#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 rtabmap::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 rtabmap::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 rtabmap::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
	)

inlineprivate

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 rtabmap::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`
	)

Definition at line 355 of file point_cloud_drawable.cpp.

Member Data Documentation

pcl::PointXYZ PointCloudDrawable::aabbMaxModel_

private

Definition at line 137 of file point_cloud_drawable.h.

pcl::PointXYZ PointCloudDrawable::aabbMaxWorld_

private

Definition at line 139 of file point_cloud_drawable.h.

pcl::PointXYZ PointCloudDrawable::aabbMinModel_

private

Definition at line 136 of file point_cloud_drawable.h.

pcl::PointXYZ PointCloudDrawable::aabbMinWorld_

private

Definition at line 138 of file point_cloud_drawable.h.

float PointCloudDrawable::gainB_

private

Definition at line 134 of file point_cloud_drawable.h.

float PointCloudDrawable::gainG_

private

Definition at line 133 of file point_cloud_drawable.h.

float PointCloudDrawable::gainR_

private

Definition at line 132 of file point_cloud_drawable.h.

bool PointCloudDrawable::hasNormals_

private

Definition at line 128 of file point_cloud_drawable.h.

float PointCloudDrawable::minHeight_

private

Definition at line 130 of file point_cloud_drawable.h.

int PointCloudDrawable::nPoints_

private

Definition at line 124 of file point_cloud_drawable.h.

std::vector<unsigned int> PointCloudDrawable::organizedToDenseIndices_

private

Definition at line 129 of file point_cloud_drawable.h.

std::vector<GLuint> PointCloudDrawable::polygonLines_

private

Definition at line 120 of file point_cloud_drawable.h.

std::vector<GLuint> PointCloudDrawable::polygonLinesLowRes_

private

Definition at line 121 of file point_cloud_drawable.h.

std::vector<GLuint> PointCloudDrawable::polygons_

private

Definition at line 118 of file point_cloud_drawable.h.

std::vector<GLuint> PointCloudDrawable::polygonsLowRes_

private

Definition at line 119 of file point_cloud_drawable.h.

rtabmap::Transform PointCloudDrawable::pose_

private

Definition at line 125 of file point_cloud_drawable.h.

glm::mat4 PointCloudDrawable::poseGl_

private

Definition at line 126 of file point_cloud_drawable.h.

std::vector< GLuint > PointCloudDrawable::shaderPrograms_

staticprivate

Definition at line 48 of file point_cloud_drawable.h.

GLuint PointCloudDrawable::textures_

private

Definition at line 117 of file point_cloud_drawable.h.

GLuint PointCloudDrawable::vertex_buffers_

private

Definition at line 116 of file point_cloud_drawable.h.

std::vector<GLuint> PointCloudDrawable::verticesLowLowRes_

private

Definition at line 123 of file point_cloud_drawable.h.

std::vector<GLuint> PointCloudDrawable::verticesLowRes_

private

Definition at line 122 of file point_cloud_drawable.h.

bool PointCloudDrawable::visible_

private

Definition at line 127 of file point_cloud_drawable.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation