inline void setCamera(const glm::vec3& pos, const glm::vec3& target, const glm::vec3& up)
{
camera.pos = pos;
camera.target = target;
camera.up = up;
updateTransformations();
}
void KisScratchPad::setOnScreenResolution(qreal scaleX, qreal scaleY)
{
m_scaleBorderWidth = BORDER_SIZE(qMax(scaleX, scaleY));
m_scaleTransform = QTransform::fromScale(scaleX, scaleY);
updateTransformations();
update();
}
void KisScratchPad::doPan(KoPointerEvent *event)
{
QPointF docOffset = event->point - m_panDocPoint;
m_translateTransform.translate(-docOffset.x(), -docOffset.y());
updateTransformations();
update();
}
void setPerspectiveProj(float fovy, float aspect, float zNear, float zFar)
{
proj.fovy = fovy;
proj.aspect = aspect;
proj.zNear = zNear;
proj.zFar = zFar;
updateTransformations();
}
Pipeline(unsigned int w, unsigned int h, unsigned int t = 4) :
width(w),
height(h),
numTiles(t),
tileTransformations(t)
{
updateTransformations();
}
bool SensorProcessorBase::process(
const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pointCloudInput,
const Eigen::Matrix<double, 6, 6>& robotPoseCovariance,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudMapFrame,
Eigen::VectorXf& variances)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudSensorFrame(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*pointCloudInput, *pointCloudSensorFrame);
cleanPointCloud(pointCloudSensorFrame);
ros::Time timeStamp;
timeStamp.fromNSec(1000 * pointCloudSensorFrame->header.stamp);
if (!updateTransformations(pointCloudSensorFrame->header.frame_id, timeStamp)) return false;
if (!transformPointCloud(pointCloudSensorFrame, pointCloudMapFrame, mapFrameId_)) return false;
std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> pointClouds({pointCloudMapFrame, pointCloudSensorFrame});
removePointsOutsideLimits(pointCloudMapFrame, pointClouds);
if (!computeVariances(pointCloudSensorFrame, robotPoseCovariance, variances)) return false;
return true;
}
void GLRenderer::renderActor(Actor* actor)
{
if(actor->isHidden())
{
return;
}
for(Model::MeshesIterator it = actor->getModel().begin(); it != actor->getModel().end(); ++it)
{
std::string meshName = (*it)->getMeshName();
if(meshName.size() == 0)
{
return; // ... this is to the lack of thread safety with finding the line. TODO fixme
}
BasicMesh* mesh = Game::getInstance().getMeshManager().getMesh(meshName);
const std::string& materialName = (*it)->getMaterialInstance()->getMaterialName();
Material* mi = Game::getInstance().getMaterialsManager().getMaterial(materialName);
setProgram(mi);
(*it)->getMaterialInstance()->fillMaterial();
updateTransformations(actor, mi);
drawMesh(mesh, true, mi);
}
}
inline void setTiles(unsigned int tiles) {
numTiles = tiles;
tileTransformations = std::vector<glm::mat4>(tiles);
updateTransformations();
}
