From dedaa3776cc2c2bfb6e9d3ef807f7782ef8f7ec8 Mon Sep 17 00:00:00 2001
From: hengli <hengli@student.ethz.ch>
Date: Wed, 20 Oct 2010 12:29:42 +0200
Subject: [PATCH] Minor clean-ups to imagery code.
---
src/ui/map3D/QMap3DWidget.cc | 15 ++++++++++----
src/ui/map3D/Texture.cc | 48 ++------------------------------------------
src/ui/map3D/WebImage.cc | 4 ++--
src/ui/map3D/WebImage.h | 2 +-
4 files changed, 16 insertions(+), 53 deletions(-)
diff --git a/src/ui/map3D/QMap3DWidget.cc b/src/ui/map3D/QMap3DWidget.cc
index 831afc8..e57db05 100644
--- a/src/ui/map3D/QMap3DWidget.cc
+++ b/src/ui/map3D/QMap3DWidget.cc
@@ -234,13 +234,20 @@ QMap3DWidget::displayHandler(void)
drawLegend();
// display pose information
- glColor4f(0.0f, 0.0f, 0.0f, 0.5f);
+ glColor4f(0.0f, 0.0f, 0.0f, 1.0f);
glBegin(GL_POLYGON);
glVertex2f(0.0f, 0.0f);
- glVertex2f(0.0f, 45.0f);
- glVertex2f(getWindowWidth(), 45.0f);
+ glVertex2f(0.0f, 30.0f);
+ glVertex2f(getWindowWidth(), 30.0f);
glVertex2f(getWindowWidth(), 0.0f);
glEnd();
+ glColor4f(0.1f, 0.1f, 0.1f, 1.0f);
+ glBegin(GL_POLYGON);
+ glVertex2f(0.0f, getWindowHeight());
+ glVertex2f(0.0f, getWindowHeight() - 25.0f);
+ glVertex2f(getWindowWidth(), getWindowHeight() - 25.0f);
+ glVertex2f(getWindowWidth(), getWindowHeight());
+ glEnd();
std::pair<float,float> mouseWorldCoords =
getPositionIn3DMode(getMouseX(), getMouseY());
@@ -253,7 +260,7 @@ QMap3DWidget::displayHandler(void)
painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
paintText(QString("x = %1 y = %2 z = %3 r = %4 p = %5 y = %6 Cursor [%7 %8]").arg(robotX, 0, 'f', 2).arg(robotY, 0, 'f', 2).arg(robotZ, 0, 'f', 2).arg(robotRoll, 0, 'f', 2).arg(robotPitch, 0, 'f', 2).arg(robotYaw, 0, 'f', 2).arg( mouseWorldCoords.first + robotX, 0, 'f', 2).arg( mouseWorldCoords.second + robotY, 0, 'f', 2),
QColor(255, 255, 255),
- 12,
+ 11,
5,
5,
&painter);
diff --git a/src/ui/map3D/Texture.cc b/src/ui/map3D/Texture.cc
index 62f59d0..82574bb 100644
--- a/src/ui/map3D/Texture.cc
+++ b/src/ui/map3D/Texture.cc
@@ -68,52 +68,7 @@ void
Texture::draw(float x1, float y1, float x2, float y2,
bool smoothInterpolation) const
{
- if (state == REQUESTED)
- {
- glBegin(GL_LINE_LOOP);
- glColor3f(0.0f, 0.0f, 1.0f);
- glVertex2f(x1, y1);
- glVertex2f(x2, y1);
- glVertex2f(x2, y2);
- glVertex2f(x1, y2);
- glEnd();
- return;
- }
-
- glEnable(GL_TEXTURE_2D);
- glBindTexture(GL_TEXTURE_2D, id);
-
- float dx, dy;
- if (smoothInterpolation)
- {
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
- dx = 1.0f / (2.0f * textureWidth);
- dy = 1.0f / (2.0f * textureHeight);
- }
- else
- {
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
- dx = 0.0f;
- dy = 0.0f;
- }
-
- glColor3f(1.0f, 1.0f, 1.0f);
- glBegin(GL_QUADS);
-
- glTexCoord2f(dx, maxV - dy);
- glVertex2f(x1, y1);
- glTexCoord2f(maxU - dx, maxV - dy);
- glVertex2f(x2, y1);
- glTexCoord2f(maxU - dx, dy);
- glVertex2f(x2, y2);
- glTexCoord2f(dx, dy);
- glVertex2f(x1, y2);
-
- glEnd();
-
- glDisable(GL_TEXTURE_2D);
+ draw(x1, y1, x2, y1, x2, y2, x1, y2, smoothInterpolation);
}
void
@@ -130,6 +85,7 @@ Texture::draw(float x1, float y1, float x2, float y2,
glVertex2f(x3, y3);
glVertex2f(x4, y4);
glEnd();
+
return;
}
diff --git a/src/ui/map3D/WebImage.cc b/src/ui/map3D/WebImage.cc
index e915c15..bfcdc9c 100644
--- a/src/ui/map3D/WebImage.cc
+++ b/src/ui/map3D/WebImage.cc
@@ -16,7 +16,7 @@ WebImage::WebImage()
void
WebImage::clear(void)
{
- image.clear();
+ image.reset();
sourceURL.clear();
state = WebImage::UNINITIALIZED;
lastReference = 0;
@@ -60,7 +60,7 @@ WebImage::setData(const QByteArray& data)
{
if (image.isNull())
{
- image = QSharedPointer<QImage>(new QImage);
+ image.reset(new QImage);
}
*image = QGLWidget::convertToGLFormat(tempImage);
}
diff --git a/src/ui/map3D/WebImage.h b/src/ui/map3D/WebImage.h
index 15fec65..2796878 100644
--- a/src/ui/map3D/WebImage.h
+++ b/src/ui/map3D/WebImage.h
@@ -42,7 +42,7 @@ public:
private:
State state;
QString sourceURL;
- QSharedPointer<QImage> image;
+ QScopedPointer<QImage> image;
uint64_t lastReference;
bool syncFlag;
};