X-lanni
69 lines
2.5 KiB
C++
69 lines
2.5 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef GRAPH_DRAWABLE_H_
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#define GRAPH_DRAWABLE_H_
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#ifdef __ANDROID__
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#include <jni.h>
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#endif
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#include <tango-gl/util.h>
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#include <vector>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/core/Link.h>
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#include <pcl/Vertices.h>
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#include "util.h"
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class GraphDrawable {
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public:
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GraphDrawable(
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GLuint shaderProgram,
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const std::map<int, rtabmap::Transform> & poses,
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const std::multimap<int, rtabmap::Link> & links);
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virtual ~GraphDrawable();
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void setPose(const rtabmap::Transform & mapToOdom);
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void setVisible(bool visible) {visible_=visible;}
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void Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix);
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private:
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// Vertex buffer of the point cloud geometry.
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GLuint vertex_buffers_;
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std::vector<GLushort> neighborIndices_;
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std::vector<GLushort> loopClosureIndices_;
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glm::mat4 pose_;
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bool visible_;
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float lineWidth_;
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GLuint shader_program_;
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};
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#endif // GRAPH_DRAWABLE_H_
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