Program Listing for File point_cloud_renderable.hpp

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// Copyright (c) 2008, Willow Garage, Inc.
// Copyright (c) 2017, Bosch Software Innovations GmbH.
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#ifndef RVIZ_RENDERING__OBJECTS__POINT_CLOUD_RENDERABLE_HPP_
#define RVIZ_RENDERING__OBJECTS__POINT_CLOUD_RENDERABLE_HPP_

#include <deque>
#include <memory>

#include <OgreSimpleRenderable.h>
#include <OgreString.h>
#include <OgreAxisAlignedBox.h>
#include <OgreVector.h>
#include <OgreMaterial.h>
#include <OgreColourValue.h>
#include <OgreRoot.h>
#include <OgreHardwareBufferManager.h>
#include <OgreSharedPtr.h>

#include "rviz_rendering/visibility_control.hpp"

namespace Ogre
{
class SceneManager;
class ManualObject;
class SceneNode;
class RenderQueue;
class Camera;
class RenderSystem;
class Matrix4;
}

namespace rviz_rendering
{

class PointCloud;

class PointCloudRenderable : public Ogre::SimpleRenderable
{
public:
  RVIZ_RENDERING_PUBLIC
  PointCloudRenderable(
    PointCloud * parent, int num_points, bool use_tex_coords,
    Ogre::RenderOperation::OperationType operationType);

  RVIZ_RENDERING_PUBLIC
  virtual ~PointCloudRenderable();

  RVIZ_RENDERING_PUBLIC
  Ogre::RenderOperation * getRenderOperation() {return &mRenderOp;}

  // Avoid hidding parent class overload.
  using Ogre::SimpleRenderable::getRenderOperation;

  RVIZ_RENDERING_PUBLIC
  Ogre::HardwareVertexBufferSharedPtr getBuffer();

  RVIZ_RENDERING_PUBLIC
  Ogre::Real getBoundingRadius() const override;

  RVIZ_RENDERING_PUBLIC
  Ogre::Real getSquaredViewDepth(const Ogre::Camera * cam) const override;

  RVIZ_RENDERING_PUBLIC
  void _notifyCurrentCamera(Ogre::Camera * camera) override;

  RVIZ_RENDERING_PUBLIC
  uint16_t getNumWorldTransforms() const override {return 1;}

  RVIZ_RENDERING_PUBLIC
  void getWorldTransforms(Ogre::Matrix4 * xform) const override;

  RVIZ_RENDERING_PUBLIC
  const Ogre::LightList & getLights() const override;

private:
  RVIZ_RENDERING_PUBLIC
  void initializeRenderOperation(Ogre::RenderOperation::OperationType operation_type);

  RVIZ_RENDERING_PUBLIC
  void specifyBufferContent(bool use_tex_coords);

  RVIZ_RENDERING_PUBLIC
  void createAndBindBuffer(int num_points);

  PointCloud * parent_;
};
typedef std::shared_ptr<PointCloudRenderable> PointCloudRenderablePtr;
typedef std::deque<PointCloudRenderablePtr> PointCloudRenderableQueue;

}  // namespace rviz_rendering

#endif  // RVIZ_RENDERING__OBJECTS__POINT_CLOUD_RENDERABLE_HPP_