void GLPointCloudViewer::paintGL()
{
if (pointCloud.size() < 1)
return;
// Clear color and depth buffer
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Draw geometry
if (currentCloud < 0 || currentCloud > pointCloud.size() - 1)
{
for (auto cloud : pointCloud)
renderCloud(cloud->getShaderProgram().get(), cloud.get());
}
else
{
auto cloud = pointCloud[currentCloud];
renderCloud(cloud->getShaderProgram().get(), cloud.get());
}
}
void
MeshSource<PointT>::loadOrGenerate (const std::string & model_path, ModelT & model)
{
const std::string views_path = path_ + "/" + model.class_ + "/" + model.id_ + "/views";
model.views_.clear();
model.poses_.clear();
model.self_occlusions_.clear();
model.assembled_.reset (new pcl::PointCloud<PointT>);
uniform_sampling (model_path, 100000, *model.assembled_, model_scale_);
if(compute_normals_)
model.computeNormalsAssembledCloud(radius_normals_);
if (v4r::io::existsFolder(views_path))
{
if(load_into_memory_) {
model.view_filenames_ = v4r::io::getFilesInDirectory(views_path, ".*" + view_prefix_ + ".*.pcd", false);
loadInMemorySpecificModel(model);
}
}
else
{
int img_width = resolution_;
int img_height = resolution_;
if(!renderer_)
renderer_.reset( new DepthmapRenderer(img_width, img_height) );
// To preserve Kinect camera parameters (640x480 / f=525)
const float f = 150.f;
const float cx = img_width / 2.f;
const float cy = img_height / 2.f;
renderer_->setIntrinsics(f, f, cx, cy);
DepthmapRendererModel rmodel(model_path);
renderer_->setModel(&rmodel);
std::vector<Eigen::Vector3f> sphere = renderer_->createSphere(radius_sphere_, tes_level_);
for(const Eigen::Vector3f &point : sphere) {
Eigen::Matrix4f orientation = renderer_->getPoseLookingToCenterFrom(point); //get a camera pose looking at the center:
renderer_->setCamPose(orientation);
float visible;
typename pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>(renderCloud(*renderer_, visible)));
const Eigen::Matrix4f tf = v4r::RotTrans2Mat4f(cloud->sensor_orientation_, cloud->sensor_origin_);
// reset view point otherwise pcl visualization is potentially messed up
Eigen::Vector4f zero_origin; zero_origin[0] = zero_origin[1] = zero_origin[2] = zero_origin[3] = 0.f;
cloud->sensor_orientation_ = Eigen::Quaternionf::Identity();
cloud->sensor_origin_ = zero_origin;
if(!gen_organized_) // remove nan points from cloud
{
size_t kept=0;
for(size_t idx=0; idx<cloud->points.size(); idx++)
{
const PointT &pt = cloud->points[idx];
if ( pcl::isFinite(pt) )
cloud->points[kept++] = pt;
}
cloud->points.resize(kept);
cloud->width = kept;
cloud->height = 1;
}
model.views_.push_back (cloud);
model.poses_.push_back (tf);
model.self_occlusions_.push_back (0); // NOT IMPLEMENTED
}
const std::string direc = path_ + "/" + model.class_ + "/" + model.id_ + "/views/";
v4r::io::createDirIfNotExist(direc);
for (size_t i = 0; i < model.views_.size (); i++)
{
//save generated model for future use
std::stringstream path_view;
path_view << direc << "/" << view_prefix_ << i << ".pcd";
pcl::io::savePCDFileBinary (path_view.str (), *(model.views_[i]));
std::stringstream path_pose;
path_pose << direc << "/" << pose_prefix_ << i << ".txt";
v4r::io::writeMatrixToFile( path_pose.str (), model.poses_[i]);
std::stringstream path_entropy;
path_entropy << direc << "/" << entropy_prefix_ << i << ".txt";
v4r::io::writeFloatToFile (path_entropy.str (), model.self_occlusions_[i]);
}
loadOrGenerate ( model_path, model);
}
}
