96 lines
3.0 KiB
C++
96 lines
3.0 KiB
C++
/* This file is part of the Pangolin Project.
|
|
* http://github.com/stevenlovegrove/Pangolin
|
|
*
|
|
* Copyright (c) 2014 Steven Lovegrove
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person
|
|
* obtaining a copy of this software and associated documentation
|
|
* files (the "Software"), to deal in the Software without
|
|
* restriction, including without limitation the rights to use,
|
|
* copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
* copies of the Software, and to permit persons to whom the
|
|
* Software is furnished to do so, subject to the following
|
|
* conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be
|
|
* included in all copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
|
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
|
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
|
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
|
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
|
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
|
* OTHER DEALINGS IN THE SOFTWARE.
|
|
*/
|
|
|
|
#ifndef PANGOLIN_GEOMETRY_H
|
|
#define PANGOLIN_GEOMETRY_H
|
|
|
|
#include <map>
|
|
#include <unordered_map>
|
|
#include <vector>
|
|
#include <pangolin/image/typed_image.h>
|
|
#include <pangolin/compat/variant.h>
|
|
|
|
#ifdef HAVE_EIGEN
|
|
#include <Eigen/Geometry>
|
|
#endif
|
|
|
|
namespace pangolin
|
|
{
|
|
|
|
struct Geometry
|
|
{
|
|
struct Element : public ManagedImage<uint8_t> {
|
|
Element() = default;
|
|
Element(Element&&) = default;
|
|
Element& operator=(Element&&) = default;
|
|
|
|
Element(size_t stride_bytes, size_t num_elements)
|
|
: ManagedImage<uint8_t>(stride_bytes, num_elements)
|
|
{}
|
|
|
|
using Attribute = variant<Image<float>,Image<uint32_t>,Image<uint16_t>,Image<uint8_t>>;
|
|
// "vertex", "rgb", "normal", "uv", "tris", "quads", ...
|
|
std::map<std::string, Attribute> attributes;
|
|
};
|
|
|
|
// Store vertices and attributes
|
|
std::map<std::string, Element> buffers;
|
|
// Stores index buffers for each sub-object
|
|
std::multimap<std::string, Element> objects;
|
|
// Stores pixmaps
|
|
std::map<std::string, TypedImage> textures;
|
|
};
|
|
|
|
pangolin::Geometry::Element::Attribute MakeAttribute(uint32_t gldatatype, size_t num_items, size_t count_per_item, void* ptr, size_t pitch_bytes);
|
|
|
|
pangolin::Geometry LoadGeometry(const std::string& filename);
|
|
|
|
#ifdef HAVE_EIGEN
|
|
inline Eigen::AlignedBox3f GetAxisAlignedBox(const Geometry& geom)
|
|
{
|
|
Eigen::AlignedBox3f box;
|
|
box.setEmpty();
|
|
|
|
for(const auto& b : geom.buffers) {
|
|
const auto& it_vert = b.second.attributes.find("vertex");
|
|
if(it_vert != b.second.attributes.end()) {
|
|
const Image<float>& vs = get<Image<float>>(it_vert->second);
|
|
for(size_t i=0; i < vs.h; ++i) {
|
|
const Eigen::Map<const Eigen::Vector3f> v(vs.RowPtr(i));
|
|
box.extend(v);
|
|
}
|
|
}
|
|
}
|
|
|
|
return box;
|
|
}
|
|
#endif
|
|
|
|
}
|
|
|
|
#endif // PANGOLIN_GEOMETRY_H
|