point_cloud.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef OGRE_TOOLS_OGRE_POINT_CLOUD_H
#define OGRE_TOOLS_OGRE_POINT_CLOUD_H

#include <OGRE/OgreSimpleRenderable.h>
#include <OGRE/OgreMovableObject.h>
#include <OGRE/OgreString.h>
#include <OGRE/OgreAxisAlignedBox.h>
#include <OGRE/OgreVector3.h>
#include <OGRE/OgreMaterial.h>
#include <OGRE/OgreColourValue.h>
#include <OGRE/OgreRoot.h>
#include <OGRE/OgreHardwareBufferManager.h>

#include <stdint.h>

#include <vector>

#include <boost/shared_ptr.hpp>

namespace Ogre
{
class SceneManager;
class ManualObject;
class SceneNode;
class RenderQueue;
class Camera;
class RenderSystem;
class Matrix4;
}

namespace rviz
{

class PointCloud;
class PointCloudRenderable : public Ogre::SimpleRenderable
{
public:
  PointCloudRenderable(PointCloud* parent, int num_points, bool use_tex_coords);
  ~PointCloudRenderable();

  Ogre::RenderOperation* getRenderOperation() { return &mRenderOp; }
  Ogre::HardwareVertexBufferSharedPtr getBuffer();

  virtual Ogre::Real getBoundingRadius(void) const;
  virtual Ogre::Real getSquaredViewDepth(const Ogre::Camera* cam) const;
  virtual void _notifyCurrentCamera(Ogre::Camera* camera);
  virtual unsigned short getNumWorldTransforms() const { return 1; }
  virtual void getWorldTransforms(Ogre::Matrix4* xform) const;
  virtual const Ogre::LightList& getLights() const;

private:
  Ogre::MaterialPtr material_;
  PointCloud* parent_;
};
typedef boost::shared_ptr<PointCloudRenderable> PointCloudRenderablePtr;
typedef std::vector<PointCloudRenderablePtr> V_PointCloudRenderable;

class PointCloud : public Ogre::MovableObject
{
public:
  enum RenderMode
  {
    RM_POINTS,
    RM_SQUARES,
    RM_FLAT_SQUARES,
    RM_SPHERES,
    RM_TILES,
    RM_BOXES,
  };

  PointCloud();
  ~PointCloud();

  void clear();

  struct Point
  {
    inline void setColor(float r, float g, float b, float a=1.0)
    {
      color=Ogre::ColourValue(r, g, b, a);
    }

    Ogre::Vector3 position;
    Ogre::ColourValue color;
  };

  void addPoints( Point* points, uint32_t num_points );

  void popPoints( uint32_t num_points );

  void setRenderMode(RenderMode mode);
  void setDimensions( float width, float height, float depth );

  /*
   * If set to true, the size of each point will be multiplied by it z component.
   * (Used for depth image based point clouds)
   */
  void setAutoSize(bool auto_size);

  void setCommonDirection( const Ogre::Vector3& vec );
  void setCommonUpVector( const Ogre::Vector3& vec );

  void setAlpha( float alpha, bool per_point_alpha = false );

  void setPickColor(const Ogre::ColourValue& color);
  void setColorByIndex(bool set);

  void setHighlightColor( float r, float g, float b );

  virtual const Ogre::String& getMovableType() const { return sm_Type; }
  virtual const Ogre::AxisAlignedBox& getBoundingBox() const;
  virtual float getBoundingRadius() const;
  virtual void getWorldTransforms( Ogre::Matrix4* xform ) const;
  virtual unsigned short getNumWorldTransforms() const { return 1; }
  virtual void _updateRenderQueue( Ogre::RenderQueue* queue );
  virtual void _notifyCurrentCamera( Ogre::Camera* camera );
  virtual void _notifyAttached(Ogre::Node *parent, bool isTagPoint=false);
#if (OGRE_VERSION_MAJOR >= 1 && OGRE_VERSION_MINOR >= 6)
  virtual void visitRenderables(Ogre::Renderable::Visitor* visitor, bool debugRenderables);
#endif

  virtual void setName ( const std::string& name ) { mName = name; }

private:

  uint32_t getVerticesPerPoint();
  PointCloudRenderablePtr createRenderable( int num_points );
  void regenerateAll();
  void shrinkRenderables();

  Ogre::AxisAlignedBox bounding_box_;       
  float bounding_radius_;                   

  typedef std::vector<Point> V_Point;
  V_Point points_;                          
  uint32_t point_count_;                    

  RenderMode render_mode_;
  float width_;                             
  float height_;                            
  float depth_;                             
  Ogre::Vector3 common_direction_;          
  Ogre::Vector3 common_up_vector_;          

  Ogre::ResourcePtr point_material_;
  Ogre::ResourcePtr square_material_;
  Ogre::ResourcePtr flat_square_material_;
  Ogre::ResourcePtr sphere_material_;
  Ogre::ResourcePtr tile_material_;
  Ogre::ResourcePtr box_material_;
  Ogre::MaterialPtr current_material_;
  float alpha_;

  bool color_by_index_;

  V_PointCloudRenderable renderables_;

  bool current_mode_supports_geometry_shader_;
  Ogre::ColourValue pick_color_;

  static Ogre::String sm_Type;              
};

} // namespace rviz

#endif