normal_distributions.hpp

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#ifndef GLK_NORMAL_DISTRIBUTIONS_HPP
#define GLK_NORMAL_DISTRIBUTIONS_HPP
 
#include <vector>
#include <Eigen/Core>
 
#include <glk/drawable.hpp>
#include <glk/type_conversion.hpp>
 
namespace glk {
 
class Mesh;
 
class NormalDistributions : public glk::Drawable {
public:
  NormalDistributions(const float* means, const float* covs, int num_points, float scale = 1.0f);
 
  template <typename T, int D>
  NormalDistributions(const Eigen::Matrix<T, D, 1>* means, const Eigen::Matrix<T, D, D>* covs, int num_points, float scale = 1.0f);
 
  template <typename T, int D, template <class> class Allocator>
  NormalDistributions(
    const std::vector<Eigen::Matrix<T, D, 1>, Allocator<Eigen::Matrix<T, D, 1>>>& means,
    const std::vector<Eigen::Matrix<T, D, D>, Allocator<Eigen::Matrix<T, D, D>>>& covs,
    float scale = 1.0f)
  : NormalDistributions(means.data(), covs.data(), means.size(), scale) {}
 
  virtual ~NormalDistributions();
 
  virtual void draw(glk::GLSLShader& shader) const override;
 
private:
  static std::shared_ptr<glk::GLSLShader> vertices_shader;
  static std::shared_ptr<glk::GLSLShader> indices_shader;
 
  int num_indices;
 
  GLuint vao;
  GLuint vbo;
  GLuint ebo;
};
 
class NormalDistributions_old : public glk::Drawable {
public:
  template <typename T, int D>
  NormalDistributions_old(const Eigen::Matrix<T, D, 1>* means, const Eigen::Matrix<T, D, D>* covs, int num_points, float scale = 1.0f);
 
  template <typename T, int D, template <class> class Allocator>
  NormalDistributions_old(
    const std::vector<Eigen::Matrix<T, D, 1>, Allocator<Eigen::Matrix<T, D, 1>>>& means,
    const std::vector<Eigen::Matrix<T, D, D>, Allocator<Eigen::Matrix<T, D, D>>>& covs,
    float scale = 1.0f)
  : NormalDistributions_old(means.data(), covs.data(), means.size(), scale) {}
 
  virtual ~NormalDistributions_old();
 
  virtual void draw(glk::GLSLShader& shader) const override;
 
private:
  std::unique_ptr<glk::Mesh> mesh;
};
 
}  // namespace glk
 
#endif