BOOL CTomGineThread::OnTask()
{
m_running.Lock();
m_mutex.Lock();
tgEngine m_engine(m_width, m_height, 5.0f, 0.01f, "TomGine", true);
if(m_use_campars)
{
TomGine::tgCamera cam;
cam.Load(m_camPars);
m_engine.SetCamera(cam);
m_engine.UpdateCameraViews(cam);
}
m_mutex.Unlock();
tgMaterial matBlueBlend;
matBlueBlend.Color(0.0f, 0.0f, 1.0f, 0.5f);
m_cone.m_material = matBlueBlend;
tgShapeCreator m_shape_creator;
m_shape_creator.CreateSphere(m_sphere, 0.1, 5, ICOSAHEDRON);
m_shape_creator.CreateCone(m_cone, 1.0, 1.0, 16, 1, false);
// tgModel &model, float radius, float height, int slices, int stacks, bool closed
glClearColor(1,1,1,0);
while(!m_quit)
{
m_mutex.Lock();
// Draw model
m_pose.Activate();
m_model.DrawFaces();
// for(unsigned i=0; i<m_viewlist.size(); i++)
// {
// m_viewlist[i].Activate();
// m_cone.DrawFaces();
// }
// TODO test if Siftex is visible
// Draw points
glColor3f(0.0f,1.0f,0.0f);
glDisable(GL_LIGHTING);
glPointSize(2);
glBegin(GL_POINTS);
for(unsigned int i=0; i<m_siftexlist.size(); i++)
{
glVertex3f(m_siftexlist[i].pos.x, m_siftexlist[i].pos.y, m_siftexlist[i].pos.z);
}
glEnd();
glEnable(GL_LIGHTING);
// Draw normals
glColor3f(0.0f, 0.0f, 1.0f);
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
for(unsigned int i=0; i<m_lastsiftexlist.size(); i++)
{
glVertex3f(m_lastsiftexlist[i].pos.x, m_lastsiftexlist[i].pos.y, m_lastsiftexlist[i].pos.z);
glVertex3f( m_lastsiftexlist[i].pos.x - m_lastsiftexlist[i].viewray.x,
m_lastsiftexlist[i].pos.y - m_lastsiftexlist[i].viewray.y,
m_lastsiftexlist[i].pos.z - m_lastsiftexlist[i].viewray.z);
}
glEnd();
glEnable(GL_LIGHTING);
for(unsigned i=0; i<m_viewlist.size(); i++)
{
m_viewlist[i].Activate();
glPushMatrix();
glScalef(m_viewscale[i].x,m_viewscale[i].y,m_viewscale[i].z);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
m_cone.DrawFaces();
glDisable(GL_BLEND);
glPopMatrix();
m_viewlist[i].Deactivate();
}
m_pose.Deactivate();
m_mutex.Unlock();
Sleep(10);
m_engine.Update();
}
m_running.Unlock();
return TRUE;
}
int main(int argc, char * argv[])
{
sf::RenderWindow window(sf::VideoMode(640, 480), "OpenGL");
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LEQUAL);
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
g_Resources->SetShaderPath("/home/gergondet/ros/perception_blort/blort_ros/Tracker/shader/");
TomGine::tgCamera::Parameter camPar;
TomGine::tgCamera camera;
camPar.width = 640;
camPar.height = 480;
camPar.fx = 568.168672;
camPar.fy = 566.360327;
camPar.cx = 349.631248;
camPar.cy = 256.295344;
camPar.k1 = -0.059636;
camPar.k2 = 0.232352;
camPar.k3 = 0;
camPar.p1 = -0.003432;
camPar.p2 = 0.017361;
camPar.pos.x = 0.31188;
camPar.pos.y = -0.3;
camPar.pos.z = 0.243049;
vec3 rotv; rotv.x = -1.917587; rotv.y = -0.453044; rotv.z = 0.389306;
camPar.rot.fromRotVector(rotv);
camera.Load(camPar);
Tracking::TrackerModel * model = new Tracking::TrackerModel();
Tracking::ModelLoader loader;
loader.LoadPly(*model, "/home/gergondet/ros/perception_blort/blort_ros/Resources/ply/can.ply");
bool running = true;
while (running)
{
// handle events
sf::Event event;
while (window.pollEvent(event))
{
if (event.type == sf::Event::Closed)
{
// end the program
running = false;
}
else if (event.type == sf::Event::Resized)
{
// adjust the viewport when the window is resized
glViewport(0, 0, event.size.width, event.size.height);
}
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
window.clear(sf::Color(0x77, 0x77, 0x77, 255));
window.pushGLStates();
window.popGLStates();
camera.Activate();
model->drawPass();
window.display();
}
delete model;
return 0;
}
int main (int argc, char * argv[])
{
std::string tsp_file;
size_t width(800), height(600);
int start(0), end(1), res(16);
if (argc > 3)
{
tsp_file = argv[1];
start = atoi(argv[2]);
end = atoi(argv[3]);
}
else
{
printf("Usage: TsplineViewer tsp_file_sequence start_index end_index\n");
printf(" tsp-file-sequence: filename_%%d.tsp\n\n");
return 0;
}
if(argc > 4)
res = atoi(argv[4]);
std::ostringstream os;
os << "T-spline Sequence (" << tsp_file << ")";
tgTomGineThread viewer (width, height, os.str());
viewer.SetClearColor(1.0f);
viewer.SetInputSpeeds(0.1);
// schnipp
TomGine::tgCamera cam = viewer.GetCamera();
// dino_sparse_front
float ext_data[16] = { -0.382363, -0.097398, -0.918871, 0.000105,
-0.181148, 0.983042, -0.028819, -0.027788,
0.906093, 0.155430, -0.393519, -0.365332,
0.000000, 0.000000, 0.000000, 1.000000 };
// dino
float int_data[16] = { 10.344999, 0.000000, 0.010219, 0.000000,
0.000000, 13.856250, -0.164375, 0.000000,
0.000000, 0.000000, -1.000200, -0.020002,
0.000000, 0.000000, -1.000000, 0.000000};
TomGine::mat4 E(ext_data);
TomGine::mat4 I(int_data);
cam.SetIntrinsic(I.transpose());
cam.SetExtrinsic(E.transpose());
viewer.SetCamera(cam);
// schnapp
SequenceViewer sv(viewer);
sv.meshes.resize(end-start+1);
for(int i=start; i<=end && !viewer.Stopped(); i++)
{
// Tspline
char file[256];
sprintf(file, tsp_file.c_str(), i);
printf("[main] Loading T-spline %d: '%s'\n", i, file);
Tspline tsp;
File::Load(tsp, file);
TomGine::tgTextureModel& mesh = sv.meshes[i];
mesh.m_material.Color( 0.1,0.1,0.1,1.0,
0.6,1.0,0.6,1.0,
0.5,0.5,0.5,1.0, 50);
mesh.SetColor(0.5f,0.5f,0.5f,0.5f);
convertTspline2tgModel(tsp, mesh, res, res, true);
convertTsplineControl2tgModel(tsp, mesh);
// convertTsplineEdges2tgModel(tsp, mesh, 4, 1e-4);
mesh.m_line_color = TomGine::vec3(0,0,0);
mesh.m_line_width = 5.0f;
mesh.m_point_color = TomGine::vec3(0,0,0);
mesh.m_point_size = 15.0f;
if(!tsp.texture.empty())
{
// texture from tspline
printf("[main] tseigen normalizep.texture.size: %lu tsp.texture: %s\n", tsp.texture.size(), tsp.texture.c_str());
unsigned found = tsp_file.find_last_of("/\\");
std::string texture = tsp_file.substr(0,found) + "/" + tsp.texture;
mesh.m_tex_cv.push_back(cv::imread(texture));
mesh.m_face_tex_id.assign(mesh.m_faces.size(), 0);
mesh.SetColor(1.0f,1.0f,1.0f);
}
// convertTsplineControl2tgModel(tsp, mesh);
// TomGine::vec3 cor(0,0,0);
// for(size_t i=0; i<mesh.m_lines.size(); i++)
// {
// vec3 a = mesh.m_lines[i].start;
// vec3 b = mesh.m_lines[i].end;
// viewer.AddLine3D(a.x,a.y,a.z, b.x,b.y,b.z, 0,0,128, 1.0);
// }
// size_t cpi(0);
// Tspline::Vertex_iterator vit;
// for(vit=tsp.vertices_begin(); vit!=tsp.vertices_end(); vit++)
// {
// Point3d cp = vit->data().GetCP();
// viewer.AddPoint3D(cp.x(),cp.y(),cp.z(), 0,0,255, 5.0f);
// std::ostringstream os;
// os << cpi;
// viewer.AddLabel3D(os.str(), 12, cp.x(),cp.y(),cp.z());
// cor+=vec3(cp.x(),cp.y(),cp.z());
// cpi++;
// }
// cor /= cpi;
// viewer.LookAt(cor);
// viewer.SetRotationCenter(cor);
// mesh.m_lines.clear();
// mesh.m_points.clear();
// convertTsplineEdges2tgModel(tsp, mesh, 4);
// mesh.m_line_color = TomGine::vec3(1,0,0);
// mesh.m_line_width = 4.0;
if(i==start)
{
mesh.ComputeBoundingSphere();
viewer.SetInputSpeeds(1.0f, mesh.m_bs.radius, mesh.m_bs.radius);
viewer.SetRotationCenter(mesh.m_bs.center);
}
}
printf("[main] Loading T-splines done\n");
// viewer.AddModel3D(meshes);
viewer.Update();
viewer.WaitForEvent (TMGL_Press, TMGL_Escape);
return (0);
}
