v01

thirdparty/Pangolin/include/pangolin/handler/handler.h

@@ -0,0 +1,116 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2013 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <pangolin/display/opengl_render_state.h>
+#include <pangolin/handler/handler_enums.h>
+
+#if defined(HAVE_EIGEN) && !defined(__CUDACC__) //prevent including Eigen in cuda files
+#define USE_EIGEN
+#endif
+
+#ifdef USE_EIGEN
+#include <Eigen/Core>
+#endif
+
+#ifdef _OSX_
+#define PANGO_DFLT_HANDLER3D_ZF (1.0f/50.0f)
+#else
+#define PANGO_DFLT_HANDLER3D_ZF (1.0f/10.0f)
+#endif
+
+namespace pangolin
+{
+
+// Forward declarations
+struct View;
+
+/// Input Handler base class.
+/// Virtual methods which recurse into sub-displays.
+struct PANGOLIN_EXPORT Handler
+{
+    virtual ~Handler() {}
+    virtual void Keyboard(View&, unsigned char key, int x, int y, bool pressed);
+    virtual void Mouse(View&, MouseButton button, int x, int y, bool pressed, int button_state);
+    virtual void MouseMotion(View&, int x, int y, int button_state);
+    virtual void PassiveMouseMotion(View&, int x, int y, int button_state);
+    virtual void Special(View&, InputSpecial inType, float x, float y, float p1, float p2, float p3, float p4, int button_state);
+};
+
+struct PANGOLIN_EXPORT HandlerScroll : Handler
+{
+    void Mouse(View&, MouseButton button, int x, int y, bool pressed, int button_state);
+    void Special(View&, InputSpecial inType, float x, float y, float p1, float p2, float p3, float p4, int button_state);
+};
+
+struct PANGOLIN_EXPORT Handler3D : Handler
+{
+    Handler3D(OpenGlRenderState& cam_state, AxisDirection enforce_up=AxisNone, float trans_scale=0.01f, float zoom_fraction= PANGO_DFLT_HANDLER3D_ZF);
+
+    virtual bool ValidWinDepth(GLprecision depth);
+    virtual void PixelUnproject( View& view, GLprecision winx, GLprecision winy, GLprecision winz, GLprecision Pc[3]);
+    virtual void GetPosNormal(View& view, int x, int y, GLprecision p[3], GLprecision Pw[3], GLprecision Pc[3], GLprecision nw[3], GLprecision default_z = 1.0);
+
+    void Keyboard(View&, unsigned char key, int x, int y, bool pressed);
+    void Mouse(View&, MouseButton button, int x, int y, bool pressed, int button_state);
+    void MouseMotion(View&, int x, int y, int button_state);
+    void Special(View&, InputSpecial inType, float x, float y, float p1, float p2, float p3, float p4, int button_state);
+    
+#ifdef USE_EIGEN
+    // Return selected point in world coordinates
+    inline Eigen::Vector3d Selected_P_w() const {
+        return Eigen::Map<const Eigen::Matrix<GLprecision,3,1>>(Pw).cast<double>();
+    }
+#endif
+    inline int KeyState() const{
+        return funcKeyState;
+    }
+
+protected:
+    OpenGlRenderState* cam_state;
+    const static int hwin = 8;
+    AxisDirection enforce_up;
+    float tf; // translation factor
+    float zf; // zoom fraction
+    CameraSpec cameraspec;
+    GLprecision last_z;
+    float last_pos[2];
+    GLprecision rot_center[3];
+    
+    GLprecision p[3];
+    GLprecision Pw[3];
+    GLprecision Pc[3];
+    GLprecision n[3];
+
+    int funcKeyState;
+};
+
+static Handler StaticHandler;
+static HandlerScroll StaticHandlerScroll;
+
+}

thirdparty/Pangolin/include/pangolin/handler/handler_enums.h

@@ -0,0 +1,94 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2013 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+namespace pangolin
+{
+
+// Supported Key modifiers for GlobalKeyPressCallback.
+// e.g. PANGO_CTRL + 'r', PANGO_SPECIAL + PANGO_KEY_RIGHT, etc.
+const int PANGO_SPECIAL = 128;
+const int PANGO_CTRL = -96;
+const int PANGO_OPTN = 132;
+
+// Ordinary keys
+const int PANGO_KEY_TAB       = 9;
+const int PANGO_KEY_ESCAPE    = 27;
+
+// Special Keys (same as GLUT_ defines)
+const int PANGO_KEY_F1        = 1;
+const int PANGO_KEY_F2        = 2;
+const int PANGO_KEY_F3        = 3;
+const int PANGO_KEY_F4        = 4;
+const int PANGO_KEY_F5        = 5;
+const int PANGO_KEY_F6        = 6;
+const int PANGO_KEY_F7        = 7;
+const int PANGO_KEY_F8        = 8;
+const int PANGO_KEY_F9        = 9;
+const int PANGO_KEY_F10       = 10;
+const int PANGO_KEY_F11       = 11;
+const int PANGO_KEY_F12       = 12;
+const int PANGO_KEY_LEFT      = 100;
+const int PANGO_KEY_UP        = 101;
+const int PANGO_KEY_RIGHT     = 102;
+const int PANGO_KEY_DOWN      = 103;
+const int PANGO_KEY_PAGE_UP   = 104;
+const int PANGO_KEY_PAGE_DOWN = 105;
+const int PANGO_KEY_HOME      = 106;
+const int PANGO_KEY_END	      = 107;
+const int PANGO_KEY_INSERT	  = 108;
+
+enum MouseButton
+{
+    MouseButtonLeft = 1,
+    MouseButtonMiddle = 2,
+    MouseButtonRight = 4,
+    MouseWheelUp = 8,
+    MouseWheelDown = 16,
+    MouseWheelRight = 32,
+    MouseWheelLeft = 64,
+};
+
+enum KeyModifier
+{
+    KeyModifierShift = 1<<16,
+    KeyModifierCtrl  = 1<<17,
+    KeyModifierAlt   = 1<<18,
+    KeyModifierCmd   = 1<<19,
+    KeyModifierFnc   = 1<<20
+};
+
+enum InputSpecial
+{
+    InputSpecialScroll,
+    InputSpecialZoom,
+    InputSpecialRotate,
+    InputSpecialTablet
+};
+
+}

thirdparty/Pangolin/include/pangolin/handler/handler_glbuffer.h

@@ -0,0 +1,48 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2014 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef HANDLER_GLBUFFER_H
+#define HANDLER_GLBUFFER_H
+
+#include <pangolin/handler/handler.h>
+#include <pangolin/gl/gl.h>
+
+namespace pangolin
+{
+
+struct Handler3DFramebuffer : public pangolin::Handler3D
+{
+    Handler3DFramebuffer(GlFramebuffer& fb, pangolin::OpenGlRenderState& cam_state, pangolin::AxisDirection enforce_up=pangolin::AxisNone, float trans_scale=0.01f);
+    void GetPosNormal(pangolin::View& view, int x, int y, GLprecision p[3], GLprecision Pw[3], GLprecision Pc[3], GLprecision /*n*/[3], GLprecision default_z);
+
+protected:
+    GlFramebuffer& fb;
+};
+
+}
+
+#endif // HANDLER_GLBUFFER_H

thirdparty/Pangolin/include/pangolin/handler/handler_image.h

@@ -0,0 +1,162 @@
+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2013 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <pangolin/image/image_utils.h>
+#include <pangolin/display/viewport.h>
+#include <pangolin/display/view.h>
+#include <pangolin/handler/handler.h>
+#include <pangolin/plot/range.h>
+#include <pangolin/gl/gl.h>
+
+#include <functional>
+
+namespace pangolin
+{
+
+class ImageViewHandler : public Handler
+{
+public:
+    struct EventData {
+        EventData(View& v, ImageViewHandler& h) : view(v), handler(h) {}
+        View& view;
+        ImageViewHandler& handler;
+    };
+
+    struct OnSelectionEventData : public EventData {
+        OnSelectionEventData(View& v, ImageViewHandler& h, bool dragging)
+            : EventData(v,h), dragging(dragging) {}
+        bool dragging;
+    };
+
+    typedef std::function<void(OnSelectionEventData)> OnSelectionCallbackFn;
+
+    // Default constructor: User must call SetDimensions() once image dimensions are known.
+    // Default range is [0,1] in x and y.
+    ImageViewHandler();
+
+    // View ranges store extremes of image (boundary of pixels)
+    // in 'discrete' coords, where 0,0 is center of top-left pixel.
+    ImageViewHandler(size_t w, size_t h);
+
+    void SetDimensions(size_t w, size_t h);
+
+    void UpdateView();
+
+    void glSetViewOrtho();
+
+    void glRenderTexture(pangolin::GlTexture& tex);
+    void glRenderTexture(GLuint tex, GLint width, GLint height);
+
+    void glRenderOverlay();
+
+    void ScreenToImage(Viewport& v, float xpix, float ypix, float& ximg, float& yimg);
+
+    void ImageToScreen(Viewport& v, float ximg, float yimg, float& xpix, float& ypix);
+
+    bool UseNN() const;
+
+    bool& UseNN();
+
+    bool& FlipTextureX();
+
+    bool& FlipTextureY();
+
+    pangolin::XYRangef& GetViewToRender();
+
+    float GetViewScale();
+
+    pangolin::XYRangef& GetView();
+
+    pangolin::XYRangef& GetDefaultView();
+
+    pangolin::XYRangef& GetSelection();
+
+    void GetHover(float& x, float& y);
+
+    void SetView(const pangolin::XYRangef& range);
+
+    void SetViewSmooth(const pangolin::XYRangef& range);
+
+    void ScrollView(float x, float y);
+
+    void ScrollViewSmooth(float x, float y);
+
+    void ScaleView(float x, float y, float cx, float cy);
+
+    void ScaleViewSmooth(float x, float y, float cx, float cy);
+
+    void ResetView();
+
+    ///////////////////////////////////////////////////////
+    /// pangolin::Handler
+    ///////////////////////////////////////////////////////
+
+    void Keyboard(View&, unsigned char key, int /*x*/, int /*y*/, bool pressed) override;
+
+    void Mouse(View& view, pangolin::MouseButton button, int x, int y, bool pressed, int button_state) override;
+
+    void MouseMotion(View& view, int x, int y, int button_state) override;
+
+    void PassiveMouseMotion(View&, int /*x*/, int /*y*/, int /*button_state*/) override;
+
+    void Special(View& view, pangolin::InputSpecial inType, float x, float y, float p1, float p2, float /*p3*/, float /*p4*/, int /*button_state*/) override;
+
+    ///////////////////////////////////////////////////////
+    /// Callbacks
+    ///////////////////////////////////////////////////////
+
+    OnSelectionCallbackFn OnSelectionCallback;
+
+protected:
+    void FixSelection(XYRangef& sel);
+
+    void AdjustScale();
+
+    void AdjustTranslation();
+
+    static ImageViewHandler* to_link;
+    static float animate_factor;
+
+    ImageViewHandler* linked_view_handler;
+
+    pangolin::XYRangef rview_default;
+    pangolin::XYRangef rview_max;
+    pangolin::XYRangef rview;
+    pangolin::XYRangef target;
+    pangolin::XYRangef selection;
+
+    float hover_img[2];
+    int last_mouse_pos[2];
+
+    bool use_nn;
+    bool flipTextureX;
+    bool flipTextureY;
+};
+
+}