/////////////////////////////////////
// Purpose: blt given texture
// make sure you call
// TextureBegin first
// Output: texture blted on screen
// Return: TRUE if success
/////////////////////////////////////
u32 IgfxTexture::Blt(f32 x, f32 y, const iRect *srcRect, gfxBlt *pBlt)
{
Vec3D vect(x,y,0);
D3DXVECTOR3 center(0,0,0);
PGFXTEXTURE texture = (PGFXTEXTURE)GetImg();
if(!texture) return FALSE;
if(pBlt)
{
Vec3D scale(1,1,1);
Vec3D rotCenter(pBlt->rotOfsX,pBlt->rotOfsY,0);
f32 sW, sH;
if(srcRect)
{ sW = (f32)(srcRect->right - srcRect->left); sH = (f32)(srcRect->bottom - srcRect->top); }
else
{ sW = (f32)m_width; sH = (f32)m_height; }
if(TESTFLAGS(pBlt->flags, GFXBLT_FLIPH))
{ scale.x = -1; center.x += sW; }
if(TESTFLAGS(pBlt->flags, GFXBLT_FLIPV))
{ scale.y = -1; center.y += sH; }
if(pBlt->rot != 0 && !TESTFLAGS(pBlt->flags, GFXBLT_ROTABS))
{ rotCenter.x -= sW/2; rotCenter.y -= sH/2; }
Matrix scaleRotOfsM(scale.x, 0, 0, rotCenter.x,
0, scale.y, 0, rotCenter.y,
0, 0, scale.z, rotCenter.z,
0, 0, 0, 1);
Matrix rotRotOfsInvTransM; MtxRotateZ(pBlt->rot, &rotRotOfsInvTransM);
rotRotOfsInvTransM._41 = -rotCenter.x;
rotRotOfsInvTransM._42 = -rotCenter.y;
rotRotOfsInvTransM._43 = -rotCenter.z;
Matrix transM; MtxTranslate(&vect, &transM);
s_pTxtSprite->SetTransform((D3DXMATRIX*)&Matrix(scaleRotOfsM*rotRotOfsInvTransM*transM));
s_pTxtSprite->Draw(texture, (const RECT*)srcRect, ¢er, 0, pBlt->clr);
//g_pTxtSprite->Draw(texture, (const RECT*)srcRect, &scale, &rotCenter, pBlt->rot, &vect, pBlt->clr);
}
else
{
Matrix mtxIden; MtxIdentity(&mtxIden);
s_pTxtSprite->SetTransform((D3DXMATRIX*)&mtxIden);
s_pTxtSprite->Draw(texture, (const RECT*)srcRect, ¢er, (D3DXVECTOR3*)&vect, 0xffffffff);
}
s_pTxtSprite->Flush();
return TRUE;
}
void SegmenterLightTest::run(std::string _rgbd_filename,
int _startIdx, int _endIdx,
bool _live)
{
bool processed = false;
database_path = "";
rgbd_filename = _rgbd_filename;
startIdx = _startIdx;
endIdx = _endIdx;
data_live = _live;
init();
// ######################## Setup TomGine ########################
int width = 640;
int height = 480;
surface::View view;
#ifdef V4R_TOMGINE
TomGine::tgTomGineThread dbgWin(width, height, "TomGine Render Engine");
#endif
cv::Mat R = (cv::Mat_<double>(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1);
cv::Mat t = (cv::Mat_<double>(3, 1) << 0, 0, 0);
cv::Vec3d rotCenter(0, 0, 1.0);
cv::Mat intrinsic;
intrinsic = cv::Mat::zeros(3, 3, CV_64F);
view.intrinsic = Eigen::Matrix3d::Zero();
intrinsic.at<double> (0, 0) = intrinsic.at<double> (1, 1) = view.intrinsic(0, 0) = view.intrinsic(1, 1) = 525;
intrinsic.at<double> (0, 2) = view.intrinsic(0, 2) = 320;
intrinsic.at<double> (1, 2) = view.intrinsic(1, 2) = 240;
intrinsic.at<double> (2, 2) = view.intrinsic(2, 2) = 1.;
#ifdef V4R_TOMGINE
dbgWin.SetClearColor(0.0, 0.0, 0.0);
// dbgWin.SetCoordinateFrame();
dbgWin.SetCamera(intrinsic);
dbgWin.SetCamera(R, t);
dbgWin.SetRotationCenter(rotCenter);
dbgWin.SetInputSpeeds(0.5, 0.5, 0.5);
dbgWin.Update();
#endif
cv::Mat_<cv::Vec3b> kImage = cv::Mat_<cv::Vec3b>::zeros(480, 640);
cv::imshow("Debug image", kImage);
bool do_it = true;
bool single_image = true;
bool win_done = true;
while(do_it) {
if(!single_image) {
process();
ConvertPCLCloud2Image(pcl_cloud, kImage);
cv::imshow("Debug image", kImage);
cvWaitKey(10);
#ifdef V4R_TOMGINE
dbgWin.SetImage(kImage);
dbgWin.Update();
#endif
win_done = false;
}
int key = cvWaitKey(50);
if((char) key == 'h') {
printf("[SegmenterLightTest] Print help:\n");
printf(" Debug window:\n");
printf(" \'h\' - Print this help.\n");
printf(" \'F9\' - Process single data file.\n");
printf(" \'F10\' - Process data file sequence. \n");
printf(" \'5\' - Show results.\n");
printf(" \'q\' - Quit.\n");
printf(" TomGine Render Engine:\n");
printf(" \'z\' - To initial position.\n");
printf(" \'i\' - Enable/disable background image.\n");
printf(" \'t\' - Enable/disable text annotation.\n");
printf(" \'p\' - Enable/disable displaying of point cloud.\n");
printf(" \'F11\' - Save sceenshot.\n");
printf(" \'q\' - Quit.\n");
}
if (key == 65478 || key == 1114054) { // F9
printf("[SegmenterLightTest] Process single image.\n");
process();
ConvertPCLCloud2Image(pcl_cloud, kImage);
cv::imshow("Debug image", kImage);
#ifdef V4R_TOMGINE
dbgWin.SetImage(kImage);
dbgWin.Update();
#endif
win_done = false;
processed = true;
}
if (key == 65479 || key == 1114055) { // F10
printf("[SegmenterLightTest] Process images countiniously.\n");
single_image = false;
processed = true;
}
if((char) key == 'q') {
printf("[SegmenterLightTest] Quit.\n");
do_it = false;
}
if((char) key == '5' || !win_done) {
#ifdef V4R_TOMGINE
dbgWin.Clear();
std::vector<cv::Vec4f> vec_cloud;
ConvertPCLCloud2CvVec(pcl_cloud_labeled, vec_cloud);
dbgWin.AddPointCloud(vec_cloud);
dbgWin.Update();
#endif
win_done = true;
}
}
}
