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;
}
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;
}
