viewer: draw 3D axes

Author: cdcseacave

CMakeLists.txt

@@ -29,7 +29,6 @@ ENDIF()
 # List configuration options
 SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
 SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
-SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
 SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
 SET(OpenMVS_USE_PYTHON ON CACHE BOOL "Enable Python library bindings")
 SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
@@ -48,13 +47,13 @@ IF(NOT DEFINED CMAKE_TOOLCHAIN_FILE AND DEFINED ENV{VCPKG_ROOT})
 		SET(VCPKG_TARGET_TRIPLET "$ENV{VCPKG_DEFAULT_TRIPLET}" CACHE STRING "")
 	ENDIF()
 ENDIF()
+IF(OpenMVS_USE_CUDA)
+	LIST(APPEND VCPKG_MANIFEST_FEATURES "cuda")
+ENDIF()
 IF(OpenMVS_USE_PYTHON)
 	LIST(APPEND VCPKG_MANIFEST_FEATURES "python")
 	SET(PARTIAL_BUILD_SHARED_LIBS ON)
 ENDIF()
-IF(OpenMVS_USE_CUDA)
-	LIST(APPEND VCPKG_MANIFEST_FEATURES "cuda")
-ENDIF()
 
 # Name of the project.
 #

apps/Viewer/Scene.cpp

@@ -186,7 +186,7 @@ bool Scene::Init(const cv::Size& size, LPCTSTR windowName, LPCTSTR fileName, LPC
 		return false;
 	if (!window.Init(size, windowName))
 		return false;
-	if (gladLoadGL() == 0)
+	if (gladLoadGL() == GL_FALSE)
 		return false;
     VERBOSE("OpenGL: %s %s", glGetString(GL_RENDERER), glGetString(GL_VERSION));
 	name = windowName;
@@ -197,10 +197,10 @@ bool Scene::Init(const cv::Size& size, LPCTSTR windowName, LPCTSTR fileName, LPC
 	glEnable(GL_DEPTH_TEST);
 	glClearColor(0.f, 0.5f, 0.9f, 1.f);
 
-	static const float light0_ambient[] = {0.1f, 0.1f, 0.1f, 1.0f};
-	static const float light0_diffuse[] = {1.0f, 1.0f, 1.0f, 1.0f};
-	static const float light0_position[] = {0.0f, 0.0f, 1000.0f, 0.0f};
-	static const float light0_specular[] = {0.4f, 0.4f, 0.4f, 1.0f};
+	static const float light0_ambient[] = {0.1f, 0.1f, 0.1f, 1.f};
+	static const float light0_diffuse[] = {1.f, 1.f, 1.f, 1.f};
+	static const float light0_position[] = {0.f, 0.f, 1000.f, 0.f};
+	static const float light0_specular[] = {0.4f, 0.4f, 0.4f, 1.f};
 
 	glLightfv(GL_LIGHT0, GL_AMBIENT, light0_ambient);
 	glLightfv(GL_LIGHT0, GL_DIFFUSE, light0_diffuse);
@@ -575,14 +575,6 @@ void Scene::Draw()
 			// change coordinates system to the camera space
 			glPushMatrix();
 			glMultMatrixd((GLdouble*)TransL2W((const Matrix3x3::EMat)camera.R, -(const Point3::EVec)camera.C).data());
-			glPointSize(window.pointSize+1.f);
-			glDisable(GL_TEXTURE_2D);
-			// draw camera position and image center
-			glBegin(GL_POINTS);
-			glColor3f(1,0,0); glVertex3f(0,0,0); // camera position
-			glColor3f(0,1,0); glVertex3f(0,0,(float)scaleFocal); // image center
-			glColor3f(0,0,1); glVertex3d((0.5*imageData.width-pp.x)/focal, cy, scaleFocal); // image up
-			glEnd();
 			// draw image thumbnail
 			const bool bSelectedImage(idx == window.camera.currentCamID);
 			if (bSelectedImage) {
@@ -615,7 +607,9 @@ void Scene::Draw()
 					}
 				}
 			}
+			glDisable(GL_TEXTURE_2D);
 			// draw camera frame
+			glLineWidth(2.f);
 			glColor3f(bSelectedImage ? 0.f : 1.f, 1.f, 0.f);
 			glBegin(GL_LINES);
 			glVertex3d(0,0,0); glVertex3dv(ic1.ptr());
@@ -627,6 +621,13 @@ void Scene::Draw()
 			glVertex3dv(ic3.ptr()); glVertex3dv(ic4.ptr());
 			glVertex3dv(ic4.ptr()); glVertex3dv(ic1.ptr());
 			glEnd();
+			// draw camera position and image center
+			glPointSize(window.pointSize+3.f);
+			glBegin(GL_POINTS);
+			glColor3f(1,0,0); glVertex3f(0,0,0); // camera position
+			glColor3f(0,1,0); glVertex3f(0,0,(float)scaleFocal); // image center
+			glColor3f(0,0,1); glVertex3d((0.5*imageData.width-pp.x)/focal, cy, scaleFocal); // image up
+			glEnd();
 			// restore coordinate system
 			glPopMatrix();
 			// render image visibility info
@@ -652,6 +653,7 @@ void Scene::Draw()
 			}
 			// render camera trajectory
 			if (window.bRenderCameraTrajectory && ptrPrevC) {
+				glLineWidth(1.f);
 				glBegin(GL_LINES);
 				glColor3f(1.f,0.5f,0.f);
 				glVertex3dv(ptrPrevC->ptr());
@@ -674,6 +676,7 @@ void Scene::Draw()
 		glEnd();
 		if (window.bRenderViews && window.selectionType == Window::SEL_POINT) {
 			if (!scene.pointcloud.pointViews.empty()) {
+				glLineWidth(1.f);
 				glBegin(GL_LINES);
 				const MVS::PointCloud::ViewArr& views = scene.pointcloud.pointViews[(MVS::PointCloud::Index)window.selectionIdx];
 				ASSERT(!views.empty());
@@ -691,6 +694,7 @@ void Scene::Draw()
 	// render oriented-bounding-box
 	if (!obbPoints.empty()) {
 		glDepthMask(GL_FALSE);
+		glLineWidth(2.f);
 		glBegin(GL_LINES);
 		glColor3f(0.5f,0.1f,0.8f);
 		for (IDX i=0; i<obbPoints.size(); i+=2) {
@@ -700,6 +704,48 @@ void Scene::Draw()
 		glEnd();
 		glDepthMask(GL_TRUE);
 	}
+	// draw coordinate axes
+	{
+		constexpr int axisWindowSize(200);
+		constexpr float axisLength(1.5f);
+		GLfloat matrix[16];
+		glGetFloatv(GL_MODELVIEW_MATRIX, matrix);
+		glPushMatrix();
+		glPushAttrib(GL_VIEWPORT_BIT);
+		// draw at bottom-right corner and scale down
+		glViewport(window.size.width - axisWindowSize, 0, axisWindowSize, axisWindowSize);
+		glLoadIdentity();
+		glTranslatef(0.f, 0.f, -3.f);
+		matrix[12] = matrix[13] = matrix[14] = 0.f;
+		glMultMatrixf(matrix);
+		glLineWidth(4.f);
+		// X axis (Red)
+		glBegin(GL_LINES);
+		glColor3f(1.f, 0.f, 0.f);
+		glVertex3f(0.f, 0.f, 0.f);
+		glVertex3f(axisLength, 0.f, 0.f);
+		// Y axis (Green)
+		glColor3f(0.f, 1.f, 0.f);
+		glVertex3f(0.f, 0.f, 0.f);
+		glVertex3f(0.f, axisLength, 0.f);
+		// Z axis (Blue)
+		glColor3f(0.f, 0.f, 1.f);
+		glVertex3f(0.f, 0.f, 0.f);
+		glVertex3f(0.f, 0.f, axisLength);
+		glEnd();
+		// draw small spheres at axis ends for better visibility
+		glPointSize(10.f);
+		glBegin(GL_POINTS);
+		glColor3f(1.f, 0.f, 0.f);
+		glVertex3f(axisLength, 0.f, 0.f);
+		glColor3f(0.f, 1.f, 0.f);
+		glVertex3f(0.f, axisLength, 0.f);
+		glColor3f(0.f, 0.f, 1.f);
+		glVertex3f(0.f, 0.f, axisLength);
+		glEnd();
+		glPopAttrib();
+		glPopMatrix();
+	}
 	glfwSwapBuffers(window.GetWindow());
 }
 

vcpkg.json

@@ -29,20 +29,17 @@
     "zlib"
   ],
   "features": {
-    "python": {
-      "description": "Python bindings for OpenMVS",
-      "dependencies": [
-        "boost-python"
-      ]
-    },
     "cuda": {
       "description": "CUDA support for OpenMVS",
       "dependencies": [
         "cuda"
       ]
     },
-    "openmp": {
-      "description": "OpenMP support for OpenMVS"
+    "python": {
+      "description": "Python bindings for OpenMVS",
+      "dependencies": [
+        "boost-python"
+      ]
     }
   }
 }