#include <point_cloud_drawable.h>

Public Member Functions
const pcl::PointXYZ &	aabbMaxModel () const

const pcl::PointXYZ &	aabbMaxWorld () const

const pcl::PointXYZ &	aabbMinModel () const

const pcl::PointXYZ &	aabbMinWorld () const

float	getMinHeight () const

rtabmap::Transform	getPose () const

const glm::mat4 &	getPoseGl () const

bool	hasMesh () const

bool	hasTexture () const

bool	isVisible () const

	PointCloudDrawable (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float gainR=1.0f, float gainG=1.0f, float gainB=1.0f)

	PointCloudDrawable (const rtabmap::Mesh &mesh, bool createWireframe=false)

void	Render (const glm::mat4 &projectionMatrix, const glm::mat4 &viewMatrix, bool meshRendering=true, float pointSize=3.0f, bool textureRendering=false, bool lighting=true, float distanceToCamSqr=0.0f, const GLuint &depthTexture=0, int screenWidth=0, int screenHeight=0, float nearClipPlane=0, float farClipPlane=0, bool packDepthToColorChannel=false, bool wireFrame=false) const

void	setGains (float gainR, float gainG, float gainB)

void	setPose (const rtabmap::Transform &pose)

void	setVisible (bool visible)

void	updateCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices)

void	updateMesh (const rtabmap::Mesh &mesh, bool createWireframe=false)

void	updatePolygons (const std::vector< pcl::Vertices > &polygons, const std::vector< pcl::Vertices > &polygonsLowRes=std::vector< pcl::Vertices >(), bool createWireframe=false)

virtual	~PointCloudDrawable ()

Static Public Member Functions
static void	createShaderPrograms ()

static void	releaseShaderPrograms ()

Private Member Functions
template<class PointT >
void	updateAABBMinMax (const PointT &pt, pcl::PointXYZ &min, pcl::PointXYZ &max)

void	updateAABBWorld (const rtabmap::Transform &pose)

Private Attributes
pcl::PointXYZ	aabbMaxModel_

pcl::PointXYZ	aabbMaxWorld_

pcl::PointXYZ	aabbMinModel_

pcl::PointXYZ	aabbMinWorld_

float	gainB_

float	gainG_

float	gainR_

bool	hasNormals_

std::vector< GLuint >	index_buffers_

std::vector< int >	index_buffers_count_

float	minHeight_

int	nPoints_

std::vector< unsigned int >	organizedToDenseIndices_

rtabmap::Transform	pose_

glm::mat4	poseGl_

GLuint	texture_

GLuint	vertex_buffer_

bool	visible_

Static Private Attributes
static std::vector< GLuint >	shaderPrograms_

Detailed Description

Definition at line 44 of file point_cloud_drawable.h.

Constructor & Destructor Documentation

◆ PointCloudDrawable() [1/2]

PointCloudDrawable::PointCloudDrawable	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	gainR = `1.0f`,
		float	gainG = `1.0f`,
		float	gainB = `1.0f`
	)

Definition at line 306 of file point_cloud_drawable.cpp.

◆ PointCloudDrawable() [2/2]

PointCloudDrawable::PointCloudDrawable	(	const rtabmap::Mesh &	mesh,
		bool	createWireframe = `false`
	)

Definition at line 328 of file point_cloud_drawable.cpp.

◆ ~PointCloudDrawable()

PointCloudDrawable::~PointCloudDrawable ( )

virtual

Definition at line 347 of file point_cloud_drawable.cpp.

Member Function Documentation

◆ aabbMaxModel()

const pcl::PointXYZ& PointCloudDrawable::aabbMaxModel ( ) const

inline

Definition at line 77 of file point_cloud_drawable.h.

◆ aabbMaxWorld()

const pcl::PointXYZ& PointCloudDrawable::aabbMaxWorld ( ) const

inline

Definition at line 79 of file point_cloud_drawable.h.

◆ aabbMinModel()

const pcl::PointXYZ& PointCloudDrawable::aabbMinModel ( ) const

inline

Definition at line 76 of file point_cloud_drawable.h.

◆ aabbMinWorld()

const pcl::PointXYZ& PointCloudDrawable::aabbMinWorld ( ) const

inline

Definition at line 78 of file point_cloud_drawable.h.

◆ createShaderPrograms()

void PointCloudDrawable::createShaderPrograms ( )

static

Definition at line 269 of file point_cloud_drawable.cpp.

◆ getMinHeight()

float PointCloudDrawable::getMinHeight ( ) const

inline

Definition at line 75 of file point_cloud_drawable.h.

◆ getPose()

rtabmap::Transform PointCloudDrawable::getPose ( ) const

inline

Definition at line 70 of file point_cloud_drawable.h.

◆ getPoseGl()

const glm::mat4& PointCloudDrawable::getPoseGl ( ) const

inline

Definition at line 71 of file point_cloud_drawable.h.

◆ hasMesh()

bool PointCloudDrawable::hasMesh ( ) const

inline

Definition at line 73 of file point_cloud_drawable.h.

◆ hasTexture()

bool PointCloudDrawable::hasTexture ( ) const

inline

Definition at line 74 of file point_cloud_drawable.h.

◆ isVisible()

bool PointCloudDrawable::isVisible ( ) const

inline

Definition at line 72 of file point_cloud_drawable.h.

◆ releaseShaderPrograms()

void PointCloudDrawable::releaseShaderPrograms ( )

static

Definition at line 297 of file point_cloud_drawable.cpp.

◆ Render()

void PointCloudDrawable::Render	(	const glm::mat4 &	projectionMatrix,
		const glm::mat4 &	viewMatrix,
		bool	meshRendering = `true`,
		float	pointSize = `3.0f`,
		bool	textureRendering = `false`,
		bool	lighting = `true`,
		float	distanceToCamSqr = `0.0f`,
		const GLuint &	depthTexture = `0`,
		int	screenWidth = `0`,
		int	screenHeight = `0`,
		float	nearClipPlane = `0`,
		float	farClipPlane = `0`,
		bool	packDepthToColorChannel = `false`,
		bool	wireFrame = `false`
	)		const

Definition at line 997 of file point_cloud_drawable.cpp.

◆ setGains()

void PointCloudDrawable::setGains	(	float	gainR,
		float	gainG,
		float	gainB
	)

inline

Definition at line 69 of file point_cloud_drawable.h.

◆ setPose()

void PointCloudDrawable::setPose ( const rtabmap::Transform & pose )

Definition at line 959 of file point_cloud_drawable.cpp.

◆ setVisible()

void PointCloudDrawable::setVisible ( bool visible )

inline

Definition at line 68 of file point_cloud_drawable.h.

◆ updateAABBMinMax()

template<class PointT >

void PointCloudDrawable::updateAABBMinMax	(	const PointT &	pt,
		pcl::PointXYZ &	min,
		pcl::PointXYZ &	max
	)

inlineprivate

Definition at line 105 of file point_cloud_drawable.h.

◆ updateAABBWorld()

void PointCloudDrawable::updateAABBWorld ( const rtabmap::Transform & pose )

private

Definition at line 972 of file point_cloud_drawable.cpp.

◆ updateCloud()

void PointCloudDrawable::updateCloud	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices
	)

Definition at line 467 of file point_cloud_drawable.cpp.

◆ updateMesh()

void PointCloudDrawable::updateMesh	(	const rtabmap::Mesh &	mesh,
		bool	createWireframe = `false`
	)

Definition at line 621 of file point_cloud_drawable.cpp.

◆ updatePolygons()

void PointCloudDrawable::updatePolygons	(	const std::vector< pcl::Vertices > &	polygons,
		const std::vector< pcl::Vertices > &	polygonsLowRes = `std::vector<pcl::Vertices>()`,
		bool	createWireframe = `false`
	)

Definition at line 375 of file point_cloud_drawable.cpp.

Member Data Documentation

◆ aabbMaxModel_

pcl::PointXYZ PointCloudDrawable::aabbMaxModel_

private

Definition at line 135 of file point_cloud_drawable.h.

◆ aabbMaxWorld_

pcl::PointXYZ PointCloudDrawable::aabbMaxWorld_

private

Definition at line 137 of file point_cloud_drawable.h.

◆ aabbMinModel_

pcl::PointXYZ PointCloudDrawable::aabbMinModel_

private

Definition at line 134 of file point_cloud_drawable.h.

◆ aabbMinWorld_

pcl::PointXYZ PointCloudDrawable::aabbMinWorld_

private

Definition at line 136 of file point_cloud_drawable.h.

◆ gainB_

float PointCloudDrawable::gainB_

private

Definition at line 132 of file point_cloud_drawable.h.

◆ gainG_

float PointCloudDrawable::gainG_

private

Definition at line 131 of file point_cloud_drawable.h.

◆ gainR_

float PointCloudDrawable::gainR_

private

Definition at line 130 of file point_cloud_drawable.h.

◆ hasNormals_

bool PointCloudDrawable::hasNormals_

private

Definition at line 126 of file point_cloud_drawable.h.

◆ index_buffers_

std::vector<GLuint> PointCloudDrawable::index_buffers_

private

Definition at line 120 of file point_cloud_drawable.h.

◆ index_buffers_count_

std::vector<int> PointCloudDrawable::index_buffers_count_

private

Definition at line 121 of file point_cloud_drawable.h.

◆ minHeight_

float PointCloudDrawable::minHeight_

private

Definition at line 128 of file point_cloud_drawable.h.

◆ nPoints_

int PointCloudDrawable::nPoints_

private

Definition at line 122 of file point_cloud_drawable.h.

◆ organizedToDenseIndices_

std::vector<unsigned int> PointCloudDrawable::organizedToDenseIndices_

private

Definition at line 127 of file point_cloud_drawable.h.

◆ pose_

rtabmap::Transform PointCloudDrawable::pose_

private

Definition at line 123 of file point_cloud_drawable.h.

◆ poseGl_

glm::mat4 PointCloudDrawable::poseGl_

private

Definition at line 124 of file point_cloud_drawable.h.

◆ shaderPrograms_

std::vector< GLuint > PointCloudDrawable::shaderPrograms_

staticprivate

Definition at line 50 of file point_cloud_drawable.h.

◆ texture_

GLuint PointCloudDrawable::texture_

private

Definition at line 119 of file point_cloud_drawable.h.

◆ vertex_buffer_

GLuint PointCloudDrawable::vertex_buffer_

private

Definition at line 118 of file point_cloud_drawable.h.

◆ visible_

bool PointCloudDrawable::visible_

private

Definition at line 125 of file point_cloud_drawable.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PointCloudDrawable() [1/2]

◆ PointCloudDrawable() [2/2]

◆ ~PointCloudDrawable()

Member Function Documentation

◆ aabbMaxModel()

◆ aabbMaxWorld()

◆ aabbMinModel()

◆ aabbMinWorld()

◆ createShaderPrograms()

◆ getMinHeight()

◆ getPose()

◆ getPoseGl()

◆ hasMesh()

◆ hasTexture()

◆ isVisible()

◆ releaseShaderPrograms()

◆ Render()

◆ setGains()

◆ setPose()

◆ setVisible()

◆ updateAABBMinMax()

◆ updateAABBWorld()

◆ updateCloud()

◆ updateMesh()

◆ updatePolygons()

Member Data Documentation

◆ aabbMaxModel_

◆ aabbMaxWorld_

◆ aabbMinModel_

◆ aabbMinWorld_

◆ gainB_

◆ gainG_

◆ gainR_

◆ hasNormals_

◆ index_buffers_

◆ index_buffers_count_

◆ minHeight_

◆ nPoints_

◆ organizedToDenseIndices_

◆ pose_

◆ poseGl_

◆ shaderPrograms_

◆ texture_

◆ vertex_buffer_

◆ visible_