void MeshRenderer :: renderToImage(cv::Mat4b& image, const Pose3D& pose, int flags)
{
m_pbuffer->makeCurrent();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
if (flags & LIGHTING)
{
GLfloat mat_specular[] = { 1.0, 1.0, 1.0, 1.0 };
GLfloat mat_shininess[] = { 10.0 };
GLfloat light_position[] = { 1, 1, 1.0, 0.0 };
glEnable(GL_LIGHTING);
glShadeModel (GL_SMOOTH);
glEnable(GL_COLOR_MATERIAL);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glEnable(GL_LIGHT0);
}
computeProjectionMatrix(image, pose);
glClearColor(1.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (flags & WIREFRAME)
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
// draw the display list
glCallList(m_list_index);
glFlush();
computeDepthBuffer();
QImage qimage = m_pbuffer->toImage();
for (int r = 0; r < qimage.height(); ++r)
for (int c = 0; c < qimage.width(); ++c)
{
QRgb pixel = qimage.pixel(c,r);
Vec4b color (qBlue(pixel), qGreen(pixel), qRed(pixel), qAlpha(pixel));
m_color_buffer(r,c) = color;
float a = qAlpha(pixel)/255.f;
if (a > 0)
{
Vec4b old_color = image(r,c);
image(r,c) = Vec4b(old_color[0]*(1-a) + color[0]*a,
old_color[1]*(1-a) + color[1]*a,
old_color[2]*(1-a) + color[2]*a,
255);
}
}
}
void MeshRenderer :: renderToImage(cv::Mat4b& image, int flags)
{
ntk_assert(m_vertex_buffer_object.initialized,
"Renderer not initialized! Call setPose and setMesh.");
ntk::TimeCount tc_gl_current("make_current", 2);
m_pbuffer->makeCurrent();
tc_gl_current.stop();
ntk::TimeCount tc_gl_render("gl_render", 2);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (flags & WIREFRAME)
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
VertexBufferObject& vbo = m_vertex_buffer_object;
glBindBufferARB(GL_ARRAY_BUFFER_ARB, vbo.vertex_id);
if (vbo.has_texcoords)
{
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, vbo.texture_id);
}
else
{
glDisable(GL_TEXTURE_2D);
}
if (vbo.has_texcoords)
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
if (vbo.has_color)
glEnableClientState(GL_COLOR_ARRAY);
else
glColor3f(1.0f,0.f,0.f);
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, 0);
if (vbo.has_color)
glColorPointer(3, GL_UNSIGNED_BYTE, 0, ((char*) NULL) + vbo.color_offset);
if (vbo.has_texcoords)
glTexCoordPointer(2, GL_FLOAT, 0, ((char*) NULL) + vbo.texture_offset);
if (vbo.has_faces)
{
glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, vbo.faces_id);
glNormal3f(0, 0, 1);
glDrawElements(GL_TRIANGLES, vbo.nb_faces*3, GL_UNSIGNED_INT, 0);
if (flags & OUTLINE)
{
// Draw again for outline.
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
glDrawElements(GL_TRIANGLES, vbo.nb_faces*3, GL_UNSIGNED_INT, 0);
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
}
}
else
{
glDrawArrays(GL_POINTS,
0,
vbo.nb_vertices);
}
glDisableClientState(GL_VERTEX_ARRAY);
if (vbo.has_color)
glDisableClientState(GL_COLOR_ARRAY);
if (vbo.has_texcoords)
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
// bind with 0, so, switch back to normal pointer operation
glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);
if (vbo.has_faces)
{
glBindBufferARB(GL_ELEMENT_ARRAY_BUFFER_ARB, 0);
}
glFinish();
tc_gl_render.stop();
ntk::TimeCount tc_image("to_image", 2);
QImage qimage = m_pbuffer->toImage();
tc_image.stop();
ntk::TimeCount tc_depth_buffer("compute_depth_buffer", 2);
computeDepthBuffer();
tc_depth_buffer.stop();
ntk::TimeCount tc_convert("convert_to_cv", 2);
for (int r = 0; r < qimage.height(); ++r)
for (int c = 0; c < qimage.width(); ++c)
{
QRgb pixel = qimage.pixel(c,r);
Vec4b color (qBlue(pixel), qGreen(pixel), qRed(pixel), qAlpha(pixel));
m_color_buffer(r,c) = color;
float a = qAlpha(pixel)/255.f;
if (a > 0)
{
Vec4b old_color = image(r,c);
image(r,c) = Vec4b(old_color[0]*(1-a) + color[0]*a,
old_color[1]*(1-a) + color[1]*a,
old_color[2]*(1-a) + color[2]*a,
255);
}
}
tc_convert.stop();
}
