radarpoints.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <QtGui/QColor>
#include <memory>
#include <string>
 
#include "modules/common_msgs/sensor_msgs/radar.pb.h"
#include "modules/tools/visualizer/renderable_object.h"
 
class QOpenGLShaderProgram;
 
class RadarPoints : public RenderableObject {
  /* struct Point{
   *    GLfloat x, // raw data from radar
   *    GLfloat y,
   *    GLfloat r
   * };
   */
 
 public:
  explicit RadarPoints(
      const std::shared_ptr<QOpenGLShaderProgram>& shaderProgram = nullptr);
  ~RadarPoints(void) {
    if (buffer_) {
      delete[] buffer_;
      buffer_ = nullptr;
    }
  }
 
  virtual GLenum GetPrimitiveType(void) const { return GL_POINTS; }
 
  void SetupExtraUniforms(void) {
    shader_program_->setUniformValue("color", color_);
  }
 
  GLfloat red(void) const { return color_.x(); }
  GLfloat green(void) const { return color_.y(); }
  GLfloat blue(void) const { return color_.z(); }
 
  const QVector3D& color(void) const { return color_; }
 
  void set_color(const QRgb& rgb) { set_color(QColor(rgb)); }
 
  void set_color(const QColor& color) {
    color_.setX(static_cast<float>(color.redF()));
    color_.setY(static_cast<float>(color.greenF()));
    color_.setZ(static_cast<float>(color.blueF()));
  }
 
  bool FillData(
      const std::shared_ptr<const apollo::drivers::RadarObstacles>& pData);
 
 protected:
  bool FillVertexBuffer(GLfloat* pBuffer) override;
 
 private:
  QVector3D color_;  // r, g, b
  GLfloat* buffer_;
};