//Draw
void OsgMainApp::draw(){
//Every load o remove has to be done before any drawing
//LOGI ("OsgMainApp::draw 1");
loadModels();
deleteModels();
if(_trans)
{
static double angle = 0;
_trans->setMatrix(osg::Matrix::rotate(osg::DegreesToRadians(angle),1,0,0) *
osg::Matrix::scale(_lodScale, _lodScale, _lodScale) *
osg::Matrix::translate(_xTrans * _xFactor, 0, -_yTrans * _xFactor)
);
angle += 0.3;
LOGI ("angle = %f, _xFactor = %f", angle, _xFactor);
}
//
// // 创建矩阵，指定到视点的距离。
// osg::Matrix trans;
// trans.makeTranslate( 0., 0., -12. );
_viewer->frame();
}
void initVideoData(void) {
int i;
gScreen = (Visual*) malloc(sizeof(Visual));
gViewportType = getSettingi("display_type");
{
Visual *d = gScreen;
d->w = getSettingi("width");
d->h = getSettingi("height");
d->vp_x = 0;
d->vp_y = 0;
d->vp_w = d->w;
d->vp_h = d->h;
d->onScreen = -1;
d->textures = (unsigned int*) malloc(game_textures * sizeof(unsigned int));
}
gPlayerVisuals = (PlayerVisual*) malloc(MAX_PLAYERS * sizeof(PlayerVisual));
loadModels();
for(i = 0; i < eHUDElementCount; i++)
{
gpHUD[i] = NULL;
}
changeDisplay(-1);
}
//Draw
void OsgMainApp::draw(){
//Every load o remove has to be done before any drawing
loadModels();
deleteModels();
_viewer->frame();
}
Game::Game(IrrlichtDevice *d, CEvent* r) : device(d), reciever(r)
{
driver = device->getVideoDriver();
smgr = device->getSceneManager();
guienv = device->getGUIEnvironment();
loadFont();
loadModels();
}
// ShowWait
void dWMShop_c::beginState_ShowWait() {
MapSoundPlayer(SoundRelatedClass, SE_SYS_DIALOGUE_IN, 1);
layout.disableAllAnimations();
layout.enableNonLoopAnim(SHOW_ALL);
visible = true;
scaleEase = 0.0;
loadInfo();
loadModels();
}
void load(const std::string& name) {
double brighten = 2.0;
std::string dir = std::string(DATA_DIR + "quake2/players/") + name + "/";
loadModels(dir);
model.name = toUpper(name.substr(0, 1)) + name.substr(1, name.length() - 1);
modelTexture.clear();
weaponTexture = NULL;
loadSkins(dir, brighten);
}
int main(int argc, char** argv){
globalEngine = new Engine();
globalCamera = new Camera();
initGLUT(&argc, argv);
initGLEW();
loadModels();
initOpenGL();
glutMainLoop();
return 0;
}
void Area::load(const Common::UString &resRef) {
_resRef = resRef;
loadLYT(); // Room layout
loadVIS(); // Room visibilities
loadModels(); // Room models
loadVisibles(); // Room model visibilities
Aurora::GFFFile are(_resRef, Aurora::kFileTypeARE, MKTAG('A', 'R', 'E', ' '));
loadARE(are.getTopLevel());
Aurora::GFFFile git(_resRef, Aurora::kFileTypeGIT, MKTAG('G', 'I', 'T', ' '));
loadGIT(git.getTopLevel());
_loaded = true;
}
bool World::init() {
if (!Layer::init()) {
return false;
}
_debugMode = false;
_visibleSize = Director::getInstance()->getVisibleSize();
_origin = Director::getInstance()->getVisibleOrigin();
_canvasCenter = Vec2(_visibleSize / 2.f) + _origin;
loadModels();
_currentState = IDLE;
_prefs = UserDefault::getInstance();
_audioEngine = CocosDenshion::SimpleAudioEngine::getInstance();
_backgroundSprite = Sprite::create("textures/background.png");
_backgroundSprite->setAnchorPoint(Vec2::ANCHOR_BOTTOM_LEFT);
_backgroundSprite->setPosition(Vec2(0.f, -80.f));
addChild(_backgroundSprite);
_planet = Planet::create();
addChild(_planet);
setState(MAIN_MENU);
auto muted = _prefs->getBoolForKey("muted");
_audioEngine->playBackgroundMusic("audio/ambient.mp3", true);
if (!muted) {
_audioEngine->setBackgroundMusicVolume(0.6f);
} else {
_audioEngine->setBackgroundMusicVolume(0.f);
_audioEngine->setEffectsVolume(0.f);
}
// creating a keyboard event listener
auto listener = EventListenerKeyboard::create();
listener->onKeyReleased = CC_CALLBACK_2(World::onKeyReleased, this);
_eventDispatcher->addEventListenerWithSceneGraphPriority(listener, this);
return true;
}
int main (int argc, char** argv){
// Initialize ROS
ros::init (argc, argv, "object_recognition_module");
ros::NodeHandle nh;
// Create a ROS subscriber for the input point cloud
ros::Subscriber sub = nh.subscribe<sensor_msgs::PointCloud2> ("input", 1, cloud_cb);
//Create the DB of trained ObjectModels (CAD)
loadModels("/home/valerio/catkin_ws/src/obj_recognition/model");
exit(0);
// Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::PointCloud2> ("output", 1);
// Spin
ros::spin ();
}
/* Affichage de l'application */
void HomeCreator3D::show()
{
// QFile file(".qglviewer.xml");
// file.remove();
window.show();
loadTextures();
loadModels();
maison->addTexture(&textures["moquette1.jpg"], FLOOR_NAME);
//GLViewer v(NULL);
//v.show();
//v.resize(1024, 800);
QDesktopWidget *widget = QApplication::desktop();
int x = widget->width() / 2 - window.width() / 2;
int y = widget->height() / 2 - window.height() / 2 - 25;
window.move(QPoint(x, y));
}
void Area::show() {
if (_visible)
return;
loadModels();
GfxMan.lockFrame();
// Show area geometry model
if (_model)
_model->show();
// Show objects
for (ObjectList::iterator o = _objects.begin(); o != _objects.end(); ++o)
(*o)->show();
GfxMan.unlockFrame();
playAmbientMusic();
_visible = true;
}
// TODO move this function to the constructor ?
void Scene::loadSceneFromFile(const char* filename){
XMLDocument doc;
doc.LoadFile(filename);
// Check for errors in the XML
if (doc.ErrorID() != 0)
{
doc.PrintError();
}
XMLElement *music = doc.FirstChildElement("scene");
pathMusic = music->FirstChildElement("music")->GetText();
XMLElement *end = doc.FirstChildElement("scene");
if(end->FirstChildElement("end")) this->end = atoi(end->FirstChildElement("end")->GetText());
else this->end = 0;
loadModels(doc);
loadDialogues(doc);
loadLights(doc);
loadRoom(doc);
}
void Scene::initializeGL()
{
initializeGLFunctions();
glClearColor( 0, 0, 0, 0 );
glShadeModel( GL_SMOOTH );
glEnable( GL_DEPTH_TEST );
GLfloat lightAmbient[4]; lightAmbient[0] = 0.5f; lightAmbient[1] = 0.5f; lightAmbient[2] = 0.5f; lightAmbient[3] = 1.0f;
GLfloat lightDiffuse[4]; lightDiffuse[0] = 1.0f; lightDiffuse[1] = 1.0f; lightDiffuse[2] = 1.0f; lightDiffuse[3] = 1.0f;
GLfloat lightPosition[4];lightPosition[0]= 0.0f; lightPosition[1]= 0.0f; lightPosition[2]= 2.0f; lightPosition[3]= 1.0f;
glLightfv( GL_LIGHT1, GL_AMBIENT, lightAmbient ); glLightfv( GL_LIGHT1, GL_DIFFUSE, lightDiffuse );
glLightfv( GL_LIGHT1, GL_POSITION,lightPosition ); glEnable( GL_LIGHT1 );
textures->append( new Texture( "CameraTexture" ) );
loadTextures();
emit message( "Texturas cargadas" );
loadModels();
emit message( "Modelos cargadas" );
loadVideos();
emit message( "Videos cargados" );
}
void Area::show() {
if (_visible)
return;
loadModels();
GfxMan.lockFrame();
// Show tiles
for (std::vector<Tile>::iterator t = _tiles.begin(); t != _tiles.end(); ++t)
t->model->show();
// Show objects
for (ObjectList::iterator o = _objects.begin(); o != _objects.end(); ++o)
(*o)->show();
GfxMan.unlockFrame();
// Play music and sound
playAmbientSound();
playAmbientMusic();
_visible = true;
}
// Loading stuff
void Graphics::loadGraphicsData(std::string directory){
loadShaders(directory + "Shaders/");
loadModels(directory + "Models/");
loadSkyBoxes(directory + "SkyBoxes/");
loadPlane();
}
void ModelPlotter::keyPressed(int key)
{
if(key == 'r')
{
_recordMode = !_recordMode;
if (!_recordMode)
{
App::getInstance()->flagPageModelsChanged();
}
}
else if(key == 'L')
{
loadModels();
}
else if(key == 'S')
{
saveModels();
}
if(_recordMode)
{
// delete
if(key == 127)
{
deleteSelectedModel();
}
// right arrow
else if (key == 358)
{
if(_selectedModel != DISABLED && _selectedPoint != DISABLED)
{
App::getInstance()->getPageModelByIndex(_selectedModel)->pts[_selectedPoint].x += 1;
}
}
// left arrow
else if (key == 356)
{
if(_selectedModel != DISABLED && _selectedPoint != DISABLED)
{
App::getInstance()->getPageModelByIndex(_selectedModel)->pts[_selectedPoint].x -= 1;
}
}
// up arrow
else if (key == 357)
{
if(_selectedModel != DISABLED && _selectedPoint != DISABLED)
{
App::getInstance()->getPageModelByIndex(_selectedModel)->pts[_selectedPoint].y -= 1;
}
}
// down arrow
else if (key == 359)
{
if(_selectedModel != DISABLED && _selectedPoint != DISABLED)
{
App::getInstance()->getPageModelByIndex(_selectedModel)->pts[_selectedPoint].y += 1;
}
}
// d
else if (key == 'd')
{
if(_selectedModel != DISABLED)
{
moveModel(true, +1);
}
}
// a
else if (key == 'a')
{
if(_selectedModel != DISABLED)
{
moveModel(true, -1);
}
}
// w
else if (key == 'w')
{
if(_selectedModel != DISABLED)
{
moveModel(false, -1);
}
}
// s
else if (key == 's')
{
if(_selectedModel != DISABLED)
{
moveModel(false, +1);
}
}
}
}
void TORecognize::onNewImage()
{
CLOG(LTRACE) << "onNewImage";
try {
// Change keypoint detector and descriptor extractor types (if required).
setKeypointDetector();
setDescriptorExtractor();
// Re-load the model - extract features from model.
loadModels();
std::vector<KeyPoint> scene_keypoints;
cv::Mat scene_descriptors;
std::vector< DMatch > matches;
// Clear vectors! ;)
recognized_names.clear();
recognized_centers.clear();
recognized_corners.clear();
recognized_scores.clear();
// Load image containing the scene.
cv::Mat scene_img = in_img.read();
// Extract features from scene.
extractFeatures(scene_img, scene_keypoints, scene_descriptors);
CLOG(LINFO) << "Scene features: " << scene_keypoints.size();
// Check model.
for (unsigned int m=0; m < models_imgs.size(); m++) {
CLOG(LDEBUG) << "Trying to recognize model (" << m <<"): " << models_names[m];
if ((models_keypoints[m]).size() == 0) {
CLOG(LWARNING) << "Model not valid. Please load model that contain texture";
return;
}//: if
CLOG(LDEBUG) << "Model features: " << models_keypoints[m].size();
// Change matcher type (if required).
setDescriptorMatcher();
// Find matches.
matcher->match( models_descriptors[m], scene_descriptors, matches );
CLOG(LDEBUG) << "Matches found: " << matches.size();
if (m == prop_returned_model_number) {
// Draw all found matches.
Mat img_matches1;
drawMatches( models_imgs[m], models_keypoints[m], scene_img, scene_keypoints,
matches, img_matches1, Scalar::all(-1), Scalar::all(-1),
vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
out_img_all_correspondences.write(img_matches1);
}//: if
// Filtering.
double max_dist = 0;
double min_dist = 100;
//-- Quick calculation of max and min distances between keypoints
for( int i = 0; i < matches.size(); i++ ) {
double dist = matches[i].distance;
if( dist < min_dist ) min_dist = dist;
if( dist > max_dist ) max_dist = dist;
}//: for
CLOG(LDEBUG) << "Max dist : " << max_dist;
CLOG(LDEBUG) << "Min dist : " << min_dist;
//-- Draw only "good" matches (i.e. whose distance is less than 3*min_dist )
std::vector< DMatch > good_matches;
for( int i = 0; i < matches.size(); i++ ) {
if( matches[i].distance < 3*min_dist )
good_matches.push_back( matches[i]);
}//: for
CLOG(LDEBUG) << "Good matches: " << good_matches.size();
// Localize the object
std::vector<Point2f> obj;
std::vector<Point2f> scene;
// Get the keypoints from the good matches.
for( int i = 0; i < good_matches.size(); i++ ) {
obj.push_back( models_keypoints [m] [ good_matches[i].queryIdx ].pt );
scene.push_back( scene_keypoints [ good_matches[i].trainIdx ].pt );
}//: for
// Find homography between corresponding points.
Mat H = findHomography( obj, scene, CV_RANSAC );
// Get the corners from the detected "object hypothesis".
std::vector<Point2f> obj_corners(4);
obj_corners[0] = cv::Point2f(0,0);
obj_corners[1] = cv::Point2f( models_imgs[m].cols, 0 );
obj_corners[2] = cv::Point2f( models_imgs[m].cols, models_imgs[m].rows );
obj_corners[3] = cv::Point2f( 0, models_imgs[m].rows );
std::vector<Point2f> hypobj_corners(4);
// Transform corners with found homography.
perspectiveTransform( obj_corners, hypobj_corners, H);
// Verification: check resulting shape of object hypothesis.
// Compute "center of mass".
cv::Point2f center = (hypobj_corners[0] + hypobj_corners[1] + hypobj_corners[2] + hypobj_corners[3])*.25;
std::vector<double> angles(4);
cv::Point2f tmp ;
// Compute angles.
for (int i=0; i<4; i++) {
tmp = (hypobj_corners[i] - center);
angles[i] = atan2(tmp.y,tmp.x);
CLOG(LDEBUG)<< tmp << " angle["<<i<<"] = "<< angles[i];
}//: if
// Find smallest element.
int imin = -1;
double amin = 1000;
for (int i=0; i<4; i++)
if (amin > angles[i]) {
amin = angles[i];
imin = i;
}//: if
// Reorder table.
for (int i=0; i<imin; i++) {
angles.push_back (angles[0]);
angles.erase(angles.begin());
}//: for
for (int i=0; i<4; i++) {
CLOG(LDEBUG)<< "reordered angle["<<i<<"] = "<< angles[i];
}//: if
cv::Scalar colour;
double score = (double)good_matches.size()/models_keypoints [m].size();
// Check dependency between corners.
if ((angles[0] < angles[1]) && (angles[1] < angles[2]) && (angles[2] < angles[3])) {
// Order is ok.
colour = Scalar(0, 255, 0);
CLOG(LINFO)<< "Model ("<<m<<"): keypoints "<< models_keypoints [m].size()<<" corrs = "<< good_matches.size() <<" score "<< score << " VALID";
// Store the model in a list in proper order.
storeObjectHypothesis(models_names[m], center, hypobj_corners, score);
} else {
// Hypothesis not valid.
colour = Scalar(0, 0, 255);
CLOG(LINFO)<< "Model ("<<m<<"): keypoints "<< models_keypoints [m].size()<<" corrs = "<< good_matches.size() <<" score "<< score << " REJECTED";
}//: else
if (m == prop_returned_model_number) {
Mat img_matches2;
// Draw good matches.
drawMatches( models_imgs[m], models_keypoints[m], scene_img, scene_keypoints,
good_matches, img_matches2, Scalar::all(-1), Scalar::all(-1),
vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
// Draw the object as lines, with center and top left corner indicated.
line( img_matches2, hypobj_corners[0] + Point2f( models_imgs[m].cols, 0), hypobj_corners[1] + Point2f( models_imgs[m].cols, 0), colour, 4 );
line( img_matches2, hypobj_corners[1] + Point2f( models_imgs[m].cols, 0), hypobj_corners[2] + Point2f( models_imgs[m].cols, 0), colour, 4 );
line( img_matches2, hypobj_corners[2] + Point2f( models_imgs[m].cols, 0), hypobj_corners[3] + Point2f( models_imgs[m].cols, 0), colour, 4 );
line( img_matches2, hypobj_corners[3] + Point2f( models_imgs[m].cols, 0), hypobj_corners[0] + Point2f( models_imgs[m].cols, 0), colour, 4 );
circle( img_matches2, center + Point2f( models_imgs[m].cols, 0), 2, colour, 4);
circle( img_matches2, hypobj_corners[0] + Point2f( models_imgs[m].cols, 0), 2, Scalar(255, 0, 0), 4);
out_img_good_correspondences.write(img_matches2);
}//: if
}//: for
Mat img_object = scene_img.clone();
if (recognized_names.size() == 0) {
CLOG(LWARNING)<< "None of the models was not properly recognized in the image";
} else {
for (int h=0; h<recognized_names.size(); h++) {
// Draw the final object - as lines, with center and top left corner indicated.
line( img_object, recognized_corners[h][0], recognized_corners[h][1], Scalar(0, 255, 0), 4 );
line( img_object, recognized_corners[h][1], recognized_corners[h][2], Scalar(0, 255, 0), 4 );
line( img_object, recognized_corners[h][2], recognized_corners[h][3], Scalar(0, 255, 0), 4 );
line( img_object, recognized_corners[h][3], recognized_corners[h][0], Scalar(0, 255, 0), 4 );
circle( img_object, recognized_centers[h], 2, Scalar(0, 255, 0), 4);
circle( img_object, recognized_corners[h][0], 2, Scalar(255, 0, 0), 4);
CLOG(LNOTICE)<< "Hypothesis (): model: "<< recognized_names[h]<< " score: "<< recognized_scores[h];
}//: for
}//: else
// Write image to port.
out_img_object.write(img_object);
} catch (...) {
CLOG(LERROR) << "onNewImage failed";
}//: catch
}
//--------------------------------------------------------------
void testApp::setup(){
initGL();
generateTextures();
generateScreenSpaceFrameBuffers();
printFramebufferInfo();
loadModels();
setupGUI();
cameraXPos =0;
cameraZPos = -100;
cameraRotation = 0;
camera = new Camera(cameraXPos,400,cameraZPos);
fboUsed = true;
blurStep = false;
showGui = true;
cameraRotate = false;
doRecording = false;
#ifdef DEBUG
glInfo glInfo;
glInfo.getInfo();
glInfo.printSelf();
#endif
// Setup variable for Near and Far Camera ranges
int w = ofGetWidth();
int h = ofGetHeight();
float halfFov, theTan, screenFov, aspect;
screenFov = 60.0f;
float eyeX = (float)w / 2.0;
float eyeY = (float)h / 2.0;
halfFov = PI * screenFov / 360.0;
theTan = tanf(halfFov);
float dist = eyeY / theTan;
nearDist = dist / 10.0; // near / far clip plane
farDist = dist * 10.0;
aspect = (float)w/(float)h;
totStrength = 1.38;
// Shaders for SSAO and Passing
// NOTE! Settings for shaders can ONLY be set when they are set active!!!
ssaoShader.loadShader("ssao");
if (!ssaoShader.bLoaded){
cout << "SSAO Shader not loaded correctly" << endl;
}
passShader.loadShader("pass");
if (!passShader.bLoaded){
cout << "PASS Shader not loaded correctly" << endl;
}
nmShader.loadShader("nm");
if (!nmShader.bLoaded){
cout << "NM Shader not loaded correctly" << endl;
}
ssao2Shader.loadShader("ssao2");
if (!ssao2Shader.bLoaded){
cout << "SSAO2 Shader not loaded correctly" << endl;
}
blurShader.loadShader("blur");
if (!blurShader.bLoaded){
cout << "Blur Shader not loaded correctly" << endl;
}
// Camera Recording Setup
saver.listCodecs();
saver.setCodecType(18);
saver.setCodecQualityLevel(OF_QT_SAVER_CODEC_QUALITY_NORMAL);
saver.setup(1280,720,"output.mov");
ofSetFrameRate(30);
}
ComponentModelLibrary::ComponentModelLibrary()
{
loadModels();
}
