Commit 29d8e685 authored by Pavel Rojtberg's avatar Pavel Rojtberg
Browse files

ovis: add createTriangleMesh method 

to create a mesh from arbitrary sources
parent e639c8ef

modules/ovis/include/opencv2/ovis.hpp

+11 −0
Original line number Diff line number Diff line
@@ -359,6 +359,17 @@ CV_EXPORTS_W void createPointCloudMesh(const String& name, InputArray vertices, 
 */

CV_EXPORTS_W void createGridMesh(const String& name, const Size2f& size, const Size& segments = Size(1, 1));



/**

 * creates a triangle mesh from vertex-vertex or face-vertex representation

 *

 * creates a material with the same name

 * @param name name of the mesh

 * @param vertices float vector of positions

 * @param normals float vector of normals

 * @param indices int vector of indices

 */

CV_EXPORTS_W void createTriangleMesh(const String& name, InputArray vertices, InputArray normals = noArray(), InputArray indices = noArray());



/**

 * updates an existing texture

 *

modules/ovis/src/meshes.cpp

+86 −0
Original line number Diff line number Diff line
@@ -102,6 +102,92 @@ void createPointCloudMesh(const String& name, InputArray vertices, InputArray co 
    mesh->_setBounds(bounds);

}



void createTriangleMesh(const String& name, InputArray vertices, InputArray normals, InputArray indices)

{

    CV_CheckTypeEQ(vertices.type(), CV_32FC3, "vertices type must be Vec3f");

    CV_Assert(vertices.isContinuous());



    if(!normals.empty())

    {

        CV_CheckTypeEQ(normals.type(), CV_32FC3, "normals type must be Vec3f");

        CV_Assert(normals.isContinuous());

        CV_Assert(normals.size() == vertices.size());

    }

    if(!indices.empty())

    {

        CV_CheckTypeEQ(indices.type(), CV_32S, "indices type must be int");

        CV_Assert(indices.isContinuous());

    }



    // default material

    auto mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);



    // mesh

    MeshPtr mesh = MeshManager::getSingleton().createManual(name, RESOURCEGROUP_NAME);

    SubMesh* sub = mesh->createSubMesh();

    sub->useSharedVertices = true;

    sub->operationType = RenderOperation::OT_TRIANGLE_LIST;

    sub->setMaterialName(name);



    int n = vertices.rows();



    mesh->sharedVertexData = new VertexData();

    mesh->sharedVertexData->vertexCount = n;

    VertexDeclaration* decl = mesh->sharedVertexData->vertexDeclaration;



    // vertex data

    HardwareBufferManager& hbm = HardwareBufferManager::getSingleton();



    Mat _vertices = vertices.getMat();



    int source = 0;

    HardwareVertexBufferSharedPtr hwbuf;



    decl->addElement(source, 0, VET_FLOAT3, VES_POSITION);

    hwbuf = hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);

    hwbuf->writeData(0, hwbuf->getSizeInBytes(), _vertices.ptr(), true);

    mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);



    // normals

    if (!normals.empty())

    {

        source += 1;



        Mat _normals = normals.getMat();

        decl->addElement(source, 0, VET_FLOAT3, VES_NORMAL);

        hwbuf =

            hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);

        hwbuf->writeData(0, hwbuf->getSizeInBytes(), _normals.ptr(), true);

        mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);

    }

    else

    {

        mat->setLightingEnabled(false);

    }



    // indices

    if (!indices.empty())

    {

        Mat _indices = indices.getMat();



        HardwareIndexBufferSharedPtr ibuf = HardwareBufferManager::getSingleton().createIndexBuffer(

            HardwareIndexBuffer::IT_32BIT, indices.total(), HardwareBuffer::HBU_STATIC_WRITE_ONLY);

        ibuf->writeData(0, ibuf->getSizeInBytes(), _indices.ptr(), true);



        sub->indexData->indexBuffer = ibuf;

        sub->indexData->indexStart = 0;

        sub->indexData->indexCount = indices.total();

    }



    AxisAlignedBox bounds(AxisAlignedBox::EXTENT_NULL);

    for (int i = 0; i < n; i++)

    {

        Vec3f v = _vertices.at<Vec3f>(i);

        bounds.merge(Vector3(v[0], v[1], v[2]));

    }

    mesh->_setBounds(bounds);

}



void createGridMesh(const String& name, const Size2f& size, const Size& segments)

{

    CV_Assert_N(_app, !segments.empty());