pointcloudpainter.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAGUI3D_POINT_CLOUD_PAINTER_H
00012 #define ORCAGUI3D_POINT_CLOUD_PAINTER_H
00013 
00014 #include <QColor>
00015 #include <orca/pointcloud.h>
00016 #include <osg/Group>
00017 #include <osg/Geode>
00018 #include <osg/PositionAttitudeTransform>
00019 
00020 namespace orcaqgui3d
00021 {
00022 
00026 class PointCloudPainter
00027 {
00028   
00029   public:
00030     PointCloudPainter();
00031 
00032     void setData( const orca::PointCloudData &pointCloud );
00033 
00034     void clear();
00035     
00036     osg::Node *osgNode() const { return root_.get(); }
00037 
00038   private:
00039 
00040     osg::ref_ptr<osg::Geode> pointCloudNode_;
00041     osg::ref_ptr<osg::Group> root_;
00042 };
00043 
00044 } // namespace
00045 
00046 #endif