Public Member Functions | Public Attributes | Private Attributes | List of all members
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< intgetAddedClouds () const
 
std::set< intgetAddedMarkers () 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

BackgroundRendererbackground_renderer_
 

Private Attributes

tango_gl::Axisaxis_
 
float b_
 
bool backfaceCulling_
 
bool blending_
 
bool boundingBoxRendering_
 
BoundingBoxDrawablebox_
 
rtabmap::ScreenRotation color_camera_to_display_rotation_
 
rtabmap::TransformcurrentPose_
 
GLuint depthTexture_
 
bool doubleTapOn_
 
cv::Point2f doubleTapPos_
 
GLuint fboId_
 
tango_gl::Frustumfrustum_
 
bool frustumVisible_
 
float g_
 
tango_gl::GestureCameragesture_camera_
 
GraphDrawablegraph_
 
GLuint graph_shader_program_
 
bool graphVisible_
 
tango_gl::Gridgrid_
 
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::Tracetrace_
 
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.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:26