#include <tango-gl/conversions.h>
#include <tango-gl/gesture_camera.h>
#include <tango-gl/util.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_surface.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
#include <glm/gtx/transform.hpp>
#include "scene.h"
#include "util.h"

Include dependency graph for scene.cpp:

Functions
std::vector< glm::vec4 >	computeFrustumPlanes (const glm::mat4 &mat, bool normalize=true)

bool	intersectFrustumAABB (const std::vector< glm::vec4 > &planes, const pcl::PointXYZ &boxMin, const pcl::PointXYZ &boxMax)

Variables
const glm::vec3	kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f)

const std::string	kGraphFragmentShader

const std::string	kGraphVertexShader

const tango_gl::Color	kGridColor (0.85f, 0.85f, 0.85f)

const glm::vec3	kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f)

const tango_gl::Color	kTraceColor (0.66f, 0.66f, 0.66f)

Function Documentation

◆ computeFrustumPlanes()

std::vector<glm::vec4> computeFrustumPlanes	(	const glm::mat4 &	mat,
		bool	normalize = `true`
	)

Definition at line 276 of file scene.cpp.

◆ intersectFrustumAABB()

bool intersectFrustumAABB	(	const std::vector< glm::vec4 > &	planes,
		const pcl::PointXYZ &	boxMin,
		const pcl::PointXYZ &	boxMax
	)

Tells whether or not b is intersecting f. http://www.txutxi.com/?p=584

Parameters

planes	Viewing frustum.
boxMin	The axis aligned bounding box min.
boxMax	The axis aligned bounding box max.

Returns: True if b intersects f, false otherwise.

Definition at line 349 of file scene.cpp.

Variable Documentation

◆ kFrustumScale

const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f)

Definition at line 48 of file scene.cpp.

◆ kGraphFragmentShader

const std::string kGraphFragmentShader

Initial value:

=
    "precision mediump float;\n"
    "precision mediump int;\n"
    "varying vec3 v_color;\n"
    "void main() {\n"
    "  gl_FragColor = vec4(v_color.z, v_color.y, v_color.x, 1.0);\n"
    "}\n"

Definition at line 61 of file scene.cpp.

◆ kGraphVertexShader

const std::string kGraphVertexShader

Initial value:

=
    "precision mediump float;\n"
    "precision mediump int;\n"
    "attribute vec3 vertex;\n"
    "uniform vec3 color;\n"
    "uniform mat4 mvp;\n"
    "varying vec3 v_color;\n"
    "void main() {\n"
    "  gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
    "  v_color = color;\n"
    "}\n"

Definition at line 50 of file scene.cpp.

◆ kGridColor

const tango_gl::Color kGridColor(0.85f, 0.85f, 0.85f)

◆ kHeightOffset

const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f)

Definition at line 39 of file scene.cpp.

◆ kTraceColor

const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f)

Functions

Variables