void MeshViewer :: addMeshToVertexBufferObject(const ntk::Mesh& mesh, const Pose3D& pose, MeshViewerMode mode)
{
#if defined(NESTK_USE_GLEW) || defined(USE_GLEW)
GLuint vbo_id = -1, vbo_faces_id = -1;
glGenBuffersARB(1, &vbo_id);
if (mesh.hasFaces())
glGenBuffersARB(1, &vbo_faces_id);
VertexBufferObject vbo;
pose.cvCameraTransform().copyTo(vbo.model_view_matrix);
// Transpose the matrix for OpenGL column-major.
vbo.model_view_matrix = vbo.model_view_matrix.t();
vbo.nb_faces = 0;
vbo.vertex_id = vbo_id;
vbo.faces_id = vbo_faces_id;
vbo.has_faces = mesh.hasFaces();
vbo.has_color = mesh.hasColors();
vbo.has_texcoords = mesh.hasTexcoords();
vbo.has_normals = mesh.hasNormals();
vbo.rendering_mode = mode;
vbo.color_offset = mesh.vertices.size()*sizeof(Vec3f);
vbo.normals_offset = vbo.color_offset + mesh.colors.size()*sizeof(Vec3b);
vbo.texture_offset = vbo.normals_offset + mesh.normals.size() * sizeof(Vec3f);
vbo.nb_vertices = mesh.vertices.size();
glBindBufferARB(GL_ARRAY_BUFFER_ARB, vbo.vertex_id);
glBufferDataARB(GL_ARRAY_BUFFER_ARB,
mesh.colors.size() * sizeof(Vec3b)
+ mesh.normals.size() * sizeof(Vec3f)
+ mesh.vertices.size() * sizeof(Vec3f)
+ mesh.texcoords.size() * sizeof(Point2f), // size
0, // null pointer: just allocate memory
GL_STATIC_DRAW_ARB);
glBufferSubDataARB(GL_ARRAY_BUFFER_ARB, 0, mesh.vertices.size()*sizeof(Vec3f), &mesh.vertices[0]);
if (vbo.has_color)
glBufferSubDataARB(GL_ARRAY_BUFFER_ARB, vbo.color_offset, mesh.colors.size()*sizeof(Vec3b), &mesh.colors[0]);
if (vbo.has_normals)
glBufferSubDataARB(GL_ARRAY_BUFFER_ARB, vbo.normals_offset, mesh.normals.size()*sizeof(Vec3f), &mesh.normals[0]);
if (vbo.has_texcoords)
glBufferSubDataARB(GL_ARRAY_BUFFER_ARB, vbo.texture_offset, mesh.texcoords.size()*sizeof(Point2f), &mesh.texcoords[0]);
if (vbo.has_faces)
{
vbo.nb_faces = mesh.faces.size();
glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, vbo.faces_id);
glBufferDataARB(GL_ELEMENT_ARRAY_BUFFER_ARB,
mesh.faces.size() * 3 * sizeof(GLuint), // size
(GLuint*)&mesh.faces[0],
GL_STATIC_DRAW_ARB);
}
m_upcoming_vertex_buffer_objects.push_back(vbo);
#endif
}
void MeshRenderer :: setPose(const Pose3D& pose, float* arg_near_plane, float* arg_far_plane)
{
VertexBufferObject& vbo = m_vertex_buffer_object;
pose.cvCameraTransform().copyTo(vbo.model_view_matrix);
// Transpose the matrix for OpenGL column-major.
vbo.model_view_matrix = vbo.model_view_matrix.t();
if (!(arg_near_plane && arg_far_plane))
{
estimateOptimalPlanes(pose, &m_last_near_plane, &m_last_far_plane);
}
else
{
m_last_near_plane = *arg_near_plane;
m_last_far_plane = *arg_far_plane;
}
m_pbuffer->makeCurrent();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
cv::Vec3f euler_angles = pose.cvEulerRotation();
glTranslatef(pose.cvTranslation()[0], pose.cvTranslation()[1], pose.cvTranslation()[2]);
glRotatef(euler_angles[2]*180.0/M_PI, 0, 0, 1);
glRotatef(euler_angles[1]*180.0/M_PI, 0, 1, 0);
glRotatef(euler_angles[0]*180.0/M_PI, 1, 0, 0);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
double dx = pose.imageCenterX() - (m_pbuffer->width() / 2.0);
double dy = pose.imageCenterY() - (m_pbuffer->height() / 2.0);
glViewport(dx, -dy, m_pbuffer->width(), m_pbuffer->height());
if (pose.isOrthographic())
{
ntk_dbg_print(pose.focalX()/2, 0);
ntk_dbg_print(pose.focalY()/2, 0);
glOrtho(-pose.focalX()/2, pose.focalX()/2, -pose.focalY()/2, pose.focalY()/2, m_last_near_plane, m_last_far_plane);
}
else
{
double fov = (180.0/M_PI) * 2.0*atan(m_pbuffer->height()/(2.0*pose.focalY()));
// double fov2 = (180.0/M_PI) * 2.0*atan(image.cols/(2.0*pose.focalX()));
// ntk_dbg_print(fov2, 2);
// gluPerspective(fov2, double(image.rows)/image.cols, near_plane, far_plane);
gluPerspective(fov, double(m_pbuffer->width())/m_pbuffer->height(), m_last_near_plane, m_last_far_plane);
}
glMatrixMode (GL_MODELVIEW);
}