Program Listing for File point_cloud_renderable.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* Copyright (c) 2017, Bosch Software Innovations GmbH.
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#ifndef RVIZ_RENDERING__OBJECTS__POINT_CLOUD_RENDERABLE_HPP_
#define RVIZ_RENDERING__OBJECTS__POINT_CLOUD_RENDERABLE_HPP_
#include <deque>
#include <memory>
#include <OgreSimpleRenderable.h>
#include <OgreString.h>
#include <OgreAxisAlignedBox.h>
#include <OgreVector.h>
#include <OgreMaterial.h>
#include <OgreColourValue.h>
#include <OgreRoot.h>
#include <OgreHardwareBufferManager.h>
#include <OgreSharedPtr.h>
#include "rviz_rendering/visibility_control.hpp"
namespace Ogre
{
class SceneManager;
class ManualObject;
class SceneNode;
class RenderQueue;
class Camera;
class RenderSystem;
class Matrix4;
}
namespace rviz_rendering
{
class PointCloud;
class PointCloudRenderable : public Ogre::SimpleRenderable
{
public:
RVIZ_RENDERING_PUBLIC
PointCloudRenderable(
PointCloud * parent, int num_points, bool use_tex_coords,
Ogre::RenderOperation::OperationType operationType);
RVIZ_RENDERING_PUBLIC
virtual ~PointCloudRenderable();
RVIZ_RENDERING_PUBLIC
Ogre::RenderOperation * getRenderOperation() {return &mRenderOp;}
// Avoid hidding parent class overload.
using Ogre::SimpleRenderable::getRenderOperation;
RVIZ_RENDERING_PUBLIC
Ogre::HardwareVertexBufferSharedPtr getBuffer();
RVIZ_RENDERING_PUBLIC
Ogre::Real getBoundingRadius() const override;
RVIZ_RENDERING_PUBLIC
Ogre::Real getSquaredViewDepth(const Ogre::Camera * cam) const override;
RVIZ_RENDERING_PUBLIC
void _notifyCurrentCamera(Ogre::Camera * camera) override;
RVIZ_RENDERING_PUBLIC
uint16_t getNumWorldTransforms() const override {return 1;}
RVIZ_RENDERING_PUBLIC
void getWorldTransforms(Ogre::Matrix4 * xform) const override;
RVIZ_RENDERING_PUBLIC
const Ogre::LightList & getLights() const override;
private:
RVIZ_RENDERING_PUBLIC
void initializeRenderOperation(Ogre::RenderOperation::OperationType operation_type);
RVIZ_RENDERING_PUBLIC
void specifyBufferContent(bool use_tex_coords);
RVIZ_RENDERING_PUBLIC
void createAndBindBuffer(int num_points);
PointCloud * parent_;
};
typedef std::shared_ptr<PointCloudRenderable> PointCloudRenderablePtr;
typedef std::deque<PointCloudRenderablePtr> PointCloudRenderableQueue;
} // namespace rviz_rendering
#endif // RVIZ_RENDERING__OBJECTS__POINT_CLOUD_RENDERABLE_HPP_