/// @overload QGLWidget
void paintGL(){
vao.bind();
program.bind();
{
///--- Update modelview
#ifdef WITH_QGLVIEWER
/// use the trackball to specify the matrices
setup_modelview(camera(), program);
#else
///--- simple unit cube orthographic view
static Eigen::Matrix4f M = Eigen::Matrix4f::Identity();
static Eigen::Matrix4f P = Eigen::ortho(-1.0f, +1.0f, -1.0f, +1.0f, -1.0f, +1.0f);
static Eigen::Matrix4f V = Eigen::Matrix4f::Identity();
static Eigen::Matrix4f MV = V*M;
static Eigen::Matrix4f MVP = P*MV;
GLint MVP_id = glGetUniformLocation(program.programId(), "MVP");
glUniformMatrix4fv(MVP_id, 1, GL_FALSE, MVP.data());
GLint MV_id = glGetUniformLocation(program.programId(), "MV");
glUniformMatrix4fv(MV_id, 1, GL_FALSE, MV.data());
#endif
///--- clear & draw
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glDrawElements(GL_TRIANGLES, triangles.size(), GL_UNSIGNED_INT, 0);
}
vao.release();
program.release();
}
void Cube::render(const Eigen::Matrix4f& mvMatrix, const Eigen::Matrix4f& prMatrix, const Eigen::Matrix3f& nmMatrix) {
m_prog.use();
m_prog.setUniformMat4("mvM", mvMatrix.data());
m_prog.setUniformMat4("prM", prMatrix.data());
m_prog.setUniformMat3("nmM", nmMatrix.data());
m_geom.bind();
glDrawElements(GL_TRIANGLE_STRIP, 14, GL_UNSIGNED_INT, (char*)NULL);
m_geom.release();
}
void TextureWarpShader::setMVPMatrix(const Eigen::Matrix4f &mvp)
{
//Transpose to opengl column-major format
glUseProgram(mProgram.getId());
glUniformMatrix4fv(mUniformMVPMatrix, 1, false, mvp.data());
glUseProgram(mProgram_Alpha.getId());
glUniformMatrix4fv(mUniformMVPMatrix_Alpha, 1, false, mvp.data());
glUseProgram(mProgram_Color.getId());
glUniformMatrix4fv(mUniformMVPMatrix_Color, 1, false, mvp.data());
}
void stabilityWindow::updateCoM()
{
if (!comVisu || comVisu->getNumChildren() == 0)
{
return;
}
// Draw CoM
Eigen::Matrix4f globalPoseCoM;
globalPoseCoM.setIdentity();
if (currentRobotNodeSet)
{
globalPoseCoM.block(0, 3, 3, 1) = currentRobotNodeSet->getCoM();
}
else if (robot)
{
globalPoseCoM.block(0, 3, 3, 1) = robot->getCoMGlobal();
}
SoMatrixTransform* m = dynamic_cast<SoMatrixTransform*>(comVisu->getChild(0));
if (m)
{
SbMatrix ma(reinterpret_cast<SbMat*>(globalPoseCoM.data()));
// mm -> m
ma[3][0] *= 0.001f;
ma[3][1] *= 0.001f;
ma[3][2] *= 0.001f;
m->matrix.setValue(ma);
}
// Draw CoM projection
if (currentRobotNodeSet && comProjectionVisu && comProjectionVisu->getNumChildren() > 0)
{
globalPoseCoM(2, 3) = 0;
m = dynamic_cast<SoMatrixTransform*>(comProjectionVisu->getChild(0));
if (m)
{
SbMatrix ma(reinterpret_cast<SbMat*>(globalPoseCoM.data()));
// mm -> m
ma[3][0] *= 0.001f;
ma[3][1] *= 0.001f;
ma[3][2] *= 0.001f;
m->matrix.setValue(ma);
}
}
}
void nsgl::sendUniMat4(Program &prog, const std::string & uniName,
const Eigen::Matrix4f & mat4) {
if (prog.getUniform(uniName).isValid()) {
glUniformMatrix4fv(prog.getUniform(uniName).location, 1, GL_FALSE,
mat4.data());
}
}
void nsgl::sendUniMat4v(Program &prog, const std::string & uniName,
int numToSend, const Eigen::Matrix4f & firstMat4) {
if (prog.getUniform(uniName).isValid()) {
glUniformMatrix4fv(prog.getUniform(uniName).location, numToSend,
GL_FALSE, firstMat4.data());
}
}
void stabilityWindow::comTargetMovedX(int value)
{
if(!currentRobotNodeSet)
return;
Eigen::Matrix4f T;
T.setIdentity();
m_CoMTarget(0) = value;
T.block(0, 3, 2, 1) = m_CoMTarget;
if(comTargetVisu && comTargetVisu->getNumChildren() > 0)
{
SoMatrixTransform *m = dynamic_cast<SoMatrixTransform *>(comTargetVisu->getChild(0));
if(m)
{
SbMatrix ma(reinterpret_cast<SbMat*>(T.data()));
// mm -> m
ma[3][0] *= 0.001f;
ma[3][1] *= 0.001f;
ma[3][2] *= 0.001f;
m->matrix.setValue(ma);
}
}
performCoMIK();
}
void view() {
// 透視変換を操作するお！と宣言
glMatrixMode(GL_PROJECTION);
// 正規行列を読み込む
glLoadIdentity();
glViewport(0, 0, Width, Height);
// 透視変換行列を作成して適用
// glFrustum(GLdouble left, GLdouble right,
// GLdouble bottom, GLdouble top,
// GLdouble near, GLdouble far);
// 左端の座標、右端の座標
// 下端の座標、上端の座標
// 最前面までの距離、最前面までの距離(距離はどちらも0より大きい値)
/*glFrustum( -1, 1,
1, -1,
0.5, 20.0);*/
// Eigenの行列をOpenGLに渡す
float aspect = Width / float(Height);
Eigen::Matrix4f m = perspectiveView(36, aspect, 0.5, 50);
glMultMatrixf(m.data());
// モデリング行列を操作するお！と宣言
glMatrixMode(GL_MODELVIEW);
// 正規行列を読み込む
glLoadIdentity();
}
// had to separate declaration from implementation due to compilation errors on linux
void ObjectRenderer::set_uniform(const char* name, const Eigen::Matrix4f& value){
assert(program.isLinked());
program.bind();
GLuint id = glGetUniformLocation(program.programId(),name);
if(id==-1)
printf("!!!WARNING: shader '%d' does not contain uniform variable '%s'\n", program.programId(), name);
glUniformMatrix4fv(id, 1, GL_FALSE, value.data());
program.release();
}
HRESULT DX11BuildLinearSystem::applyBL( ID3D11DeviceContext* context, ID3D11ShaderResourceView* inputSRV, ID3D11ShaderResourceView* correspondenceSRV, ID3D11ShaderResourceView* correspondenceNormalsSRV, D3DXVECTOR3& mean, float meanStDev, Eigen::Matrix4f& deltaTransform, unsigned int imageWidth, unsigned int imageHeight, unsigned int level, Matrix6x7f& res, LinearSystemConfidence& conf )
{
HRESULT hr = S_OK;
unsigned int dimX = (unsigned int)ceil(((float)imageWidth*imageHeight)/(GlobalCameraTrackingState::getInstance().s_localWindowSize[level]*m_blockSizeBL));
Eigen::Matrix4f deltaTransformT = deltaTransform.transpose();
// Initialize Constant Buffer
D3D11_MAPPED_SUBRESOURCE mappedResource;
V_RETURN(context->Map(m_constantBufferBL, 0, D3D11_MAP_WRITE_DISCARD, 0, &mappedResource))
CBufferBL *cbuffer = (CBufferBL*)mappedResource.pData;
cbuffer->imageWidth = (int)imageWidth;
cbuffer->imageHeigth = (int)imageHeight;
memcpy(cbuffer->deltaTransform, deltaTransformT.data(), 16*sizeof(float));
cbuffer->imageHeigth = (int)imageHeight;
memcpy(cbuffer->mean, (float*)mean, 3*sizeof(float));
cbuffer->meanStDevInv = 1.0f/meanStDev;
context->Unmap(m_constantBufferBL, 0);
// Setup Pipeline
context->CSSetShaderResources(0, 1, &inputSRV);
context->CSSetShaderResources(1, 1, &correspondenceSRV);
context->CSSetShaderResources(2, 1, &correspondenceNormalsSRV);
context->CSSetUnorderedAccessViews(0, 1, &m_pOutputFloatUAV, 0);
context->CSSetConstantBuffers(0, 1, &m_constantBufferBL);
context->CSSetShader(m_pComputeShaderBL[level], 0, 0);
// Start Compute Shader
context->Dispatch(dimX, 1, 1);
assert(dimX <= D3D11_CS_DISPATCH_MAX_THREAD_GROUPS_PER_DIMENSION);
// De-Initialize Pipeline
ID3D11ShaderResourceView* nullSAV[1] = { NULL };
ID3D11UnorderedAccessView* nullUAV[1] = { NULL };
ID3D11Buffer* nullCB[1] = { NULL };
context->CSSetShaderResources(0, 1, nullSAV);
context->CSSetShaderResources(1, 1, nullSAV);
context->CSSetShaderResources(2, 1, nullSAV);
context->CSSetUnorderedAccessViews(0, 1, nullUAV, 0);
context->CSSetConstantBuffers(0, 1, nullCB);
context->CSSetShader(0, 0, 0);
// Copy to CPU
context->CopyResource(m_pOutputFloatCPU, m_pOutputFloat);
V_RETURN(context->Map(m_pOutputFloatCPU, 0, D3D11_MAP_READ, 0, &mappedResource));
res = reductionSystemCPU((float*)mappedResource.pData, dimX, conf);
context->Unmap(m_pOutputFloatCPU, 0);
return hr;
}
bool ShaderProgram::setUniformValue(const std::string& name,
const Eigen::Matrix4f& matrix)
{
GLint location = static_cast<GLint>(findUniform(name));
if (location == -1) {
m_error = "Could not set uniform " + name + ". No such uniform.";
return false;
}
glUniformMatrix4fv(location, 1, GL_FALSE,
static_cast<const GLfloat*>(matrix.data()));
return true;
}
void MainCamera::perspView() {
float f = float(1. / std::tan(toRadians(fovy_) * 0.5));
float g = -((far_ + near_) / (far_ - near_));
float h = -((2 * far_ * near_) / (far_ - near_));
float i = f / aspect_;
Eigen::Matrix4f m;
m << i, 0.0f, 0.0f, 0.0f,
0.0f, f, 0.0f, 0.0f,
0.0f, 0.0f, g, h,
0.0f, 0.0f, -1, 0.0f;
glMultMatrixf(m.data());
}
void display_form(int form, Eigen::Matrix4f marker_matrix, float falling){
glMatrixMode(GL_MODELVIEW);
glColor4f(1.0, 0.0, 0.0, 1.0);
//transform to marker
glLoadTransposeMatrixf(marker_matrix.data());
glTranslatef(0.0, 0.0, falling);
//move to marker position
if(form == 0){
glutSolidSphere(0.02, 10, 100);
} else {
drawCube(0.04);
}
}
void display_fallthrough(Eigen::Matrix4f marker_matrix){
glClear(GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glColor4f(0.0, 0.0, 0.0, 1.0);
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
//transform to marker
glLoadTransposeMatrixf(marker_matrix.data());
glTranslatef(0.0, 0.0, 0.06);
drawCube(0.08);
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
}
Eigen::Matrix4f
orthoMatrix(
GLfloat left, GLfloat right,
GLfloat top, GLfloat bottom,
GLfloat nearz, GLfloat farz
) {
GLfloat const tx = -((right + left) / (right - left));
GLfloat const ty = -((top + bottom) / (top - bottom));
GLfloat const tz = -((farz + nearz) / (farz - nearz));
GLfloat const matrix[] = {
2.0f / (right - left), 0.0f, 0.0f, tx,
0.0f, 2.0f / (top - bottom), 0.0f, ty,
0.0f, 0.0f, -2.0f / (farz - nearz), tz,
0.0f, 0.0f, 0.0f, 1.0f,
};
Eigen::Matrix4f result;
::memcpy(result.data(), matrix, sizeof(matrix));
result.matrix().transposeInPlace();
return result;
}
void MainCamera::lookToTarget() {
Vec3f z = getForward() / getForward().length();
Vec3f b = up_.cross(z);
Vec3f x = b / b.length();
Vec3f y = z.cross(x);
Eigen::Matrix4f R;
R << x.x, x.y, x.z, 0.0f,
y.x, y.y, y.z, 0.0f,
z.x, z.y, z.z, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f;
Eigen::Matrix4f T;
T << 1.0f, 0.0f, 0.0f, -pos_.x,
0.0f, 1.0f, 0.0f, -pos_.y,
0.0f, 0.0f, 1.0f, -pos_.z,
0.0f, 0.0f, 0.0f, 1.0f;
Eigen::Matrix4f m = R * T;
glMultMatrixf(m.data());
}
bool CameraPoseFinderICP::estimateCameraPose(const DepthFrameData& depth_frame,const ColorFrameData& color_frame)
{
if(depth_frame.frameId()==0)
{
return true;
}
//prepare datas
cudaDownSampleNewVertices();
cudaDownSampleNewNormals();
cudaDownSampleModelVertices();
cudaDownSampleModelNormals();
Mat44 cur_transform=_pose;
Mat44 last_transform_inv=_pose.getInverse();
Eigen::Matrix<float, 6, 1, 0, 6, 1> delta_dof;
for(int l=_iter_nums.size()-1;l>=0;l--)
{
int it_nums=_iter_nums[l];
while(it_nums--)
{
// findCorresSet(l,cur_transform,last_transform_inv);
if(false==minimizePointToPlaneErrFunc(l,delta_dof,cur_transform,last_transform_inv)) return false;
Eigen::Matrix4f t = Eigen::Matrix4f::Identity();
if (false==vector6ToTransformMatrix(delta_dof, t) )
{
cout<<"camera shaking detected"<<endl;
return false;
}
//eigen matrix to mat44
Eigen::Matrix4f tt = t.transpose();
Mat44 mat_t(tt.data());
cur_transform = mat_t*cur_transform;
}
}
_pose=cur_transform;
return true;
}
Eigen::Matrix4f
perspectiveMatrix(
GLfloat left, GLfloat right,
GLfloat top, GLfloat bottom,
GLfloat nearz, GLfloat farz
) {
GLfloat const A = (right + left) / (right - left);
GLfloat const B = (top + bottom) / (top - bottom);
GLfloat const C = -(farz + nearz) / (farz - nearz);
GLfloat const D = -(2.0f*farz*nearz) / (farz - nearz);
GLfloat const matrix[] = {
2.0f * nearz / (right - left), 0.0f, A, 0.0f,
0.0f, 2.0f * nearz / (top - bottom), B, 0.0f,
0.0f, 0.0f, C, D,
0.0f, 0.0f, -1.0f, 0.0f,
};
Eigen::Matrix4f result;
::memcpy(result.data(), matrix, sizeof(matrix));
result.matrix().transposeInPlace();
return result;
}
//------------------------------------------------------------------------------
int main(int argc, char** argv) {
//GRAPHICS SETUP
glfwSetErrorCallback(error_callback);
if(!glfwInit()) {
std::cerr << "ERROR - glfwInit" << std::endl;
exit(EXIT_FAILURE);
}
GLFWwindow* window = glfwCreateWindow(800, 600,
"Ray 1!", NULL, NULL);
if (!window) {
std::cerr << "ERROR - glfwCreateWindow" << std::endl;
glfwTerminate();
exit(EXIT_FAILURE);
}
glfwSetKeyCallback(window, key_callback);
glfwSetFramebufferSizeCallback(window, framebuffer_size_callback);
glfwMakeContextCurrent(window);
gladLoadGLLoader((GLADloadproc)glfwGetProcAddress);
std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl;
std::cout << "GLSL version: "
<< glGetString(GL_SHADING_LANGUAGE_VERSION) << std::endl;
std::cout << "Vendor: " << glGetString(GL_VENDOR) << std::endl;
std::cout << "Renderer: " << glGetString(GL_RENDERER) << std::endl;
//GEOMETRY
//geometry: textured quad
float quad[] = {-1.0f, 1.0f, 0.0f, 1.0f,
-1.0f, -1.0f, 0.0f, 1.0f,
1.0f, -1.0f, 0.0f, 1.0f,
1.0f, -1.0f, 0.0f, 1.0f,
1.0f, 1.0f, 0.0f, 1.0f,
-1.0f, 1.0f, 0.0f, 1.0f};
float texcoord[] = {0.0f, 1.0f,
0.0f, 0.0f,
1.0f, 0.0f,
1.0f, 0.0f,
1.0f, 1.0f,
0.0f, 1.0f};
//OpenGL >= 3.3 core requires a vertex array object containing multiple attribute
//buffers
GLuint vao;
glGenVertexArrays(1, &vao);
glBindVertexArray(vao);
//geometry buffer
GLuint quadvbo;
glGenBuffers(1, &quadvbo);
glBindBuffer(GL_ARRAY_BUFFER, quadvbo);
glBufferData(GL_ARRAY_BUFFER, 6 * 4 * sizeof(float),
&quad[0], GL_STATIC_DRAW);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 0, 0);
glBindBuffer(GL_ARRAY_BUFFER, 0);
//texture coordinate buffer
GLuint texbo;
glGenBuffers(1, &texbo);
glBindBuffer(GL_ARRAY_BUFFER, texbo);
glBufferData(GL_ARRAY_BUFFER, 12 * sizeof(float),
&texcoord[0], GL_STATIC_DRAW);
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 0, 0);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindVertexArray(0);
//OPENGL RENDERING SHADERS
GLuint glprogram = create_program(vertexShaderSrc, fragmentShaderSrc);
//enable gl program
glUseProgram(glprogram);
//extract ids of shader variables
GLint mvpID = glGetUniformLocation(glprogram, "MVP");
assert(mvpID>=0);
GLint textureID = glGetUniformLocation(glprogram, "cltexture");
assert(textureID>=0);
//beckground color
glClearColor(0.0f, 0.0f, 0.4f, 1.0f);
g_Backbuffer = std::make_shared<Backbuffer>();
int width, height;
glfwGetFramebufferSize(window, &width, &height);
framebuffer_size_callback(window, width, height);
//RENDER LOOP
//rendering & simulation loop
while (!glfwWindowShouldClose(window)) {
// Clear the screen
glClear(GL_COLOR_BUFFER_BIT);
//setup OpenGL matrices
const Eigen::Matrix4f modelView = Eigen::Matrix4f::Identity();
const Eigen::Matrix4f MVP = g_Backbuffer->m_Projection * modelView;
glUniformMatrix4fv(mvpID, 1, GL_FALSE, MVP.data());
//only need texture unit 0
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, g_Backbuffer->m_Texture);
glUniform1i(textureID, 0);
//select geometry to render
glBindVertexArray(vao);
glEnableVertexAttribArray(0);
glEnableVertexAttribArray(1);
//draw
glDrawArrays(GL_TRIANGLES, 0, 6);
//unbind
glBindVertexArray(0);
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
glBindTexture(GL_TEXTURE_2D, 0);
//put pixels on screen
glfwSwapBuffers(window);
//query events
glfwPollEvents();
}
//CLEANUP
glDeleteBuffers(1, &quadvbo);
glDeleteBuffers(1, &texbo);
glDeleteVertexArrays(1, &vao);
g_Backbuffer.reset();
glfwDestroyWindow(window);
glfwTerminate();
exit(EXIT_SUCCESS);
return 0;
}
void Scene::DrawScene(ParticleSystem* m, double strainSize, bool drawPoints) {
int pSize;
int cSize;
//float* points = m->GetPositions3d(&pSize);
//float* colors = m->GetColors(&cSize, strainSize);
float *points, *colors;
switch(drawMode) {
case 0:
points = m->GetSurfaceTriangles3d(&pSize);
colors = m->GetTriColors(&cSize, strainSize);
break;
case 1:
points = m->GetPositions3d(&pSize, prevMode);
colors = m->GetColors(&cSize, strainSize, xpos, ypos, zpos);
break;
case 2:
points = m->GetSurfaceTriangles3d(&pSize);
colors = m->GetStrainSurfaceTriColors(&cSize, strainSize);
break;
case 3:
points = m->GetTetCenter(&pSize);
colors = m->GetCenterColors(&cSize, strainSize);
break;
case 4:
points = m->GetAllTriangles3d(&pSize);
colors = m->GetStrainAllTriColors(&cSize, strainSize);
break;
}
Eigen::Matrix4f rotationMatrix;
Eigen::Matrix4f projectionMatrix;
rotationMatrix.setZero();
projectionMatrix.setZero();
Eigen::Vector3f pos, target, up;
pos << xpos, ypos, zpos;
m->GetCameraPosAndSize(&xtarg, &ytarg, &ztarg);
target << xtarg, ytarg, ztarg;
up << 0, -1, 0;
RotationMatrix(pos, target, up, rotationMatrix);
PerspectiveMatrix((65*PI)/180.0, ((float)DDWIDTH)/DDHEIGHT, .5, 100, projectionMatrix);
g_viewMatrix = projectionMatrix * rotationMatrix;
DrawDelegate::BeginFrame();
DrawDelegate::SetViewMatrix(g_viewMatrix.data());
Scene::DrawGrid(1, m->groundLevel);
if (drawPoints) {
DrawDelegate::SetLineSize(3);
switch(drawMode) {
case 0:
DrawDelegate::DrawTriangles(points, pSize, colors, cSize);
break;
case 1:
DrawDelegate::DrawLines(points, pSize, colors, cSize);
break;
case 2:
DrawDelegate::DrawTriangles(points, pSize, colors, cSize);
break;
case 3:
DrawDelegate::DrawPoints(points, pSize, colors, cSize);
break;
case 4:
DrawDelegate::DrawTriangles(points, pSize, colors, cSize);
break;
}
}
}
glm::mat4 eigen_matrix4f_to_glm_mat4(const Eigen::Matrix4f &m)
{
return glm::make_mat4x4((const float *)m.data());
}
int main() {
if (!glfwInit()) return -1;
GLFWwindow* window = glfwCreateWindow(Width, Height,
"08 Matrix",
nullptr, nullptr);
if (!window) {
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
// Windowのサイズが変更された際に呼ばれる関数を設定
glfwSetWindowSizeCallback(window, resize);
glfwSwapInterval(1);
float angle = 0.0f;
while (!glfwWindowShouldClose(window)) {
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT);
view();
glTranslatef(0.0f, 0.0f, -1.5f);
// 回転行列を適用
// angle: 回転量(単位:degrees) 一周360c
// x, y, z: 回転軸を表すベクトル(単位ベクトルでなくてよい)
glRotatef(angle, 0.0f, 1.0f, 0.0f);
//angle += 1.0f;
drawCircle(Vec2f(0, 0), 5, 0.4, Color(1, 1, 1));
view();
static Eigen::Vector3f camera_pos(0, 0, 2.0);
static Eigen::Vector3f target_pos(0, 0, 0);
static Eigen::Vector3f camera_up(0, 1, 0);
Eigen::Matrix4f cm = lookAt(camera_pos, target_pos, camera_up);
glMultMatrixf(cm.data());
static Eigen::Vector3f camera_rotate(0, 0, 0);
//camera_rotate.x() += 0.1f;
camera_rotate.y() += 0.1f;
glRotatef(-camera_rotate.x(), 1.0f, 0.0f, 0.0f);
glRotatef(-camera_rotate.y(), 0.0f, 1.0f, 0.0f);
glRotatef(-camera_rotate.z(), 0.0f, 0.0f, 1.0f);
glTranslatef(-camera_pos.x(), -camera_pos.y(), -camera_pos.z());
drawCircle(Vec2f(0, 0), 5, 0.2, Color(0, 0, 1));
glfwSwapBuffers(window);
glfwPollEvents();
}
glfwTerminate();
return 0;
}
void OpenGLRenderer::SetProjectionMatrix(const Eigen::Matrix4f& m) {
glMatrixMode(GL_PROJECTION);
glLoadMatrixf(m.data());
}
Matrix4 Helper::convertFromEigenMatrix(const Eigen::Matrix4f &M)
{
Matrix4 mat = *(Matrix4 *)M.data();
return mat;
}
void glsl_program::set_uniform(unsigned loc, const Eigen::Matrix4f& value) const
{
if (used_program != this)
throw runtime_error("glsl_program::set_uniform, program not bound!");
glUniformMatrix4fv(loc, 1, false, value.data());
}
int volumetric_knt_cuda(int argc, char **argv)
{
Timer timer;
int vol_size = vx_count * vx_size;
float half_vol_size = vol_size * 0.5f;
Eigen::Vector3i voxel_size(vx_size, vx_size, vx_size);
Eigen::Vector3i volume_size(vol_size, vol_size, vol_size);
Eigen::Vector3i voxel_count(vx_count, vx_count, vx_count);
int total_voxels = voxel_count.x() * voxel_count.y() * voxel_count.z();
std::cout << std::fixed
<< "Voxel Count : " << voxel_count.transpose() << std::endl
<< "Voxel Size : " << voxel_size.transpose() << std::endl
<< "Volume Size : " << volume_size.transpose() << std::endl
<< "Total Voxels : " << total_voxels << std::endl
<< std::endl;
timer.start();
KinectFrame knt(filepath);
timer.print_interval("Importing knt frame : ");
Eigen::Affine3f grid_affine = Eigen::Affine3f::Identity();
grid_affine.translate(Eigen::Vector3f(0, 0, half_vol_size));
grid_affine.scale(Eigen::Vector3f(1, 1, -1)); // z is negative inside of screen
Eigen::Matrix4f grid_matrix = grid_affine.matrix();
float knt_near_plane = 0.1f;
float knt_far_plane = 10240.0f;
Eigen::Matrix4f projection = perspective_matrix<float>(KINECT_V2_FOVY, KINECT_V2_DEPTH_ASPECT_RATIO, knt_near_plane, knt_far_plane);
Eigen::Matrix4f projection_inverse = projection.inverse();
Eigen::Matrix4f view_matrix = Eigen::Matrix4f::Identity();
std::vector<float4> vertices(knt.depth.size(), make_float4(0, 0, 0, 1));
std::vector<float4> normals(knt.depth.size(), make_float4(0, 0, 1, 1));
std::vector<Eigen::Vector2f> grid_voxels_params(total_voxels);
//
// setup image parameters
//
unsigned short image_width = 2;
unsigned short image_height = 2;
uchar4* image_data = new uchar4[image_width * image_height];
memset(image_data, 0, image_width * image_height * sizeof(uchar4));
float4* debug_buffer = new float4[image_width * image_height];
memset(debug_buffer, 0, image_width * image_height * sizeof(float4));
knt_cuda_setup(
vx_count, vx_size,
grid_matrix.data(),
projection.data(),
projection_inverse.data(),
*grid_voxels_params.data()->data(),
KINECT_V2_DEPTH_WIDTH,
KINECT_V2_DEPTH_HEIGHT,
KINECT_V2_DEPTH_MIN,
KINECT_V2_DEPTH_MAX,
vertices.data()[0],
normals.data()[0],
image_width,
image_height,
*image_data,
*debug_buffer
);
timer.start();
knt_cuda_allocate();
knt_cuda_init_grid();
timer.print_interval("Allocating gpu : ");
timer.start();
knt_cuda_copy_host_to_device();
knt_cuda_copy_depth_buffer_to_device(knt.depth.data());
timer.print_interval("Copy host to device : ");
timer.start();
knt_cuda_normal_estimation();
timer.print_interval("Normal estimation : ");
timer.start();
knt_cuda_update_grid(view_matrix.data());
timer.print_interval("Update grid : ");
timer.start();
knt_cuda_grid_params_copy_device_to_host();
knt_cuda_copy_device_to_host();
timer.print_interval("Copy device to host : ");
timer.start();
knt_cuda_free();
timer.print_interval("Cleanup gpu : ");
timer.start();
Eigen::Affine3f grid_affine_2 = Eigen::Affine3f::Identity();
grid_affine_2.translate(Eigen::Vector3f(-half_vol_size, -half_vol_size, -vol_size));
export_volume(
"../../data/grid_volume_gpu_knt.obj",
voxel_count,
voxel_size,
grid_voxels_params);
//grid_affine_2.matrix());
export_obj_with_colors("../../data/knt_grid_frame_normals.obj", vertices, normals);
timer.print_interval("Exporting volume : ");
return 0;
}
void AutoBlend::init()
{
// Add widget
auto toolsWidgetContainer = new QWidget();
widget = new Ui::AutoBlendWidget();
widget->setupUi(toolsWidgetContainer);
widgetProxy = new QGraphicsProxyWidget(this);
widgetProxy->setWidget(toolsWidgetContainer);
// Place at bottom left corner
auto delta = widgetProxy->sceneBoundingRect().bottomLeft() -
scene()->views().front()->rect().bottomLeft();
widgetProxy->moveBy(-delta.x(), -delta.y());
// Fill categories box
{
for(auto cat : document->categories.keys()){
widget->categoriesBox->insertItem(widget->categoriesBox->count(), cat);
}
int idx = widget->categoriesBox->findText(document->categoryOf(document->firstModelName()));
widget->categoriesBox->setCurrentIndex(idx);
}
// Create gallery of shapes
gallery = new Gallery(this, QRectF(0,0,this->bounds.width(), 220));
// Create container that holds results
results = new Gallery(this, QRectF(0,0, this->bounds.width(),
bounds.height() - gallery->boundingRect().height()),
QRectF(0,0,256,256), true);
results->moveBy(0, gallery->boundingRect().height());
// Gallery on top of results
gallery->setZValue(results->zValue() + 10);
auto dropShadow = new QGraphicsDropShadowEffect();
dropShadow->setOffset(0, 5);
dropShadow->setColor(QColor(0, 0, 0, 150));
dropShadow->setBlurRadius(10);
gallery->setGraphicsEffect(dropShadow);
// Connect UI with actions
{
connect(widget->categoriesBox, &QComboBox::currentTextChanged, [&](QString text){
document->currentCategory = text;
});
connect(widget->analyzeButton, &QPushButton::pressed, [&](){
document->computePairwise(widget->categoriesBox->currentText());
});
// Default view angle
{
// Camera target and initial position
auto camera = new Eigen::Camera();
auto frame = camera->frame();
frame.position = Eigen::Vector3f(-1, 0, 0.5);
camera->setTarget(Eigen::Vector3f(0, 0, 0.5));
camera->setFrame(frame);
int deltaZoom = document->extent().length() * 1.0;
// Default view angle
double theta1 = acos(-1) * 0.75;
double theta2 = acos(-1) * 0.10;
camera->rotateAroundTarget(Eigen::Quaternionf(Eigen::AngleAxisf(theta1, Eigen::Vector3f::UnitY())));
camera->zoom(-(4+deltaZoom));
camera->rotateAroundTarget(Eigen::Quaternionf(Eigen::AngleAxisf(theta2, Eigen::Vector3f::UnitX())));
auto cp = camera->position();
cameraPos = QVector3D(cp[0], cp[1], cp[2]);
// Camera settings
camera->setViewport(128, 128);
Eigen::Matrix4f p = camera->projectionMatrix();
Eigen::Matrix4f v = camera->viewMatrix().matrix();
p.transposeInPlace();
v.transposeInPlace();
cameraMatrix = QMatrix4x4(p.data()) * QMatrix4x4(v.data());
}
connect(document, &Document::categoryAnalysisDone, [=](){
if (gallery == nullptr) return;
// Fill gallery
gallery->clearThumbnails();
auto catModels = document->categories[document->currentCategory].toStringList();
for (auto targetName : catModels)
{
auto targetModel = document->cacheModel(targetName);
auto t = gallery->addTextItem(targetName);
QVariantMap data = t->data;
data["targetName"].setValue(targetName);
t->setData(data);
t->setCamera(cameraPos, cameraMatrix);
t->setFlag(QGraphicsItem::ItemIsSelectable);
// Add parts of target shape
for (auto n : targetModel->nodes){
t->addAuxMesh(toBasicMesh(targetModel->getMesh(n->id), n->vis_property["color"].value<QColor>()));
}
scene()->update(t->sceneBoundingRect());
}
scene()->update(this->sceneBoundingRect());
QTimer::singleShot(500, [=]{ gallery->update(); });
});
// Do blend
connect(widget->blendButton, SIGNAL(pressed()), SLOT(doBlend()));
}
}
void set_uniform_matrix(GLuint programID, const char* NAME, const Eigen::Matrix4f& matrix) {
GLuint matrix_id = glGetUniformLocation(programID, NAME);
glUniformMatrix4fv(matrix_id, 1, GL_FALSE, matrix.data());
}
void WarpPosShader::setMVPMatrix(const Eigen::Matrix4f &mvp)
{
glUseProgram(mProgram.getId());
glUniformMatrix4fv(mUniformMVPMatrix, 1, false, mvp.data());
}
void OpenGLRenderer::SetModelViewMatrix(const Eigen::Matrix4f& m) {
glMatrixMode(GL_MODELVIEW);
glLoadMatrixf(m.data());
}