opentl::modelprojection::GLScene Class Reference

Class OpenGL scene creates the OpenGL context, initializes display lists per objectModel and creates a FBO management and Shader management instance. More...

Inherits opentl::core::util::ParameterContainer.

List of all members.

Public Types

Public Member Functions

opentl::cvprocess::GlFbo * getGlFbo (const std::string &str, int camIdx)

Returns a pointer to a frame buffer object class instance. Uses singleton pattern per Camera and modality.

opentl::cvprocess::GlShaderMgr * getGlShaderMgr (void)

Returns pointer to a class for OpenGL shader management.

void getOpenGlModelViewMatrix (const opentl::core::cvdata::Pose &objPose, double *modelViewMatrix, int cameraIdx, int linkIdx) const

Get target specific OpenGL model view matrix.

GLScene (ObjModelPtrVector &objModels, opentl::cvprocess::GpuStdShaders *gpuShaders=NULL)

Constructor.

void init ()

Initialize class.

void prepareDisplayLists (const ObjModelPtrVector &objModels)

void renderScene (const TargetPtrVector &targets, std::size_t partitionIdx, RENDER_MODE renderMode, int camIdx, std::vector< int > &linkIds, std::vector< math::Vector4 > &shadowColors, GLuint *drawnPixQueryArray=NULL)

Render scene consisting of all targets in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first!

glFogCoord encodes index position within target vector.

void renderScene (const std::vector< boost::shared_ptr< opentl::core::State > > &states, const ObjModelPtrVector &objModels, RENDER_MODE renderMode, int camIdx, std::vector< int > &linkIds, std::vector< math::Vector4 > &shadowColors, GLuint *drawnPixQueryArray=NULL)

Render scene consisting of all states in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first!

glFogCoord encodes index position within state vector.

void renderSingleObject (const opentl::core::State *state, const opentl::models::ObjModel *objModel, RENDER_MODE renderMode, int targetIdx=0, int camIdx=0, int partIdx=0)

Render a single object (state hypothesis) in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first! NOTE: The target ID is encoded in glFogCoord.

void setOpenGlProjection (const TargetPtrVector &targets, std::size_t partitionIdx, input::ImageSensor &sensor, int cameraIdx, std::vector< int > &linkIds) const

Set OpenGL projection paramenters and culling planes based on last warpUpdate().

void setOpenGlProjection (const std::vector< boost::shared_ptr< opentl::core::State > > &states, const ObjModelPtrVector &objModels, input::ImageSensor &sensor, int cameraIdx, std::vector< int > &linkIds) const

Set OpenGL projection paramenters and culling planes based on last warpUpdate().

virtual ~GLScene ()

Destructor.

Public Attributes

ObjModelPtrVector & mObjModels

Vector of object model pointers.

Detailed Description

Class OpenGL scene creates the OpenGL context, initializes display lists per objectModel and creates a FBO management and Shader management instance.

HINT: A GLScene instance is created per GL hardware accelerated graphics card (SLI connected cards are perceived as a single card). Each graphic card should handle at least one sensor view and all corresponding modalities/features processing Explanation: Independet graphic cards should have their own GL contexts (=non shared FBOs) to avoid unwanted driver internal texture copy/syncronization tasks.

Author:: Giorgio Panin <panin@in.tum.de>, Erwin Roth <eroth@mytum.de>

Member Enumeration Documentation

enum opentl::modelprojection::GLScene::OfflineParameters

Enumerator:

construct_autoCreateGLContext	(bool) Automatically create OpenGL context at class instantiation
construct_showGpuCapabilityInfo	(bool) Show GPU hardware capability info
construct_initWindowPosX	(int) Initial window X position
construct_initWindowPosY	(int) Initial window Y position
construct_initWindowSizeX	(int) Initial window X resolution
construct_initWindowSizeY	(int) Initial window Y resolution
construct_initglutWindowName	�(std::string) Window name
OFFLINE_COUNT

enum opentl::modelprojection::GLScene::OnlineParameters

Enumerator:

ONLINE_COUNT

enum opentl::modelprojection::GLScene::RENDER_MODE

Rendering modes (one OpenGL call list per link and unique object shape).

Enumerator:

POINTS	Render unique vertices list (GL_POINT mode), without color.
LINES	Render unique edges list (GL_LINE mode), without color.
FACES	Render polygon list (GL_POLYGON mode), with: ambient and diffuse color, normal and vertices.
FACES_NO_MATERIAL	Render polygon list (GL_POLYGON mode), with: normal and vertices (no material color).
FACES_CODED_COLORS	Render polygon list (GL_POLYGON mode), with normal and vertices, and face ID encoded in the red and green color channels (lo and hi byte; max = 65535).
TEXTURES
EDGE_FEATURES

Constructor & Destructor Documentation

opentl::modelprojection::GLScene::GLScene	(	ObjModelPtrVector &	objModels,
		opentl::cvprocess::GpuStdShaders *	gpuShaders = `NULL`
	)

Constructor.

Parameters:

	objModels	Vector of object model pointers.
	gpuShaders	pointer to gpu-shader (optional)

virtual opentl::modelprojection::GLScene::~GLScene ( ) [virtual]

Destructor.

Member Function Documentation

opentl::cvprocess::GlFbo* opentl::modelprojection::GLScene::getGlFbo	(	const std::string &	str,
		int	camIdx
	)			`[inline]`

Returns a pointer to a frame buffer object class instance. Uses singleton pattern per Camera and modality.

Parameters:

	str	Arbitrary string to uniquely identify this fbo instance. If str = "_ENFORCE_NEW_", the creation of a new fbo instance is enforced!
	camIdx	Camera index.

Returns:: Pointer to fbo class instance.

opentl::cvprocess::GlShaderMgr* opentl::modelprojection::GLScene::getGlShaderMgr ( void ) [inline]

Returns pointer to a class for OpenGL shader management.

Returns:: Pointer to shader management class instance.

void opentl::modelprojection::GLScene::getOpenGlModelViewMatrix	(	const opentl::core::cvdata::Pose &	objPose,
		double *	modelViewMatrix,
		int	cameraIdx,
		int	linkIdx
	)			const `[inline]`

Get target specific OpenGL model view matrix.

Parameters:

	objPose	Object pose.
	modelViewMatrix	Resulting OpenGL model view matrix.
	cameraIdx	Camera index.
	linkIdx	Link index of articulated object.

void opentl::modelprojection::GLScene::init ( ) [virtual]

Initialize class.

Implements opentl::core::util::ParameterContainer.

void opentl::modelprojection::GLScene::prepareDisplayLists ( const ObjModelPtrVector & objModels )

void opentl::modelprojection::GLScene::renderScene	(	const TargetPtrVector &	targets,
		std::size_t	partitionIdx,
		RENDER_MODE	renderMode,
		int	camIdx,
		std::vector< int > &	linkIds,
		std::vector< math::Vector4 > &	shadowColors,
		GLuint *	drawnPixQueryArray = `NULL`
	)

Render scene consisting of all targets in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first!

glFogCoord encodes index position within target vector.

Parameters:

	targets	Vector of wanted targets.
	partitionIdx	Index to the current active state in the targets.
	renderMode	Mode in which to render into OpenGL buffer.
	camIdx	Camera index.
	linkIds	Link indices: for each object, a single link, or the full shape (id = -1) can be rendered.
	shadowColors	Custom colors (per target), in case of shadow drawing (must have the same size of linkIds, or empty = all white)
	drawnPixQueryArray	Optional: creates query for drawn pixel per target (including all articulated object parts). Query array elements must already exist.

void opentl::modelprojection::GLScene::renderScene	(	const std::vector< boost::shared_ptr< opentl::core::State > > &	states,
		const ObjModelPtrVector &	objModels,
		RENDER_MODE	renderMode,
		int	camIdx,
		std::vector< int > &	linkIds,
		std::vector< math::Vector4 > &	shadowColors,
		GLuint *	drawnPixQueryArray = `NULL`
	)

Render scene consisting of all states in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first!

glFogCoord encodes index position within state vector.

Parameters:

	states	Vector of states.
	objModels	reference to the object models used
	renderMode	Mode in which to render into OpenGL buffer.
	camIdx	Camera index.
	linkIds	Link indices: for each object, a single link, or the full shape (id = -1) can be rendered.
	shadowColors	Custom colors (per target), in case of shadow drawing (must have the same size of linkIds, or empty = all white)
	drawnPixQueryArray	Optional: creates query for drawn pixel per target (including all articulated object parts). Query array elements must already exist.

void opentl::modelprojection::GLScene::renderSingleObject	(	const opentl::core::State *	state,
		const opentl::models::ObjModel *	objModel,
		RENDER_MODE	renderMode,
		int	targetIdx = `0`,
		int	camIdx = `0`,
		int	partIdx = `0`
	)

Render a single object (state hypothesis) in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first! NOTE: The target ID is encoded in glFogCoord.

Parameters:

	state	State to be drawn.
	objModel	pointer to Object model
	renderMode	Mode in which to render into OpenGL buffer.
	targetIdx	This is the vector position within the target vector to be rendered. ATTENTION: This is not the targetId !!!
	camIdx	Camera index.
	partIdx	Optional: part index of articulated object.

void opentl::modelprojection::GLScene::setOpenGlProjection	(	const TargetPtrVector &	targets,
		std::size_t	partitionIdx,
		input::ImageSensor &	sensor,
		int	cameraIdx,
		std::vector< int > &	linkIds
	)			const

Set OpenGL projection paramenters and culling planes based on last warpUpdate().

Parameters:

	targets	Vector of targets.
	partitionIdx	Index to the current active state in the targets.
	sensor	pointer to the used sensor models
	cameraIdx	Camera index.
	linkIdx	Link index of articulated object.

void opentl::modelprojection::GLScene::setOpenGlProjection	(	const std::vector< boost::shared_ptr< opentl::core::State > > &	states,
		const ObjModelPtrVector &	objModels,
		input::ImageSensor &	sensor,
		int	cameraIdx,
		std::vector< int > &	linkIds
	)			const

Set OpenGL projection paramenters and culling planes based on last warpUpdate().

Parameters:

	states	Vector of states.
	objModels	reference to the object models used
	sensor	pointer to the used sensor models
	cameraIdx	Camera index.
	linkIdx	Link index of articulated object.

Member Data Documentation

ObjModelPtrVector& opentl::modelprojection::GLScene::mObjModels

Vector of object model pointers.


Public Types
Public Member Functions
opentl::cvprocess::GlFbo *	getGlFbo (const std::string &str, int camIdx)
	Returns a pointer to a frame buffer object class instance. Uses singleton pattern per Camera and modality.
opentl::cvprocess::GlShaderMgr *	getGlShaderMgr (void)
	Returns pointer to a class for OpenGL shader management.
void	getOpenGlModelViewMatrix (const opentl::core::cvdata::Pose &objPose, double *modelViewMatrix, int cameraIdx, int linkIdx) const
	Get target specific OpenGL model view matrix.
	GLScene (ObjModelPtrVector &objModels, opentl::cvprocess::GpuStdShaders *gpuShaders=NULL)
	Constructor.
void	init ()
	Initialize class.
void	prepareDisplayLists (const ObjModelPtrVector &objModels)
void	renderScene (const TargetPtrVector &targets, std::size_t partitionIdx, RENDER_MODE renderMode, int camIdx, std::vector< int > &linkIds, std::vector< math::Vector4 > &shadowColors, GLuint *drawnPixQueryArray=NULL)
	Render scene consisting of all targets in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first! glFogCoord encodes index position within target vector.
void	renderScene (const std::vector< boost::shared_ptr< opentl::core::State > > &states, const ObjModelPtrVector &objModels, RENDER_MODE renderMode, int camIdx, std::vector< int > &linkIds, std::vector< math::Vector4 > &shadowColors, GLuint *drawnPixQueryArray=NULL)
	Render scene consisting of all states in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first! glFogCoord encodes index position within state vector.
void	renderSingleObject (const opentl::core::State state, const opentl::models::ObjModel objModel, RENDER_MODE renderMode, int targetIdx=0, int camIdx=0, int partIdx=0)
	Render a single object (state hypothesis) in given render mode for a certain camera/sensor. Hint: - Requires call of setOpenGlProjection() first! NOTE: The target ID is encoded in glFogCoord.
void	setOpenGlProjection (const TargetPtrVector &targets, std::size_t partitionIdx, input::ImageSensor &sensor, int cameraIdx, std::vector< int > &linkIds) const
	Set OpenGL projection paramenters and culling planes based on last warpUpdate().
void	setOpenGlProjection (const std::vector< boost::shared_ptr< opentl::core::State > > &states, const ObjModelPtrVector &objModels, input::ImageSensor &sensor, int cameraIdx, std::vector< int > &linkIds) const
	Set OpenGL projection paramenters and culling planes based on last warpUpdate().
virtual	~GLScene ()
	Destructor.
Public Attributes
ObjModelPtrVector &	mObjModels
	Vector of object model pointers.