// FIXME: should we check that image have appropriate size as bindFromImage do?
void TextureManager::bindTexture(const QString& name, QGLWidget* cxt)
{
Create();
Q_ASSERT( "Must be called only with valid GL context" && cxt );
CacheIter it = findTexture( name );
if( it != m_p->m_textures.constEnd() )
bindImage( *it, cxt );
}
void TextureManager::bindFromImage(const QImage& image, QGLWidget* cxt)
{
Create();
Q_ASSERT( "Must be called only with valid GL context" && cxt );
if ( image.width() != image.height() || ( image.width() & ( image.width() - 1 ) ) ) {
// Compute texture size
int longest = qMax( image.width(), image.height() );
int tex_size = 2;
while ( tex_size < longest ) {
tex_size *= 2;
}
// FIXME: Check if Qt does this for us already. [Note that it does scale to the nearest power of two]
bindImage(
image.scaled( tex_size, tex_size, Qt::IgnoreAspectRatio, Qt::SmoothTransformation ),
cxt );
} else {
bindImage( image, cxt );
}
}
GLuint hrCache::Load(const QImage &im) const
{
QImage conv = QGLWidget::convertToGLFormat(target == GL_TEXTURE_2D
? ImageToPOT(im)
: im
);
GLuint tx = bindImage(conv.bits()
, conv.width()
, conv.height()
, false
, 0
);
return tx;
}
int64_t PlaceDatabase::add(ros::Time stamp, const tf::Pose& pose_in_map, const tf::Transform& optical_transform,
const frame_common::Frame& frame, int64_t id)
{
assert((int)frame.kpts.size() == frame.dtors.rows);
// Add quantized image descriptor to document database
vt::Document words(frame.dtors.rows);
for (int i = 0; i < frame.dtors.rows; ++i)
words[i] = voctree_.quantize(frame.dtors.row(i));
vt::DocId doc_id = document_db_.insert(words);
// Record doc id -> place id mapping
if (id == AUTO_ID)
id = doc_id;
doc_to_place_id_[doc_id] = id;
/// @todo Move persistent db stuff to separate function
checkErr(sqlite3_bind_int64(insert_stmt_, 1, id), "Couldn't bind row id");
// Bind time stamp encoded as 64-bit integer
sqlite3_int64 time = stamp.toNSec();
checkErr(sqlite3_bind_int64(insert_stmt_, 2, time), "Couldn't bind stamp");
// Bind current map pose and camera transform
bindTransform(pose_in_map, map_pose_param_index_);
bindTransform(optical_transform, optical_transform_param_index_);
// Bind camera parameters
bindCameraParams(frame.cam);
// Bind disparities and "good points" list
int disp_index = disparities_param_index_;
bindVector(insert_stmt_, disp_index, frame.disps);
bindVector(insert_stmt_, disp_index + 1, frame.goodPts);
// Bind keypoint data
int keypt_index = keypoints_param_index_;
checkErr(sqlite3_bind_int(insert_stmt_, keypt_index, frame.kpts.size()), "Couldn't bind num_keypoints");
bindVector(insert_stmt_, keypt_index + 1, frame.kpts);
// Bind descriptor data. step of cv::Mat is implicit, blob length / num keypoints.
checkErr(sqlite3_bind_int(insert_stmt_, keypt_index + 2, frame.dtors.cols), "Couldn't bind descriptor_length");
checkErr(sqlite3_bind_blob(insert_stmt_, keypt_index + 3, frame.dtors.data,
frame.dtors.rows * frame.dtors.step, SQLITE_TRANSIENT),
"Couldn't bind descriptor data");
// Bind document vector data
bindVector(insert_stmt_, keypt_index + 4, words);
// Save images if present
bindImage(keypt_index + 5, frame.img);
bindImage(keypt_index + 6, frame.imgRight);
// Execute INSERT statement
checkErr(sqlite3_step(insert_stmt_), "INSERT statement not done", SQLITE_DONE);
// Reset prepared statement to reuse on next call
checkErr(sqlite3_reset(insert_stmt_), "Couldn't reset INSERT statement");
checkErr(sqlite3_clear_bindings(insert_stmt_), "Couldn't clear bindings on INSERT statement");
// Return row id of newly-added place
return id;
}
IEngine::IEngine(int argc, char** argv)
{
printf("Initializing IEngine\n");
initGL(argc, argv);
resize(800, 600);
m_time = 0.0;
frames = 0;
m_updateRate = 0.01;
if(argc == 2)
{
m_seed = atoi(argv[1]);
}
else
{
srand(time(NULL));
m_seed = 817901691;//rand();
}
printf("Using seed: %d\n", m_seed);
// TEST STUFF
water = new Water();
Shader * watershader = new Shader((char*)"shaders/water.vert",(char*)"shaders/water.frag");
water->setShader(watershader->getID());
water->init(m_window->GetWidth(), m_window->GetHeight());
Shader * fbo_shader = new Shader((char*)"shaders/pp.vert",(char*)"shaders/depthdet.frag");
p.setShader(fbo_shader);
p.init(m_window->GetWidth(), m_window->GetHeight());
tex3 = loadImage((char*)"tex/rock.jpg");
tex2 = loadImage((char*)"tex/grass.png");
tex = loadImage((char*)"tex/sand.jpg");
sh2 = new Shader((char *) "shaders/watertriplanar.vert", (char*)"shaders/watertriplanar.frag");
sh = new Shader((char*)"shaders/triplanar.vert", (char*)"shaders/triplanar.frag");
waterShader = new Shader((char*)"shaders/waterripple.vert", (char*)"shaders/waterripple.frag");
sh->bind();
glEnable(GL_TEXTURE_2D);
glActiveTexture(GL_TEXTURE2);
bindImage(tex);
glEnable(GL_TEXTURE_2D);
glActiveTexture(GL_TEXTURE3);
bindImage(tex2);
glEnable(GL_TEXTURE_2D);
glActiveTexture(GL_TEXTURE4);
bindImage(tex3);
sh->setUniform1i((char*)"tex", 2);
sh->setUniform1i((char*)"tex2", 3);
sh->setUniform1i((char*)"tex3", 4);
w.m_gen.shader = sh->getID();
w.setSeed(m_seed);
m_wireframe = false;
pitch = 0;
yaw = -90;
c_pos.x = 30; c_pos.y = 32; c_pos.z = 80;
c_speed.x = 0; c_speed.y = 0; c_speed.z = 0;
skybox = new Skybox();
// END TEST
}
void IEngine::drawScene()
{
p.startDraw();
if (m_wireframe) glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
glActiveTexture(GL_TEXTURE2);
bindImage(0);
glActiveTexture(GL_TEXTURE3);
bindImage(0);
glActiveTexture(GL_TEXTURE4);
bindImage(0);
glTranslatef(0, -c_pos.y, 0);
//glTranslatef(0, -25, 0);
glRotatef(-pitch, 1,0,0);
glRotatef(-yaw, 0,1,0);
skybox->draw();
glPopMatrix();
float ref_pitch = pitch;
vec3 ref_pos = water->getReflectionPosition(c_pos, ref_pitch);
int drawx, drawz;
drawx = (int) (c_pos.x / CHUNK_SIZE);
drawz = (int) (c_pos.z / CHUNK_SIZE);
//////////////////////////////////////
/// Draw the inverted terrain
//////////////////////////////////////
if(c_pos.y > 0.0){
glPushMatrix();
glLoadIdentity();
glRotatef(-pitch, 1,0,0);
glRotatef(-yaw, 0,1,0);
glTranslatef(-c_pos.x, -c_pos.y, -c_pos.z);
//water->protectDepthBuffer();
//water->stencilBuffer(c_pos, pitch, yaw);
sh2->bind();
glActiveTexture(GL_TEXTURE2);
bindImage(tex);
glActiveTexture(GL_TEXTURE3);
bindImage(tex2);
glActiveTexture(GL_TEXTURE4);
bindImage(tex3);
sh2->setUniform1i((char*)"tex", 2);
sh2->setUniform1i((char*)"tex2", 3);
sh2->setUniform1i((char*)"tex3", 4);
sh2->setUniform1f("time", frames * .1);
w.drawAt(drawx,0,drawz);
sh2->release();
}
//////////////////////////////////////////
/// Draw the water polygon
//////////////////////////////////////////
glDisable(GL_DEPTH_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glBegin(GL_TRIANGLES);
static int inc = 20;
glColor4f(0.0,.05,.1,.6);
for(int i = -1000; i < 1000; i+=inc){
for(int j = -1000; j < 1000; j+=inc){
glVertex3f(i, 0, j);
glVertex3f(i+inc, 0, j);
glVertex3f(i+inc, 0, j+inc);
glVertex3f(i, 0, j);
glVertex3f(i, 0, j+inc);
glVertex3f(i+inc, 0, j+inc);
}
}
glEnd();
glDisable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
glPopMatrix();
//////////////////////////////////////
/// Draw the primary terrain
//////////////////////////////////////
glPushMatrix();
glLoadIdentity();
glRotatef(-pitch, 1,0,0);
glRotatef(-yaw, 0,1,0);
glTranslatef(-c_pos.x, -c_pos.y, -c_pos.z);
sh->bind();
glActiveTexture(GL_TEXTURE2);
bindImage(tex);
glActiveTexture(GL_TEXTURE3);
bindImage(tex2);
glActiveTexture(GL_TEXTURE4);
bindImage(tex3);
sh->setUniform1i((char*)"tex", 2);
sh->setUniform1i((char*)"tex2", 3);
sh->setUniform1i((char*)"tex3", 4);
w.drawAt(drawx,0,drawz);
glPopMatrix();
sh->release();
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
p.draw();
}
