X-lanni
132 lines
4.3 KiB
C++
132 lines
4.3 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 BOUNDING_BOX_DRAWABLE_H_
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#define BOUNDING_BOX_DRAWABLE_H_
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#include "tango-gl/line.h"
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class BoundingBoxDrawable : public tango_gl::Line
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{
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public:
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BoundingBoxDrawable() :
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Line(3.0f, GL_LINES)
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{
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vec_vertices_.resize(24);
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}
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void updateVertices(const pcl::PointXYZ & min, const pcl::PointXYZ & max)
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{
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int index = 0;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = min.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = max.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = min.y;
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vec_vertices_[index++].z = max.z;
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vec_vertices_[index].x = min.x;
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vec_vertices_[index].y = max.y;
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vec_vertices_[index++].z = max.z;
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}
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};
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#endif // TANGO_GL_LINE_H_
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