void KinectViewer::display(GLContextData& contextData) const
{
if(cameraDevice!=0)
{
/* Move the camera projector to the tracking device's position and orientation in physical space: */
glPushMatrix();
glMultMatrix(cameraDevice->getTransformation());
glRotated(90.0,1.0,0.0,0.0);
glScaled(1.0/2.54,1.0/2.54,1.0/2.54);
glBegin(GL_LINES);
glColor3f(1.0f,0.0f,0.0f);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(100.0f,0.0f,0.0f);
glColor3f(0.0f,1.0f,0.0f);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(0.0f,100.0f,0.0f);
glColor3f(0.0f,0.0f,1.0f);
glVertex3f(0.0f,0.0f,0.0f);
glVertex3f(0.0f,0.0f,100.0f);
glEnd();
}
/* Process all streamers: */
for(std::vector<KinectStreamer*>::const_iterator sIt=streamers.begin();sIt!=streamers.end();++sIt)
(*sIt)->display(contextData);
if(cameraDevice!=0)
{
/* Return to navigational space: */
glPopMatrix();
}
#if 0
/* Draw the animated model: */
glPushMatrix();
glTranslated(7.71,-29.37,-94.57);
glScaled(0.2,0.2,0.2);
glRotated(120.0,0.0,1.0,0.0);
glRotated(-90.0,1.0,0.0,0.0);
anim.glRenderAction(contextData);
glPopMatrix();
#endif
}
void ScreenCalibrator::display(GLContextData& contextData) const
{
/* Set up OpenGL state: */
glPushAttrib(GL_ENABLE_BIT|GL_LINE_BIT|GL_POINT_BIT);
glDisable(GL_LIGHTING);
glPointSize(3.0f);
/* Get the tracking point mover's transformation: */
Vrui::NavTrackerState scaledDeviceT=Vrui::getInverseNavigationTransformation();
scaledDeviceT*=trackingPointsMover->getTransformation();
/* Calculate the point transformation: */
Vrui::TrackerState pmt=Vrui::TrackerState(scaledDeviceT.getTranslation(),scaledDeviceT.getRotation());
pmt*=trackingPointsTransform;
pmt=Vrui::TrackerState::identity;
/* Draw all tracking and survey points: */
glBegin(GL_POINTS);
glColor3f(1.0f,1.0f,0.0f);
for(PointList::const_iterator tpIt=trackingPoints.begin();tpIt!=trackingPoints.end();++tpIt)
glVertex(pmt.transform(*tpIt));
glColor3f(0.0f,1.0f,0.0f);
for(PointList::const_iterator spIt=screenPoints.begin();spIt!=screenPoints.end();++spIt)
glVertex(*spIt);
glColor3f(1.0f,0.0f,0.0f);
for(PointList::const_iterator fpIt=floorPoints.begin();fpIt!=floorPoints.end();++fpIt)
glVertex(*fpIt);
glColor3f(1.0f,0.0f,1.0f);
for(PointList::const_iterator bpIt=ballPoints.begin();bpIt!=ballPoints.end();++bpIt)
glVertex(*bpIt);
glEnd();
/* Draw all tracker calibration pairs: */
size_t numPoints=trackingPoints.size();
if(numPoints>ballPoints.size())
numPoints=ballPoints.size();
glBegin(GL_LINES);
for(size_t i=0;i<numPoints;++i)
{
glColor3f(1.0f,1.0f,0.0f);
glVertex(pmt.transform(trackingPoints[i]));
glColor3f(1.0f,0.0f,1.0f);
glVertex(ballPoints[i]);
}
glEnd();
/* Draw the screen rectangle: */
glBegin(GL_LINE_LOOP);
glColor3f(0.0f,1.0f,0.0f);
glVertex(screenTransform.transform(Point(0,0,0)));
glVertex(screenTransform.transform(Point(screenSize[0],0,0)));
glVertex(screenTransform.transform(Point(screenSize[0],screenSize[1],0)));
glVertex(screenTransform.transform(Point(0,screenSize[1],0)));
glEnd();
/* Draw the projected screen quadrangle: */
glBegin(GL_LINE_LOOP);
glColor3f(0.0f,0.0f,1.0f);
glVertex(pScreenTransform.transform(Point(0,0,0)));
glVertex(pScreenTransform.transform(Point(1,0,0)));
glVertex(pScreenTransform.transform(Point(1,1,0)));
glVertex(pScreenTransform.transform(Point(0,1,0)));
glEnd();
/* Reset OpenGL state: */
glPopAttrib();
}