qt5disparitymapgpuwidget.h

#pragma once

#include <QOpenGLWidget>
#include <QOpenGLBuffer>
#include <QOpenGLShaderProgram>
#include <QOpenGLVertexArrayObject>
#include <QOpenGLFunctions_3_3_Core>
#include <QMouseEvent>
#include <QWheelEvent>
#include "../iucore.h"


namespace iu {
class Qt5DisparitymapGpuWidget : public QOpenGLWidget, protected QOpenGLFunctions_3_3_Core
{
    Q_OBJECT
public:
    explicit Qt5DisparitymapGpuWidget(const iu::Size<2> sz, float translation_z,
                                  float f, float cx, float cy, float B=0.f, QWidget* parent = NULL);
    virtual ~Qt5DisparitymapGpuWidget();

public slots:
    void update_vertices(iu::ImageGpu_32f_C1 *depth, iu::ImageGpu_32f_C1 *im);

protected:

    void paintGL();
    void initializeGL();
    void resizeGL(int w, int h);

    void mousePressEvent(QMouseEvent *event);
    void mouseMoveEvent(QMouseEvent *event);
    void wheelEvent(QWheelEvent* event);
    void keyPressEvent(QKeyEvent* event);

    void init_cuda();

    //iu::ImageGpu_8u_C1& img_;
    //GLuint positions_;
    cudaGraphicsResource_t cuda_positions_;
    QOpenGLBuffer vbo_;
    iu::Size<2> image_size_;

    QOpenGLShaderProgram* shader_program_;
    QOpenGLVertexArrayObject* vao_;

    QMatrix4x4 r_mat_;
    QPoint rot_pos_;
    QPoint trans_pos_;
    float translation_z_,translation_x_,translation_y_;
    float initial_translation_z_;
    float point_size_;
    bool data_set_;
    // Baseline 0 = input is a depth map already
    float f_,cx_,cy_,B_;
};

} // namespace iu