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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "precomp.hpp"
namespace cv
{
namespace ovis
{
using namespace Ogre;
void createPlaneMesh(const String& name, const Size2f& size, InputArray image)
{
CV_Assert(_app);
// material
MaterialPtr mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
Pass* rpass = mat->getTechniques()[0]->getPasses()[0];
rpass->setCullingMode(CULL_NONE);
rpass->setEmissive(ColourValue::White);
if (!image.empty())
{
_createTexture(name, image.getMat());
rpass->createTextureUnitState(name);
}
// plane
MovablePlane plane(-Vector3::UNIT_Z, 0);
MeshPtr mesh = MeshManager::getSingleton().createPlane(
name, RESOURCEGROUP_NAME, plane, size.width, size.height, 1, 1, true, 1, 1, 1, -Vector3::UNIT_Y);
mesh->getSubMesh(0)->setMaterialName(name);
}
void createPointCloudMesh(const String& name, InputArray vertices, InputArray colors)
{
int color_type = colors.type();
CV_Assert(_app);
CV_CheckTypeEQ(vertices.type(), CV_32FC3, "vertices type must be Vec3f");
CV_Assert(vertices.isContinuous());
if (!colors.empty())
CV_CheckType(color_type, color_type == CV_8UC3 || color_type == CV_8UC4, "unsupported type");
// material
MaterialPtr mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
Pass* rpass = mat->getTechniques()[0]->getPasses()[0];
rpass->setEmissive(ColourValue::White);
rpass->setPointSpritesEnabled(true);
// mesh
MeshPtr mesh = MeshManager::getSingleton().createManual(name, RESOURCEGROUP_NAME);
SubMesh* sub = mesh->createSubMesh();
sub->useSharedVertices = true;
sub->operationType = RenderOperation::OT_POINT_LIST;
sub->setMaterialName(name);
int n = vertices.rows();
mesh->sharedVertexData = new VertexData();
mesh->sharedVertexData->vertexCount = n;
VertexDeclaration* decl = mesh->sharedVertexData->vertexDeclaration;
// vertex data
HardwareBufferManager& hbm = HardwareBufferManager::getSingleton();
Mat _vertices = vertices.getMat();
int source = 0;
HardwareVertexBufferSharedPtr hwbuf;
decl->addElement(source, 0, VET_FLOAT3, VES_POSITION);
hwbuf = hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);
hwbuf->writeData(0, hwbuf->getSizeInBytes(), _vertices.ptr(), true);
mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);
// color data
if (!colors.empty())
{
mat->setLightingEnabled(false);
source += 1;
Mat col4;
cvtColor(colors, col4, color_type == CV_8UC3 ? COLOR_BGR2RGBA : COLOR_BGRA2RGBA);
decl->addElement(source, 0, VET_COLOUR, VES_DIFFUSE);
hwbuf =
hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);
hwbuf->writeData(0, hwbuf->getSizeInBytes(), col4.ptr(), true);
mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);
rpass->setVertexColourTracking(TVC_DIFFUSE);
}
AxisAlignedBox bounds(AxisAlignedBox::EXTENT_NULL);
for (int i = 0; i < n; i++)
{
Vec3f v = _vertices.at<Vec3f>(i);
bounds.merge(Vector3(v[0], v[1], v[2]));
}
mesh->_setBounds(bounds);
}
void createGridMesh(const String& name, const Size2f& size, const Size& segments)
{
CV_Assert_N(_app, !segments.empty());
// material
MaterialPtr mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
Pass* rpass = mat->getTechniques()[0]->getPasses()[0];
rpass->setEmissive(ColourValue::White);
// mesh
MeshPtr mesh = MeshManager::getSingleton().createManual(name, RESOURCEGROUP_NAME);
SubMesh* sub = mesh->createSubMesh();
sub->useSharedVertices = true;
sub->operationType = RenderOperation::OT_LINE_LIST;
sub->setMaterialName(name);
int n = (segments.width + 1) * 2 + (segments.height + 1) * 2;
mesh->sharedVertexData = new VertexData();
mesh->sharedVertexData->vertexCount = n;
VertexDeclaration* decl = mesh->sharedVertexData->vertexDeclaration;
// vertex data
HardwareBufferManager& hbm = HardwareBufferManager::getSingleton();
int source = 0;
HardwareVertexBufferSharedPtr hwbuf;
decl->addElement(source, 0, VET_FLOAT2, VES_POSITION);
hwbuf = hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);
mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);
Vector2 step = Vector2(size.width, size.height) / Vector2(segments.width, segments.height);
Vec2f* data = (Vec2f*)hwbuf->lock(HardwareBuffer::HBL_DISCARD);
for (int i = 0; i < segments.width + 1; i++)
{
data[i * 2] = Vec2f(-size.width / 2 + step.x * i, -size.height / 2);
data[i * 2 + 1] = Vec2f(-size.width / 2 + step.x * i, size.height / 2);
}
data += (segments.width + 1) * 2;
for (int i = 0; i < segments.height + 1; i++)
{
data[i * 2] = Vec2f(-size.width / 2, -size.height / 2 + step.y * i);
data[i * 2 + 1] = Vec2f(size.width / 2, -size.height / 2 + step.y * i);
}
hwbuf->unlock();
Vector3 sz(size.width, size.height, 0);
mesh->_setBounds(AxisAlignedBox(-sz/2, sz/2));
}
}
}