crosshair_object::crosshair_object(const Eigen::Vector3f& vertex, Eigen::Vector4f color, float size, float line_width, bool casts_shadows) : crosshair_object(vertices_t(1, vertex), color, size, line_width, casts_shadows) {
}
void renderDepth(const WorldModel& wm, const ProjectionMatrix& P, const geo::Pose3D& sensor_pose, Result& res)
{
// Parameters
double near_clip_z = -0.1;
// - - - - - - - - - - - - - - - - - - - - - - - - - - - -
const std::vector<Triangle>& triangles = wm.triangles();
const std::vector<geo::Vec3>& vertices = wm.vertices();
// transform points
std::vector<geo::Vec3> vertices_t(vertices.size());
std::vector<geo::Vec2i> vertices_proj(vertices.size());
geo::Pose3D sensor_pose_inv = sensor_pose.inverse();
for(unsigned int i = 0; i < vertices.size(); ++i)
{
vertices_t[i] = sensor_pose_inv * vertices[i];
vertices_proj[i] = P.project3Dto2D(vertices_t[i]);
}
for(const auto& t : triangles)
{
const geo::Vec3& p1_3d = vertices_t[t.i1];
const geo::Vec3& p2_3d = vertices_t[t.i2];
const geo::Vec3& p3_3d = vertices_t[t.i3];
res.triangleHook(t, p1_3d, p2_3d, p3_3d);
int n_verts_in = 0;
bool v1_in = false;
bool v2_in = false;
bool v3_in = false;
const geo::Vec3* vIn[3];
if (p1_3d.z < near_clip_z) {
++n_verts_in;
v1_in = true;
}
if (p2_3d.z < near_clip_z) {
++n_verts_in;
v2_in = true;
}
if (p3_3d.z < near_clip_z) {
++n_verts_in;
v3_in = true;
}
if (n_verts_in == 1)
{
if (v1_in) { vIn[0] = &(p1_3d); vIn[1] = &(p2_3d); vIn[2] = &(p3_3d); }
if (v2_in) { vIn[0] = &(p2_3d); vIn[1] = &(p3_3d); vIn[2] = &(p1_3d); }
if (v3_in) { vIn[0] = &(p3_3d); vIn[1] = &(p1_3d); vIn[2] = &(p2_3d); }
//Parametric line stuff
// p = v0 + v01*t
geo::Vec3 v01 = *vIn[1] - *vIn[0];
float t1 = ((near_clip_z - (*vIn[0]).z) / v01.z );
geo::Vec3 new2(vIn[0]->x + v01.x * t1, vIn[0]->y + v01.y * t1, near_clip_z);
// Second vert point
geo::Vec3 v02 = *vIn[2] - *vIn[0];
float t2 = ((near_clip_z - (*vIn[0]).z) / v02.z);
geo::Vec3 new3(vIn[0]->x + v02.x * t2, vIn[0]->y + v02.y * t2, near_clip_z);
drawTriangle(*vIn[0], new2, new3, P, res);
}
else if (n_verts_in == 2)
{
if (!v1_in) { vIn[0]=&(p2_3d); vIn[1]=&(p3_3d); vIn[2]=&(p1_3d); }
if (!v2_in) { vIn[0]=&(p3_3d); vIn[1]=&(p1_3d); vIn[2]=&(p2_3d); }
if (!v3_in) { vIn[0]=&(p1_3d); vIn[1]=&(p2_3d); vIn[2]=&(p3_3d); }
//Parametric line stuff
// p = v0 + v01*t
geo::Vec3 v01 = *vIn[2] - *vIn[0];
float t1 = ((near_clip_z - (*vIn[0]).z)/v01.z );
geo::Vec3 new2((*vIn[0]).x + v01.x * t1,(*vIn[0]).y + v01.y * t1, near_clip_z);
// Second point
geo::Vec3 v02 = *vIn[2] - *vIn[1];
float t2 = ((near_clip_z - (*vIn[1]).z)/v02.z);
geo::Vec3 new3((*vIn[1]).x + v02.x * t2, (*vIn[1]).y + v02.y * t2, near_clip_z);
drawTriangle(*vIn[0], *vIn[1], new2, P, res);
drawTriangle(new2, *vIn[1], new3, P, res);
}
else if (n_verts_in == 3)
{
const geo::Vec2i& p1_2d = vertices_proj[t.i1];
const geo::Vec2i& p2_2d = vertices_proj[t.i2];
const geo::Vec2i& p3_2d = vertices_proj[t.i3];
drawTriangle2D(geo::Vec3f(p1_2d.x, p1_2d.y, 1.0f / -p1_3d.z),
geo::Vec3f(p2_2d.x, p2_2d.y, 1.0f / -p2_3d.z),
geo::Vec3f(p3_2d.x, p3_2d.y, 1.0f / -p3_3d.z),
res);
}
}
}
