PointCloud.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/maps/CPointsMap.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mvsim/WorldElements/WorldElementBase.h>

#include <mutex>

namespace mvsim
{
class PointCloud : public WorldElementBase
{
        DECLARES_REGISTER_WORLD_ELEMENT(PointCloud)
   public:
        PointCloud(World* parent, const rapidxml::xml_node<char>* root);
        virtual ~PointCloud();

        void doLoadConfigFrom(const rapidxml::xml_node<char>* root);

        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override
        {
                doLoadConfigFrom(root);
        }

        virtual void simul_pre_timestep(const TSimulContext& context) override;

        const mrpt::maps::CPointsMap::Ptr& getPoints() const { return points_; }
        mrpt::maps::CPointsMap::Ptr& getPoints() { return points_; }

   protected:
        virtual void internalGuiUpdate(
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& viz,
                const mrpt::optional_ref<mrpt::opengl::COpenGLScene>& physical,
                bool childrenOnly) override;

        mrpt::maps::CPointsMap::Ptr points_;

        bool gui_uptodate_ = false;
        mrpt::opengl::CSetOfObjects::Ptr gl_points_;

        double render_points_size_ = 3.0;
        mrpt::poses::CPose3D pointcloud_pose_ = mrpt::poses::CPose3D::Identity();
};

}  // namespace mvsim