PointCloud.hpp

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 /*
 * PointCloud.hpp
 *
 *  Created on: 20.08.2011
 *      Author: Thomas Wiemann
 */
 
#ifndef POINTCLOUD_H_
#define POINTCLOUD_H_
 
#include "lvr2/display/Renderable.hpp"
 
#include "lvr2/geometry/ColorVertex.hpp"
 
#include <vector>
#include <string>
#include <fstream>
 
 
using namespace std;
 
 
namespace lvr2
{
 
enum
{
    RenderPoints                = 0x01,
    RenderNormals               = 0x02,
};
 
class PointCloud : public Renderable{
public:
    using uColorVertex = ColorVertex<float, unsigned char>;
    PointCloud();
    PointCloud(ModelPtr loader, string name = "<unamed cloud>");
    PointCloud(PointBufferPtr buffer, string name = "<unamed cloud>");
 
    virtual ~PointCloud();
    virtual inline void render();
 
    vector<uColorVertex> getPoints(){return m_points;};
    void setPoints(){};
 
    void addPoint(float x, float y, float z, unsigned char r, unsigned char g, unsigned char b)
    {
        m_boundingBox->expand(Vec(x, y, z));
        m_points.push_back(uColorVertex(x, y, z, r, g, b));
    };
 
    void addPoint(const uColorVertex& v) 
    {
        m_boundingBox->expand(Vec(v.x, v.y, v.z));
        m_points.push_back(v);
    };
 
    void clear(){
        delete m_boundingBox;
        m_boundingBox = new BoundingBox<Vec>;
        m_points.clear();
    };
 
    void updateBuffer(PointBufferPtr buffer);
 
    void updateDisplayLists();
//private:
    vector<uColorVertex> m_points;
 
    void setRenderMode(int mode) {m_renderMode = mode;}
 
 
private:
    int getFieldsPerLine(string filename);
    void init(PointBufferPtr buffer);
 
    int                        m_renderMode;
    GLuint                     m_normalListIndex;
    floatArr                   m_normals;
    size_t                     m_numNormals;
 
};
 
inline void PointCloud::render()
{
    //cout << name << " : Active: " << " " << active << " selected : " << selected << endl;
    if(m_listIndex != -1 && m_active)
    {
        // Increase point size if normal rendering is enabled
        if(m_renderMode & RenderNormals)
        {
            glPointSize(5.0);
        }
        else
        {
            glPointSize(m_pointSize);
        }
        glDisable(GL_LIGHTING);
        glPushMatrix();
        glMultMatrixf(m_transformation.getData());
 
        // Render points
        if(m_selected)
        {
            glCallList(m_activeListIndex);
        }
        else
        {
            glCallList(m_listIndex);
        }
 
        // Render normals
        if(m_renderMode & RenderNormals)
        {
            glCallList(m_normalListIndex);
        }
        glPointSize(1.0);
        glEnable(GL_LIGHTING);
        glPopMatrix();
    }
}
 
} // namespace lvr2
 
#endif /* POINTCLOUD_H_ */