1 files changed, 77 insertions, 0 deletions
diff --git a/platform_tools/android/apps/arcore/src/main/cpp/point_cloud_renderer.cc b/platform_tools/android/apps/arcore/src/main/cpp/point_cloud_renderer.cc
new file mode 100644
index 0000000000..c9ab6930d7
--- /dev/null
+++ b/platform_tools/android/apps/arcore/src/main/cpp/point_cloud_renderer.cc
@@ -0,0 +1,77 @@
+/*
+ * Copyright 2017 Google Inc. 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.
+ */
+
+#include "point_cloud_renderer.h"
+#include "util.h"
+
+namespace hello_ar {
+    namespace {
+        constexpr char kVertexShader[] = R"(
+    attribute vec4 vertex;
+    uniform mat4 mvp;
+    void main() {
+      gl_PointSize = 5.0;
+      // Pointcloud vertex's w component is confidence value.
+      // Not used in renderer.
+      gl_Position = mvp * vec4(vertex.xyz, 1.0);
+    })";
+
+        constexpr char kFragmentShader[] = R"(
+    precision lowp float;
+    void main() {
+      gl_FragColor = vec4(0.1215, 0.7372, 0.8235, 1.0);
+    })";
+    }  // namespace
+
+    void PointCloudRenderer::InitializeGlContent() {
+        shader_program_ = util::CreateProgram(kVertexShader, kFragmentShader);
+
+        CHECK(shader_program_);
+
+        attribute_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+        uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+
+        util::CheckGlError("point_cloud_renderer::InitializeGlContent()");
+    }
+
+    void PointCloudRenderer::Draw(glm::mat4 mvp_matrix, ArSession *ar_session,
+                                  ArPointCloud *ar_point_cloud) const {
+        CHECK(shader_program_);
+
+        glUseProgram(shader_program_);
+
+        int32_t number_of_points = 0;
+        ArPointCloud_getNumberOfPoints(ar_session, ar_point_cloud, &number_of_points);
+        if (number_of_points <= 0) {
+            return;
+        }
+
+        const float *point_cloud_data;
+        ArPointCloud_getData(ar_session, ar_point_cloud, &point_cloud_data);
+
+        glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_matrix));
+
+        glEnableVertexAttribArray(attribute_vertices_);
+        glVertexAttribPointer(attribute_vertices_, 4, GL_FLOAT, GL_FALSE, 0,
+                              point_cloud_data);
+
+        glDrawArrays(GL_POINTS, 0, number_of_points);
+
+        glUseProgram(0);
+        util::CheckGlError("PointCloudRenderer::Draw");
+    }
+
+}  // namespace hello_ar