GLSprite::GLSprite(GLTexture* texture, Rectangle textureRectangle)
{
initializeVariables();
_texture = texture;
_textureRectangle = textureRectangle;
generateVertices();
generateTextureCoordinates();
}
void ofxRGBDRenderer::update(){
if(!hasDepthImage){
ofLogError("ofxRGBDRenderer::update() -- no depth image");
return;
}
if(!calibrationSetup && hasRGBImage){
ofLogError("ofxRGBDRenderer::update() -- no calibration for RGB Image");
return;
}
bool debug = false;
int w = 640;
int h = 480;
int start = ofGetElapsedTimeMillis();
Point2d fov = depthCalibration.getUndistortedIntrinsics().getFov();
float fx = tanf(ofDegToRad(fov.x) / 2) * 2;
float fy = tanf(ofDegToRad(fov.y) / 2) * 2;
Point2d principalPoint = depthCalibration.getUndistortedIntrinsics().getPrincipalPoint();
cv::Size imageSize = depthCalibration.getUndistortedIntrinsics().getImageSize();
if(!forceUndistortOff){
depthCalibration.undistort( toCv(currentDepthImage), toCv(undistortedDepthImage), CV_INTER_NN);
}
else {
undistortedDepthImage = currentDepthImage;
}
//start
int imageIndex = 0;
int vertexIndex = 0;
float xReal,yReal;
int indexPointer = 0;
int vertexPointer = 0;
hasVerts = false;
unsigned short* ptr = undistortedDepthImage.getPixels();
for(int y = 0; y < h; y += simplify) {
for(int x = 0; x < w; x += simplify) {
vertexPointer = y*w+x;
unsigned short z = undistortedDepthImage.getPixels()[y*w+x];
IndexMap& indx = indexMap[indexPointer];
if(z != 0 && z < farClip){
xReal = (((float)x - principalPoint.x) / imageSize.width) * z * fx;
yReal = (((float)y - principalPoint.y) / imageSize.height) * z * fy;
indx.vertexIndex = vertexPointer;
indx.valid = true;
simpleMesh.setVertex(vertexPointer, ofVec3f(xReal, yReal, z));
hasVerts = true;
}
else {
indx.valid = false;
}
indexPointer++;
}
}
//end
if(debug && !hasVerts) cout << "warning no verts with far clip " << farClip << endl;
if(debug) cout << "unprojection " << simpleMesh.getVertices().size() << " took " << ofGetElapsedTimeMillis() - start << endl;
simpleMesh.clearIndices();
set<ofIndexType> calculatedNormals;
start = ofGetElapsedTimeMillis();
if(calculateNormals){
simpleMesh.getNormals().resize(simpleMesh.getVertices().size());
}
for(int i = 0; i < baseIndeces.size(); i+=3){
if(indexMap[baseIndeces[i]].valid &&
indexMap[baseIndeces[i+1]].valid &&
indexMap[baseIndeces[i+2]].valid){
ofVec3f a,b,c;
a = simpleMesh.getVertices()[indexMap[baseIndeces[i]].vertexIndex];
b = simpleMesh.getVertices()[indexMap[baseIndeces[i+1]].vertexIndex];
c = simpleMesh.getVertices()[indexMap[baseIndeces[i+2]].vertexIndex];
if(fabs(a.z - b.z) < edgeCull && fabs(a.z - c.z) < edgeCull){
simpleMesh.addTriangle(indexMap[baseIndeces[i]].vertexIndex,
indexMap[baseIndeces[i+1]].vertexIndex,
indexMap[baseIndeces[i+2]].vertexIndex);
if(calculateNormals && calculatedNormals.find(indexMap[baseIndeces[i]].vertexIndex) == calculatedNormals.end()){
//calculate normal
simpleMesh.setNormal(indexMap[baseIndeces[i]].vertexIndex, (b-a).getCrossed(b-c).getNormalized());
calculatedNormals.insert(indexMap[baseIndeces[i]].vertexIndex);
}
}
}
}
if(debug) cout << "indexing " << simpleMesh.getIndices().size() << " took " << ofGetElapsedTimeMillis() - start << endl;
//normally this is done in the shader, but sometimes we want to have them on the CPU for doing special processing
if(calculateTextureCoordinates){
generateTextureCoordinates();
// if(debug) cout << "gen tex coords took " << (ofGetElapsedTimeMillis() - start) << endl;
}
}
