0.11.2: First Google Tango release

app/android/jni/point_cloud_drawable.h

@@ -0,0 +1,67 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
+#define TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
+
+#include <jni.h>
+
+#include <tango-gl/util.h>
+#include <vector>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <rtabmap/core/Transform.h>
+#include <pcl/Vertices.h>
+#include "util.h"
+
+// PointCloudDrawable is responsible for the point cloud rendering.
+class PointCloudDrawable {
+ public:
+  PointCloudDrawable(
+		  GLuint shaderProgram,
+		  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
+		  const std::vector<pcl::Vertices> & indices = std::vector<pcl::Vertices>());
+  PointCloudDrawable(
+  		  GLuint shaderProgram,
+  		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+  		  const std::vector<pcl::Vertices> & indices = std::vector<pcl::Vertices>());
+  virtual ~PointCloudDrawable();
+
+  void setPose(const rtabmap::Transform & pose);
+  void setVisible(bool visible) {visible_=visible;}
+  rtabmap::Transform getPose() const {return glmToTransform(pose_);}
+  bool isVisible() const {return visible_;}
+
+  // Update current point cloud data.
+  //
+  // @param projection_mat: projection matrix from current render camera.
+  // @param view_mat: view matrix from current render camera.
+  // @param model_mat: model matrix for this point cloud frame.
+  // @param vertices: all vertices in this point cloud frame.
+  void Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix, bool meshRendering = true, float pointSize = 3.0f);
+
+ private:
+  // Vertex buffer of the point cloud geometry.
+  GLuint vertex_buffers_;
+  std::vector<GLushort> indices_;
+  int nPoints_;
+  glm::mat4 pose_;
+  bool visible_;
+
+  GLuint shader_program_;
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_