Merge branch 'develop' of https://github.com/SolarFramework/SolARModuleOpenGL into develop

Author: Yasser BOUKHERS

interfaces/SolAR3DPointsViewerOpengl.h

@@ -68,9 +68,6 @@ class SOLAROPENGL_EXPORT_API SolAR3DPointsViewerOpengl : public org::bcom::xpcf:
                                 const std::vector<CloudPoint> & points2 = {},
                                 const std::vector<Transform3Df> keyframePoses2 = {}) override;
 
-	FrameworkReturnCode display(const std::vector<Edge3Df> & lines3D,
-								const Transform3Df & pose) override;
-
 protected:
     static SolAR3DPointsViewerOpengl * m_instance;
 
@@ -141,7 +138,6 @@ class SOLAROPENGL_EXPORT_API SolAR3DPointsViewerOpengl : public org::bcom::xpcf:
     int m_glWindowID = -1;
     std::vector<CloudPoint> m_points;
     std::vector<CloudPoint> m_points2;
-	std::vector<Edge3Df> m_lines;
     Transform3Df m_cameraPose;
     std::vector<Transform3Df> m_keyframePoses;
     std::vector<Transform3Df> m_keyframePoses2;

src/SolAR3DPointsViewerOpengl.cpp

@@ -165,72 +165,6 @@ FrameworkReturnCode SolAR3DPointsViewerOpengl::display (const std::vector<CloudP
     return FrameworkReturnCode::_SUCCESS;
 }
 
-FrameworkReturnCode SolAR3DPointsViewerOpengl::display(const std::vector<Edge3Df>& lines3D, const Transform3Df & pose)
-{
-	m_lines = lines3D;
-	m_cameraPose = pose;
-
-	if (m_firstDisplay)
-	{
-		// Compute the center point of the point cloud
-		Point3Df minPoint, maxPoint;
-		maxPoint(0) = (std::numeric_limits<size_t>::lowest)();
-		maxPoint(1) = (std::numeric_limits<size_t>::lowest)();
-		maxPoint(2) = (std::numeric_limits<size_t>::lowest)();
-		minPoint(0) = (std::numeric_limits<size_t>::max)();
-		minPoint(1) = (std::numeric_limits<size_t>::max)();
-		minPoint(2) = (std::numeric_limits<size_t>::max)();
-
-		for (int i = 0; i < m_lines.size(); i++)
-		{
-			// Start point check
-			if (m_lines[i].p1.getX() > maxPoint(0)) maxPoint(0) = m_lines[i].p1.getX();
-			if (m_lines[i].p1.getZ() > maxPoint(2)) maxPoint(2) = m_lines[i].p1.getZ();
-			if (m_lines[i].p1.getX() < minPoint(0)) minPoint(0) = m_lines[i].p1.getX();
-			if (m_lines[i].p1.getY() < minPoint(1)) minPoint(1) = m_lines[i].p1.getY();
-			if (m_lines[i].p1.getZ() < minPoint(2)) minPoint(2) = m_lines[i].p1.getZ();
-			// End point check
-			if (m_lines[i].p2.getX() > maxPoint(0)) maxPoint(0) = m_lines[i].p2.getX();
-			if (m_lines[i].p2.getZ() > maxPoint(2)) maxPoint(2) = m_lines[i].p2.getZ();
-			if (m_lines[i].p2.getX() < minPoint(0)) minPoint(0) = m_lines[i].p2.getX();
-			if (m_lines[i].p2.getY() < minPoint(1)) minPoint(1) = m_lines[i].p2.getY();
-			if (m_lines[i].p2.getZ() < minPoint(2)) minPoint(2) = m_lines[i].p2.getZ();
-		}
-		Vector3f sceneDiagonal;
-
-		// Center the scene on the center of the point cloud
-		m_sceneCenter = Point3Df((minPoint(0) + maxPoint(0)) / 2.0f, -(minPoint(1) + maxPoint(1)) / 2.0f, -(minPoint(2) + maxPoint(2)) / 2.0f);
-
-		// Add the camera to the box of the scene
-		if (m_cameraPose(0, 3) > maxPoint(0)) maxPoint(0) = m_cameraPose(0, 3);
-		if (m_cameraPose(1, 3) > maxPoint(1)) maxPoint(1) = m_cameraPose(1, 3);
-		if (m_cameraPose(2, 3) > maxPoint(2)) maxPoint(2) = m_cameraPose(2, 3);
-		if (m_cameraPose(0, 3) < minPoint(0)) minPoint(0) = m_cameraPose(0, 3);
-		if (m_cameraPose(1, 3) < minPoint(1)) minPoint(1) = m_cameraPose(1, 3);
-		if (m_cameraPose(2, 3) < minPoint(2)) minPoint(2) = m_cameraPose(2, 3);
-
-		// Copmute the diagonal of the box to define the scene Size
-		sceneDiagonal(0) = maxPoint(0) - minPoint(0);
-		sceneDiagonal(1) = maxPoint(1) - minPoint(1);
-		sceneDiagonal(2) = maxPoint(2) - minPoint(2);
-		m_sceneSize = sceneDiagonal.norm();
-
-		// Set the camera according to the center and the size of the scene.
-		m_glcamera.resetview(math_vector_3f(m_sceneCenter.getX(), m_sceneCenter.getY(), m_sceneCenter.getY()), m_sceneSize);
-
-		m_firstDisplay = false;
-	}
-	if (m_exitKeyPressed)
-	{
-		m_glcamera.clear(0.0, 0.0, 0.0, 1.0);
-		glutDestroyWindow(m_glWindowID);
-		return FrameworkReturnCode::_STOP;
-	}
-
-	glutMainLoopEvent();
-	return FrameworkReturnCode::_SUCCESS;
-}
-
 void drawFrustumCamera(Transform3Df& pose,
                        std::vector<unsigned int>& color,
                        float scale,
@@ -402,22 +336,6 @@ void SolAR3DPointsViewerOpengl::OnRender()
         glPopMatrix();
     }    
 
-	if (!m_lines.empty())
-	{
-		glPushMatrix();
-		glEnable(GL_LINE_SMOOTH);
-		glBegin(GL_LINES);
-		for (unsigned int i = 0; i < m_lines.size(); ++i) {
-
-			glColor3f(m_pointsColor[0], m_pointsColor[1], m_pointsColor[2]);
-
-			glVertex3f(m_lines[i].p1.getX(), -m_lines[i].p1.getY(), -m_lines[i].p1.getZ());
-			glVertex3f(m_lines[i].p2.getX(), -m_lines[i].p2.getY(), -m_lines[i].p2.getZ());
-		}
-		glEnd();
-		glPopMatrix();
-	}
-
     // draw  camera pose !    
     std::vector<Vector4f> cameraPyramid;
     drawFrustumCamera(m_cameraPose, m_cameraColor, 0.033f * m_cameraScale * m_sceneSize, 0.003f * m_cameraScale * m_sceneSize, true);