a lot!!! of changes

added main menu added debug display many debug widgets for plotting live data worked on android live sensors added offline-data sensor feeding some dummy data sensors worked on the map display added ui debug for grid-points, particles and weights added a cool dude to display the estimation added real filtering based on the Indoor components c++11 fixes for android compilation online and offline filtering support new resampling technique for testing map loading via dialog
2016-09-16 19:30:04 +02:00
parent d910e88220
commit 075d8bb633
90 changed files with 4735 additions and 624 deletions
--- a/ui/map/MapView.h
+++ b/ui/map/MapView.h
@@ -0,0 +1,152 @@
+#ifndef MAPVIEW_H
+#define MAPVIEW_H
+
+#include <../misc/fixc11.h>
+
+
+#include <QOpenGLWidget>
+#include <QOpenGLFunctions>
+#include <QOpenGLShaderProgram>
+#include <QBasicTimer>
+
+#include <Indoor/geo/Point3.h>
+#include <Indoor/nav/dijkstra/DijkstraPath.h>
+
+#include "elements/Path.h"
+#include "elements/ColorPoints.h"
+#include "elements/Object.h"
+
+#include "../nav/State.h"
+
+namespace Floorplan {
+	class IndoorMap;
+}
+
+class Renderable;
+class Path;
+
+
+class MapView : public QOpenGLWidget, protected QOpenGLFunctions {
+
+	Q_OBJECT
+
+private:
+
+	QMatrix4x4 matProject;
+	QMatrix4x4 matView;
+
+	QVector3D lightPos;
+	QVector3D eyePos;
+
+
+	QBasicTimer timer;
+
+	std::vector<Renderable*> elements;
+	Path* path = nullptr;
+	ColorPoints* colorPoints = nullptr;
+	Object* leDude = nullptr;
+
+	struct LookAt {
+		Point3 eye_m = Point3(0,0,1);
+		Point3 dir = Point3(1,0,-0.1);
+		Point3 dirOffset = Point3(0,0,0);
+		Point3 getDir() const {return dir + dirOffset;}
+	} lookAt;
+
+	struct MouseState {
+		float x = 0;
+		float y = 0;
+		bool down = false;
+	} mouseState;
+
+	void rebuildLookat();
+
+	void clear();
+
+public:
+
+	MapView(QWidget* parent = 0);
+
+	/** set the map to display */
+	void setMap(Floorplan::IndoorMap* map);
+
+	/** the position to look at + looking direction */
+	void setLookAt(const Point3 pos, const Point3 dir = Point3(1, 0, -0.1));
+
+	/** set the eye's looking direction (looking from eye into this direction) */
+	void setLookDir(const Point3 dir);
+
+	/** set the eye's position (looking from here) */
+	void setLookEye(const Point3 eye_m);
+
+
+	/** set the currently estimated position */
+	void setCurrentEstimation(const Point3 pos, const Point3 dir);
+
+	/** set the path to disply */
+	void setPath(const std::vector<Point3>& path);
+
+	/** NOTE: must be called from Qt's main thread! */
+	/** set the path to disply */
+	Q_INVOKABLE void setPath(const void* path) {
+		setPath( (const DijkstraPath<MyGridNode>*) path);
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	/** set the path to disply */
+	template <typename Node> void setPath(const DijkstraPath<Node>* path) {
+		this->path->set(*path);
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	void showGridImportance(Grid<MyGridNode>* grid) {
+		this->colorPoints->setFromGridImportance(grid);
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	Q_INVOKABLE void showParticles(const void* particles) {
+		showParticles((const std::vector<K::Particle<MyState>>*) particles);
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	void showParticles(const std::vector<K::Particle<MyState>>* particles) {
+		this->colorPoints->setFromParticles(*particles);
+	}
+
+	enum RenderMode {
+		NORMAL,
+		TRANSPARENT,
+		OUTLINE,
+	};
+
+	RenderMode renderMode = RenderMode::NORMAL;
+
+	void toggleRenderMode();
+
+public slots:
+
+	void mousePressEvent(QMouseEvent*);
+	void mouseMoveEvent(QMouseEvent*);
+	void mouseReleaseEvent(QMouseEvent*);
+
+	void keyPressEvent(QKeyEvent*);
+
+protected:
+
+	void timerEvent(QTimerEvent *e) Q_DECL_OVERRIDE;
+
+	void initializeGL();
+
+	void paintGL();
+
+	void resizeGL(int width, int height);
+
+private:
+
+	bool isGLInitialized = false;
+
+	void draw();
+
+};
+
+#endif // MAPVIEW_H