scene.cpp

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/*
 * 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.
 */

#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"

// We want to represent the device properly with respect to the ground so we'll
// add an offset in z to our origin. We'll set this offset to 1.3 meters based
// on the average height of a human standing with a Tango device. This allows us
// to place a grid roughly on the ground for most users.
const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);

// Color of the motion tracking trajectory.
const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f);

// Color of the ground grid.
const tango_gl::Color kGridColor(0.85f, 0.85f, 0.85f);

// Frustum scale.
const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f);

const std::string kGraphVertexShader =
    "precision mediump float;\n"
    "precision mediump int;\n"
    "attribute vec3 vertex;\n"
    "uniform vec3 color;\n"
    "uniform mat4 mvp;\n"
    "varying vec3 v_color;\n"
    "void main() {\n"
    "  gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
    "  v_color = color;\n"
    "}\n";
const std::string kGraphFragmentShader =
    "precision mediump float;\n"
    "precision mediump int;\n"
    "varying vec3 v_color;\n"
    "void main() {\n"
    "  gl_FragColor = vec4(v_color.z, v_color.y, v_color.x, 1.0);\n"
    "}\n";



Scene::Scene() :
                gesture_camera_(0),
                axis_(0),
                frustum_(0),
                grid_(0),
                box_(0),
                trace_(0),
                graph_(0),
                graphVisible_(true),
                gridVisible_(true),
                traceVisible_(true),
                color_camera_to_display_rotation_(ROTATION_0),
                currentPose_(0),
                graph_shader_program_(0),
                blending_(true),
                mapRendering_(true),
                meshRendering_(true),
                meshRenderingTexture_(true),
                pointSize_(5.0f),
                boundingBoxRendering_(false),
                lighting_(false),
                backfaceCulling_(true),
                wireFrame_(false),
                r_(0.0f),
                g_(0.0f),
                b_(0.0f),
                fboId_(0),
                depthTexture_(0),
                screenWidth_(0),
                screenHeight_(0),
                doubleTapOn_(false)
{
        gesture_camera_ = new tango_gl::GestureCamera();
        gesture_camera_->SetCameraType(
              tango_gl::GestureCamera::kFirstPerson);
}

Scene::~Scene() {
        DeleteResources();
        delete gesture_camera_;
}

//Should only be called in OpenGL thread!
void Scene::InitGLContent()
{
        if(axis_ != 0)
        {
                DeleteResources();
        }

        UASSERT(axis_ == 0);


        axis_ = new tango_gl::Axis();
        frustum_ = new tango_gl::Frustum();
        trace_ = new tango_gl::Trace();
        grid_ = new tango_gl::Grid();
        box_ = new BoundingBoxDrawable();
        currentPose_ = new rtabmap::Transform();


        axis_->SetScale(glm::vec3(0.5f,0.5f,0.5f));
        frustum_->SetColor(kTraceColor);
        trace_->ClearVertexArray();
        trace_->SetColor(kTraceColor);
        grid_->SetColor(kGridColor);
        grid_->SetPosition(kHeightOffset);
        box_->SetShader();
        box_->SetColor(1,0,0);

        PointCloudDrawable::createShaderPrograms();

        if(graph_shader_program_ == 0)
        {
                graph_shader_program_ = tango_gl::util::CreateProgram(kGraphVertexShader.c_str(), kGraphFragmentShader.c_str());
                UASSERT(graph_shader_program_ != 0);
        }
}

//Should only be called in OpenGL thread!
void Scene::DeleteResources() {

        LOGI("Scene::DeleteResources()");
        if(axis_)
        {
                delete axis_;
                axis_ = 0;
                delete frustum_;
                delete trace_;
                delete grid_;
                delete currentPose_;
                delete box_;
        }

        PointCloudDrawable::releaseShaderPrograms();

        if (graph_shader_program_) {
                glDeleteShader(graph_shader_program_);
                graph_shader_program_ = 0;
        }

        if(fboId_>0)
        {
                glDeleteFramebuffers(1, &fboId_);
                fboId_ = 0;
                glDeleteTextures(1, &depthTexture_);
                depthTexture_ = 0;
        }

        clear();
}

//Should only be called in OpenGL thread!
void Scene::clear()
{
        LOGI("Scene::clear()");
        for(std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
        {
                delete iter->second;
        }
        if(trace_)
        {
                trace_->ClearVertexArray();
        }
        if(graph_)
        {
                delete graph_;
                graph_ = 0;
        }
        pointClouds_.clear();
        if(grid_)
        {
                grid_->SetPosition(kHeightOffset);
        }
}

//Should only be called in OpenGL thread!
void Scene::SetupViewPort(int w, int h) {
        if (h == 0) {
                LOGE("Setup graphic height not valid");
        }
        UASSERT(gesture_camera_ != 0);
        gesture_camera_->SetWindowSize(static_cast<float>(w), static_cast<float>(h));
        glViewport(0, 0, w, h);
        if(screenWidth_ != w || fboId_ == 0)
        {
                if(fboId_>0)
                {
                        glDeleteFramebuffers(1, &fboId_);
                        fboId_ = 0;
                        glDeleteTextures(1, &depthTexture_);
                        depthTexture_ = 0;
                }

                // Create depth texture
                glGenTextures(1, &depthTexture_);
                glBindTexture(GL_TEXTURE_2D, depthTexture_);
                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
                glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
                glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT, w, h, 0, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT, NULL);
                glBindTexture(GL_TEXTURE_2D, 0);

                // regenerate fbo texture
                // create a framebuffer object, you need to delete them when program exits.
                glGenFramebuffers(1, &fboId_);
                glBindFramebuffer(GL_FRAMEBUFFER, fboId_);

                // Set the texture to be at the depth attachment point of the FBO
                glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, depthTexture_, 0);

                GLuint status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
                if ( status != GL_FRAMEBUFFER_COMPLETE)
                {
                        LOGE("Frame buffer cannot be generated! Status: %in", status);
                }
                glBindFramebuffer(GL_FRAMEBUFFER,0);
        }
        screenWidth_ = w;
        screenHeight_ = h;
}

std::vector<glm::vec4> computeFrustumPlanes(const glm::mat4 & mat, bool normalize = true)
{
        // http://www.txutxi.com/?p=444
        std::vector<glm::vec4> planes(6);

        // Left Plane
        // col4 + col1
        planes[0].x = mat[0][3] + mat[0][0];
        planes[0].y = mat[1][3] + mat[1][0];
        planes[0].z = mat[2][3] + mat[2][0];
        planes[0].w = mat[3][3] + mat[3][0];

        // Right Plane
        // col4 - col1
        planes[1].x = mat[0][3] - mat[0][0];
        planes[1].y = mat[1][3] - mat[1][0];
        planes[1].z = mat[2][3] - mat[2][0];
        planes[1].w = mat[3][3] - mat[3][0];

        // Bottom Plane
        // col4 + col2
        planes[2].x = mat[0][3] + mat[0][1];
        planes[2].y = mat[1][3] + mat[1][1];
        planes[2].z = mat[2][3] + mat[2][1];
        planes[2].w = mat[3][3] + mat[3][1];

        // Top Plane
        // col4 - col2
        planes[3].x = mat[0][3] - mat[0][1];
        planes[3].y = mat[1][3] - mat[1][1];
        planes[3].z = mat[2][3] - mat[2][1];
        planes[3].w = mat[3][3] - mat[3][1];

        // Near Plane
        // col4 + col3
        planes[4].x = mat[0][3] + mat[0][2];
        planes[4].y = mat[1][3] + mat[1][2];
        planes[4].z = mat[2][3] + mat[2][2];
        planes[4].w = mat[3][3] + mat[3][2];

        // Far Plane
        // col4 - col3
        planes[5].x = mat[0][3] - mat[0][2];
        planes[5].y = mat[1][3] - mat[1][2];
        planes[5].z = mat[2][3] - mat[2][2];
        planes[5].w = mat[3][3] - mat[3][2];

        //if(normalize)
        {
                for(unsigned int i=0;i<planes.size(); ++i)
                {
                        if(normalize)
                        {
                                float d = std::sqrt(planes[i].x * planes[i].x + planes[i].y * planes[i].y + planes[i].z * planes[i].z); // for normalizing the coordinates
                                planes[i].x/=d;
                                planes[i].y/=d;
                                planes[i].z/=d;
                                planes[i].w/=d;
                        }
                }
        }

        return planes;
}

bool intersectFrustumAABB(
        const std::vector<glm::vec4> &planes,
        const pcl::PointXYZ &boxMin,
                const pcl::PointXYZ &boxMax)
{
  // Indexed for the 'index trick' later
        const pcl::PointXYZ * box[] = {&boxMin, &boxMax};

  // We only need to do 6 point-plane tests
  for (unsigned int i = 0; i < planes.size(); ++i)
  {
    // This is the current plane
    const glm::vec4 &p = planes[i];

    // p-vertex selection (with the index trick)
    // According to the plane normal we can know the
    // indices of the positive vertex
    const int px = p.x > 0.0f?1:0;
    const int py = p.y > 0.0f?1:0;
    const int pz = p.z > 0.0f?1:0;

    // Dot product
    // project p-vertex on plane normal
    // (How far is p-vertex from the origin)
    const float dp =
        (p.x*box[px]->x) +
        (p.y*box[py]->y) +
        (p.z*box[pz]->z) + p.w;

    // Doesn't intersect if it is behind the plane
    if (dp < 0) {return false; }
  }
  return true;
}

//Should only be called in OpenGL thread!
int Scene::Render() {
        UASSERT(gesture_camera_ != 0);

        glm::vec3 position(currentPose_->x(), currentPose_->y(), currentPose_->z());
        Eigen::Quaternionf quat = currentPose_->getQuaternionf();
        glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
        glm::mat4 rotateM;
        if(!currentPose_->isNull())
        {
                rotateM = glm::rotate<float>(float(color_camera_to_display_rotation_)*-1.57079632679489661923132169163975144, glm::vec3(0.0f, 0.0f, 1.0f));

                if (gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
                {
                        // In first person mode, we directly control camera's motion.
                        gesture_camera_->SetPosition(position);
                        gesture_camera_->SetRotation(rotation*glm::quat(rotateM));
                }
                else
                {
                        // In third person or top down mode, we follow the camera movement.
                        gesture_camera_->SetAnchorPosition(position, rotation*glm::quat(rotateM));
                }
        }

        glm::mat4 projectionMatrix = gesture_camera_->GetProjectionMatrix();
        glm::mat4 viewMatrix = gesture_camera_->GetViewMatrix();

        rtabmap::Transform openglCamera = GetOpenGLCameraPose();//*rtabmap::Transform(0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f);
        // transform in same coordinate as frustum filtering
        openglCamera *= rtabmap::Transform(
                 0.0f,  0.0f,  1.0f, 0.0f,
                 0.0f,  1.0f,  0.0f, 0.0f,
                -1.0f,  0.0f,  0.0f, 0.0f);

        //Culling
        std::vector<glm::vec4> planes = computeFrustumPlanes(projectionMatrix*viewMatrix, true);
        std::vector<PointCloudDrawable*> cloudsToDraw(pointClouds_.size());
        int oi=0;
        for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
        {
                if(!mapRendering_ && iter->first > 0)
                {
                        break;
                }

                if(iter->second->isVisible())
                {
                        if(intersectFrustumAABB(planes,
                                        iter->second->aabbMinWorld(),
                                        iter->second->aabbMaxWorld()))
                        {
                                cloudsToDraw[oi++] = iter->second;
                        }
                }
        }
        cloudsToDraw.resize(oi);

        // First rendering to get depth texture
        glEnable(GL_DEPTH_TEST);
        glDepthFunc(GL_LESS);
        glDepthMask(GL_TRUE);
        glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
        glDisable (GL_BLEND);
        glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

        if(backfaceCulling_)
        {
                glEnable(GL_CULL_FACE);
        }
        else
        {
                glDisable(GL_CULL_FACE);
        }

        UTimer timer;

        bool onlineBlending = blending_ && gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho && mapRendering_ && meshRendering_ && cloudsToDraw.size()>1;
        if(onlineBlending && fboId_)
        {
                // set the rendering destination to FBO
                glBindFramebuffer(GL_FRAMEBUFFER, fboId_);

                glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
                glClearColor(1, 1, 1, 1);
                glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

                // Draw scene
                for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
                {
                        // set large distance to cam to use low res polygons for fast processing
                        (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, 999.0f);
                }

                // back to normal window-system-provided framebuffer
                glBindFramebuffer(GL_FRAMEBUFFER, 0); // unbind
                glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
        }

        if(doubleTapOn_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
        {
                glClearColor(0, 0, 0, 0);
                glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

                for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
                {
                        // set large distance to cam to use low res polygons for fast processing
                        (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, 999.0f, 0, 0, 0, 0, 0, true);
                }

                GLubyte zValue[4];
                glReadPixels(doubleTapPos_.x*screenWidth_, screenHeight_-doubleTapPos_.y*screenHeight_, 1, 1, GL_RGBA, GL_UNSIGNED_BYTE, zValue);
                float fromFixed = 256.0f/255.0f;
                float zValueF = float(zValue[0]/255.0f)*fromFixed + float(zValue[1]/255.0f)*fromFixed/255.0f + float(zValue[2]/255.0f)*fromFixed/65025.0f + float(zValue[3]/255.0f)*fromFixed/160581375.0f;

                if(zValueF != 0.0f)
                {
                        zValueF = zValueF*2.0-1.0;//NDC
                        glm::vec4 point = glm::inverse(projectionMatrix*viewMatrix)*glm::vec4(doubleTapPos_.x*2.0f-1.0f, (1.0f-doubleTapPos_.y)*2.0f-1.0f, zValueF, 1.0f);
                        point /= point.w;
                        gesture_camera_->SetAnchorOffset(glm::vec3(point.x, point.y, point.z) - position);
                }
        }
        doubleTapOn_ = false;

        glClearColor(r_, g_, b_, 1.0f);
        glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

        if(!currentPose_->isNull())
        {
                if (gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
                {
                        frustum_->SetPosition(position);
                        frustum_->SetRotation(rotation);
                        // Set the frustum scale to 4:3, this doesn't necessarily match the physical
                        // camera's aspect ratio, this is just for visualization purposes.
                        frustum_->SetScale(kFrustumScale);
                        frustum_->Render(projectionMatrix, viewMatrix);

                        axis_->SetPosition(position);
                        axis_->SetRotation(rotation);
                        axis_->Render(projectionMatrix, viewMatrix);
                }

                trace_->UpdateVertexArray(position);
                if(traceVisible_)
                {
                        trace_->Render(projectionMatrix, viewMatrix);
                }

                if(gridVisible_)
                {
                        grid_->Render(projectionMatrix, viewMatrix);
                }
        }

        if(graphVisible_ && graph_)
        {
                graph_->Render(projectionMatrix, viewMatrix);
        }


        if(onlineBlending)
        {
                glEnable (GL_BLEND);
                glDepthMask(GL_FALSE);
        }

        for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
        {
                PointCloudDrawable * cloud = *iter;

                if(boundingBoxRendering_)
                {
                        box_->updateVertices(cloud->aabbMinWorld(), cloud->aabbMaxWorld());
                        box_->Render(projectionMatrix, viewMatrix);
                }

                Eigen::Vector3f cloudToCamera(
                                cloud->getPose().x() - openglCamera.x(),
                                cloud->getPose().y() - openglCamera.y(),
                                cloud->getPose().z() - openglCamera.z());
                float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];

                cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_);
        }

        if(onlineBlending)
        {
                glDisable (GL_BLEND);
                glDepthMask(GL_TRUE);
        }

        return (int)cloudsToDraw.size();
}

void Scene::SetCameraType(tango_gl::GestureCamera::CameraType camera_type) {
  gesture_camera_->SetCameraType(camera_type);
}

void Scene::SetCameraPose(const rtabmap::Transform & pose)
{
        UASSERT(currentPose_ != 0);
        UASSERT(!pose.isNull());
        *currentPose_ = pose;
}

void Scene::setFOV(float angle)
{
        gesture_camera_->SetFieldOfView(angle);
}
void Scene::setOrthoCropFactor(float value)
{
        gesture_camera_->SetOrthoCropFactor(value);
}
void Scene::setGridRotation(float angleDeg)
{
        float angleRad = angleDeg * DEGREE_2_RADIANS;
        if(grid_)
        {
                glm::quat rot = glm::rotate(glm::quat(1,0,0,0), angleRad, glm::vec3(0, 1, 0));
                grid_->SetRotation(rot);
        }
}

rtabmap::Transform Scene::GetOpenGLCameraPose(float * fov) const
{
        if(fov)
        {
                *fov = gesture_camera_->getFOV();
        }
        return glmToTransform(gesture_camera_->GetTransformationMatrix());
}

void Scene::OnTouchEvent(int touch_count,
                         tango_gl::GestureCamera::TouchEvent event, float x0,
                         float y0, float x1, float y1) {
        UASSERT(gesture_camera_ != 0);
        if(touch_count == 3)
        {
                //doubletap
                if(!doubleTapOn_)
                {
                        doubleTapPos_.x = x0;
                        doubleTapPos_.y = y0;
                        doubleTapOn_ = true;
                }
        }
        else
        {
                // rotate/translate/zoom
                gesture_camera_->OnTouchEvent(touch_count, event, x0, y0, x1, y1);
        }
}

void Scene::updateGraph(
                const std::map<int, rtabmap::Transform> & poses,
                const std::multimap<int, rtabmap::Link> & links)
{
        LOGI("updateGraph");
        if(graph_)
        {
                delete graph_;
                graph_ = 0;
        }

        //create
        if(graphVisible_)
        {
                UASSERT(graph_shader_program_ != 0);
                graph_ = new GraphDrawable(graph_shader_program_, poses, links);
        }
}

void Scene::setGraphVisible(bool visible)
{
        graphVisible_ = visible;
}

void Scene::setGridVisible(bool visible)
{
        gridVisible_ = visible;
}

void Scene::setTraceVisible(bool visible)
{
        traceVisible_ = visible;
}

//Should only be called in OpenGL thread!
void Scene::addCloud(
                int id,
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const rtabmap::Transform & pose)
{
        LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0);
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                delete iter->second;
                pointClouds_.erase(iter);
        }

        //create
        PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
        drawable->setPose(pose);
        pointClouds_.insert(std::make_pair(id, drawable));
}

void Scene::addMesh(
                int id,
                const Mesh & mesh,
                const rtabmap::Transform & pose,
                bool createWireframe)
{
        LOGI("add mesh %d", id);
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                delete iter->second;
                pointClouds_.erase(iter);
        }

        //create
        PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
        drawable->setPose(pose);
        pointClouds_.insert(std::make_pair(id, drawable));

        if(!mesh.pose.isNull() && mesh.cloud->size() && (!mesh.cloud->isOrganized() || mesh.indices->size()))
        {
                UTimer time;
                float height = 0.0f;
                Eigen::Affine3f affinePose = mesh.pose.toEigen3f();
                if(mesh.polygons.size())
                {
                        for(unsigned int i=0; i<mesh.polygons.size(); ++i)
                        {
                                for(unsigned int j=0; j<mesh.polygons[i].vertices.size(); ++j)
                                {
                                        pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.polygons[i].vertices[j]), affinePose);
                                        if(pt.z < height)
                                        {
                                                height = pt.z;
                                        }
                                }
                        }
                }
                else
                {
                        if(mesh.cloud->isOrganized())
                        {
                                for(unsigned int i=0; i<mesh.indices->size(); ++i)
                                {
                                        pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.indices->at(i)), affinePose);
                                        if(pt.z < height)
                                        {
                                                height = pt.z;
                                        }
                                }
                        }
                        else
                        {
                                for(unsigned int i=0; i<mesh.cloud->size(); ++i)
                                {
                                        pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(i), affinePose);
                                        if(pt.z < height)
                                        {
                                                height = pt.z;
                                        }
                                }
                        }
                }

                if(grid_->GetPosition().y == kHeightOffset.y || grid_->GetPosition().y > height)
                {
                        grid_->SetPosition(glm::vec3(0,height,0));
                }
                LOGD("compute min height %f s", time.ticks());
        }
}


void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
{
        UASSERT(!pose.isNull());
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->setPose(pose);
        }
}

void Scene::setCloudVisible(int id, bool visible)
{
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->setVisible(visible);
        }
}

bool Scene::hasCloud(int id) const
{
        return pointClouds_.find(id) != pointClouds_.end();
}

bool Scene::hasMesh(int id) const
{
        return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasMesh();
}

bool Scene::hasTexture(int id) const
{
        return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasTexture();
}

std::set<int> Scene::getAddedClouds() const
{
        return uKeysSet(pointClouds_);
}

void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons)
{
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->updatePolygons(polygons);
        }
}

void Scene::updateMesh(int id, const Mesh & mesh)
{
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->updateMesh(mesh);
        }
}

void Scene::updateGains(int id, float gainR, float gainG, float gainB)
{
        std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
        if(iter != pointClouds_.end())
        {
                iter->second->setGains(gainR, gainG, gainB);
        }
}

void Scene::setGridColor(float r, float g, float b)
{
        if(grid_)
        {
                grid_->SetColor(r, g, b);
        }
}