph(const octomap::ScanGraph& graph) = 0;
};
}
#endif /* SCENEOBJECT_H_ */
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