v01

thirdparty/Pangolin/tools/ModelViewer/rendertree.h

@@ -0,0 +1,97 @@
+#pragma once
+
+#include <Eigen/Geometry>
+
+#include <pangolin/scene/tree.h>
+#include <pangolin/geometry/glgeometry.h>
+
+struct Renderable
+{
+    virtual ~Renderable() {}
+    Renderable() : show(true) {}
+    virtual void Render(pangolin::GlSlProgram& /*prog*/, const pangolin::GlTexture* /*matcap*/) const {}
+    inline virtual Eigen::AlignedBox3f GetAABB() const {
+        return Eigen::AlignedBox3f();
+    }
+    bool show;
+};
+
+struct GlGeomRenderable : public Renderable
+{
+    GlGeomRenderable(pangolin::GlGeometry&& glgeom, const Eigen::AlignedBox3f& aabb)
+        : glgeom(std::move(glgeom)), aabb(aabb)
+    {
+    }
+
+    void Render(pangolin::GlSlProgram& prog, const pangolin::GlTexture* matcap) const override {
+        if(show) {
+            pangolin::GlDraw( prog, glgeom, matcap );
+        }
+    }
+
+    Eigen::AlignedBox3f GetAABB() const override {
+        return aabb;
+    }
+
+    pangolin::GlGeometry glgeom;
+    Eigen::AlignedBox3f aabb;
+};
+
+struct RenderableTransform
+{
+    virtual ~RenderableTransform() {}
+    virtual Eigen::Matrix4f GetT_pc() const = 0;
+};
+
+struct FixedTransform : public RenderableTransform
+{
+    FixedTransform(Eigen::Matrix4f T_pc = Eigen::Matrix4f::Identity())
+        : T_pc(T_pc)
+    {
+    }
+
+    Eigen::Matrix4f GetT_pc() const override
+    {
+        return T_pc;
+    }
+    Eigen::Matrix4f T_pc;
+};
+
+struct SpinTransform : public RenderableTransform
+{
+    SpinTransform(pangolin::AxisDirection dir)
+        :dir(dir), start(std::chrono::steady_clock::now())
+    {
+    }
+
+    Eigen::Matrix4f GetT_pc() const override
+    {
+        if(dir != pangolin::AxisNone) {
+            const double rad_per_sec = 0.5;
+            const double rad = rad_per_sec * (std::chrono::steady_clock::now() - start).count() / 1E9;
+            const Eigen::Map<const Eigen::Matrix<pangolin::GLprecision,3,1>> axis(pangolin::AxisDirectionVector[dir]);
+            Eigen::AngleAxisf aa(rad, axis.cast<float>());
+            Eigen::Matrix4f T_pc = Eigen::Matrix4f::Identity();
+            T_pc.block<3,3>(0,0) = aa.toRotationMatrix();
+            return T_pc;
+        }else{
+            return Eigen::Matrix4f::Identity();
+        }
+    }
+
+    pangolin::AxisDirection dir;
+    std::chrono::steady_clock::time_point start;
+};
+
+using RenderNode = pangolin::TreeNode<std::shared_ptr<Renderable>,std::shared_ptr<RenderableTransform>>;
+void render_tree(pangolin::GlSlProgram& prog, RenderNode& node, const pangolin::OpenGlMatrix& K, const pangolin::OpenGlMatrix& T_camera_node, pangolin::GlTexture* matcap)
+{
+    if(node.item) {
+        prog.SetUniform("KT_cw", K * T_camera_node);
+        prog.SetUniform("T_cam_norm", T_camera_node );
+        node.item->Render(prog, matcap);
+    }
+    for(auto& e : node.edges) {
+        render_tree(prog, e.node, K, T_camera_node * (pangolin::OpenGlMatrix)e.parent_child->GetT_pc(), matcap);
+    }
+}