PointcloudDrawer.cpp

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/*
 * This file is part of OctoMap - An Efficient Probabilistic 3D Mapping
 * Framework Based on Octrees
 * http://octomap.github.io
 *
 * Copyright (c) 2009-2014, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved. License for the viewer octovis: GNU GPL v2
 * http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
 *
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see http://www.gnu.org/licenses/.
 */
 
#include <octovis/PointcloudDrawer.h>
 
namespace octomap {
 
  PointcloudDrawer::PointcloudDrawer()
    : ScanGraphDrawer(), m_pointsArray(NULL), m_numberPoints(0)
  {
  }
 
  PointcloudDrawer::PointcloudDrawer(const ScanGraph& graph)
    : ScanGraphDrawer(), m_pointsArray(NULL), m_numberPoints(0)
  {
    this->setScanGraph(graph);
 
  }
 
  PointcloudDrawer::~PointcloudDrawer() {
    clear();
 
  }
 
  void PointcloudDrawer::setScanGraph(const ScanGraph& graph){
    clear();
 
    // count points first:
    for (octomap::ScanGraph::const_iterator it = graph.begin(); it != graph.end(); it++) {
      m_numberPoints += (*it)->scan->size();
    }
 
    m_pointsArray = new GLfloat[3*m_numberPoints];
 
    unsigned i = 0;
    for (octomap::ScanGraph::const_iterator graph_it = graph.begin(); graph_it != graph.end(); graph_it++) {
      octomap::Pointcloud* scan = new Pointcloud((*graph_it)->scan);
      scan->transformAbsolute((*graph_it)->pose);
 
      for (Pointcloud::iterator pc_it = scan->begin(); pc_it != scan->end(); ++pc_it){
        m_pointsArray[3*i] = pc_it->x();
        m_pointsArray[3*i +1] = pc_it->y();
        m_pointsArray[3*i +2] = pc_it->z();
 
        i++;
      }
      delete scan;
    }
  }
 
  void PointcloudDrawer::clear(){
 
    if (m_numberPoints != 0) {
      delete[] m_pointsArray;
      m_numberPoints = 0;
    }
  }
 
  void PointcloudDrawer::draw() const{
    if (m_numberPoints == 0)
      return;
 
    glEnable(GL_POINT_SMOOTH);
    glEnableClientState(GL_VERTEX_ARRAY);
 
   // TODO: find a solution for printout-mode (=> separate drawer?)
//    if (m_printoutMode){
//      if (!m_drawFree) {
//        glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
//      }
//      glColor4f(0.0, 0.0, 0.0, 1.);
//    } else{
//      glColor4f(1.0, 0.0, 0.0, 1.);
//    }
 
    glPointSize(1.0);
    glColor4f(1.0, 0.0, 0.0, 1.);
 
    glVertexPointer(3, GL_FLOAT, 0, m_pointsArray);
    glDrawArrays(GL_POINTS, 0, m_numberPoints);
    glDisableClientState(GL_VERTEX_ARRAY);
  }
 
}