void GPUBillboardSet::setBillboards(const std::vector<PhotoSynth::Vertex>& vertices, bool useGeometryShader)
{
if (mRenderOp.vertexData)
OGRE_DELETE mRenderOp.vertexData;
if (useGeometryShader)
createVertexDataForVertexAndGeometryShaders(vertices);
else
createVertexDataForVertexShaderOnly(vertices);
// Update bounding box and sphere
updateBoundingBoxAndSphereFromBillboards(vertices);
// Update billboard size
setBillboardSize(mBillboardSize);
}
LaserScanVisualizer::LaserScanVisualizer( Ogre::SceneManager* scene_manager, ros::node* node, rosTFClient* tf_client, const std::string& name )
: VisualizerBase( scene_manager, node, tf_client, name )
, r_( 1.0 )
, g_( 0.0 )
, b_( 0.0 )
, intensity_min_( 999999.0f )
, intensity_max_( -999999.0f )
, point_decay_time_( 20.0f )
, style_( Billboards )
, billboard_size_( 0.003 )
{
cloud_ = new ogre_tools::PointCloud( scene_manager_ );
setStyle( style_ );
setBillboardSize( billboard_size_ );
}
PointCloudBase::PointCloudBase( const std::string& name, VisualizationManager* manager )
: Display( name, manager )
, spinner_(1, &cbqueue_)
, new_cloud_(false)
, new_xyz_transformer_(false)
, new_color_transformer_(false)
, needs_retransform_(false)
, style_( Billboards )
, billboard_size_( 0.01 )
, point_decay_time_(0.0f)
, selectable_(false)
, coll_handle_(0)
, messages_received_(0)
, total_point_count_(0)
{
cloud_ = new ogre_tools::PointCloud();
scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
scene_node_->attachObject(cloud_);
coll_handler_ = PointCloudSelectionHandlerPtr(new PointCloudSelectionHandler(this));
setStyle( style_ );
setBillboardSize( billboard_size_ );
setAlpha(1.0f);
setSelectable(true);
PluginManager* pman = vis_manager_->getPluginManager();
const L_Plugin& plugins = pman->getPlugins();
L_Plugin::const_iterator it = plugins.begin();
L_Plugin::const_iterator end = plugins.end();
for (; it != end; ++it)
{
const PluginPtr& plugin = *it;
PluginConns pc;
pc.loaded = plugin->getLoadedSignal().connect(boost::bind(&PointCloudBase::onPluginLoaded, this, _1));
pc.unloading = plugin->getUnloadingSignal().connect(boost::bind(&PointCloudBase::onPluginUnloading, this, _1));
loadTransformers(plugin.get());
plugin_conns_[plugin.get()] = pc;
}
threaded_nh_.setCallbackQueue(&cbqueue_);
spinner_.start();
}
void LaserScanVisualizer::propertyChanged( wxPropertyGridEvent& event )
{
wxPGProperty* property = event.GetProperty();
const wxString& name = property->GetName();
wxVariant value = property->GetValue();
if ( name == property_prefix_ + SCAN_TOPIC_PROPERTY )
{
wxString topic = value.GetString();
setScanTopic( std::string(topic.fn_str()) );
}
else if ( name == property_prefix_ + CLOUD_TOPIC_PROPERTY )
{
wxString topic = value.GetString();
setCloudTopic( std::string(topic.fn_str()) );
}
else if ( name == property_prefix_ + COLOR_PROPERTY )
{
wxColour color;
color << value;
setColor( color.Red() / 255.0f, color.Green() / 255.0f, color.Blue() / 255.0f );
}
else if ( name == property_prefix_ + DECAY_TIME_PROPERTY )
{
float val = value.GetDouble();
setDecayTime( val );
}
else if ( name == property_prefix_ + STYLE_PROPERTY )
{
int val = value.GetLong();
setStyle( (Style)val );
}
else if ( name == property_prefix_ + BILLBOARD_SIZE_PROPERTY )
{
float val = value.GetDouble();
setBillboardSize( val );
}
}
void LaserScanVisualizer::loadProperties( wxConfigBase* config )
{
wxString scan_topic, cloud_topic;
double r, g, b;
double decay_time;
long style;
double billboard_size;
{
config->Read( SCAN_TOPIC_PROPERTY, &scan_topic, wxString::FromAscii( scan_topic_.c_str() ) );
config->Read( CLOUD_TOPIC_PROPERTY, &cloud_topic, wxString::FromAscii( cloud_topic_.c_str() ) );
}
{
config->Read( wxString(COLOR_PROPERTY) + wxT("R"), &r, r_ );
config->Read( wxString(COLOR_PROPERTY) + wxT("G"), &g, g_ );
config->Read( wxString(COLOR_PROPERTY) + wxT("B"), &b, b_ );
}
{
config->Read( DECAY_TIME_PROPERTY, &decay_time, point_decay_time_ );
}
{
config->Read( STYLE_PROPERTY, &style, style_ );
}
{
config->Read( BILLBOARD_SIZE_PROPERTY, &billboard_size, billboard_size_ );
}
setScanTopic( (const char*)scan_topic.fn_str() );
setCloudTopic( (const char*)cloud_topic.fn_str() );
setColor( r, g, b );
setStyle( (Style)style );
setBillboardSize( billboard_size );
}
