void Reprojector::projectCloud( IplImage *image )
{
cvZero( image );
if( !this->projVertices.size() )
return;
VertexList tempList;
tempList.resize( this->projVertices.size() );
transform3DTo2D( this->projVertices.size(), &( this->projVertices[0] ), &( tempList[0] ), this->cxProjector, this->cyProjector, this->focalLengthProjector, false );
unsigned short val = 0;
unsigned short *tempPtr = NULL;
for( VertexList::const_iterator it = tempList.begin(); it != tempList.end(); ++it )
{
unsigned int x = it->X;
unsigned int y = it->Y;
unsigned short depth = -( it->Z );
if( x >= image->width || y >= image->height )
continue;
val = depth;
tempPtr = (unsigned short*)( image->imageData ) + x + y * image->width;
if( !( *tempPtr ) || *tempPtr > val ) //z-test
*tempPtr = val;
}
}
//***************************************************************************************
// Name: Subdivide
// Desc: Function subdivides every input triangle into four triangles of equal area.
//***************************************************************************************
void Subdivide(VertexList& vertices, IndexList& indices)
{
VertexList vin = vertices;
IndexList iin = indices;
vertices.resize(0);
indices.resize(0);
// v1
// *
// / \
// / \
// m0*-----*m1
// / \ / \
// / \ / \
// *-----*-----*
// v0 m2 v2
UINT numTris = (UINT)iin.size()/3;
for(UINT i = 0; i < numTris; ++i)
{
D3DXVECTOR3 v0 = vin[ iin[i*3+0] ];
D3DXVECTOR3 v1 = vin[ iin[i*3+1] ];
D3DXVECTOR3 v2 = vin[ iin[i*3+2] ];
D3DXVECTOR3 m0 = 0.5f*(v0 + v1);
D3DXVECTOR3 m1 = 0.5f*(v1 + v2);
D3DXVECTOR3 m2 = 0.5f*(v0 + v2);
vertices.push_back(v0); // 0
vertices.push_back(v1); // 1
vertices.push_back(v2); // 2
vertices.push_back(m0); // 3
vertices.push_back(m1); // 4
vertices.push_back(m2); // 5
indices.push_back(i*6+0);
indices.push_back(i*6+3);
indices.push_back(i*6+5);
indices.push_back(i*6+3);
indices.push_back(i*6+4);
indices.push_back(i*6+5);
indices.push_back(i*6+5);
indices.push_back(i*6+4);
indices.push_back(i*6+2);
indices.push_back(i*6+3);
indices.push_back(i*6+1);
indices.push_back(i*6+4);
}
}
//***************************************************************************************
// Name: BuildGeoSphere
// Desc: Function approximates a sphere by tesselating an icosahedron.
//***************************************************************************************
void BuildGeoSphere(UINT numSubdivisions, float radius, VertexList& vertices, IndexList& indices)
{
// Put a cap on the number of subdivisions.
numSubdivisions = Min(numSubdivisions, UINT(5));
// Approximate a sphere by tesselating an icosahedron.
const float X = 0.525731f;
const float Z = 0.850651f;
D3DXVECTOR3 pos[12] =
{
D3DXVECTOR3(-X, 0.0f, Z), D3DXVECTOR3(X, 0.0f, Z),
D3DXVECTOR3(-X, 0.0f, -Z), D3DXVECTOR3(X, 0.0f, -Z),
D3DXVECTOR3(0.0f, Z, X), D3DXVECTOR3(0.0f, Z, -X),
D3DXVECTOR3(0.0f, -Z, X), D3DXVECTOR3(0.0f, -Z, -X),
D3DXVECTOR3(Z, X, 0.0f), D3DXVECTOR3(-Z, X, 0.0f),
D3DXVECTOR3(Z, -X, 0.0f), D3DXVECTOR3(-Z, -X, 0.0f)
};
DWORD k[60] =
{
1,4,0, 4,9,0, 4,5,9, 8,5,4, 1,8,4,
1,10,8, 10,3,8, 8,3,5, 3,2,5, 3,7,2,
3,10,7, 10,6,7, 6,11,7, 6,0,11, 6,1,0,
10,1,6, 11,0,9, 2,11,9, 5,2,9, 11,2,7
};
vertices.resize(12);
indices.resize(60);
for(int i = 0; i < 12; ++i)
vertices[i] = pos[i];
for(int i = 0; i < 60; ++i)
indices[i] = k[i];
for(UINT i = 0; i < numSubdivisions; ++i)
Subdivide(vertices, indices);
// Project vertices onto sphere and scale.
for(size_t i = 0; i < vertices.size(); ++i)
{
D3DXVec3Normalize(&vertices[i], &vertices[i]);
vertices[i] *= radius;
}
}
void read_label (const std::string& path, VertexList& vertices, Scalar& scalar)
{
vertices.clear();
scalar.resize(0);
std::ifstream in (path.c_str(), std::ios_base::in);
if (!in)
throw Exception ("Error opening input file!");
std::string line;
std::getline (in, line);
if (line.substr(0, 13) != "#!ascii label")
throw Exception ("Error parsing FreeSurfer label file \"" + Path::basename (path) + "\": Bad first line identifier");
std::getline (in, line);
uint32_t num_vertices = 0;
try {
num_vertices = to<size_t> (line);
} catch (Exception& e) {
throw Exception (e, "Error parsing FreeSurfer label file \"" + Path::basename (path) + "\": Bad second line vertex count");
}
for (size_t i = 0; i != num_vertices; ++i) {
std::getline (in, line);
uint32_t index = std::numeric_limits<uint32_t>::max();
default_type x = NaN, y = NaN, z = NaN, value = NaN;
sscanf (line.c_str(), "%u %lf %lf %lf %lf", &index, &x, &y, &z, &value);
if (index == std::numeric_limits<uint32_t>::max())
throw Exception ("Error parsing FreeSurfer label file \"" + Path::basename (path) + "\": Malformed line");
if (index >= scalar.size()) {
scalar.conservativeResizeLike (Scalar::Base::Constant (index+1, NaN));
vertices.resize (index+1, Vertex (NaN, NaN, NaN));
}
if (std::isfinite (scalar[index]))
throw Exception ("Error parsing FreeSurfer label file \"" + Path::basename (path) + "\": Duplicated index (" + str(scalar[index]) + ")");
scalar[index] = value;
vertices[index] = Vertex (x, y, z);
}
if (!in.good())
throw Exception ("Error parsing FreeSurfer label file \"" + Path::basename (path) + "\": End of file reached");
scalar.set_name (path);
}
void RenderingEngine::Initialize()
{
// Create vertices for full-screen quad.
m_backgroundVertices.resize(4);
m_backgroundVertices[0].Position = vec3(-1, -1.5, 0);
m_backgroundVertices[0].TexCoord = vec2(0, 0);
m_backgroundVertices[1].Position = vec3(-1, 1.5, 0);
m_backgroundVertices[1].TexCoord = vec2(0, 1);
m_backgroundVertices[2].Position = vec3(1, -1.5, 0);
m_backgroundVertices[2].TexCoord = vec2(1, 0);
m_backgroundVertices[3].Position = vec3(1, 1.5, 0);
m_backgroundVertices[3].TexCoord = vec2(1, 1);
if (false) {
m_backgroundVertices[0].TexCoord *= 0.3;
m_backgroundVertices[1].TexCoord *= 0.3;
m_backgroundVertices[2].TexCoord *= 0.3;
m_backgroundVertices[3].TexCoord *= 0.3;
}
// Create the line-based stick figure.
size_t indexCount = sizeof(StickFigureIndices) / sizeof(GLushort);
size_t lineCount = indexCount / 2;
m_stickFigure.Indices = IndexList(StickFigureIndices, StickFigureIndices + indexCount);
glGenBuffers(1, &m_stickFigure.IndexBuffer);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_stickFigure.IndexBuffer);
glBufferData(GL_ELEMENT_ARRAY_BUFFER,
m_stickFigure.Indices.size() * sizeof(GLushort),
&m_stickFigure.Indices[0],
GL_STATIC_DRAW);
m_stickFigure.Vertices.resize(JointCount);
// Create the triangle-based stick figure.
GenerateTriangleIndices(lineCount, m_aaStickFigure.Indices);
glGenBuffers(1, &m_aaStickFigure.IndexBuffer);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_aaStickFigure.IndexBuffer);
glBufferData(GL_ELEMENT_ARRAY_BUFFER,
m_aaStickFigure.Indices.size() * sizeof(GLushort),
&m_aaStickFigure.Indices[0],
GL_STATIC_DRAW);
m_aaStickFigure.Vertices.resize(lineCount * 8);
GenerateTriangleTexCoords(m_aaStickFigure);
// Initialize the demo state.
m_demoState = DemoStateAaLines;
// Load up some textures.
m_textures.Tile = CreateTexture(Tile);
m_textures.Circle = CreateTexture(Circle);
m_textures.BlurryCircle = CreateTexture(BlurryCircle);
// Extract width and height from the color buffer.
ivec2 screenSize;
glGetRenderbufferParameterivOES(GL_RENDERBUFFER_OES,
GL_RENDERBUFFER_WIDTH_OES, &screenSize.x);
glGetRenderbufferParameterivOES(GL_RENDERBUFFER_OES,
GL_RENDERBUFFER_HEIGHT_OES, &screenSize.y);
// Create the on-screen FBO.
glGenFramebuffersOES(1, &m_framebuffers.Screen);
glBindFramebufferOES(GL_FRAMEBUFFER_OES, m_framebuffers.Screen);
glFramebufferRenderbufferOES(GL_FRAMEBUFFER_OES, GL_COLOR_ATTACHMENT0_OES,
GL_RENDERBUFFER_OES, m_renderbuffers.Screen);
// Set up various GL state.
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glEnable(GL_TEXTURE_2D);
glViewport(0, 0, screenSize.x, screenSize.y);
glAlphaFunc(GL_LESS, 0.5);
// Set up the transforms.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
const float NearPlane = 5, FarPlane = 100;
const float Scale = 0.0005;
glFrustumf(-Scale * screenSize.x / 2, Scale * screenSize.x / 2,
-Scale * screenSize.y / 2, Scale * screenSize.y / 2,
NearPlane, FarPlane);
glMatrixMode(GL_MODELVIEW);
}
