void MeshBufferReader::setMeshPyramid()
{
TICK("setupMeshBufferRendering");
visibilityMaskPyramid.resize(m_nNumMeshLevels);
outputInfoPyramid.resize(m_nNumMeshLevels);
outputPropPyramid.resize(m_nNumMeshLevels);
for(int i = 0; i < m_nNumMeshLevels; ++i)
{
int numVertices = currentMeshPyramid.levels[i].numVertices;
visibilityMaskPyramid[i].resize(numVertices,true);
vector<CoordinateType> proj2D;
proj2D.resize(2); proj2D[0] = 0; proj2D[1] = 0;
outputInfoPyramid[i].meshData = std::move(currentMeshPyramid.levels[i]);
// outputInfoPyramid[i].meshDataGT = currentMeshPyramid.levels[i];
// outputInfoPyramid[i].meshDataColorDiff = currentMeshPyramid.levels[i];
outputInfoPyramid[i].nRenderLevel = i;
outputInfoPyramid[i].meshProj.resize(numVertices, proj2D);
// outputInfoPyramid[i].meshProjGT = outputInfoPyramid[i].meshProj;
outputInfoPyramid[i].visibilityMask.resize(numVertices, true);
memset(outputInfoPyramid[i].camPose, 0, 6*sizeof(double));
UpdateRenderingData(outputInfoPyramid[i], KK, camPose, outputInfoPyramid[i].meshData);
//////////////////////////// outputPropPyramid
if(meshLoadingSettings.loadProp)
{
outputPropPyramid[i].meshData = std::move(propMeshPyramid.levels[i]);
// outputPropPyramid[i].meshDataGT = propMeshPyramid.levels[i];
// outputPropPyramid[i].meshDataColorDiff = propMeshPyramid.levels[i];
outputPropPyramid[i].nRenderLevel = i;
outputPropPyramid[i].meshProj.resize(numVertices, proj2D);
// outputPropPyramid[i].meshProjGT = outputPropPyramid[i].meshProj;
outputPropPyramid[i].visibilityMask.resize(numVertices, true);
memset(outputPropPyramid[i].camPose, 0, 6*sizeof(double));
UpdateRenderingData(outputPropPyramid[i], KK, camPose, outputPropPyramid[i].meshData);
}
// update the visibility of each vertex
if(useVisibilityMask)
{
TICK( "visibilityMask" + std::to_string(i) );
UpdateVisibilityMaskGL(outputInfoPyramid[i], visibilityMaskPyramid[i], KK, camPose, m_nWidth, m_nHeight);
if(meshLoadingSettings.loadProp)
UpdateVisibilityMaskGL(outputPropPyramid[i], visibilityMaskPyramid[i], KK, camPose, m_nWidth, m_nHeight);
TOCK( "visibilityMask" + std::to_string(i) );
}
}
TOCK("setupMeshBufferRendering");
}
void MainFrame::UpdateVisibilityMask(double toleranceRatio)
{
vector<bool> visibilityMask;
UpdateVisibilityMaskGL(outputInfo, visibilityMask, KK, outputInfo.camPose,
m_nWidth, m_nHeight, toleranceRatio);
}
void MeshSequenceReader::trackerUpdate(TrackerOutputInfo& outputInfo)
{
TICK("visualRenderingUpdate");
UpdateRenderingData(outputInfo, KK, camPose, currentMesh);
UpdateRenderingDataFast(outputInfo, KK, currentMesh);
if(useVisibilityMask)
{
UpdateVisibilityMaskGL(outputInfo, visibilityMask, KK, camPose, m_nWidth, m_nHeight);
//UpdateVisibilityMask(outputInfo, visibilityMask, m_nWidth, m_nHeight);
UpdateColorDiff(outputInfo, visibilityMask, colorImageSplit);
}
TOCK("visualRenderingUpdate");
}
void MeshSequenceReader::trackerInitSetup(TrackerOutputInfo& outputInfo)
{
TICK("visualRenderingInit");
outputInfo.meshData = currentMesh;
outputInfo.meshDataGT = outputInfo.meshData;
// get 2d projections
double X,Y,Z;
double u,v,w;
vector<CoordinateType> proj2D, proj2DGT;
proj2D.resize(2); proj2DGT.resize(2);
for(int vertex = 0; vertex < currentMesh.numVertices; ++vertex)
{
X = currentMesh.vertices[vertex][0];
Y = currentMesh.vertices[vertex][1];
Z = currentMesh.vertices[vertex][2];
if(KK[0][2] == 0) // this is orthographic camera
{
proj2D[0] = X; proj2D[1] = Y;
proj2DGT[0] = X; proj2DGT[1] = Y;
}
else
{
u = KK[0][0] * X + KK[0][1] * Y + KK[0][2] * Z;
v = KK[1][0] * X + KK[1][1] * Y + KK[1][2] * Z;
w = KK[2][0] * X + KK[2][1] * Y + KK[2][2] * Z;
if(w != 0)
{
u = u/w;
v = v/w;
}
proj2D[0] = u; proj2D[1] = v;
proj2DGT[0] = u; proj2DGT[1] = v;
}
outputInfo.meshProj.push_back(proj2D);
outputInfo.meshProjGT.push_back(proj2DGT);
}
outputInfo.visibilityMask.resize(outputInfo.meshData.numVertices,true);
// update the visiblity mask
if(useVisibilityMask)
{
UpdateVisibilityMaskGL(outputInfo, visibilityMask, KK, camPose, m_nWidth, m_nHeight);
//UpdateVisibilityMask(outputInfo, visibilityMask, m_nWidth, m_nHeight);
outputInfo.meshDataColorDiff = outputInfo.meshData;
UpdateColorDiff(outputInfo, visibilityMask, colorImageSplit);
}
// camera pose is always 0 in this case
for(int i = 0; i < 6; ++i)
outputInfo.camPose[i] = 0;
trackerInitialized = true;
TOCK("visualRenderingInit");
}
