075d8bb633
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
153 lines
3.1 KiB
C++
153 lines
3.1 KiB
C++
#ifndef MAPVIEW_H
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#define MAPVIEW_H
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#include <../misc/fixc11.h>
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#include <QOpenGLWidget>
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#include <QOpenGLFunctions>
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#include <QOpenGLShaderProgram>
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#include <QBasicTimer>
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#include <Indoor/geo/Point3.h>
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#include <Indoor/nav/dijkstra/DijkstraPath.h>
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#include "elements/Path.h"
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#include "elements/ColorPoints.h"
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#include "elements/Object.h"
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#include "../nav/State.h"
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namespace Floorplan {
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class IndoorMap;
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}
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class Renderable;
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class Path;
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class MapView : public QOpenGLWidget, protected QOpenGLFunctions {
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Q_OBJECT
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private:
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QMatrix4x4 matProject;
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QMatrix4x4 matView;
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QVector3D lightPos;
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QVector3D eyePos;
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QBasicTimer timer;
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std::vector<Renderable*> elements;
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Path* path = nullptr;
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ColorPoints* colorPoints = nullptr;
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Object* leDude = nullptr;
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struct LookAt {
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Point3 eye_m = Point3(0,0,1);
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Point3 dir = Point3(1,0,-0.1);
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Point3 dirOffset = Point3(0,0,0);
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Point3 getDir() const {return dir + dirOffset;}
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} lookAt;
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struct MouseState {
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float x = 0;
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float y = 0;
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bool down = false;
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} mouseState;
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void rebuildLookat();
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void clear();
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public:
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MapView(QWidget* parent = 0);
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/** set the map to display */
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void setMap(Floorplan::IndoorMap* map);
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/** the position to look at + looking direction */
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void setLookAt(const Point3 pos, const Point3 dir = Point3(1, 0, -0.1));
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/** set the eye's looking direction (looking from eye into this direction) */
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void setLookDir(const Point3 dir);
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/** set the eye's position (looking from here) */
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void setLookEye(const Point3 eye_m);
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/** set the currently estimated position */
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void setCurrentEstimation(const Point3 pos, const Point3 dir);
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/** set the path to disply */
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void setPath(const std::vector<Point3>& path);
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/** NOTE: must be called from Qt's main thread! */
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/** set the path to disply */
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Q_INVOKABLE void setPath(const void* path) {
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setPath( (const DijkstraPath<MyGridNode>*) path);
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}
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/** NOTE: must be called from Qt's main thread! */
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/** set the path to disply */
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template <typename Node> void setPath(const DijkstraPath<Node>* path) {
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this->path->set(*path);
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}
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/** NOTE: must be called from Qt's main thread! */
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void showGridImportance(Grid<MyGridNode>* grid) {
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this->colorPoints->setFromGridImportance(grid);
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}
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/** NOTE: must be called from Qt's main thread! */
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Q_INVOKABLE void showParticles(const void* particles) {
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showParticles((const std::vector<K::Particle<MyState>>*) particles);
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}
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/** NOTE: must be called from Qt's main thread! */
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void showParticles(const std::vector<K::Particle<MyState>>* particles) {
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this->colorPoints->setFromParticles(*particles);
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}
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enum RenderMode {
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NORMAL,
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TRANSPARENT,
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OUTLINE,
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};
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RenderMode renderMode = RenderMode::NORMAL;
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void toggleRenderMode();
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public slots:
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void mousePressEvent(QMouseEvent*);
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void mouseMoveEvent(QMouseEvent*);
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void mouseReleaseEvent(QMouseEvent*);
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void keyPressEvent(QKeyEvent*);
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protected:
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void timerEvent(QTimerEvent *e) Q_DECL_OVERRIDE;
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void initializeGL();
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void paintGL();
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void resizeGL(int width, int height);
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private:
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bool isGLInitialized = false;
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void draw();
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};
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#endif // MAPVIEW_H
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