rviz_interaction_tools: point_cloud.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_INTERACTION_TOOLS_POINT_CLOUD_H
00031 #define RVIZ_INTERACTION_TOOLS_POINT_CLOUD_H
00032 
00033 #include <OGRE/OgreSimpleRenderable.h>
00034 #include <OGRE/OgreMovableObject.h>
00035 #include <OGRE/OgreString.h>
00036 #include <OGRE/OgreAxisAlignedBox.h>
00037 #include <OGRE/OgreVector3.h>
00038 #include <OGRE/OgreMaterial.h>
00039 #include <OGRE/OgreColourValue.h>
00040 #include <OGRE/OgreRoot.h>
00041 #include <OGRE/OgreHardwareBufferManager.h>
00042 
00043 #include <stdint.h>
00044 
00045 #include <vector>
00046 
00047 #include <boost/shared_ptr.hpp>
00048 
00049 namespace Ogre
00050 {
00051 class SceneManager;
00052 class ManualObject;
00053 class SceneNode;
00054 class RenderQueue;
00055 class Camera;
00056 class RenderSystem;
00057 class Matrix4;
00058 }
00059 
00060 namespace rviz_interaction_tools
00061 {
00062 
00063 class PointCloud;
00064 class PointCloudRenderable : public Ogre::SimpleRenderable
00065 {
00066 public:
00067   PointCloudRenderable(PointCloud* parent, bool use_tex_coords);
00068   ~PointCloudRenderable();
00069 
00070   Ogre::RenderOperation* getRenderOperation() { return &mRenderOp; }
00071   Ogre::HardwareVertexBufferSharedPtr getBuffer();
00072 
00073   virtual Ogre::Real getBoundingRadius(void) const;
00074   virtual Ogre::Real getSquaredViewDepth(const Ogre::Camera* cam) const;
00075   virtual void _notifyCurrentCamera(Ogre::Camera* camera);
00076   virtual void getWorldTransforms(Ogre::Matrix4* xform) const;
00077   virtual const Ogre::LightList& getLights() const;
00078   virtual void _updateRenderQueue(Ogre::RenderQueue* queue);
00079 
00080 private:
00081   Ogre::MaterialPtr material_;
00082   PointCloud* parent_;
00083 };
00084 
00085 typedef boost::shared_ptr<PointCloudRenderable> PointCloudRenderablePtr;
00086 typedef std::vector<PointCloudRenderablePtr> V_PointCloudRenderable;
00087 
00098 class PointCloud : public Ogre::MovableObject
00099 {
00100 public:
00101 
00102   PointCloud();
00103   ~PointCloud();
00104 
00108   void clear();
00109 
00114   struct Point
00115   {
00116     inline void setColor(float r, float g, float b)
00117     {
00118       Ogre::Root* root = Ogre::Root::getSingletonPtr();
00119       root->convertColourValue(Ogre::ColourValue(r, g, b), &color);
00120     }
00121 
00122     float x;
00123     float y;
00124     float z;
00125     uint32_t color;
00126   };
00127 
00134   void addPoints( Point* points, uint32_t num_points );
00135 
00136   void setMaterial( const Ogre::String& material_name );
00137 
00138   virtual void setRenderQueueGroup( Ogre::uint8 queueID );
00139 
00140   //ogre interface implementation
00141   virtual const Ogre::String& getMovableType() const { return sm_Type; }
00142   virtual const Ogre::AxisAlignedBox& getBoundingBox() const;
00143   virtual float getBoundingRadius() const;
00144   virtual void getWorldTransforms( Ogre::Matrix4* xform ) const;
00145   virtual void _updateRenderQueue( Ogre::RenderQueue* queue );
00146   virtual void _notifyCurrentCamera( Ogre::Camera* camera );
00147   virtual void _notifyAttached(Ogre::Node *parent, bool isTagPoint=false);
00148 #if (OGRE_VERSION_MAJOR >= 1 && OGRE_VERSION_MINOR >= 6)
00149   virtual void visitRenderables(Ogre::Renderable::Visitor* visitor, bool debugRenderables);
00150 #endif
00151 
00152 private:
00153 
00154   uint32_t getVerticesPerPoint();
00155   PointCloudRenderablePtr getOrCreateRenderable();
00156   void regenerateAll();
00157   void shrinkRenderables();
00158 
00159   Ogre::AxisAlignedBox bounding_box_;       
00160   float bounding_radius_;                   
00161 
00162   typedef std::vector<Point> V_Point;
00163   V_Point points_;                          
00164   uint32_t point_count_;                    
00165 
00166   Ogre::MaterialPtr current_material_;
00167 
00168   V_PointCloudRenderable renderables_;
00169 
00170   bool current_mode_supports_geometry_shader_;
00171 
00172   static Ogre::String sm_Type;              
00173 };
00174 
00175 } // namespace ogre_tools
00176 
00177 #endif