PointcloudDrawer.h

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/*
 * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
 * Framework Based on Octrees
 * http://octomap.github.io
 *
 * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved. License for the viewer octovis: GNU GPL v2
 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
 *
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see http://www.gnu.org/licenses/.
 */

#ifndef POINTCLOUDDRAWER_H_
#define POINTCLOUDDRAWER_H_

#include "SceneObject.h"

namespace octomap {

  class PointcloudDrawer: public ScanGraphDrawer {
  public:
    PointcloudDrawer();
    PointcloudDrawer(const ScanGraph& graph);
    virtual ~PointcloudDrawer();

    virtual void draw() const;
    virtual void clear();
    virtual void setScanGraph(const ScanGraph& graph);

  protected:
    GLfloat* m_pointsArray;
    unsigned m_numberPoints;

  };

}

#endif /* POINTCLOUDDRAWER_H_ */