/**
* Main rendering loop
*/
void PointCloudApplication::render_frame(char *data, int length) {
if (stop_opengl) return;
pointcloud_state state = pointcloud_get_state();
// Timers
double now = current_time();
double time_since_last_frame = now - last_frame_clock;
last_frame_clock = now;
load_camera_texture(data);
if (stop_opengl) return;
process_camera_frame(data);
if (stop_opengl) return;
render_camera_frame();
if (stop_opengl) return;
render_point_cloud();
if (stop_opengl) return;
render_content(time_since_last_frame);
if (stop_opengl) return;
// draw_logo();
// if (stop_opengl) return;
clean_up();
last_state = state;
}
bool App::on_touch_started(double x, double y) {
pointcloud_state state = pointcloud_get_state();
int W = context.viewport_width;
int H = context.viewport_height;
if (y > H-112) {
if (x < W/3) {
// Image recogntition button pressed
this->selected_button = IMAGE;
pointcloud_reset();
pointcloud_disable_map_expansion();
pointcloud_activate_image_target("image_1");
pointcloud_activate_image_target("image_2");
}
else if (x >= W/3 && x < W*2/3) {
// SLAM button pressed
this->selected_button = SLAM;
pointcloud_reset();
pointcloud_deactivate_image_target("image_1");
pointcloud_deactivate_image_target("image_2");
}
else {
// Image from SLAM button pressed
this->selected_button = SLAM_FROM_IMAGE;
pointcloud_reset();
pointcloud_enable_map_expansion();
pointcloud_activate_image_target("image_1");
pointcloud_activate_image_target("image_2");
}
return true;
}
else if (state != POINTCLOUD_LOOKING_FOR_IMAGES && state != POINTCLOUD_TRACKING_IMAGES) {
if (pointcloud_get_state() == POINTCLOUD_IDLE) {
printf("Start initialization\n");
pointcloud_start_slam();
} else {
printf("Resetting\n");
pointcloud_reset();
}
return true;
}
return false;
}
/*
* Renders the tracked points
*/
void PointCloudApplication::render_point_cloud() {
pointcloud_state state = pointcloud_get_state();
if (state == POINTCLOUD_INITIALIZING ||
state == POINTCLOUD_TRACKING_SLAM_MAP) {
pointcloud_point_cloud* points = pointcloud_get_points();
if (points) {
switch_to_camera();
disable_lighting();
glDisable(GL_DEPTH_TEST);
glColor4f(0.9, 0.95, 1.0, 0.6);
glEnable(GL_POINT_SPRITE_OES);
glEnable(GL_TEXTURE_2D);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glBindTexture(GL_TEXTURE_2D, point_texture);
glTexEnvi(GL_POINT_SPRITE_OES, GL_COORD_REPLACE_OES, GL_TRUE);
glPointParameterf(GL_POINT_SIZE_MAX, 64.0f);
glPointSize(32.0);
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3,GL_FLOAT,0, (float *)points->points);
glDrawArrays(GL_POINTS,0, points->size);
glDisableClientState(GL_VERTEX_ARRAY);
glColor4f(1, 1, 1, 1);
glPointSize(1);
glDisable(GL_BLEND);
glDisable(GL_TEXTURE_2D);
glDisable(GL_POINT_SPRITE_OES);
pointcloud_destroy_point_cloud(points);
switch_to_ortho();
}
}
}
//TODO: ES2ify
void App::render_content(double time_since_last_frame) {
pointcloud_state state = pointcloud_get_state();
// Draw the content if we have SLAM or image tracking
if (state == POINTCLOUD_TRACKING_SLAM_MAP || state == POINTCLOUD_TRACKING_IMAGES) {
switch_to_camera();
// // Set light position
// static const float light_position[4] = {1, 6, 0.5, 1.0f};
// glLightfv(GL_LIGHT0, GL_POSITION, light_position);
//
// glColor4f(1,0,0,1);
//
// glDisable(GL_TEXTURE_2D);
// glEnable(GL_COLOR_MATERIAL);
// glShadeModel(GL_FLAT);
//
// glEnableClientState(GL_VERTEX_ARRAY);
// glEnableClientState(GL_NORMAL_ARRAY);
//
// glVertexPointer(3, GL_FLOAT, 0, (float *)cuboid_vertices);
// glNormalPointer(GL_FLOAT, 0, (float *)cuboid_normals);
// glDrawArrays(GL_TRIANGLE_STRIP, 0, 19);
//
// glDisableClientState(GL_NORMAL_ARRAY);
// glDisableClientState(GL_VERTEX_ARRAY);
//
// glShadeModel(GL_SMOOTH);
// glDisable(GL_COLOR_MATERIAL);
// glColor4f(1, 1, 1, 1);
}
// Draw the UI on top of the content
switch_to_ortho();
draw_ui();
}
void App::draw_ui() {
// Draws a basic UI to control the demo app
pointcloud_state state = pointcloud_get_state();
double now = current_time();
bool is_slam = !(state == POINTCLOUD_LOOKING_FOR_IMAGES || state == POINTCLOUD_TRACKING_IMAGES);
int w = context.viewport_width;
int h = context.viewport_height;
double scale_factor = w == 320 ? 0.5 : 1.0;
double text_w = 138*scale_factor;
double text_h = 112*scale_factor;
double footer_h = 112*scale_factor;
static double third = 1.0/3.0;
// Header background
draw_image(ui_texture, 0, 20, w, 60*scale_factor, 1/512.0, 332/512.0, 25/512.0, (332+60)/512.0);
// Header text
draw_image(ui_texture, (w-283*scale_factor)/2, 20+((60-36)/2)*scale_factor, 283*scale_factor, 36*scale_factor, 1/512.0, 289/512.0, 283/512.0, (289+36)/512.0);
// Footer
if (this->selected_button == IMAGE) {
// Image Recognition button selected
draw_image(ui_texture, 0, h-footer_h, w*third, footer_h, 1/512.0, 400/512.0, 47/512.0, 512/512.0);
draw_image(ui_texture, w*third, h-footer_h, w*third, footer_h, 49/512.0, 400/512.0, 95/512.0, 512/512.0);
draw_image(ui_texture, 2*w*third, h-footer_h, w*third, footer_h, 49/512.0, 400/512.0, 95/512.0, 512/512.0);
}
else if (this->selected_button == SLAM){
// SLAM button selected
draw_image(ui_texture, 0, h-footer_h, w*third, footer_h, 49/512.0, 400/512.0, 95/512.0, 512/512.0);
draw_image(ui_texture, w*third, h-footer_h, w*third, footer_h, 1/512.0, 400/512.0, 47/512.0, 512/512.0 );
draw_image(ui_texture, 2*w*third, h-footer_h, w*third, footer_h, 49/512.0, 400/512.0, 95/512.0, 512/512.0);
}
else if (this->selected_button == SLAM_FROM_IMAGE){
// SLAM with Image button selected
draw_image(ui_texture, 0, h-footer_h, w*third, footer_h, 49/512.0, 400/512.0, 95/512.0, 512/512.0);
draw_image(ui_texture, w*third, h-footer_h, w*third, footer_h, 49/512.0, 400/512.0, 95/512.0, 512/512.0);
draw_image(ui_texture, 2*w*third, h-footer_h, w*third, footer_h, 1/512.0, 400/512.0, 47/512.0, 512/512.0);
}
// Footer text
draw_image(ui_texture, w/6-text_w/2, h-text_h, text_w, text_h, 96/512.0, 400/512.0, (96+138)/512.0, 512/512.0);
draw_image(ui_texture, w/2-text_w/2, h-text_h, text_w, text_h, 235/512.0, 400/512.0, (235+138)/512.0, 512/512.0);
draw_image(ui_texture, 5*w/6-text_w/2, h-text_h, text_w, text_h, 374/512.0, 400/512.0, (374+138)/512.0, 512/512.0);
// Initialization
if (is_slam) {
if (state == POINTCLOUD_TRACKING_SLAM_MAP && last_state == POINTCLOUD_INITIALIZING) {
init_fadeout_time = now;
}
double init_fadeout_factor = 1-(now - init_fadeout_time)/2.0; // Fade out in 2 seconds
if (this->selected_button == SLAM && ((state != POINTCLOUD_TRACKING_SLAM_MAP && state != POINTCLOUD_RELOCALIZING) || init_fadeout_factor > 0)) {
int box_x = (w-429*scale_factor)/2;
int box_y = (h-289*scale_factor)/2;
// Arrow
int arrowOffset = 0;
double opacity = 1.0;
if (state == POINTCLOUD_INITIALIZING) {
arrowOffset = 59*scale_factor;
}
else if (state == POINTCLOUD_TRACKING_SLAM_MAP) {
opacity = init_fadeout_factor;
arrowOffset = 146*scale_factor;
}
// Draw init box
draw_image(ui_texture,box_x, box_y, 429*scale_factor, 289*scale_factor, 1/512.0, 1/512.0, 429/512.0, 289/512.0, opacity);
// Draw arrow
draw_image(ui_texture, box_x+26*scale_factor, box_y+86*scale_factor+arrowOffset, 30*scale_factor, 28*scale_factor, 45/512.0, 349/512.0, (45+30)/512.0, (349+28)/512.0, opacity);
}
}
else if (state == POINTCLOUD_LOOKING_FOR_IMAGES) {
// Show Looking for images..
// Draw top of init box
int box_x = (w-429*scale_factor)/2;
int box_y = (h-49*scale_factor)/2;
draw_image(ui_texture,box_x, box_y, 429*scale_factor, 49*scale_factor, 1/512.0, 1/512.0, 20/512.0, 49/512.0);
// Draw text 268x34
draw_image(ui_texture, (w-268*scale_factor)/2, (h-34*scale_factor)/2, 268*scale_factor, 34*scale_factor, 113/512.0, 349/512.0, (113+268)/512.0, (349+34)/512.0);
}
}
