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;
}
