From 7dde5a01891e1dfef2499eea83b13d63aed904b6 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 27 Feb 2020 17:01:46 +0200
Subject: [PATCH] Add axis in overlay
---
.../cpp/include/ftl/render/overlay.hpp | 4 +-
components/renderers/cpp/src/overlay.cpp | 63 ++++++++++++++++---
2 files changed, 56 insertions(+), 11 deletions(-)
diff --git a/components/renderers/cpp/include/ftl/render/overlay.hpp b/components/renderers/cpp/include/ftl/render/overlay.hpp
index 7674cf0b4..be4f36d31 100644
--- a/components/renderers/cpp/include/ftl/render/overlay.hpp
+++ b/components/renderers/cpp/include/ftl/render/overlay.hpp
@@ -13,7 +13,8 @@ enum class Shape {
BOX,
CAMERA,
XZPLANE,
- GRID
+ GRID,
+ AXIS
};
class Overlay : public ftl::Configurable {
@@ -36,6 +37,7 @@ class Overlay : public ftl::Configurable {
void _createShapes();
void _drawFilledShape(ftl::overlay::Shape shape, const Eigen::Matrix4d &pose, float scale, uchar4 colour);
void _drawOutlinedShape(Shape shape, const Eigen::Matrix4d &pose, const Eigen::Vector3f &scale, uchar4 fill, uchar4 outline);
+ void _drawAxis(const Eigen::Matrix4d &pose, const Eigen::Vector3f &scale);
};
void draw3DLine(
diff --git a/components/renderers/cpp/src/overlay.cpp b/components/renderers/cpp/src/overlay.cpp
index f759988b9..0cda6bf39 100644
--- a/components/renderers/cpp/src/overlay.cpp
+++ b/components/renderers/cpp/src/overlay.cpp
@@ -70,8 +70,13 @@ void Overlay::_createShapes() {
{-0.5, 0.28, 0.5},
{-0.5, -0.28, 0.5},
+ // Axis lines
+ {1.0, 0.0, 0.0}, // 13
+ {0.0, -1.0, 0.0},
+ {0.0, 0.0, 1.0},
+
// Plane XZ big
- {-10.0, 0.0, -10.0}, // 13
+ {-10.0, 0.0, -10.0}, // 16
{10.0, 0.0, -10.0},
{10.0, 0.0, 10.0},
{-10.0, 0.0, 10.0}
@@ -128,12 +133,17 @@ void Overlay::_createShapes() {
9, 11,
10, 12,
+ // Axis lines
+ 8, 13, // 82
+ 8, 14,
+ 8, 15,
+
// Big XZ Plane
- 13, 14, 15, // 82
- 15, 16, 13
+ 16, 17, 18, // 88
+ 18, 19, 16
};
- int i = 17;
+ int i = 20;
for (int x=-10; x<=10; ++x) {
shape_tri_indices_.push_back(i++);
shape_tri_indices_.push_back(i++);
@@ -143,7 +153,8 @@ void Overlay::_createShapes() {
shapes_[Shape::BOX] = {0,30, 30, 12*2};
shapes_[Shape::CAMERA] = {54, 4*3, 66, 8*2};
- shapes_[Shape::XZPLANE] = {82, 2*3, 88, 40*2};
+ shapes_[Shape::XZPLANE] = {88, 2*3, 94, 40*2};
+ shapes_[Shape::AXIS] = {0, 0, 82, 2*3};
oShader.uploadAttrib("vertex", sizeof(float3)*shape_verts_.size(), 3, sizeof(float), GL_FLOAT, false, shape_verts_.data());
oShader.uploadAttrib ("indices", sizeof(int)*shape_tri_indices_.size(), 1, sizeof(int), GL_UNSIGNED_INT, true, shape_tri_indices_.data());
@@ -175,10 +186,13 @@ void Overlay::_drawOutlinedShape(Shape shape, const Eigen::Matrix4d &pose, const
auto [offset,count,loffset,lcount] = shapes_[shape];
oShader.setUniform("scale", scale);
oShader.setUniform("pose", mv);
- oShader.setUniform("blockColour", Eigen::Vector4f(float(fill.x)/255.0f,float(fill.y)/255.0f,float(fill.z)/255.0f,float(fill.w)/255.0f));
- //oShader.drawIndexed(GL_TRIANGLES, offset, count);
- glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
- (const void *)(offset * sizeof(uint32_t)));
+
+ if (count > 0) {
+ oShader.setUniform("blockColour", Eigen::Vector4f(float(fill.x)/255.0f,float(fill.y)/255.0f,float(fill.z)/255.0f,float(fill.w)/255.0f));
+ //oShader.drawIndexed(GL_TRIANGLES, offset, count);
+ glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
+ (const void *)(offset * sizeof(uint32_t)));
+ }
if (lcount != 0) {
oShader.setUniform("blockColour", Eigen::Vector4f(float(outline.x)/255.0f,float(outline.y)/255.0f,float(outline.z)/255.0f,float(outline.w)/255.0f));
@@ -188,6 +202,31 @@ void Overlay::_drawOutlinedShape(Shape shape, const Eigen::Matrix4d &pose, const
}
}
+void Overlay::_drawAxis(const Eigen::Matrix4d &pose, const Eigen::Vector3f &scale) {
+ Eigen::Matrix4f mv = pose.cast<float>();
+
+ auto [offset,count,loffset,lcount] = shapes_[Shape::AXIS];
+ oShader.setUniform("scale", scale);
+ oShader.setUniform("pose", mv);
+
+ oShader.setUniform("blockColour", Eigen::Vector4f(1.0f, 0.0f, 0.0f, 1.0f));
+ //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
+ glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
+ (const void *)(loffset * sizeof(uint32_t)));
+
+ loffset += 2;
+ oShader.setUniform("blockColour", Eigen::Vector4f(0.0f, 1.0f, 0.0f, 1.0f));
+ //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
+ glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
+ (const void *)(loffset * sizeof(uint32_t)));
+
+ loffset += 2;
+ oShader.setUniform("blockColour", Eigen::Vector4f(0.0f, 0.0f, 1.0f, 1.0f));
+ //oShader.drawIndexed(GL_LINE_LOOP, offset, count);
+ glDrawElements(GL_LINES, (GLsizei) 2, GL_UNSIGNED_INT,
+ (const void *)(loffset * sizeof(uint32_t)));
+}
+
void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const Eigen::Vector2f &screenSize) {
double zfar = 8.0f;
auto intrin = state.getLeft();
@@ -250,10 +289,14 @@ void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const
}
}
- if (value("show_xz_plane", true)) {
+ if (value("show_xz_plane", false)) {
_drawOutlinedShape(Shape::XZPLANE, state.getPose().inverse(), Eigen::Vector3f(1.0f,1.0f,1.0f), make_uchar4(200,200,200,50), make_uchar4(255,255,255,100));
}
+ if (value("show_axis", true)) {
+ _drawAxis(state.getPose().inverse(), Eigen::Vector3f(0.5f, 0.5f, 0.5f));
+ }
+
if (value("show_shapes", false)) {
if (fs.hasChannel(Channel::Shapes3D)) {
std::vector<ftl::codecs::Shape3D> shapes;
--
GitLab