Functions | Variables
scene.cpp File Reference
#include <tango-gl/conversions.h>
#include <tango-gl/gesture_camera.h>
#include <tango-gl/util.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_surface.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
#include <glm/gtx/transform.hpp>
#include "scene.h"
#include "util.h"
Include dependency graph for scene.cpp:

Go to the source code of this file.

Functions

std::vector< glm::vec4computeFrustumPlanes (const glm::mat4 &mat, bool normalize=true)
 
bool intersectFrustumAABB (const std::vector< glm::vec4 > &planes, const pcl::PointXYZ &boxMin, const pcl::PointXYZ &boxMax)
 

Variables

const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f)
 
const std::string kGraphFragmentShader
 
const std::string kGraphVertexShader
 
const tango_gl::Color kGridColor (0.85f, 0.85f, 0.85f)
 
const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f)
 
const tango_gl::Color kTraceColor (0.66f, 0.66f, 0.66f)
 

Function Documentation

◆ computeFrustumPlanes()

std::vector<glm::vec4> computeFrustumPlanes ( const glm::mat4 mat,
bool  normalize = true 
)

Definition at line 276 of file scene.cpp.

◆ intersectFrustumAABB()

bool intersectFrustumAABB ( const std::vector< glm::vec4 > &  planes,
const pcl::PointXYZ &  boxMin,
const pcl::PointXYZ &  boxMax 
)

Tells whether or not b is intersecting f. http://www.txutxi.com/?p=584

Parameters
planesViewing frustum.
boxMinThe axis aligned bounding box min.
boxMaxThe axis aligned bounding box max.
Returns
True if b intersects f, false otherwise.

Definition at line 349 of file scene.cpp.

Variable Documentation

◆ kFrustumScale

const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f)

Definition at line 48 of file scene.cpp.

◆ kGraphFragmentShader

const std::string kGraphFragmentShader
Initial value:
=
"precision mediump float;\n"
"precision mediump int;\n"
"varying vec3 v_color;\n"
"void main() {\n"
" gl_FragColor = vec4(v_color.z, v_color.y, v_color.x, 1.0);\n"
"}\n"

Definition at line 61 of file scene.cpp.

◆ kGraphVertexShader

const std::string kGraphVertexShader
Initial value:
=
"precision mediump float;\n"
"precision mediump int;\n"
"attribute vec3 vertex;\n"
"uniform vec3 color;\n"
"uniform mat4 mvp;\n"
"varying vec3 v_color;\n"
"void main() {\n"
" gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
" v_color = color;\n"
"}\n"

Definition at line 50 of file scene.cpp.

◆ kGridColor

const tango_gl::Color kGridColor(0.85f, 0.85f, 0.85f)

◆ kHeightOffset

const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f)

Definition at line 39 of file scene.cpp.

◆ kTraceColor

const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f)


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:38:58