OpenGL for Mars API

OpenGL_TOF: Achieve point cloud-related functions: display, mouse drag rotation

Functions

1. InitShaders

Routine
SODLL void InitShaders(int Width, int Height);

Description
Initialize OPENGL

Parameters:

• Width [in] Image width
• Height [in] Image height

2. display

Routine
SODLL void display(GLData_t *S_buf, GLRgbData_t* rgb_buffer);

Description
Display the point cloud data

Parameters:

• S_buf [input] Pointer to the depth data
• rgb_buffer [input] The RGB value of the depth data

3. PointCloud_Zoom

Routine
SODLL void PointCloud_Zoom(int value);

Description
Zoom the point cloud images

Parameters:

• value [input] Zoom value, positive – zoom out, negative – zoom in.

4. Follow_rotation

Routine
SODLL void Follow_rotation(bool state, int x, int y);

Description
Rotate the point cloud images

Parameters:

• state [input] TRUE: do rotation, FALSE: stop rotation
• x [input] Image width
• y [input] Image height

5. Set_Rotate_Core

Routine
SODLL void Set_Rotate_Core(bool state, int x,int y,int z);

Description
Setting the rotation point cloud data center

Parameters

• state [in] Whether to use the settings, TRUE: use, FALSE: reset(Center is 0)
• x [in] X coordinate of the center of rotation
• y [in] Y coordinate of the center of rotation
• Z [in] Z coordinate of the center of rotation

Structures

1. tag_GLDATA

typedef struct tag_GLDATA {
    float x;
    float y;
    float z; 
}GLData_t;

Description
Depth data

Members:

• x x coordinate
• y Y coordinate
• z Z coordinate

2 tag_FRAMEDATA_RGB

typedef struct tag_FRAMEDATA_RGB {
    char r;
    char g;
    char b; 
}FrameDataRgb_t;

Description
Depth data structure

Members:

• r R value
• g G value
• b B value