Scene Class Reference

#include <scene.h>

Public Member Functions
void	addCircle (int id, float radius, const rtabmap::Transform &pose, const tango_gl::Color &color, float alpha=1.0f)
void	addCloud (int id, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const rtabmap::Transform &pose)
void	addLine (int id, const cv::Point3f &pt1, const cv::Point3f &pt2, const tango_gl::Color &color=tango_gl::Color(1.0f, 1.0f, 1.0f))
void	addMarker (int id, const rtabmap::Transform &pose)
void	addMesh (int id, const rtabmap::Mesh &mesh, const rtabmap::Transform &pose, bool createWireframe=false)
void	addQuad (int id, float size, const rtabmap::Transform &pose, const tango_gl::Color &color, float alpha=1.0f)
void	addQuad (int id, float widthLeft, float widthRight, float heightBottom, float heightTop, const rtabmap::Transform &pose, const tango_gl::Color &color, float alpha=1.0f)
void	addText (int id, const std::string &text, const rtabmap::Transform &pose, float size, const tango_gl::Color &color)
void	clear ()
void	clearCircles ()
void	clearLines ()
void	clearQuads ()
void	clearTexts ()
void	DeleteResources ()
std::set< int >	getAddedClouds () const
std::set< int >	getAddedMarkers () const
rtabmap::Transform	GetCameraPose () const
tango_gl::GestureCamera::CameraType	GetCameraType () const
rtabmap::Transform	GetOpenGLCameraPose (float *fov=0) const
float	getPointSize () const
rtabmap::ScreenRotation	getScreenRotation () const
int	getViewPortHeight () const
int	getViewPortWidth () const
bool	hasCircle (int id) const
bool	hasCloud (int id) const
bool	hasMarker (int id) const
bool	hasMesh (int id) const
bool	hasQuad (int id) const
bool	hasTexture (int id) const
void	InitGLContent ()
bool	isBackfaceCulling () const
bool	isBlending () const
bool	isLighting () const
bool	isMapRendering () const
bool	isMeshRendering () const
bool	isMeshTexturing () const
bool	isWireframe () const
void	OnTouchEvent (int touch_count, tango_gl::GestureCamera::TouchEvent event, float x0, float y0, float x1, float y1)
void	removeCircle (int id)
void	removeCloudOrMesh (int id)
void	removeLine (int id)
void	removeMarker (int id)
void	removeQuad (int id)
void	removeText (int id)
int	Render (const float *uvsTransformed=0, glm::mat4 arViewMatrix=glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh &occlusionMesh=rtabmap::Mesh(), bool mapping=false)
	Scene ()
void	setBackfaceCulling (bool enabled)
void	setBackgroundColor (float r, float g, float b)
void	setBlending (bool enabled)
void	SetCameraPose (const rtabmap::Transform &pose)
void	SetCameraType (tango_gl::GestureCamera::CameraType camera_type)
void	setCloudPose (int id, const rtabmap::Transform &pose)
void	setCloudVisible (int id, bool visible)
void	setFOV (float angle)
void	setFrustumVisible (bool visible)
void	setGraphVisible (bool visible)
void	setGridColor (float r, float g, float b)
void	setGridRotation (float angleDeg)
void	setGridVisible (bool visible)
void	setLighting (bool enabled)
void	setMapRendering (bool enabled)
void	setMarkerPose (int id, const rtabmap::Transform &pose)
void	setMeshRendering (bool enabled, bool withTexture)
void	setOrthoCropFactor (float value)
void	setPointSize (float size)
void	setScreenRotation (rtabmap::ScreenRotation colorCameraToDisplayRotation)
void	setTextureColorSeamsHidden (bool hidden)
void	setTraceVisible (bool visible)
void	SetupViewPort (int w, int h)
void	setWireframe (bool enabled)
void	updateCloudPolygons (int id, const std::vector< pcl::Vertices > &polygons)
void	updateGains (int id, float gainR, float gainG, float gainB)
void	updateGraph (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, rtabmap::Link > &links)
void	updateMesh (int id, const rtabmap::Mesh &mesh)
	~Scene ()

Public Attributes
BackgroundRenderer *	background_renderer_

Static Public Attributes
static const glm::vec3	kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f)

Private Attributes
tango_gl::Axis *	axis_
float	b_
bool	backfaceCulling_
bool	blending_
bool	boundingBoxRendering_
BoundingBoxDrawable *	box_
std::map< int, tango_gl::Circle * >	circles_
rtabmap::ScreenRotation	color_camera_to_display_rotation_
rtabmap::Transform *	currentPose_
GLuint	depthTexture_
bool	doubleTapOn_
cv::Point2f	doubleTapPos_
GLuint	fboId_
tango_gl::Frustum *	frustum_
bool	frustumVisible_
float	g_
tango_gl::GestureCamera *	gesture_camera_
GraphDrawable *	graph_
GLuint	graph_shader_program_
bool	graphVisible_
tango_gl::Grid *	grid_
bool	gridVisible_
bool	lighting_
std::map< int, tango_gl::Line * >	lines_
bool	mapRendering_
std::map< int, tango_gl::Axis * >	markers_
bool	meshRendering_
bool	meshRenderingTexture_
std::map< int, PointCloudDrawable * >	pointClouds_
float	pointSize_
std::map< int, QuadColor * >	quads_
float	r_
GLuint	rboId_
GLsizei	screenHeight_
GLsizei	screenWidth_
std::map< int, TextDrawable * >	texts_
bool	textureColorSeamsHidden_
tango_gl::Trace *	trace_
bool	traceVisible_
bool	wireFrame_

Detailed Description

Definition at line 52 of file scene.h.

Constructor & Destructor Documentation

Scene()

Scene::Scene

(

)

Definition at line 71 of file scene.cpp.

~Scene()

Scene::~Scene

(

)

Definition at line 112 of file scene.cpp.

Member Function Documentation

addCircle()

void Scene::addCircle	(	int	id,
		float	radius,
		const rtabmap::Transform &	pose,
		const tango_gl::Color &	color,
		float	alpha = 1.0f
	)

Definition at line 1111 of file scene.cpp.

addCloud()

void Scene::addCloud	(	int	id,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const rtabmap::Transform &	pose
	)

Definition at line 902 of file scene.cpp.

addLine()

void Scene::addLine	(	int	id,
		const cv::Point3f &	pt1,
		const cv::Point3f &	pt2,
		const tango_gl::Color &	color = tango_gl::Color(1.0f, 1.0f, 1.0f)
	)

Definition at line 994 of file scene.cpp.

addMarker()

void Scene::addMarker	(	int	id,
		const rtabmap::Transform &	pose
	)

Definition at line 855 of file scene.cpp.

addMesh()

void Scene::addMesh	(	int	id,
		const rtabmap::Mesh &	mesh,
		const rtabmap::Transform &	pose,
		bool	createWireframe = false
	)

Definition at line 927 of file scene.cpp.

addQuad() [1/2]

void Scene::addQuad	(	int	id,
		float	size,
		const rtabmap::Transform &	pose,
		const tango_gl::Color &	color,
		float	alpha = 1.0f
	)

Definition at line 1052 of file scene.cpp.

addQuad() [2/2]

void Scene::addQuad	(	int	id,
		float	widthLeft,
		float	widthRight,
		float	heightBottom,
		float	heightTop,
		const rtabmap::Transform &	pose,
		const tango_gl::Color &	color,
		float	alpha = 1.0f
	)

Definition at line 1075 of file scene.cpp.

addText()

void Scene::addText	(	int	id,
		const std::string &	text,
		const rtabmap::Transform &	pose,
		float	size,
		const tango_gl::Color &	color
	)

Definition at line 1028 of file scene.cpp.

clear()

void Scene::clear

(

)

Definition at line 193 of file scene.cpp.

clearCircles()

void Scene::clearCircles

(

)

Definition at line 249 of file scene.cpp.

clearLines()

void Scene::clearLines

(

)

Definition at line 225 of file scene.cpp.

clearQuads()

void Scene::clearQuads

(

)

Definition at line 241 of file scene.cpp.

clearTexts()

void Scene::clearTexts

(

)

Definition at line 233 of file scene.cpp.

DeleteResources()

void Scene::DeleteResources

(

)

Definition at line 156 of file scene.cpp.

getAddedClouds()

std::set< int > Scene::getAddedClouds

(

)

const

Definition at line 1183 of file scene.cpp.

getAddedMarkers()

std::set< int > Scene::getAddedMarkers

(

)

const

Definition at line 897 of file scene.cpp.

GetCameraPose()

rtabmap::Transform Scene::GetCameraPose ( ) const

inline

Definition at line 96 of file scene.h.

GetCameraType()

tango_gl::GestureCamera::CameraType Scene::GetCameraType ( ) const

inline

Definition at line 93 of file scene.h.

GetOpenGLCameraPose()

rtabmap::Transform Scene::GetOpenGLCameraPose

(

float *

fov = 0

)

const

Definition at line 793 of file scene.cpp.

getPointSize()

float Scene::getPointSize ( ) const

inline

Definition at line 204 of file scene.h.

getScreenRotation()

rtabmap::ScreenRotation Scene::getScreenRotation ( ) const

inline

Definition at line 71 of file scene.h.

getViewPortHeight()

int Scene::getViewPortHeight ( ) const

inline

Definition at line 69 of file scene.h.

getViewPortWidth()

int Scene::getViewPortWidth ( ) const

inline

Definition at line 68 of file scene.h.

hasCircle()

bool Scene::hasCircle

(

int

id

)

const

Definition at line 1144 of file scene.cpp.

hasCloud()

bool Scene::hasCloud

(

int

id

)

const

Definition at line 1168 of file scene.cpp.

hasMarker()

bool Scene::hasMarker

(

int

id

)

const

Definition at line 884 of file scene.cpp.

hasMesh()

bool Scene::hasMesh

(

int

id

)

const

Definition at line 1173 of file scene.cpp.

hasQuad()

bool Scene::hasQuad

(

int

id

)

const

Definition at line 1106 of file scene.cpp.

hasTexture()

bool Scene::hasTexture

(

int

id

)

const

Definition at line 1178 of file scene.cpp.

InitGLContent()

void Scene::InitGLContent

(

)

Definition at line 119 of file scene.cpp.

isBackfaceCulling()

bool Scene::isBackfaceCulling ( ) const

inline

Definition at line 206 of file scene.h.

isBlending()

bool Scene::isBlending ( ) const

inline

Definition at line 200 of file scene.h.

isLighting()

bool Scene::isLighting ( ) const

inline

Definition at line 205 of file scene.h.

isMapRendering()

bool Scene::isMapRendering ( ) const

inline

Definition at line 201 of file scene.h.

isMeshRendering()

bool Scene::isMeshRendering ( ) const

inline

Definition at line 202 of file scene.h.

isMeshTexturing()

bool Scene::isMeshTexturing ( ) const

inline

Definition at line 203 of file scene.h.

isWireframe()

bool Scene::isWireframe ( ) const

inline

Definition at line 207 of file scene.h.

OnTouchEvent()

void Scene::OnTouchEvent	(	int	touch_count,
		tango_gl::GestureCamera::TouchEvent	event,
		float	x0,
		float	y0,
		float	x1,
		float	y1
	)

Definition at line 802 of file scene.cpp.

removeCircle()

void Scene::removeCircle

(

int

id

)

Definition at line 1134 of file scene.cpp.

removeCloudOrMesh()

void Scene::removeCloudOrMesh

(

int

id

)

Definition at line 917 of file scene.cpp.

removeLine()

void Scene::removeLine

(

int

id

)

Definition at line 1018 of file scene.cpp.

removeMarker()

void Scene::removeMarker

(

int

id

)

Definition at line 888 of file scene.cpp.

removeQuad()

void Scene::removeQuad

(

int

id

)

Definition at line 1096 of file scene.cpp.

removeText()

void Scene::removeText

(

int

id

)

Definition at line 1042 of file scene.cpp.

Render()

int Scene::Render	(	const float *	uvsTransformed = 0,
		glm::mat4	arViewMatrix = glm::mat4(0),
		glm::mat4	arProjectionMatrix = glm::mat4(0),
		const rtabmap::Mesh &	occlusionMesh = rtabmap::Mesh(),
		bool	mapping = false
	)

Definition at line 425 of file scene.cpp.

setBackfaceCulling()

void Scene::setBackfaceCulling ( bool  enabled )

inline

Definition at line 194 of file scene.h.

setBackgroundColor()

void Scene::setBackgroundColor ( float  r, float  g, float  b  )

inline

Definition at line 197 of file scene.h.

setBlending()

void Scene::setBlending ( bool  enabled )

inline

Definition at line 186 of file scene.h.

SetCameraPose()

void Scene::SetCameraPose

(

const rtabmap::Transform &

pose

)

Definition at line 765 of file scene.cpp.

SetCameraType()

void Scene::SetCameraType

(

tango_gl::GestureCamera::CameraType

camera_type

)

Definition at line 761 of file scene.cpp.

setCloudPose()

void Scene::setCloudPose	(	int	id,
		const rtabmap::Transform &	pose
	)

Definition at line 1149 of file scene.cpp.

setCloudVisible()

void Scene::setCloudVisible	(	int	id,
		bool	visible
	)

Definition at line 1159 of file scene.cpp.

setFOV()

void Scene::setFOV

(

float

angle

)

Definition at line 775 of file scene.cpp.

setFrustumVisible()

void Scene::setFrustumVisible

(

bool

visible

)

Definition at line 849 of file scene.cpp.

setGraphVisible()

void Scene::setGraphVisible

(

bool

visible

)

Definition at line 834 of file scene.cpp.

setGridColor()

void Scene::setGridColor	(	float	r,
		float	g,
		float	b
	)

Definition at line 1215 of file scene.cpp.

setGridRotation()

void Scene::setGridRotation

(

float

angleDeg

)

Definition at line 783 of file scene.cpp.

setGridVisible()

void Scene::setGridVisible

(

bool

visible

)

Definition at line 839 of file scene.cpp.

setLighting()

void Scene::setLighting ( bool  enabled )

inline

Definition at line 193 of file scene.h.

setMapRendering()

void Scene::setMapRendering ( bool  enabled )

inline

Definition at line 187 of file scene.h.

setMarkerPose()

void Scene::setMarkerPose	(	int	id,
		const rtabmap::Transform &	pose
	)

Definition at line 871 of file scene.cpp.

setMeshRendering()

void Scene::setMeshRendering ( bool  enabled, bool  withTexture  )

inline

Definition at line 188 of file scene.h.

setOrthoCropFactor()

void Scene::setOrthoCropFactor

(

float

value

)

Definition at line 779 of file scene.cpp.

setPointSize()

void Scene::setPointSize ( float  size )

inline

Definition at line 189 of file scene.h.

setScreenRotation()

void Scene::setScreenRotation ( rtabmap::ScreenRotation  colorCameraToDisplayRotation )

inline

Definition at line 72 of file scene.h.

setTextureColorSeamsHidden()

void Scene::setTextureColorSeamsHidden ( bool  hidden )

inline

Definition at line 196 of file scene.h.

setTraceVisible()

void Scene::setTraceVisible

(

bool

visible

)

Definition at line 844 of file scene.cpp.

SetupViewPort()

void Scene::SetupViewPort	(	int	w,
		int	h
	)

Definition at line 259 of file scene.cpp.

setWireframe()

void Scene::setWireframe ( bool  enabled )

inline

Definition at line 195 of file scene.h.

updateCloudPolygons()

void Scene::updateCloudPolygons	(	int	id,
		const std::vector< pcl::Vertices > &	polygons
	)

Definition at line 1188 of file scene.cpp.

updateGains()

void Scene::updateGains	(	int	id,
		float	gainR,
		float	gainG,
		float	gainB
	)

Definition at line 1206 of file scene.cpp.

updateGraph()

void Scene::updateGraph	(	const std::map< int, rtabmap::Transform > &	poses,
		const std::multimap< int, rtabmap::Link > &	links
	)

Definition at line 823 of file scene.cpp.

updateMesh()

void Scene::updateMesh	(	int	id,
		const rtabmap::Mesh &	mesh
	)

Definition at line 1197 of file scene.cpp.

Member Data Documentation

axis_

tango_gl::Axis* Scene::axis_

private

Definition at line 216 of file scene.h.

b_

float Scene::b_

private

Definition at line 262 of file scene.h.

backfaceCulling_

bool Scene::backfaceCulling_

private

Definition at line 257 of file scene.h.

background_renderer_

BackgroundRenderer* Scene::background_renderer_

Definition at line 209 of file scene.h.

blending_

bool Scene::blending_

private

Definition at line 250 of file scene.h.

boundingBoxRendering_

bool Scene::boundingBoxRendering_

private

Definition at line 255 of file scene.h.

box_

BoundingBoxDrawable* Scene::box_

private

Definition at line 225 of file scene.h.

circles_

std::map<int, tango_gl::Circle*> Scene::circles_

private

Definition at line 243 of file scene.h.

color_camera_to_display_rotation_

rtabmap::ScreenRotation Scene::color_camera_to_display_rotation_

private

Definition at line 237 of file scene.h.

currentPose_

rtabmap::Transform* Scene::currentPose_

private

Definition at line 245 of file scene.h.

depthTexture_

GLuint Scene::depthTexture_

private

Definition at line 265 of file scene.h.

doubleTapOn_

bool Scene::doubleTapOn_

private

Definition at line 268 of file scene.h.

doubleTapPos_

cv::Point2f Scene::doubleTapPos_

private

Definition at line 269 of file scene.h.

fboId_

GLuint Scene::fboId_

private

Definition at line 263 of file scene.h.

frustum_

tango_gl::Frustum* Scene::frustum_

private

Definition at line 219 of file scene.h.

frustumVisible_

bool Scene::frustumVisible_

private

Definition at line 233 of file scene.h.

g_

float Scene::g_

private

Definition at line 261 of file scene.h.

gesture_camera_

tango_gl::GestureCamera* Scene::gesture_camera_

private

Definition at line 213 of file scene.h.

graph_

GraphDrawable* Scene::graph_

private

Definition at line 229 of file scene.h.

graph_shader_program_

GLuint Scene::graph_shader_program_

private

Definition at line 248 of file scene.h.

graphVisible_

bool Scene::graphVisible_

private

Definition at line 230 of file scene.h.

grid_

tango_gl::Grid* Scene::grid_

private

Definition at line 222 of file scene.h.

gridVisible_

bool Scene::gridVisible_

private

Definition at line 231 of file scene.h.

kHeightOffset

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

static

Definition at line 54 of file scene.h.

lighting_

bool Scene::lighting_

private

Definition at line 256 of file scene.h.

lines_

std::map<int, tango_gl::Line*> Scene::lines_

private

Definition at line 240 of file scene.h.

mapRendering_

bool Scene::mapRendering_

private

Definition at line 251 of file scene.h.

markers_

std::map<int, tango_gl::Axis*> Scene::markers_

private

Definition at line 235 of file scene.h.

meshRendering_

bool Scene::meshRendering_

private

Definition at line 252 of file scene.h.

meshRenderingTexture_

bool Scene::meshRenderingTexture_

private

Definition at line 253 of file scene.h.

pointClouds_

std::map<int, PointCloudDrawable*> Scene::pointClouds_

private

Definition at line 239 of file scene.h.

pointSize_

float Scene::pointSize_

private

Definition at line 254 of file scene.h.

quads_

std::map<int, QuadColor*> Scene::quads_

private

Definition at line 242 of file scene.h.

r_

float Scene::r_

private

Definition at line 260 of file scene.h.

rboId_

GLuint Scene::rboId_

private

Definition at line 264 of file scene.h.

screenHeight_

GLsizei Scene::screenHeight_

private

Definition at line 267 of file scene.h.

screenWidth_

GLsizei Scene::screenWidth_

private

Definition at line 266 of file scene.h.

texts_

std::map<int, TextDrawable*> Scene::texts_

private

Definition at line 241 of file scene.h.

textureColorSeamsHidden_

bool Scene::textureColorSeamsHidden_

private

Definition at line 259 of file scene.h.

trace_

tango_gl::Trace* Scene::trace_

private

Definition at line 228 of file scene.h.

traceVisible_

bool Scene::traceVisible_

private

Definition at line 232 of file scene.h.

wireFrame_

bool Scene::wireFrame_

private

Definition at line 258 of file scene.h.

---

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

• scene.h
• scene.cpp