public void init(CameraParameters param) { Gl.Enable(EnableCap.FramebufferSrgb); shaderSK = new ShaderData(); shaderSK.it = new Shader(Shader.SK_VERTEX_SHADER, Shader.SK_FRAGMENT_SHADER); shaderSK.MVP_Mat = Gl.GetUniformLocation(shaderSK.it.getProgramId(), "u_mvpMatrix"); shaderBbox = new ShaderData(); shaderBbox.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER); shaderBbox.MVP_Mat = Gl.GetUniformLocation(shaderBbox.it.getProgramId(), "u_mvpMatrix"); setRenderCameraProjection(param, 0.5f, 20); image_handler.initialize(); bones.init(); bones.setDrawingType(PrimitiveType.Quads); joints.init(); joints.setDrawingType(PrimitiveType.Quads); BBox_edges.init(); BBox_edges.setDrawingType(PrimitiveType.Lines); BBox_faces.init(); BBox_faces.setDrawingType(PrimitiveType.Quads); objectsName = new List <ObjectClassName>(); Gl.Disable(EnableCap.DepthTest); available = true; }
public MeshObject() { vaoID_ = 0; vboID_ = new uint[3]; currentFC = 0; needUpdate = false; type = PLANE_TYPE.FLOOR; shader = new ShaderData(); }
public GLViewer(Resolution res) { image_handler = new ImageHandler(res); shader_obj = new ShaderData(); available = false; currentInstance = this; pose = Matrix4x4.Identity; tracking_state = POSITIONAL_TRACKING_STATE.OFF; mapping_state = SPATIAL_MAPPING_STATE.NOT_ENABLED; change_state = false; new_chunks = chunks_pushed = false; }
public void init(CameraParameters param) { pointCloud.initialize(param.resolution); // Compile and create the shader shaderBbox = new ShaderData(); shaderBbox.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER); shaderBbox.MVP_Mat = Gl.GetUniformLocation(shaderBbox.it.getProgramId(), "u_mvpMatrix"); //Create Camera //setRenderCameraProjection(param, 0.5f, 20f); camera_ = new CameraGL(new Vector3(0, 0, 1), new Vector3(0, 0, -1f), Vector3.UnitY); camera_.setOffsetFromPosition(new Vector3(0, 0, 1.5f)); frustum.init(); frustum.setDrawingType(PrimitiveType.Triangles); frustum.createFrustum(param); frustum.pushToGPU(); cam_pose = new Matrix4x4(); available = true; }
public void init(CameraParameters param, MODEL cameraModel) { mainShader = new ShaderData(); mainShader.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER); mainShader.MVP_Mat = Gl.GetUniformLocation(mainShader.it.getProgramId(), "u_mvpMatrix"); shaderLine = new ShaderData(); shaderLine.it = new Shader(Shader.VERTEX_SHADER, Shader.FRAGMENT_SHADER); shaderLine.MVP_Mat = Gl.GetUniformLocation(shaderLine.it.getProgramId(), "u_mvpMatrix"); //Create Camera camera_ = new CameraGL(new Vector3(0f, 1f, 1f), new Vector3(0, -1, -4f), Vector3.UnitY); camera_.setOffsetFromPosition(new Vector3(0, 0, 1.0f)); floor_grid.init(); floor_grid.setDrawingType(PrimitiveType.Lines); zedModel.init(); zedModel.setDrawingType(PrimitiveType.Triangles); zedPath.init(); float limit = 20; float4 clr1 = new float4(); clr1.x = 0.85f; clr1.y = 0.87f; clr1.z = 0.88f; clr1.w = 1f; float4 clr2 = new float4(); clr2.x = 0.42f; clr2.y = 0.48f; clr2.z = 0.53f; clr2.w = 1f; float height = 0.0f; for (int i = (int)(limit * -5); i <= (int)(limit * 5); i++) { float i_f = i / 5.0f; if ((i % 5) == 0) { addVert(ref floor_grid, i_f, limit, height, clr2); } else { addVert(ref floor_grid, i_f, limit, height, clr1); } } floor_grid.pushToGPU(); zedPath.setDrawingType(PrimitiveType.LineStrip); Model3D model = new Model3D(); switch (cameraModel) { case MODEL.ZED: model = new Model3D_ZED(); break; case MODEL.ZED2: model = new Model3D_ZED2(); break; case MODEL.ZED_M: model = new Model3D_ZED(); break; } foreach (ModelPart part in model.part) { fillZED(part.nb_triangles, model.vertices, part.triangles, part.color, ref zedModel); } zedModel.pushToGPU(); updateZEDposition = false; available = true; }
public PointCloud() { shader = new ShaderData(); mat_ = new Mat(); }