Scene Class Reference

#include <scene.h>

Public Member Functions
void	addCloud (int id, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const rtabmap::Transform &pose)
void	addMarker (int id, const rtabmap::Transform &pose)
void	addMesh (int id, const rtabmap::Mesh &mesh, const rtabmap::Transform &pose, bool createWireframe=false)
void	clear ()
void	DeleteResources ()
std::set< int >	getAddedClouds () const
std::set< int >	getAddedMarkers () const
rtabmap::Transform	GetCameraPose () const
tango_gl::GestureCamera::CameraType	GetCameraType () const
rtabmap::Transform	GetOpenGLCameraPose (float *fov=0) const
float	getPointSize () const
rtabmap::ScreenRotation	getScreenRotation () const
int	getViewPortHeight () const
int	getViewPortWidth () const
bool	hasCloud (int id) const
bool	hasMarker (int id) const
bool	hasMesh (int id) const
bool	hasTexture (int id) const
void	InitGLContent ()
bool	isBackfaceCulling () const
bool	isBlending () const
bool	isLighting () const
bool	isMapRendering () const
bool	isMeshRendering () const
bool	isMeshTexturing () const
bool	isWireframe () const
void	OnTouchEvent (int touch_count, tango_gl::GestureCamera::TouchEvent event, float x0, float y0, float x1, float y1)
void	removeMarker (int id)
int	Render (const float *uvsTransformed=0, glm::mat4 arViewMatrix=glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh &occlusionMesh=rtabmap::Mesh(), bool mapping=false)
	Scene ()
void	setBackfaceCulling (bool enabled)
void	setBackgroundColor (float r, float g, float b)
void	setBlending (bool enabled)
void	SetCameraPose (const rtabmap::Transform &pose)
void	SetCameraType (tango_gl::GestureCamera::CameraType camera_type)
void	setCloudPose (int id, const rtabmap::Transform &pose)
void	setCloudVisible (int id, bool visible)
void	setFOV (float angle)
void	setFrustumVisible (bool visible)
void	setGraphVisible (bool visible)
void	setGridColor (float r, float g, float b)
void	setGridRotation (float angleDeg)
void	setGridVisible (bool visible)
void	setLighting (bool enabled)
void	setMapRendering (bool enabled)
void	setMarkerPose (int id, const rtabmap::Transform &pose)
void	setMeshRendering (bool enabled, bool withTexture)
void	setOrthoCropFactor (float value)
void	setPointSize (float size)
void	setScreenRotation (rtabmap::ScreenRotation colorCameraToDisplayRotation)
void	setTraceVisible (bool visible)
void	SetupViewPort (int w, int h)
void	setWireframe (bool enabled)
void	updateCloudPolygons (int id, const std::vector< pcl::Vertices > &polygons)
void	updateGains (int id, float gainR, float gainG, float gainB)
void	updateGraph (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, rtabmap::Link > &links)
void	updateMesh (int id, const rtabmap::Mesh &mesh)
	~Scene ()

Public Attributes
BackgroundRenderer *	background_renderer_

Private Attributes
tango_gl::Axis *	axis_
float	b_
bool	backfaceCulling_
bool	blending_
bool	boundingBoxRendering_
BoundingBoxDrawable *	box_
rtabmap::ScreenRotation	color_camera_to_display_rotation_
rtabmap::Transform *	currentPose_
GLuint	depthTexture_
bool	doubleTapOn_
cv::Point2f	doubleTapPos_
GLuint	fboId_
tango_gl::Frustum *	frustum_
bool	frustumVisible_
float	g_
tango_gl::GestureCamera *	gesture_camera_
GraphDrawable *	graph_
GLuint	graph_shader_program_
bool	graphVisible_
tango_gl::Grid *	grid_
bool	gridVisible_
bool	lighting_
bool	mapRendering_
std::map< int, tango_gl::Axis * >	markers_
bool	meshRendering_
bool	meshRenderingTexture_
std::map< int, PointCloudDrawable * >	pointClouds_
float	pointSize_
float	r_
GLuint	rboId_
GLsizei	screenHeight_
GLsizei	screenWidth_
tango_gl::Trace *	trace_
bool	traceVisible_
bool	wireFrame_

Detailed Description

Definition at line 49 of file scene.h.

Constructor & Destructor Documentation

Scene()

Scene::Scene

(

)

Definition at line 71 of file scene.cpp.

~Scene()

Scene::~Scene

(

)

Definition at line 111 of file scene.cpp.

Member Function Documentation

addCloud()

void Scene::addCloud	(	int	id,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const rtabmap::Transform &	pose
	)

Definition at line 796 of file scene.cpp.

addMarker()

void Scene::addMarker	(	int	id,
		const rtabmap::Transform &	pose
	)

Definition at line 749 of file scene.cpp.

addMesh()

void Scene::addMesh	(	int	id,
		const rtabmap::Mesh &	mesh,
		const rtabmap::Transform &	pose,
		bool	createWireframe = false
	)

Definition at line 816 of file scene.cpp.

clear()

void Scene::clear

(

)

Definition at line 190 of file scene.cpp.

DeleteResources()

void Scene::DeleteResources

(

)

Definition at line 154 of file scene.cpp.

getAddedClouds()

std::set< int > Scene::getAddedClouds

(

)

const

Definition at line 923 of file scene.cpp.

getAddedMarkers()

std::set< int > Scene::getAddedMarkers

(

)

const

Definition at line 791 of file scene.cpp.

GetCameraPose()

rtabmap::Transform Scene::GetCameraPose ( ) const

inline

Definition at line 87 of file scene.h.

GetCameraType()

tango_gl::GestureCamera::CameraType Scene::GetCameraType ( ) const

inline

Definition at line 84 of file scene.h.

GetOpenGLCameraPose()

rtabmap::Transform Scene::GetOpenGLCameraPose

(

float *

fov = 0

)

const

Definition at line 687 of file scene.cpp.

getPointSize()

float Scene::getPointSize ( ) const

inline

Definition at line 155 of file scene.h.

getScreenRotation()

rtabmap::ScreenRotation Scene::getScreenRotation ( ) const

inline

Definition at line 66 of file scene.h.

getViewPortHeight()

int Scene::getViewPortHeight ( ) const

inline

Definition at line 64 of file scene.h.

getViewPortWidth()

int Scene::getViewPortWidth ( ) const

inline

Definition at line 63 of file scene.h.

hasCloud()

bool Scene::hasCloud

(

int

id

)

const

Definition at line 908 of file scene.cpp.

hasMarker()

bool Scene::hasMarker

(

int

id

)

const

Definition at line 778 of file scene.cpp.

hasMesh()

bool Scene::hasMesh

(

int

id

)

const

Definition at line 913 of file scene.cpp.

hasTexture()

bool Scene::hasTexture

(

int

id

)

const

Definition at line 918 of file scene.cpp.

InitGLContent()

void Scene::InitGLContent

(

)

Definition at line 118 of file scene.cpp.

isBackfaceCulling()

bool Scene::isBackfaceCulling ( ) const

inline

Definition at line 157 of file scene.h.

isBlending()

bool Scene::isBlending ( ) const

inline

Definition at line 151 of file scene.h.

isLighting()

bool Scene::isLighting ( ) const

inline

Definition at line 156 of file scene.h.

isMapRendering()

bool Scene::isMapRendering ( ) const

inline

Definition at line 152 of file scene.h.

isMeshRendering()

bool Scene::isMeshRendering ( ) const

inline

Definition at line 153 of file scene.h.

isMeshTexturing()

bool Scene::isMeshTexturing ( ) const

inline

Definition at line 154 of file scene.h.

isWireframe()

bool Scene::isWireframe ( ) const

inline

Definition at line 158 of file scene.h.

OnTouchEvent()

void Scene::OnTouchEvent	(	int	touch_count,
		tango_gl::GestureCamera::TouchEvent	event,
		float	x0,
		float	y0,
		float	x1,
		float	y1
	)

Definition at line 696 of file scene.cpp.

removeMarker()

void Scene::removeMarker

(

int

id

)

Definition at line 782 of file scene.cpp.

Render()

int Scene::Render	(	const float *	uvsTransformed = 0,
		glm::mat4	arViewMatrix = glm::mat4(0),
		glm::mat4	arProjectionMatrix = glm::mat4(0),
		const rtabmap::Mesh &	occlusionMesh = rtabmap::Mesh(),
		bool	mapping = false
	)

Definition at line 385 of file scene.cpp.

setBackfaceCulling()

void Scene::setBackfaceCulling ( bool  enabled )

inline

Definition at line 146 of file scene.h.

setBackgroundColor()

void Scene::setBackgroundColor ( float  r, float  g, float  b  )

inline

Definition at line 148 of file scene.h.

setBlending()

void Scene::setBlending ( bool  enabled )

inline

Definition at line 138 of file scene.h.

SetCameraPose()

void Scene::SetCameraPose

(

const rtabmap::Transform &

pose

)

Definition at line 659 of file scene.cpp.

SetCameraType()

void Scene::SetCameraType

(

tango_gl::GestureCamera::CameraType

camera_type

)

Definition at line 655 of file scene.cpp.

setCloudPose()

void Scene::setCloudPose	(	int	id,
		const rtabmap::Transform &	pose
	)

Definition at line 889 of file scene.cpp.

setCloudVisible()

void Scene::setCloudVisible	(	int	id,
		bool	visible
	)

Definition at line 899 of file scene.cpp.

setFOV()

void Scene::setFOV

(

float

angle

)

Definition at line 669 of file scene.cpp.

setFrustumVisible()

void Scene::setFrustumVisible

(

bool

visible

)

Definition at line 743 of file scene.cpp.

setGraphVisible()

void Scene::setGraphVisible

(

bool

visible

)

Definition at line 728 of file scene.cpp.

setGridColor()

void Scene::setGridColor	(	float	r,
		float	g,
		float	b
	)

Definition at line 955 of file scene.cpp.

setGridRotation()

void Scene::setGridRotation

(

float

angleDeg

)

Definition at line 677 of file scene.cpp.

setGridVisible()

void Scene::setGridVisible

(

bool

visible

)

Definition at line 733 of file scene.cpp.

setLighting()

void Scene::setLighting ( bool  enabled )

inline

Definition at line 145 of file scene.h.

setMapRendering()

void Scene::setMapRendering ( bool  enabled )

inline

Definition at line 139 of file scene.h.

setMarkerPose()

void Scene::setMarkerPose	(	int	id,
		const rtabmap::Transform &	pose
	)

Definition at line 765 of file scene.cpp.

setMeshRendering()

void Scene::setMeshRendering ( bool  enabled, bool  withTexture  )

inline

Definition at line 140 of file scene.h.

setOrthoCropFactor()

void Scene::setOrthoCropFactor

(

float

value

)

Definition at line 673 of file scene.cpp.

setPointSize()

void Scene::setPointSize ( float  size )

inline

Definition at line 141 of file scene.h.

setScreenRotation()

void Scene::setScreenRotation ( rtabmap::ScreenRotation  colorCameraToDisplayRotation )

inline

Definition at line 67 of file scene.h.

setTraceVisible()

void Scene::setTraceVisible

(

bool

visible

)

Definition at line 738 of file scene.cpp.

SetupViewPort()

void Scene::SetupViewPort	(	int	w,
		int	h
	)

Definition at line 219 of file scene.cpp.

setWireframe()

void Scene::setWireframe ( bool  enabled )

inline

Definition at line 147 of file scene.h.

updateCloudPolygons()

void Scene::updateCloudPolygons	(	int	id,
		const std::vector< pcl::Vertices > &	polygons
	)

Definition at line 928 of file scene.cpp.

updateGains()

void Scene::updateGains	(	int	id,
		float	gainR,
		float	gainG,
		float	gainB
	)

Definition at line 946 of file scene.cpp.

updateGraph()

void Scene::updateGraph	(	const std::map< int, rtabmap::Transform > &	poses,
		const std::multimap< int, rtabmap::Link > &	links
	)

Definition at line 717 of file scene.cpp.

updateMesh()

void Scene::updateMesh	(	int	id,
		const rtabmap::Mesh &	mesh
	)

Definition at line 937 of file scene.cpp.

Member Data Documentation

axis_

tango_gl::Axis* Scene::axis_

private

Definition at line 167 of file scene.h.

b_

float Scene::b_

private

Definition at line 208 of file scene.h.

backfaceCulling_

bool Scene::backfaceCulling_

private

Definition at line 204 of file scene.h.

background_renderer_

BackgroundRenderer* Scene::background_renderer_

Definition at line 160 of file scene.h.

blending_

bool Scene::blending_

private

Definition at line 197 of file scene.h.

boundingBoxRendering_

bool Scene::boundingBoxRendering_

private

Definition at line 202 of file scene.h.

box_

BoundingBoxDrawable* Scene::box_

private

Definition at line 176 of file scene.h.

color_camera_to_display_rotation_

rtabmap::ScreenRotation Scene::color_camera_to_display_rotation_

private

Definition at line 188 of file scene.h.

currentPose_

rtabmap::Transform* Scene::currentPose_

private

Definition at line 192 of file scene.h.

depthTexture_

GLuint Scene::depthTexture_

private

Definition at line 211 of file scene.h.

doubleTapOn_

bool Scene::doubleTapOn_

private

Definition at line 214 of file scene.h.

doubleTapPos_

cv::Point2f Scene::doubleTapPos_

private

Definition at line 215 of file scene.h.

fboId_

GLuint Scene::fboId_

private

Definition at line 209 of file scene.h.

frustum_

tango_gl::Frustum* Scene::frustum_

private

Definition at line 170 of file scene.h.

frustumVisible_

bool Scene::frustumVisible_

private

Definition at line 184 of file scene.h.

g_

float Scene::g_

private

Definition at line 207 of file scene.h.

gesture_camera_

tango_gl::GestureCamera* Scene::gesture_camera_

private

Definition at line 164 of file scene.h.

graph_

GraphDrawable* Scene::graph_

private

Definition at line 180 of file scene.h.

graph_shader_program_

GLuint Scene::graph_shader_program_

private

Definition at line 195 of file scene.h.

graphVisible_

bool Scene::graphVisible_

private

Definition at line 181 of file scene.h.

grid_

tango_gl::Grid* Scene::grid_

private

Definition at line 173 of file scene.h.

gridVisible_

bool Scene::gridVisible_

private

Definition at line 182 of file scene.h.

lighting_

bool Scene::lighting_

private

Definition at line 203 of file scene.h.

mapRendering_

bool Scene::mapRendering_

private

Definition at line 198 of file scene.h.

markers_

std::map<int, tango_gl::Axis*> Scene::markers_

private

Definition at line 186 of file scene.h.

meshRendering_

bool Scene::meshRendering_

private

Definition at line 199 of file scene.h.

meshRenderingTexture_

bool Scene::meshRenderingTexture_

private

Definition at line 200 of file scene.h.

pointClouds_

std::map<int, PointCloudDrawable*> Scene::pointClouds_

private

Definition at line 190 of file scene.h.

pointSize_

float Scene::pointSize_

private

Definition at line 201 of file scene.h.

r_

float Scene::r_

private

Definition at line 206 of file scene.h.

rboId_

GLuint Scene::rboId_

private

Definition at line 210 of file scene.h.

screenHeight_

GLsizei Scene::screenHeight_

private

Definition at line 213 of file scene.h.

screenWidth_

GLsizei Scene::screenWidth_

private

Definition at line 212 of file scene.h.

trace_

tango_gl::Trace* Scene::trace_

private

Definition at line 179 of file scene.h.

traceVisible_

bool Scene::traceVisible_

private

Definition at line 183 of file scene.h.

wireFrame_

bool Scene::wireFrame_

private

Definition at line 205 of file scene.h.

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

• scene.h
• scene.cpp