void MeshViewer :: addMesh(const ntk::Mesh& mesh, const Pose3D& pose, MeshViewerMode mode, bool influence_on_center)
{
unsigned long start = ntk::Time::getMillisecondCounter();
if (mesh.vertices.size() < 1)
return;
makeCurrent();
// Compute new mesh center.
if (influence_on_center)
{
m_mesh_center = Point3f(0,0,0);
int n_sample = 0;
for (int i = 0; i < mesh.vertices.size(); i += mesh.vertices.size()/100 + 1)
{
cv::Point3f p = pose.cameraTransform(mesh.vertices[i]);
m_mesh_center += p;
++n_sample;
}
if (mesh.vertices.size()>0)
m_mesh_center *= 1.0/n_sample;
}
// Setup texture
GLuint texture;
if (mesh.texture.data)
{
if ((mesh.texture.cols % 2 != 0) || (mesh.texture.rows % 2 != 0))
glEnable(GL_TEXTURE_RECTANGLE_NV);
glGenTextures( 1, &texture );
m_upcoming_textures.push_back(texture);
glBindTexture( GL_TEXTURE_2D, texture );
glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE );
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
//glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_BASE_LEVEL,0);
//glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAX_LEVEL,0);
//glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_CLAMP_TO_EDGE);
//glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_CLAMP_TO_EDGE);
glTexImage2D(GL_TEXTURE_2D, 0,
GL_RGB8, mesh.texture.cols, mesh.texture.rows,
0, GL_BGR, GL_UNSIGNED_BYTE,mesh.texture.data);
}
if (m_use_vertex_buffer_object)
{
addMeshToVertexBufferObject(mesh, pose, mode);
}
else
{
addMeshToDisplayList(mesh, pose, mode);
}
unsigned long end = ntk::Time::getMillisecondCounter();
//ntk_dbg_print((end-start) / 1000., 1);
updateDisplayCenter();
}
void Mesh::applyTransform(const Pose3D& pose)
{
foreach_idx(i, vertices)
vertices[i] = pose.cameraTransform(vertices[i]);
ntk::Pose3D normal_pose;
normal_pose.applyTransformBefore(cv::Vec3f(0.f,0.f,0.f), pose.cvEulerRotation());
foreach_idx(i, normals)
normals[i] = normal_pose.cameraTransform(normals[i]);
}
void MeshRenderer :: estimateOptimalPlanes(const Pose3D& pose, float* near_plane, float* far_plane)
{
float min_z = std::numeric_limits<float>::max();
float max_z = 0.01f;
for (int i = 0; i < m_mesh->faces.size(); ++i)
{
const Point3f& v1 = m_mesh->vertices[m_mesh->faces[i].indices[0]];
const Point3f& v2 = m_mesh->vertices[m_mesh->faces[i].indices[1]];
const Point3f& v3 = m_mesh->vertices[m_mesh->faces[i].indices[2]];
Point3f pv1 = pose.cameraTransform(v1);
Point3f pv2 = pose.cameraTransform(v2);
Point3f pv3 = pose.cameraTransform(v3);
min_z = ntk::math::min(min_z,-pv1.z);
min_z = ntk::math::min(min_z,-pv2.z);
min_z = ntk::math::min(min_z,-pv3.z);
max_z = ntk::math::max(max_z,-pv1.z);
max_z = ntk::math::max(max_z,-pv2.z);
max_z = ntk::math::max(max_z,-pv3.z);
}
ntk_dbg_print(min_z, 2);
ntk_dbg_print(max_z, 2);
if (min_z < 0)
min_z = 0.01f;
if (max_z < min_z)
max_z = (min_z*2);
*near_plane = min_z*0.9f;
*far_plane = max_z*1.1f;
}