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