X-lanni
72 lines
2.6 KiB
C++
72 lines
2.6 KiB
C++
/*
|
|
Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
|
|
All rights reserved.
|
|
|
|
Redistribution and use in source and binary forms, with or without
|
|
modification, are permitted provided that the following conditions are met:
|
|
* Redistributions of source code must retain the above copyright
|
|
notice, this list of conditions and the following disclaimer.
|
|
* Redistributions in binary form must reproduce the above copyright
|
|
notice, this list of conditions and the following disclaimer in the
|
|
documentation and/or other materials provided with the distribution.
|
|
* Neither the name of the Universite de Sherbrooke nor the
|
|
names of its contributors may be used to endorse or promote products
|
|
derived from this software without specific prior written permission.
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
|
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
|
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
|
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
|
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
#ifndef TANGO_TEXT_DRAWABLE_H_
|
|
#define TANGO_TEXT_DRAWABLE_H_
|
|
|
|
#include <vector>
|
|
#include <rtabmap/core/Transform.h>
|
|
#include <tango-gl/color.h>
|
|
|
|
// PointCloudDrawable is responsible for the point cloud rendering.
|
|
class TextDrawable {
|
|
private:
|
|
static GLuint textProgram_;
|
|
static GLuint textTextureId_;
|
|
static float textUVWidth_;
|
|
static float textUVHeight_;
|
|
static float textHeight_;
|
|
static std::vector<float> textCharacterWidths_;
|
|
|
|
public:
|
|
static void createShaderProgram();
|
|
static void releaseShaderProgram();
|
|
|
|
public:
|
|
TextDrawable(
|
|
const std::string & text,
|
|
const rtabmap::Transform & pose,
|
|
float textSize = 0.1f, // meters
|
|
const tango_gl::Color & color = tango_gl::Color(1,0,0));
|
|
|
|
virtual ~TextDrawable() {}
|
|
|
|
void Render(
|
|
const glm::mat4 & projectionMatrix,
|
|
const glm::mat4 & viewMatrix,
|
|
const glm::mat4 & viewMatrixRotInv) const;
|
|
|
|
private:
|
|
std::vector<float> vertexBuffer_;
|
|
std::vector<float> textureBuffer_;
|
|
std::vector<unsigned short> drawListBuffer_;
|
|
glm::mat4 poseGl_;
|
|
tango_gl::Color color_;
|
|
};
|
|
|
|
#endif // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
|