Add xy overlay plane

components/renderers/cpp/include/ftl/render/overlay.hpp

@@ -12,7 +12,7 @@ namespace overlay {
 enum class Shape {
     BOX,
     CAMERA,
-    PLANE,
+    XZPLANE,
     GRID
 };
 

components/renderers/cpp/src/overlay.cpp

@@ -70,13 +70,21 @@ void Overlay::_createShapes() {
         {-0.5, 0.28, 0.5},
         {-0.5, -0.28, 0.5},
 
-        // Plane Y simple
-        {-1.0, 0.0, -1.0},
-        {1.0, 0.0, -1.0},
-        {1.0, 0.0, 1.0},
-        {-1.0, 0.0, 1.0}
+        // Plane XZ big
+        {-10.0, 0.0, -10.0},  // 13
+        {10.0, 0.0, -10.0},
+        {10.0, 0.0, 10.0},
+        {-10.0, 0.0, 10.0}
     };
 
+    // Generate a big plane
+    for (int x=-9; x<=9; ++x) {
+        shape_verts_.push_back({float(x), 0.0, -10.0});
+        shape_verts_.push_back({float(x), 0.0, 10.0});
+        shape_verts_.push_back({-10.0, 0.0, float(x)});
+        shape_verts_.push_back({10.0, 0.0, float(x)});
+    }
+
     shape_tri_indices_ = {
         // Box
         0, 1, 2,
@@ -118,11 +126,24 @@ void Overlay::_createShapes() {
         9, 10,
         11, 12,
         9, 11,
-        10, 12
+        10, 12,
+
+        // Big XZ Plane
+        13, 14, 15,     // 82
+        15, 16, 13
     };
 
+    int i = 17;
+    for (int x=-10; x<=10; ++x) {
+        shape_tri_indices_.push_back(i++);
+        shape_tri_indices_.push_back(i++);
+        shape_tri_indices_.push_back(i++);
+        shape_tri_indices_.push_back(i++);
+    }
+
     shapes_[Shape::BOX] = {0,30, 30, 12*2};
     shapes_[Shape::CAMERA] = {54, 4*3, 66, 8*2};
+    shapes_[Shape::XZPLANE] = {82, 2*3, 88, 40*2};
 
     oShader.uploadAttrib("vertex", sizeof(float3)*shape_verts_.size(), 3, sizeof(float), GL_FLOAT, false, shape_verts_.data());
     oShader.uploadAttrib ("indices", sizeof(int)*shape_tri_indices_.size(), 1, sizeof(int), GL_UNSIGNED_INT, true, shape_tri_indices_.data());
@@ -229,6 +250,10 @@ void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const
 		}
 	}
 
+    if (value("show_xz_plane", true)) {
+        _drawOutlinedShape(Shape::XZPLANE, state.getPose().inverse(), Eigen::Vector3f(1.0f,1.0f,1.0f), make_uchar4(200,200,200,50), make_uchar4(255,255,255,100));
+    }
+
 	if (value("show_shapes", false)) {
 		if (fs.hasChannel(Channel::Shapes3D)) {
 			std::vector<ftl::codecs::Shape3D> shapes;