#include <tango-gl/conversions.h>#include <tango-gl/gesture_camera.h>#include <tango-gl/util.h>#include <rtabmap/utilite/ULogger.h>#include <rtabmap/utilite/UStl.h>#include <rtabmap/utilite/UTimer.h>#include <rtabmap/core/util3d_filtering.h>#include <rtabmap/core/util3d_transforms.h>#include <rtabmap/core/util3d_surface.h>#include <pcl/common/transforms.h>#include <pcl/common/common.h>#include <glm/gtx/transform.hpp>#include "scene.h"#include "util.h"
Include dependency graph for scene.cpp:
Go to the source code of this file.
Functions | |
| std::vector< glm::vec4 > | computeFrustumPlanes (const glm::mat4 &mat, bool normalize=true) |
| bool | intersectFrustumAABB (const std::vector< glm::vec4 > &planes, const pcl::PointXYZ &boxMin, const pcl::PointXYZ &boxMax) |
Variables | |
| const glm::vec3 | kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f) |
| const std::string | kGraphFragmentShader = "}\n" |
| const std::string | kGraphVertexShader = "}\n" |
| const tango_gl::Color | kGridColor (0.85f, 0.85f, 0.85f) |
| const glm::vec3 | kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f) |
| const tango_gl::Color | kTraceColor (0.66f, 0.66f, 0.66f) |
Function Documentation
| std::vector<glm::vec4> computeFrustumPlanes | ( | const glm::mat4 & | mat, |
| bool | normalize = true |
||
| ) |
| bool intersectFrustumAABB | ( | const std::vector< glm::vec4 > & | planes, |
| const pcl::PointXYZ & | boxMin, | ||
| const pcl::PointXYZ & | boxMax | ||
| ) |
Tells whether or not b is intersecting f. http://www.txutxi.com/?p=584
- Parameters:
-
f Viewing frustum. b An axis aligned bounding box.
- Returns:
- True if b intersects f, false otherwise.
Variable Documentation
| const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f) |
| const std::string kGraphFragmentShader = "}\n" |
| const std::string kGraphVertexShader = "}\n" |
| const tango_gl::Color kGridColor(0.85f, 0.85f, 0.85f) |
| const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f) |
| const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f) |