private void RenderControl_Render_ES(object sender, GlControlEventArgs e)
{
Control control = (Control)sender;
OrthoProjectionMatrix projectionMatrix = new OrthoProjectionMatrix(0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 1.0f);
ModelMatrix modelMatrix = new ModelMatrix();
// Animate triangle
modelMatrix.RotateZ(_Angle);
Gl.Viewport(0, 0, control.Width, control.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
Gl.UseProgram(_Es2_Program);
using (MemoryLock arrayPosition = new MemoryLock(_ArrayPosition))
using (MemoryLock arrayColor = new MemoryLock(_ArrayColor))
{
Gl.VertexAttribPointer((uint)_Es2_Program_Location_aPosition, 2, VertexAttribType.Float, false, 0, arrayPosition.Address);
Gl.EnableVertexAttribArray((uint)_Es2_Program_Location_aPosition);
Gl.VertexAttribPointer((uint)_Es2_Program_Location_aColor, 3, VertexAttribType.Float, false, 0, arrayColor.Address);
Gl.EnableVertexAttribArray((uint)_Es2_Program_Location_aColor);
Gl.UniformMatrix4(_Es2_Program_Location_uMVP, false, (projectionMatrix * modelMatrix).ToArray());
Gl.DrawArrays(PrimitiveType.Triangles, 0, 3);
}
}
private void RenderControl_Render_GLSL(object sender, GlControlEventArgs e)
{
Control control = (Control)sender;
PerspectiveProjectionMatrix projectionMatrix = new PerspectiveProjectionMatrix(45.0f, (float)control.Width / (float)control.Height, 0.1f, 100.0f);
ModelMatrix viewMatrix = new ModelMatrix();
ModelMatrix modelMatrix = new ModelMatrix();
modelMatrix.Translate(new Vertex3f(modelPosition.X, modelPosition.Y, modelPosition.Z));
modelMatrix.Scale(new Vertex3f(0.2f, 0.2f, 0.2f));
Gl.Viewport(0, 0, control.Width, control.Height);
Gl.ClearColor(0.05f, 0.05f, 0.05f, 1.0f);
Gl.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
modelShader.Use();
modelMatrix.RotateX(modelAngle.X);
modelMatrix.RotateY(modelAngle.Y);
modelMatrix.RotateZ(modelAngle.Z);
//viewMatrix.Translate(new Vertex3f(-2.0f * (float)Math.Sin(modelAngle.Y * PI_OVER_180), 0.0f, -2.0f*(float)Math.Cos(modelAngle.Y*PI_OVER_180)));
Gl.UniformMatrix4(modelShader.uLocation_Projection, 1, false, projectionMatrix.ToArray());
Gl.UniformMatrix4(modelShader.uLocation_View, 1, false, viewMatrix.ToArray());
Gl.UniformMatrix4(modelShader.uLocation_Model, 1, false, modelMatrix.ToArray());
modelNanosuit.Draw(modelShader);
}
private static void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
NativeWindow nativeWindow = (NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
Gl.UseProgram(_CubeEdgeProgram);
// Compute MVP
PerspectiveProjectionMatrix proj = new PerspectiveProjectionMatrix(60.0f, (float)nativeWindow.Width / nativeWindow.Height, 0.5f, 1e6f);
ModelMatrix view = new ModelMatrix();
ModelMatrix model = new ModelMatrix();
model.RotateY(_Angle);
model.RotateZ(_Angle);
view.LookAtTarget(Vertex3f.One * 7.0f, Vertex3f.Zero, Vertex3f.UnitY);
Gl.BindVertexArray(_CubeVao);
Gl.UniformMatrix4(_CubeEdgeProgram_Location_uMVP, false, (proj * view * model).ToArray());
foreach (float scale4d in new float[] { 64.0f, 32.0f, 16.0f, 8.0f, 4.0f, 2.0f, 1.0f, 0.5f, 0.25f, 0.125f })
{
Gl.Uniform1(_CubeEdgeProgram_Location_uScale4D, scale4d * _Zooom);
Gl.Uniform4(_CubeEdgeProgram_Location_uColor, 0.0f, 0.3f, 1.0f, Math.Min(1.0f, scale4d * _Zooom / 2.0f));
Gl.DrawElements(PrimitiveType.Lines, _CubeEdges.Length, DrawElementsType.UnsignedShort, IntPtr.Zero);
}
_Angle += 360.0f / (25.0f * 5);
_Zooom -= 0.025f;
if (_Zooom < 0.5f)
{
_Zooom = 1.0f;
}
// Save PNG frame
if (_FrameNo < 125)
{
using (Bitmap bitmap = new Bitmap((int)nativeWindow.Width, (int)nativeWindow.Height, System.Drawing.Imaging.PixelFormat.Format24bppRgb)) {
BitmapData bitmapData = bitmap.LockBits(new Rectangle(Point.Empty, bitmap.Size), ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
Gl.ReadPixels(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height, OpenGL.PixelFormat.Bgr, PixelType.UnsignedByte, bitmapData.Scan0);
bitmap.Save(String.Format("Frame_{0:D3}.png", _FrameNo++));
}
}
}
private void RenderControl_Render_ES(object sender, GlControlEventArgs e)
{
Control control = (Control)sender;
PerspectiveProjectionMatrix projectionMatrix = new PerspectiveProjectionMatrix(45.0f, (float)control.Width / (float)control.Height, 0.1f, 100.0f);
ModelMatrix viewMatrix = new ModelMatrix();
ModelMatrix modelMatrix = new ModelMatrix();
// Move camera
viewMatrix.Translate(new Vertex3f(0.0f, 0.0f, -2.0f));
// Animate triangle
/*modelMatrix.LookAtDirection(
* new Vertex3f(0.0f, 0.0f, 0.0f),
* new Vertex3f(
* (float)Math.Sin(angle_rad),
* 0.0f,
* (float)Math.Cos(angle_rad)
* ),
* new Vertex3f(0.0f, 1.0f, 0.0f)
* );*/
//Quaternion Q = new Quaternion(new Vertex3f(0.0f, 1.0f, 0.0f), angle);
modelMatrix.RotateZ(angle);
modelMatrix.RotateY(angle);
//modelMatrix.Translate(Math.Cos(theta), Math.Sin(theta));
//modelMatrix.RotateY(theta);
Gl.UseProgram(Program_Shader);
Gl.Viewport(0, 0, control.Width, control.Height);
Gl.Enable(EnableCap.DepthTest);
Gl.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
using (MemoryLock arrayPosition = new MemoryLock(_ArrayPosition))
using (MemoryLock arrayColor = new MemoryLock(_ArrayColor))
{
Gl.VertexAttribPointer((uint)Program_Location_aPosition, 3, Gl.FLOAT, false, 0, arrayPosition.Address);
Gl.EnableVertexAttribArray((uint)Program_Location_aPosition);
Gl.VertexAttribPointer((uint)Program_Location_aColor, 3, Gl.FLOAT, false, 0, arrayColor.Address);
Gl.EnableVertexAttribArray((uint)Program_Location_aColor);
Gl.UniformMatrix4(Program_Location_uProjection, 1, false, projectionMatrix.ToArray());
Gl.UniformMatrix4(Program_Location_uView, 1, false, viewMatrix.ToArray());
Gl.UniformMatrix4(Program_Location_uModel, 1, false, modelMatrix.ToArray());
Gl.DrawArrays(PrimitiveType.Triangles, 0, 36);
}
}
static Matrix4x4Test()
{
Random random = new Random();
_MatArray = new Matrix4x4[MulArraySize];
for (int i = 0; i < _MatArray.Length; i++)
{
ModelMatrix modelMatrix = new ModelMatrix();
modelMatrix.RotateX(random.NextDouble() * 360.0);
modelMatrix.RotateY(random.NextDouble() * 360.0);
modelMatrix.RotateZ(random.NextDouble() * 360.0);
modelMatrix.Translate(random.NextDouble(), random.NextDouble(), random.NextDouble());
_MatArray[i] = modelMatrix;
}
}
private void VisionControl_Render(object sender, OpenGL.GlControlEventArgs e)
{
#region Draw Basic Picture
// Update image input
_Framebuffer.BindDraw(_GraphicsContext);
Gl.Viewport(0, 0, (int)_Framebuffer.Width, (int)_Framebuffer.Height);
_Framebuffer.Clear(_GraphicsContext, ClearBufferMask.ColorBufferBit);
{ // Draw a quad
ProjectionMatrix quadProj = new OrthoProjectionMatrix(-1.0f, +1.0f, -1.0f, +1.0f);
ModelMatrix quadModel = new ModelMatrix();
_Angle += 1.0f;
quadModel.RotateZ(10.0f * Math.Cos(_Angle / 180.0 * Math.PI));
_GraphicsContext.Bind(_ProgramStd);
_ProgramStd.SetUniform(_GraphicsContext, "glo_ModelViewProjection", quadProj * quadModel);
_ProgramStd.SetUniform(_GraphicsContext, "glo_UniformColor", Vertex4f.One);
_ArraysQuad.Draw(_GraphicsContext, _ProgramStd);
}
_Framebuffer.UnbindDraw(_GraphicsContext);
#endregion
#region Track Corners
// Read back image input pixels
using (OpenGL.Objects.Image imageInput = _FramebufferTexture.Get(_GraphicsContext, PixelLayout.RGB24, 0)) {
// Copy the input RGB frame from OpenGL to OpenVX
Rectangle cv_rgb_image_region = new Rectangle();
cv_rgb_image_region.StartX = 0;
cv_rgb_image_region.StartY = 0;
cv_rgb_image_region.EndX = imageInput.Width;
cv_rgb_image_region.EndY = imageInput.Height;
ImagePatchAddressing cv_rgb_image_layout = new ImagePatchAddressing();
cv_rgb_image_layout.StrideX = 3;
cv_rgb_image_layout.StrideY = (int)imageInput.Stride;
VX.CopyImagePatch(_ImageInput, ref cv_rgb_image_region, 0, ref cv_rgb_image_layout, imageInput.ImageBuffer, Accessor.WriteOnly, MemoryType.Host);
}
// Now that input RGB image is ready, just run a graph.
// Run Harris at the beginning to initialize the previous keypoints,
// on other frames run the tracking graph.
VX.ProcessGraph(_DetectCorners ? _GraphHarris : _GraphTrack);
_DetectCorners = false;
#endregion
#region Store Markers on GPU
// To mark the keypoints in display, you need to access the output
// keypoint array and draw each item on the output window using gui.DrawArrow().
UIntPtr num_corners = UIntPtr.Zero;
uint num_tracking = 0;
_KeypointsPrevious = VX.GetReferenceFromDelay(_KeypointsDelay, -1);
_KeypointsCurrent = VX.GetReferenceFromDelay(_KeypointsDelay, 0);
VX.Query(_KeypointsPrevious, ArrayAttribute.Numitems, out num_corners);
if (num_corners.ToUInt64() > 0)
{
UIntPtr kp_old_stride = UIntPtr.Zero, kp_new_stride = UIntPtr.Zero;
MapId kp_old_map = new MapId(), kp_new_map = new MapId();
IntPtr kp_old_buf, kp_new_buf;
VX.MapArrayRange(_KeypointsPrevious, (UIntPtr)0, num_corners, ref kp_old_map, ref kp_old_stride, out kp_old_buf, Accessor.ReadOnly, MemoryType.Host, 0);
VX.MapArrayRange(_KeypointsCurrent, (UIntPtr)0, num_corners, ref kp_new_map, ref kp_new_stride, out kp_new_buf, Accessor.ReadOnly, MemoryType.Host, 0);
_BufferOpticalMarkers.Map(_GraphicsContext, BufferAccess.WriteOnly);
for (uint i = 0; i < num_corners.ToUInt64(); i++)
{
KeyPoint kp_old = VX.ArrayItem <KeyPoint>(kp_old_buf, i, kp_old_stride);
KeyPoint kp_new = VX.ArrayItem <KeyPoint>(kp_new_buf, i, kp_new_stride);
if (kp_new.TrackingStatus != 0)
{
Vertex2f vOld = new Vertex2f(kp_old.X / 1024.0f, kp_old.Y / 1024.0f);
Vertex2f vNew = new Vertex2f(kp_new.X / 1024.0f, kp_new.Y / 1024.0f);
_BufferOpticalMarkers.SetElement(vOld, (num_tracking * 2) + 0, 0);
_BufferOpticalMarkers.SetElement(vNew, (num_tracking * 2) + 1, 0);
num_tracking++;
}
}
_BufferOpticalMarkers.Unmap(_GraphicsContext);
VX.UnmapArrayRange(_KeypointsPrevious, kp_old_map);
VX.UnmapArrayRange(_KeypointsCurrent, kp_new_map);
}
#endregion
Gl.Viewport(0, 0, VisionControl.Width, VisionControl.Height);
Gl.ClearColor(1.0f, 0.0f, 0.0f, 0.0f);
Gl.Clear(ClearBufferMask.ColorBufferBit);
#region Draw Input Image
_GraphicsContext.Bind(_ProgramStdTex);
_ProgramStdTex.SetUniform(_GraphicsContext, "glo_ModelViewProjection", new OrthoProjectionMatrix(0.0f, 1.0f, 0.0f, 1.0f));
_ProgramStdTex.SetUniform(_GraphicsContext, "glo_Texture", _FramebufferTexture);
_ArraysPostQuad.Draw(_GraphicsContext, _ProgramStdTex);
#endregion
#region Draw Markers
if (num_tracking > 0)
{
_GraphicsContext.Bind(_ProgramStd);
_ProgramStd.SetUniform(_GraphicsContext, "glo_ModelViewProjection", new OrthoProjectionMatrix(0.0f, 1.0f, 0.0f, 1.0f));
_ProgramStd.SetUniform(_GraphicsContext, "glo_UniformColor", new Vertex4f(1.0f, 0.0f, 0.0f, 1.0f));
_ArraysOpticalMarkers.Draw(_GraphicsContext, _ProgramStd, 0, 0, num_tracking * 2);
}
#endregion
// Increase the age of the delay objects to make the current entry become previous entry
VX.AgeDelay(_PyramidDelay);
VX.AgeDelay(_KeypointsDelay);
}