distinguish between gimbal-camera and eye-center-camera

4 files changed, 38 insertions, 8 deletions

diff --git a/src/OffscreenView.cc b/src/OffscreenView.cc
index bc1b97c..5c65bc4 100644
--- a/src/OffscreenView.cc
+++ b/src/OffscreenView.cc
@@ -67,6 +67,16 @@ void OffscreenView::resizeGL(int w, int h)
 	w_h_ratio = sqrt((double)w / (double)h);
 }
 
+void OffscreenView::setupGimbalPerspective()
+{
+	fprintf(stderr, "gimbal camera not implemented in Offscreen View\n");
+}
+
+void OffscreenView::setupGimbalOrtho(double distance, bool offset)
+{
+	fprintf(stderr, "gimbal camera not implemented in Offscreen View\n");
+}
+
 void OffscreenView::setupPerspective()
 {
 	glMatrixMode(GL_PROJECTION);
diff --git a/src/OffscreenView.h b/src/OffscreenView.h
index 97d8198..2f19a0c 100644
--- a/src/OffscreenView.h
+++ b/src/OffscreenView.h
@@ -21,9 +21,14 @@ public:
 	void setCamera(const Eigen::Vector3d &pos, const Eigen::Vector3d &center);
 	void initializeGL();
 	void resizeGL(int w, int h);
+
+	void setupGimbalPerspective();
+	void setupGimbalOrtho(double distance, bool offset=false);
+
 	void setupPerspective();
 	void setupOrtho(bool offset=false);
-	void paintGL();
+
+	void paintGL(); //
 	bool save(const char *filename); //
 	bool save(std::ostream &output); // not implemented in qgl?
 	std::string getRendererInfo(); //
diff --git a/src/QGLView.h b/src/QGLView.h
index 57e5faf..48a46df 100644
--- a/src/QGLView.h
+++ b/src/QGLView.h
@@ -80,8 +80,13 @@ private:
 
 	void initializeGL();
 	void resizeGL(int w, int h);
+
+	void setupGimbalPerspective();
+	void setupGimbalOrtho(double distance,bool offset=false);
+
 	void setupPerspective();
-	void setupOrtho(double distance,bool offset=false);
+	void setupOrtho(bool offset=false);
+
 	void paintGL();
 	void normalizeAngle(GLdouble& angle);
 
diff --git a/src/qglview.cc b/src/qglview.cc
index c80d155..0afaa4b 100644
--- a/src/qglview.cc
+++ b/src/qglview.cc
@@ -340,18 +340,28 @@ void QGLView::resizeGL(int w, int h)
 	glViewport(0, 0, w, h);
 	w_h_ratio = sqrt((double)w / (double)h);
 
-	setupPerspective();
+	setupGimbalPerspective();
 }
 
 void QGLView::setupPerspective()
 {
+	fprintf(stderr,"non-gimbal camera not implemented for qglview\n");
+}
+
+void QGLView::setupOrtho(bool offset)
+{
+	fprintf(stderr,"non-gimbal camera not implemented for qglview\n");
+}
+
+void QGLView::setupGimbalPerspective()
+{
 	glMatrixMode(GL_PROJECTION);
 	glLoadIdentity();
 	glFrustum(-w_h_ratio, +w_h_ratio, -(1/w_h_ratio), +(1/w_h_ratio), +10.0, +FAR_FAR_AWAY);
 	gluLookAt(0.0, -viewer_distance, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0);
 }
 
-void QGLView::setupOrtho(double distance, bool offset)
+void QGLView::setupGimbalOrtho(double distance, bool offset)
 {
 	glMatrixMode(GL_PROJECTION);
 	glLoadIdentity();
@@ -368,8 +378,8 @@ void QGLView::paintGL()
 {
 	glEnable(GL_LIGHTING);
 
-	if (orthomode) setupOrtho(viewer_distance);
-	else setupPerspective();
+	if (orthomode) setupGimbalOrtho(viewer_distance);
+	else setupGimbalPerspective();
 
 	glMatrixMode(GL_MODELVIEW);
 	glLoadIdentity();
@@ -439,7 +449,7 @@ void QGLView::paintGL()
 	{
 		glDepthFunc(GL_ALWAYS);
 
-		setupOrtho(1000,true);
+		setupGimbalOrtho(1000,true);
 
 		glMatrixMode(GL_MODELVIEW);
 		glLoadIdentity();
@@ -508,7 +518,7 @@ void QGLView::paintGL()
 
 		//Restore perspective for next paint
 		if(!orthomode)
-			setupPerspective();
+			setupGimbalPerspective();
 	}
 
 	if (statusLabel) {