A Superimpose derived class to superimpose mesh models on images. More...

#include <SICAD.h>

Inheritance diagram for SICAD:

Public Types
enum	MIPMaps { MIPMaps::nearest, MIPMaps::linear }

typedef std::unordered_map< std::string, std::string >	ModelPathContainer

typedef std::pair< std::string, std::string >	ModelPathElement

typedef std::unordered_map< std::string, Model * >	ModelContainer

typedef std::pair< std::string, Model * >	ModelElement

typedef std::vector< double >	ModelPose

typedef std::multimap< std::string, ModelPose >	ModelPoseContainer

typedef std::pair< std::string, ModelPose >	ModelPoseContainerElement

Public Member Functions
	SICAD (const ModelPathContainer &objfile_map, const GLsizei cam_width, const GLsizei cam_height, const GLfloat cam_fx, const GLfloat cam_fy, const GLfloat cam_cx, const GLfloat cam_cy)
	Create a SICAD object with a dedicated OpenGL context and default shaders. More...

	SICAD (const ModelPathContainer &objfile_map, const GLsizei cam_width, const GLsizei cam_height, const GLfloat cam_fx, const GLfloat cam_fy, const GLfloat cam_cx, const GLfloat cam_cy, const GLint num_images)
	Create a SICAD object with a dedicated OpenGL context and default shaders. More...

	SICAD (const ModelPathContainer &objfile_map, const GLsizei cam_width, const GLsizei cam_height, const GLfloat cam_fx, const GLfloat cam_fy, const GLfloat cam_cx, const GLfloat cam_cy, const GLint num_images, const std::string &shader_folder)
	Create a SICAD object with a dedicated OpenGL context and custom shaders. More...

	SICAD (const ModelPathContainer &objfile_map, const GLsizei cam_width, const GLsizei cam_height, const GLfloat cam_fx, const GLfloat cam_fy, const GLfloat cam_cx, const GLfloat cam_cy, const GLint num_images, const std::string &shader_folder, const std::vector< float > &ogl_to_cam)
	Create a SICAD object with a dedicated OpenGL context and custom shaders. More...

virtual	~SICAD ()

bool	getOglWindowShouldClose ()

void	setOglWindowShouldClose (bool should_close)

bool	superimpose (const ModelPoseContainer &objpos_map, const double cam_x, const double cam_o, cv::Mat &img) override
	Render the mesh models in the pose specified in `objpos_map` and move the virtual camera in `cam_x` position with orientation `cam_o`. More...

virtual bool	superimpose (const std::vector< ModelPoseContainer > &objpos_multimap, const double cam_x, const double cam_o, cv::Mat &img)
	Render the mesh models in the pose specified in each element of `objpos_multimap` and move the virtual camera in `cam_x` position with orientation `cam_o`. More...

virtual bool	superimpose (const ModelPoseContainer &objpos_map, const double cam_x, const double cam_o, cv::Mat &img, const GLsizei cam_width, const GLsizei cam_height, const GLfloat cam_fx, const GLfloat cam_fy, const GLfloat cam_cx, const GLfloat cam_cy)

virtual bool	superimpose (const std::vector< ModelPoseContainer > &objpos_multimap, const double cam_x, const double cam_o, cv::Mat &img, const GLsizei cam_width, const GLsizei cam_height, const GLfloat cam_fx, const GLfloat cam_fy, const GLfloat cam_cx, const GLfloat cam_cy)

virtual bool	superimpose (const ModelPoseContainer &objpos_map, const double cam_x, const double cam_o, const size_t pbo_index)
	Render the mesh models in the pose specified in `objpos_map` and move the virtual camera in `cam_x` position with orientation `cam_o`. More...

virtual bool	superimpose (const ModelPoseContainer &objpos_map, const double cam_x, const double cam_o, const size_t pbo_index, const cv::Mat &img)
	Render the mesh models in the pose specified in `objpos_map` and move the virtual camera in `cam_x` position with orientation `cam_o`. More...

virtual bool	superimpose (const std::vector< ModelPoseContainer > &objpos_multimap, const double cam_x, const double cam_o, const size_t pbo_index)
	Render the mesh models in the pose specified in each element of `objpos_multimap` and move the virtual camera in `cam_x` position with orientation `cam_o`. More...

virtual bool	superimpose (const std::vector< ModelPoseContainer > &objpos_multimap, const double cam_x, const double cam_o, const size_t pbo_index, const cv::Mat &img)
	Render the mesh models in the pose specified in each element of `objpos_multimap` and move the virtual camera in `cam_x` position with orientation `cam_o`. More...

virtual void	releaseContext () const
	Make the current thread OpenGL context not current. More...

std::pair< const GLuint *, size_t >	getPBOs () const
	Returns the Pixel Buffer Object (PBO) vector and its size. More...

std::pair< bool, GLuint >	getPBO (const size_t pbo_index) const
	Returns `pbo_index`-th Pixel Buffer Object (PBO) value. More...

bool	setProjectionMatrix (const GLsizei cam_width, const GLsizei cam_height, const GLfloat cam_fx, const GLfloat cam_fy, const GLfloat cam_cx, const GLfloat cam_cy)

bool	getBackgroundOpt () const

void	setBackgroundOpt (bool show_background)

GLenum	getWireframeOpt () const

void	setWireframeOpt (bool show_mesh_wires)

void	setMipmapsOpt (const MIPMaps &mipmaps)

MIPMaps	getMipmapsOpt () const

int	getTilesNumber () const

int	getTilesRows () const

int	getTilesCols () const

Private Member Functions
glm::mat4	getViewTransformationMatrix (const double cam_x, const double cam_o)

void	pollOrPostEvent ()

void	renderBackground (const cv::Mat &img) const

void	setWireframe (GLenum mode)

void	factorize_int (const GLsizei area, const GLsizei width_limit, const GLsizei height_limit, GLsizei &width, GLsizei &height)

Private Attributes
const std::string	log_ID_ = "[SI::SICAD]"

GLFWwindow *	window_ = nullptr

GLint	tiles_num_ = 0

GLsizei	tiles_cols_ = 0

GLsizei	tiles_rows_ = 0

GLsizei	image_width_ = 0

GLsizei	image_height_ = 0

glm::mat3	ogl_to_cam_ = glm::mat3(1.0f)

GLsizei	framebuffer_width_ = 0

GLsizei	framebuffer_height_ = 0

GLsizei	tile_img_width_ = 0

GLsizei	tile_img_height_ = 0

const GLfloat	near_ = 0.001f

const GLfloat	far_ = 1000.0f

std::thread::id	main_thread_id_

bool	show_background_ = false

GLenum	show_mesh_mode_ = GL_FILL

MIPMaps	mesh_mmaps_ = MIPMaps::nearest

Shader *	shader_background_ = nullptr

Shader *	shader_cad_ = nullptr

std::unique_ptr< Shader >	shader_mesh_texture_

Shader *	shader_frame_ = nullptr

ModelContainer	model_obj_

GLuint	fbo_

GLuint	texture_color_buffer_

GLuint	texture_depth_buffer_

GLuint	texture_background_

GLuint	vao_background_

GLuint	ebo_background_

GLuint	vbo_background_

GLuint	vao_frame_

GLuint	vbo_frame_

size_t	pbo_number_ = 2

GLuint	pbo_ [2]

glm::mat4	back_proj_

glm::mat4	projection_

Static Private Attributes
static int	class_counter_ = 0

static GLsizei	renderbuffer_size_ = 0

Detailed Description

A Superimpose derived class to superimpose mesh models on images.

Definition at line 30 of file SICAD.h.

Member Typedef Documentation

◆ ModelContainer

typedef std::unordered_map<std::string, Model*> SICAD::ModelContainer

Definition at line 37 of file SICAD.h.

◆ ModelElement

typedef std::pair<std::string, Model*> SICAD::ModelElement

Definition at line 39 of file SICAD.h.

◆ ModelPathContainer

typedef std::unordered_map<std::string, std::string> SICAD::ModelPathContainer

Definition at line 33 of file SICAD.h.

◆ ModelPathElement

typedef std::pair<std::string, std::string> SICAD::ModelPathElement

Definition at line 35 of file SICAD.h.

◆ ModelPose

typedef std::vector<double> Superimpose::ModelPose

inherited

Definition at line 23 of file Superimpose.h.

◆ ModelPoseContainer

typedef std::multimap<std::string, ModelPose> Superimpose::ModelPoseContainer

inherited

Definition at line 25 of file Superimpose.h.

◆ ModelPoseContainerElement

typedef std::pair<std::string, ModelPose> Superimpose::ModelPoseContainerElement

inherited

Definition at line 27 of file Superimpose.h.

Member Enumeration Documentation

◆ MIPMaps

enum SICAD::MIPMaps

strong

Enumerator
nearest
linear

Definition at line 41 of file SICAD.h.

Constructor & Destructor Documentation

◆ SICAD() [1/4]

SICAD::SICAD	(	const ModelPathContainer &	objfile_map,
		const GLsizei	cam_width,
		const GLsizei	cam_height,
		const GLfloat	cam_fx,
		const GLfloat	cam_fy,
		const GLfloat	cam_cx,
		const GLfloat	cam_cy
	)

Create a SICAD object with a dedicated OpenGL context and default shaders.

Only 1 image will be rendered in the OpenGL context.

The reference frame of the OpenGL virtual camera is the standard right-handed system and can be changed by means of ogl_to_cam parameter.

Parameters

objfile_map	A (tag, path) container to associate a 'tag' to the mesh file specified in 'path'.
cam_width	Camera or image width.
cam_height	Camera or image height.
cam_fx	focal Length along the x axis in pixels.
cam_fy	focal Length along the y axis in pixels.

Definition at line 29 of file SICAD.cpp.

◆ SICAD() [2/4]

SICAD::SICAD	(	const ModelPathContainer &	objfile_map,
		const GLsizei	cam_width,
		const GLsizei	cam_height,
		const GLfloat	cam_fx,
		const GLfloat	cam_fy,
		const GLfloat	cam_cx,
		const GLfloat	cam_cy,
		const GLint	num_images
	)

Create a SICAD object with a dedicated OpenGL context and default shaders.

Up to num_images images will be rendered in the same OpenGL context and the result of the process will be tiled up in a regular grid. This implies that the total number of rendered images may be less than or equal to the required num_images. The total number of rendered images is chosen to optimize performance and accessibility and can be accessed through SICAD::getTilesNumber().

The reference frame of the OpenGL virtual camera is the standard right-handed system.

Parameters

objfile_map	A (tag, path) container to associate a 'tag' to the mesh file specified in 'path'.
cam_width	Camera or image width.
cam_height	Camera or image height.
cam_fx	focal Length along the x axis in pixels.
cam_fy	focal Length along the y axis in pixels.
num_images	Number of images (i.e. viewports) rendered in the same GL context.

Definition at line 43 of file SICAD.cpp.

◆ SICAD() [3/4]

SICAD::SICAD	(	const ModelPathContainer &	objfile_map,
		const GLsizei	cam_width,
		const GLsizei	cam_height,
		const GLfloat	cam_fx,
		const GLfloat	cam_fy,
		const GLfloat	cam_cx,
		const GLfloat	cam_cy,
		const GLint	num_images,
		const std::string &	shader_folder
	)

Create a SICAD object with a dedicated OpenGL context and custom shaders.

The folder where the shaders are stored can be specified in shader_folder.

The following shaders with this exact names are needed:

shader_model.vert for the vertex shader for mesh models
shader_model.frag for the fragment shader for mesh models
shader_model_texture.frag for the fragment shader for textured mesh models
shader_frame.vert for the vertex shader for reference frames
shader_frame.frag for the fragment shader for reference frames
shader_background.vert for the vertex shader for background
shader_background.frag for the fragment shader for background

Up to num_images images will be rendered in the same OpenGL context and the result of the process will be tiled up in a regular grid. This implies that the total number of rendered images may be less than or equal to the required num_images. The total number of rendered images is chosen to optimize performance and accessibility and can be accessed through SICAD::getTilesNumber().

The reference frame of the OpenGL virtual camera is the standard right-handed system.

Parameters

objfile_map	A (tag, path) container to associate a 'tag' to the mesh file specified in 'path'.
cam_width	Camera or image width.
cam_height	Camera or image height.
cam_fx	focal Length along the x axis in pixels.
cam_fy	focal Length along the y axis in pixels.
num_images	Number of images (i.e. viewports) rendered in the same GL context.
shader_folder	Path to the folder containing the above-mentioned required shaders.

Definition at line 58 of file SICAD.cpp.

◆ SICAD() [4/4]

SICAD::SICAD	(	const ModelPathContainer &	objfile_map,
		const GLsizei	cam_width,
		const GLsizei	cam_height,
		const GLfloat	cam_fx,
		const GLfloat	cam_fy,
		const GLfloat	cam_cx,
		const GLfloat	cam_cy,
		const GLint	num_images,
		const std::string &	shader_folder,
		const std::vector< float > &	ogl_to_cam
	)

Create a SICAD object with a dedicated OpenGL context and custom shaders.

The folder where the shaders are stored can be specified in shader_folder.

The following shaders with this exact names are needed:

shader_model.vert for the vertex shader for mesh models
shader_model.frag for the fragment shader for mesh models
shader_model_texture.frag for the fragment shader for textured mesh models
shader_frame.vert for the vertex shader for reference frames
shader_frame.frag for the fragment shader for reference frames
shader_background.vert for the vertex shader for background
shader_background.frag for the fragment shader for background

Up to num_images images will be rendered in the same OpenGL context and the result of the process will be tiled up in a regular grid. This implies that the total number of rendered images may be less than or equal to the required num_images. The total number of rendered images is chosen to optimize performance and accessibility and can be accessed through SICAD::getTilesNumber().

The reference frame of the OpenGL virtual camera is the standard right-handed system and can be changed by means of ogl_to_cam.

Parameters

objfile_map	A (tag, path) container to associate a 'tag' to the mesh file specified in 'path'.
cam_width	Camera or image width.
cam_height	Camera or image height.
cam_fx	focal Length along the x axis in pixels.
cam_fy	focal Length along the y axis in pixels.
num_images	Number of images (i.e. viewports) rendered in the same GL context.
shader_folder	Path to the folder containing the above-mentioned required shaders.
ogl_to_cam	A 7-component pose vector, (x, y, z) position and a (ux, uy, uz, theta) axis-angle orientation, defining a camera rotation applied to the OpenGL camera.

Definition at line 74 of file SICAD.cpp.

◆ ~SICAD()

SICAD::~SICAD ( )

virtual

Definition at line 399 of file SICAD.cpp.

References class_counter_, ebo_background_, fbo_, log_ID_, model_obj_, pbo_, shader_background_, shader_cad_, shader_frame_, texture_background_, texture_color_buffer_, texture_depth_buffer_, vao_background_, vao_frame_, vbo_background_, vbo_frame_, and window_.

Member Function Documentation

◆ factorize_int()

void SICAD::factorize_int	(	const GLsizei	area,
		const GLsizei	width_limit,
		const GLsizei	height_limit,
		GLsizei &	width,
		GLsizei &	height
	)

private

Definition at line 1412 of file SICAD.cpp.

◆ getBackgroundOpt()

bool SICAD::getBackgroundOpt ( ) const

Definition at line 1297 of file SICAD.cpp.

References show_background_.

◆ getMipmapsOpt()

SICAD::MIPMaps SICAD::getMipmapsOpt ( ) const

Definition at line 1322 of file SICAD.cpp.

References mesh_mmaps_.

Referenced by renderBackground().

◆ getOglWindowShouldClose()

bool SICAD::getOglWindowShouldClose ( )

Definition at line 449 of file SICAD.cpp.

References window_.

◆ getPBO()

std::pair< bool, GLuint > SICAD::getPBO ( const size_t pbo_index ) const

Returns pbo_index-th Pixel Buffer Object (PBO) value.

Note: Rendered pixels are stored in the pbo_index-th PBO and, in order to use it, the OpenGL context must remain current. As a consequence, once you are done working with the pbo_index-th PBO and before invoking again any other SICAD::superimpose() function, you must invoke SICAD::releaseContext().

Returns: (true, PBO) if pbo_index exists, (false, 0) otherwise.

Definition at line 1220 of file SICAD.cpp.

References pbo_, pbo_number_, and window_.

◆ getPBOs()

std::pair< const GLuint *, size_t > SICAD::getPBOs ( ) const

Returns the Pixel Buffer Object (PBO) vector and its size.

Note: Rendered pixels are stored in the pbo_index-th PBO and, in order to use it, the OpenGL context must remain current. As a consequence, once you are done working with the pbo_index-th PBO and before invoking again any other SICAD::superimpose() function, you must invoke SICAD::releaseContext().

Returns: (PBO base array address, number of PBOs)

Definition at line 1212 of file SICAD.cpp.

References pbo_, pbo_number_, and window_.

◆ getTilesCols()

int SICAD::getTilesCols ( ) const

Definition at line 1340 of file SICAD.cpp.

References tiles_cols_.

◆ getTilesNumber()

int SICAD::getTilesNumber ( ) const

Definition at line 1328 of file SICAD.cpp.

References tiles_cols_, and tiles_rows_.

◆ getTilesRows()

int SICAD::getTilesRows ( ) const

Definition at line 1334 of file SICAD.cpp.

References tiles_rows_.

◆ getViewTransformationMatrix()

glm::mat4 SICAD::getViewTransformationMatrix	(	const double *	cam_x,
		const double *	cam_o
	)

private

Definition at line 1346 of file SICAD.cpp.

References ogl_to_cam_.

◆ getWireframeOpt()

GLenum SICAD::getWireframeOpt ( ) const

Definition at line 1316 of file SICAD.cpp.

References show_mesh_mode_.

◆ pollOrPostEvent()

void SICAD::pollOrPostEvent ( )

private

Definition at line 1361 of file SICAD.cpp.

References main_thread_id_.

Referenced by setOglWindowShouldClose().

◆ releaseContext()

void SICAD::releaseContext ( ) const

virtual

Make the current thread OpenGL context not current.

Note: This method must be called only when invoking SICAD::superimpose() working on Pixel Buffer Objects (PBO), before invoking again any SICAD::superimpose() methods (either the ones using PBOs or not), but after having used the PBO that otherwise cannot be accessed as they are bound to the current thread context.

Definition at line 1206 of file SICAD.cpp.

◆ renderBackground()

void SICAD::renderBackground ( const cv::Mat & img ) const

private

Definition at line 1370 of file SICAD.cpp.

References back_proj_, Shader::get_program(), getMipmapsOpt(), Shader::install(), linear, nearest, shader_background_, texture_background_, Shader::uninstall(), and vao_background_.

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◆ setBackgroundOpt()

void SICAD::setBackgroundOpt ( bool show_background )

Definition at line 1291 of file SICAD.cpp.

References show_background_.

Referenced by main().

◆ setMipmapsOpt()

void SICAD::setMipmapsOpt ( const MIPMaps & mipmaps )

Definition at line 1310 of file SICAD.cpp.

References mesh_mmaps_.

◆ setOglWindowShouldClose()

void SICAD::setOglWindowShouldClose ( bool should_close )

Definition at line 455 of file SICAD.cpp.

References pollOrPostEvent(), and window_.

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◆ setProjectionMatrix()

bool SICAD::setProjectionMatrix	(	const GLsizei	cam_width,
		const GLsizei	cam_height,
		const GLfloat	cam_fx,
		const GLfloat	cam_fy,
		const GLfloat	cam_cx,
		const GLfloat	cam_cy
	)

Definition at line 1234 of file SICAD.cpp.

◆ setWireframe()

void SICAD::setWireframe ( GLenum mode )

private

Definition at line 1405 of file SICAD.cpp.

◆ setWireframeOpt()

void SICAD::setWireframeOpt ( bool show_mesh_wires )

Definition at line 1303 of file SICAD.cpp.

References show_mesh_mode_.

◆ superimpose() [1/8]

bool SICAD::superimpose	(	const ModelPoseContainer &	objpos_map,
		const double *	cam_x,
		const double *	cam_o,
		cv::Mat &	img
	)

overridevirtual

Render the mesh models in the pose specified in objpos_map and move the virtual camera in cam_x position with orientation cam_o.

The method then creates an image of the mesh models as they are seen by the virtual camera.

Note: If cv::Mat img is a background image it must be of size cam_width * cam_height, as specified during object construction, and the SICAD::setBackgroundOpt(bool show_background) must have been invoked with true.

Parameters

objpos_map	A (tag, pose) container to associate a 7-component `pose`, (x, y, z) position and a (ux, uy, uz, theta) axis-angle orientation, to a mesh with tag 'tag'.
cam_x	(x, y, z) position.
cam_o	(ux, uy, uz, theta) axis-angle orientation.
img	An image representing the result of the superimposition. The variable is automatically resized if its size is not correct to store the entire result of the superimposition.

Returns: true upon success, false otherswise.

Implements Superimpose.

Definition at line 464 of file SICAD.cpp.

Referenced by main().

◆ superimpose() [2/8]

bool SICAD::superimpose	(	const std::vector< ModelPoseContainer > &	objpos_multimap,
		const double *	cam_x,
		const double *	cam_o,
		cv::Mat &	img
	)

virtual

Render the mesh models in the pose specified in each element of objpos_multimap and move the virtual camera in cam_x position with orientation cam_o.

Each group of meshes specified by the elements of objpos_multimap are rendered in a different viewport. Each viewport reports the mesh models as they are seen by the virtual camera. The method then creates a single image tiling the viewports in a regular grid.

Note: The size of the grid representing the tiled viewports can be accessed through getTilesRows() and getTilesCols().; If cv::Mat img is a background image it must be of size cam_width * cam_height, as specified during object construction, and the SICAD::setBackgroundOpt(bool show_background) must have been invoked with true.

Parameters

objpos_map	A (tag, pose) container to associate a 7-component `pose`, (x, y, z) position and a (ux, uy, uz, theta) axis-angle orientation, to a mesh with tag 'tag'.
cam_x	(x, y, z) position.
cam_o	(ux, uy, uz, theta) axis-angle orientation.
img	An image representing the result of the superimposition. The variable is automatically resized if its size is not correct to store the entire result of the superimposition.

Returns: true upon success, false otherswise.

Definition at line 576 of file SICAD.cpp.

◆ superimpose() [3/8]

bool SICAD::superimpose	(	const ModelPoseContainer &	objpos_map,
		const double *	cam_x,
		const double *	cam_o,
		cv::Mat &	img,
		const GLsizei	cam_width,
		const GLsizei	cam_height,
		const GLfloat	cam_fx,
		const GLfloat	cam_fy,
		const GLfloat	cam_cx,
		const GLfloat	cam_cy
	)

virtual

Definition at line 701 of file SICAD.cpp.

◆ superimpose() [4/8]

bool SICAD::superimpose	(	const std::vector< ModelPoseContainer > &	objpos_multimap,
		const double *	cam_x,
		const double *	cam_o,
		cv::Mat &	img,
		const GLsizei	cam_width,
		const GLsizei	cam_height,
		const GLfloat	cam_fx,
		const GLfloat	cam_fy,
		const GLfloat	cam_cx,
		const GLfloat	cam_cy
	)

virtual

Definition at line 722 of file SICAD.cpp.

◆ superimpose() [5/8]

bool SICAD::superimpose	(	const ModelPoseContainer &	objpos_map,
		const double *	cam_x,
		const double *	cam_o,
		const size_t	pbo_index
	)

virtual

Render the mesh models in the pose specified in objpos_map and move the virtual camera in cam_x position with orientation cam_o.

The method then stores the pixels of the mesh models as they are seen by the virtual camera in the pbo_index-th Pixel Buffer Object (PBO).

Note: By invoking this command rendered pixels are stored in the pbo_index-th PBO and, in order to use it, the OpenGL context must remain current. As a consequence, once you are done working with the pbo_index-th PBO (can be accessed by means of SICAD::getPBO(pbo_index)) and before invoking again any other SICAD::superimpose() function, you must invoke SICAD::releaseContext().

Parameters

objpos_map	A (tag, pose) container to associate a 7-component `pose`, (x, y, z) position and a (ux, uy, uz, theta) axis-angle orientation, to a mesh with tag 'tag'.
cam_x	(x, y, z) position.
cam_o	(ux, uy, uz, theta) axis-angle orientation.
pbo_index	The index of the PBO where the pixel are stored.

Returns: (true, PBO) upon success, (false, 0) otherswise.

Definition at line 743 of file SICAD.cpp.

◆ superimpose() [6/8]

bool SICAD::superimpose	(	const ModelPoseContainer &	objpos_map,
		const double *	cam_x,
		const double *	cam_o,
		const size_t	pbo_index,
		const cv::Mat &	img
	)

virtual

Render the mesh models in the pose specified in objpos_map and move the virtual camera in cam_x position with orientation cam_o.

The method then stores the pixels of the mesh models as they are seen by the virtual camera in the pbo_index-th Pixel Buffer Object (PBO).

Note: img must be of size cam_width * cam_height, as specified during object construction, and the SICAD::setBackgroundOpt(bool show_background) must have been invoked with true.

Parameters

objpos_map	A (tag, pose) container to associate a 7-component `pose`, (x, y, z) position and a (ux, uy, uz, theta) axis-angle orientation, to a mesh with tag 'tag'.
cam_x	(x, y, z) position.
cam_o	(ux, uy, uz, theta) axis-angle orientation.
pbo_index	The index of the PBO where the pixel are stored.
img	A background image.

Returns: (true, PBO) upon success, (false, 0) otherswise.

Definition at line 850 of file SICAD.cpp.

◆ superimpose() [7/8]

bool SICAD::superimpose	(	const std::vector< ModelPoseContainer > &	objpos_multimap,
		const double *	cam_x,
		const double *	cam_o,
		const size_t	pbo_index
	)

virtual

Render the mesh models in the pose specified in each element of objpos_multimap and move the virtual camera in cam_x position with orientation cam_o.

Each group of meshes specified by the elements of objpos_multimap are rendered in a different viewport. Each viewport reports the mesh models as they are seen by the virtual camera. The method then stores the pixels of the viewports in the pbo_index-th Pixel Buffer Object (PBO) by tiling them in a regular grid.

Note: By invoking this command rendered pixels are stored in the pbo_index-th PBO and, in order to use it, the OpenGL context must remain current. As a consequence, once you are done working with the pbo_index-th PBO (can be accessed by means of SICAD::getPBO(pbo_index)) and before invoking again any other SICAD::superimpose() function, you must invoke SICAD::releaseContext().; The size of the grid representing the tiled viewports can be accessed through getTilesRows() and getTilesCols().

Parameters

objpos_map	A (tag, pose) container to associate a 7-component `pose`, (x, y, z) position and a (ux, uy, uz, theta) axis-angle orientation, to a mesh with tag 'tag'.
cam_x	(x, y, z) position.
cam_o	(ux, uy, uz, theta) axis-angle orientation.
pbo_index	The index of the PBO where the pixel are stored.

Returns: (true, PBO) upon success, (false, 0) otherswise.

Definition at line 962 of file SICAD.cpp.

◆ superimpose() [8/8]

bool SICAD::superimpose	(	const std::vector< ModelPoseContainer > &	objpos_multimap,
		const double *	cam_x,
		const double *	cam_o,
		const size_t	pbo_index,
		const cv::Mat &	img
	)

virtual

Render the mesh models in the pose specified in each element of objpos_multimap and move the virtual camera in cam_x position with orientation cam_o.

Each group of meshes specified by the elements of objpos_multimap are rendered in a different viewport. Each viewport reports the mesh models as they are seen by the virtual camera. The method then stores the pixels of the viewports in the pbo_index-th Pixel Buffer Object (PBO) by tiling them in a regular grid.

Note: The size of the grid representing the tiled viewports can be accessed through getTilesRows() and getTilesCols().; img must be of size cam_width * cam_height, as specified during object construction, and the SICAD::setBackgroundOpt(bool show_background) must have been invoked with true.

Parameters

objpos_map	A (tag, pose) container to associate a 7-component `pose`, (x, y, z) position and a (ux, uy, uz, theta) axis-angle orientation, to a mesh with tag 'tag'.
cam_x	(x, y, z) position.
cam_o	(ux, uy, uz, theta) axis-angle orientation.
pbo_index	The index of the PBO where the pixel are stored.
img	A background image.

Returns: (true, PBO) upon success, (false, 0) otherswise.

Definition at line 1082 of file SICAD.cpp.

Member Data Documentation

◆ back_proj_

glm::mat4 SICAD::back_proj_

private

Definition at line 404 of file SICAD.h.

Referenced by renderBackground().

◆ class_counter_

int SICAD::class_counter_ = 0

staticprivate

Definition at line 332 of file SICAD.h.

Referenced by ~SICAD().

◆ ebo_background_

GLuint SICAD::ebo_background_

private

Definition at line 392 of file SICAD.h.

Referenced by ~SICAD().

◆ far_

const GLfloat SICAD::far_ = 1000.0f

private

Definition at line 362 of file SICAD.h.

◆ fbo_

GLuint SICAD::fbo_

private

Definition at line 382 of file SICAD.h.

Referenced by ~SICAD().

◆ framebuffer_height_

GLsizei SICAD::framebuffer_height_ = 0

private

Definition at line 354 of file SICAD.h.

◆ framebuffer_width_

GLsizei SICAD::framebuffer_width_ = 0

private

Definition at line 352 of file SICAD.h.

◆ image_height_

GLsizei SICAD::image_height_ = 0

private

Definition at line 348 of file SICAD.h.

◆ image_width_

GLsizei SICAD::image_width_ = 0

private

Definition at line 346 of file SICAD.h.

◆ log_ID_

const std::string SICAD::log_ID_ = "[SI::SICAD]"

private

Definition at line 336 of file SICAD.h.

Referenced by ~SICAD().

◆ main_thread_id_

std::thread::id SICAD::main_thread_id_

private

Definition at line 364 of file SICAD.h.

Referenced by pollOrPostEvent().

◆ mesh_mmaps_

MIPMaps SICAD::mesh_mmaps_ = MIPMaps::nearest

private

Definition at line 370 of file SICAD.h.

Referenced by getMipmapsOpt(), and setMipmapsOpt().

◆ model_obj_

ModelContainer SICAD::model_obj_

private

Definition at line 380 of file SICAD.h.

Referenced by ~SICAD().

◆ near_

const GLfloat SICAD::near_ = 0.001f

private

Definition at line 360 of file SICAD.h.

◆ ogl_to_cam_

glm::mat3 SICAD::ogl_to_cam_ = glm::mat3(1.0f)

private

Definition at line 350 of file SICAD.h.

Referenced by getViewTransformationMatrix().

◆ pbo_

GLuint SICAD::pbo_[2]

private

Definition at line 402 of file SICAD.h.

Referenced by getPBO(), getPBOs(), and ~SICAD().

◆ pbo_number_

size_t SICAD::pbo_number_ = 2

private

Definition at line 400 of file SICAD.h.

Referenced by getPBO(), and getPBOs().

◆ projection_

glm::mat4 SICAD::projection_

private

Definition at line 406 of file SICAD.h.

◆ renderbuffer_size_

GLsizei SICAD::renderbuffer_size_ = 0

staticprivate

Definition at line 334 of file SICAD.h.

◆ shader_background_

Shader* SICAD::shader_background_ = nullptr

private

Definition at line 372 of file SICAD.h.

Referenced by renderBackground(), and ~SICAD().

◆ shader_cad_

Shader* SICAD::shader_cad_ = nullptr

private

Definition at line 374 of file SICAD.h.

Referenced by ~SICAD().

◆ shader_frame_

Shader* SICAD::shader_frame_ = nullptr

private

Definition at line 378 of file SICAD.h.

Referenced by ~SICAD().

◆ shader_mesh_texture_

std::unique_ptr<Shader> SICAD::shader_mesh_texture_

private

Definition at line 376 of file SICAD.h.

◆ show_background_

bool SICAD::show_background_ = false

private

Definition at line 366 of file SICAD.h.

Referenced by getBackgroundOpt(), and setBackgroundOpt().

◆ show_mesh_mode_

GLenum SICAD::show_mesh_mode_ = GL_FILL

private

Definition at line 368 of file SICAD.h.

Referenced by getWireframeOpt(), and setWireframeOpt().

◆ texture_background_

GLuint SICAD::texture_background_

private

Definition at line 388 of file SICAD.h.

Referenced by renderBackground(), and ~SICAD().

◆ texture_color_buffer_

GLuint SICAD::texture_color_buffer_

private

Definition at line 384 of file SICAD.h.

Referenced by ~SICAD().

◆ texture_depth_buffer_

GLuint SICAD::texture_depth_buffer_

private

Definition at line 386 of file SICAD.h.

Referenced by ~SICAD().

◆ tile_img_height_

GLsizei SICAD::tile_img_height_ = 0

private

Definition at line 358 of file SICAD.h.

◆ tile_img_width_

GLsizei SICAD::tile_img_width_ = 0

private

Definition at line 356 of file SICAD.h.

◆ tiles_cols_

GLsizei SICAD::tiles_cols_ = 0

private

Definition at line 342 of file SICAD.h.

Referenced by getTilesCols(), and getTilesNumber().

◆ tiles_num_

GLint SICAD::tiles_num_ = 0

private

Definition at line 340 of file SICAD.h.

◆ tiles_rows_

GLsizei SICAD::tiles_rows_ = 0

private

Definition at line 344 of file SICAD.h.

Referenced by getTilesNumber(), and getTilesRows().

◆ vao_background_

GLuint SICAD::vao_background_

private

Definition at line 390 of file SICAD.h.

Referenced by renderBackground(), and ~SICAD().

◆ vao_frame_

GLuint SICAD::vao_frame_

private

Definition at line 396 of file SICAD.h.

Referenced by ~SICAD().

◆ vbo_background_

GLuint SICAD::vbo_background_

private

Definition at line 394 of file SICAD.h.

Referenced by ~SICAD().

◆ vbo_frame_

GLuint SICAD::vbo_frame_

private

Definition at line 398 of file SICAD.h.

Referenced by ~SICAD().

◆ window_

GLFWwindow* SICAD::window_ = nullptr

private

Definition at line 338 of file SICAD.h.

Referenced by getOglWindowShouldClose(), getPBO(), getPBOs(), setOglWindowShouldClose(), and ~SICAD().

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ ModelContainer

◆ ModelElement

◆ ModelPathContainer

◆ ModelPathElement

◆ ModelPose

◆ ModelPoseContainer

◆ ModelPoseContainerElement

Member Enumeration Documentation

◆ MIPMaps

Constructor & Destructor Documentation

◆ SICAD() [1/4]

◆ SICAD() [2/4]

◆ SICAD() [3/4]

◆ SICAD() [4/4]

◆ ~SICAD()

Member Function Documentation

◆ factorize_int()

◆ getBackgroundOpt()

◆ getMipmapsOpt()

◆ getOglWindowShouldClose()

◆ getPBO()

◆ getPBOs()

◆ getTilesCols()

◆ getTilesNumber()

◆ getTilesRows()

◆ getViewTransformationMatrix()

◆ getWireframeOpt()

◆ pollOrPostEvent()

◆ releaseContext()

◆ renderBackground()

◆ setBackgroundOpt()

◆ setMipmapsOpt()

◆ setOglWindowShouldClose()

◆ setProjectionMatrix()

◆ setWireframe()

◆ setWireframeOpt()

◆ superimpose() [1/8]

◆ superimpose() [2/8]

◆ superimpose() [3/8]

◆ superimpose() [4/8]

◆ superimpose() [5/8]

◆ superimpose() [6/8]

◆ superimpose() [7/8]

◆ superimpose() [8/8]

Member Data Documentation

◆ back_proj_

◆ class_counter_

◆ ebo_background_

◆ far_

◆ fbo_

◆ framebuffer_height_

◆ framebuffer_width_

◆ image_height_

◆ image_width_

◆ log_ID_

◆ main_thread_id_

◆ mesh_mmaps_

◆ model_obj_

◆ near_

◆ ogl_to_cam_

◆ pbo_

◆ pbo_number_

◆ projection_

◆ renderbuffer_size_

◆ shader_background_

◆ shader_cad_

◆ shader_frame_

◆ shader_mesh_texture_

◆ show_background_

◆ show_mesh_mode_

◆ texture_background_

◆ texture_color_buffer_

◆ texture_depth_buffer_