#include <point_cloud_drawable.h>

Public Member Functions
const pcl::PointXYZ &	aabbMaxModel () const
const pcl::PointXYZ &	aabbMaxWorld () const
const pcl::PointXYZ &	aabbMinModel () const
const pcl::PointXYZ &	aabbMinWorld () const
float	getMinHeight () const
rtabmap::Transform	getPose () const
const glm::mat4 &	getPoseGl () const
bool	hasMesh () const
bool	hasTexture () const
bool	isVisible () const
	PointCloudDrawable (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float gainR=1.0f, float gainG=1.0f, float gainB=1.0f)
	PointCloudDrawable (const Mesh &mesh, bool createWireframe=false)
void	Render (const glm::mat4 &projectionMatrix, const glm::mat4 &viewMatrix, bool meshRendering=true, float pointSize=3.0f, bool textureRendering=false, bool lighting=true, float distanceToCamSqr=0.0f, const GLuint &depthTexture=0, int screenWidth=0, int screenHeight=0, float nearClipPlane=0, float farClipPlane=0, bool packDepthToColorChannel=false, bool wireFrame=false) const
void	setGains (float gainR, float gainG, float gainB)
void	setPose (const rtabmap::Transform &pose)
void	setVisible (bool visible)
void	updateCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices)
void	updateMesh (const Mesh &mesh, bool createWireframe=false)
void	updatePolygons (const std::vector< pcl::Vertices > &polygons, const std::vector< pcl::Vertices > &polygonsLowRes=std::vector< pcl::Vertices >(), bool createWireframe=false)
virtual	~PointCloudDrawable ()
Static Public Member Functions
static void	createShaderPrograms ()
static void	releaseShaderPrograms ()
Private Member Functions
template<class PointT >
void	updateAABBMinMax (const PointT &pt, pcl::PointXYZ &min, pcl::PointXYZ &max)
void	updateAABBWorld (const rtabmap::Transform &pose)
Private Attributes
pcl::PointXYZ	aabbMaxModel_
pcl::PointXYZ	aabbMaxWorld_
pcl::PointXYZ	aabbMinModel_
pcl::PointXYZ	aabbMinWorld_
float	gainB_
float	gainG_
float	gainR_
bool	hasNormals_
float	minHeight_
int	nPoints_
std::vector< unsigned int >	organizedToDenseIndices_
std::vector< GLuint >	polygonLines_
std::vector< GLuint >	polygonLinesLowRes_
std::vector< GLuint >	polygons_
std::vector< GLuint >	polygonsLowRes_
rtabmap::Transform	pose_
glm::mat4	poseGl_
GLuint	textures_
GLuint	vertex_buffers_
std::vector< GLuint >	verticesLowLowRes_
std::vector< GLuint >	verticesLowRes_
bool	visible_
Static Private Attributes
static std::vector< GLuint >	shaderPrograms_

Detailed Description

Definition at line 42 of file point_cloud_drawable.h.

Constructor & Destructor Documentation

PointCloudDrawable::PointCloudDrawable	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	gainR = `1.0f`,
		float	gainG = `1.0f`,
		float	gainB = `1.0f`
	)

Definition at line 300 of file point_cloud_drawable.cpp.

PointCloudDrawable::PointCloudDrawable	(	const Mesh &	mesh,
		bool	createWireframe = `false`
	)

Definition at line 320 of file point_cloud_drawable.cpp.

PointCloudDrawable::~PointCloudDrawable ( ) [virtual]

Definition at line 337 of file point_cloud_drawable.cpp.

Member Function Documentation

const pcl::PointXYZ& PointCloudDrawable::aabbMaxModel ( ) const [inline]

Definition at line 75 of file point_cloud_drawable.h.

const pcl::PointXYZ& PointCloudDrawable::aabbMaxWorld ( ) const [inline]

Definition at line 77 of file point_cloud_drawable.h.

const pcl::PointXYZ& PointCloudDrawable::aabbMinModel ( ) const [inline]

Definition at line 74 of file point_cloud_drawable.h.

const pcl::PointXYZ& PointCloudDrawable::aabbMinWorld ( ) const [inline]

Definition at line 76 of file point_cloud_drawable.h.

void PointCloudDrawable::createShaderPrograms ( ) [static]

Definition at line 263 of file point_cloud_drawable.cpp.

float PointCloudDrawable::getMinHeight ( ) const [inline]

Definition at line 73 of file point_cloud_drawable.h.

rtabmap::Transform PointCloudDrawable::getPose ( ) const [inline]

Definition at line 68 of file point_cloud_drawable.h.

const glm::mat4& PointCloudDrawable::getPoseGl ( ) const [inline]

Definition at line 69 of file point_cloud_drawable.h.

bool PointCloudDrawable::hasMesh ( ) const [inline]

Definition at line 71 of file point_cloud_drawable.h.

bool PointCloudDrawable::hasTexture ( ) const [inline]

Definition at line 72 of file point_cloud_drawable.h.

bool PointCloudDrawable::isVisible ( ) const [inline]

Definition at line 70 of file point_cloud_drawable.h.

void PointCloudDrawable::releaseShaderPrograms ( ) [static]

Definition at line 291 of file point_cloud_drawable.cpp.

void PointCloudDrawable::Render	(	const glm::mat4 &	projectionMatrix,
		const glm::mat4 &	viewMatrix,
		bool	meshRendering = `true`,
		float	pointSize = `3.0f`,
		bool	textureRendering = `false`,
		bool	lighting = `true`,
		float	distanceToCamSqr = `0.0f`,
		const GLuint &	depthTexture = `0`,
		int	screenWidth = `0`,
		int	screenHeight = `0`,
		float	nearClipPlane = `0`,
		float	farClipPlane = `0`,
		bool	packDepthToColorChannel = `false`,
		bool	wireFrame = `false`
	)		const

Definition at line 867 of file point_cloud_drawable.cpp.

void PointCloudDrawable::setGains	(	float	gainR,
		float	gainG,
		float	gainB
	)		`[inline]`

Definition at line 67 of file point_cloud_drawable.h.

void PointCloudDrawable::setPose ( const rtabmap::Transform & pose )

Definition at line 829 of file point_cloud_drawable.cpp.

void PointCloudDrawable::setVisible ( bool visible ) [inline]

Definition at line 66 of file point_cloud_drawable.h.

template<class PointT >

void PointCloudDrawable::updateAABBMinMax	(	const PointT &	pt,
		pcl::PointXYZ &	min,
		pcl::PointXYZ &	max
	)		`[inline, private]`

Definition at line 103 of file point_cloud_drawable.h.

void PointCloudDrawable::updateAABBWorld ( const rtabmap::Transform & pose ) [private]

Definition at line 842 of file point_cloud_drawable.cpp.

void PointCloudDrawable::updateCloud	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices
	)

Definition at line 411 of file point_cloud_drawable.cpp.

void PointCloudDrawable::updateMesh	(	const Mesh &	mesh,
		bool	createWireframe = `false`
	)

Definition at line 528 of file point_cloud_drawable.cpp.

void PointCloudDrawable::updatePolygons	(	const std::vector< pcl::Vertices > &	polygons,
		const std::vector< pcl::Vertices > &	polygonsLowRes = `std::vector<pcl::Vertices>()`,
		bool	createWireframe = `false`
	)