public GLViewer(Resolution res)
{
image_handler = new ImageHandler(res);
available = false;
currentInstance = this;
BBox_edges = new Simple3DObject();
BBox_faces = new Simple3DObject();
}
void addVert(ref Simple3DObject obj, float i_f, float limit, float height, float4 clr)
{
float3 p1 = new float3(i_f, height, -limit);
float3 p2 = new float3(i_f, height, limit);
float3 p3 = new float3(-limit, height, i_f);
float3 p4 = new float3(limit, height, i_f);
obj.addLine(p1, p2, clr);
obj.addLine(p3, p4, clr);
}
public GLViewer()
{
pointCloud = new PointCloud();
available = false;
currentInstance = this;
frustum = new Simple3DObject(true);
clearInputs();
}
public GLViewer()
{
floor_grid = new Simple3DObject(true);
zedModel = new Simple3DObject(false);
zedPath = new Simple3DObject(false);
vecPath = new List <float3>();
cam_pose = new Matrix4x4();
available = false;
currentInstance = this;
clearInputs();
}
void fillZED(int nb_tri, double[] vertices, List <int> triangles, float3 color, ref Simple3DObject zed_camera)
{
for (int p = 0; p < nb_tri * 3; p = p + 3)
{
int index = triangles[p] - 1;
float4 clr = new float4();
clr.x = color.x; clr.y = color.y; clr.z = color.z; clr.w = 1;
zed_camera.addPoint(new float3((float)vertices[index * 3], (float)vertices[index * 3 + 1], (float)vertices[index * 3 + 2]), clr);
index = triangles[p + 1] - 1;
zed_camera.addPoint(new float3((float)vertices[index * 3], (float)vertices[index * 3 + 1], (float)vertices[index * 3 + 2]), clr);
index = triangles[p + 2] - 1;
zed_camera.addPoint(new float3((float)vertices[index * 3], (float)vertices[index * 3 + 1], (float)vertices[index * 3 + 2]), clr);
}
}