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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This Source Code Form is subject to the terms of the Mozilla Public</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// License, v. 2.0. If a copy of the MPL was not distributed with this</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> </div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <Eigen/Core></span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <OpenGP/GL/glfw.h></span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <OpenGP/GL/SceneObject.h></span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <OpenGP/GL/GlfwWindow.h></span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <stdio.h></span> <span class="comment">//< to read targa file</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <png.h></span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">//=============================================================================</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="keyword">namespace </span><a class="code" href="namespace_open_g_p.html">OpenGP</a>{</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">//=============================================================================</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">template</span> <<span class="keyword">class</span> PixelType></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">using</span> EigenImage = Eigen::Matrix< PixelType, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >;</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">template</span> <<span class="keyword">class</span> PixelType></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="keyword">class </span>ImageRenderer : <span class="keyword">public</span> SceneObject{</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">protected</span>:</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  EigenImage<PixelType>& _image;</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  VertexArrayObject _vao;</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  ArrayBuffer<Vec3> _buffer_vpos; </div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  ArrayBuffer<Vec2> _buffer_vtex; </div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  GLuint _tex; </div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  ImageRenderer(EigenImage<PixelType>& image) : _image(image){}</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  ~ImageRenderer(){</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  glBindTexture(GL_TEXTURE_2D, 0);</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  glDeleteTextures(1, &_tex);</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  }</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">const</span> GLchar* vshader = R<span class="stringliteral">"GLSL(</span></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="stringliteral"> #version 330 core</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="stringliteral"> in vec3 vpoint;</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="stringliteral"> in vec2 vtexcoord;</span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="stringliteral"> out vec2 uv;</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="stringliteral"> void main() {</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="stringliteral"> uv = vtexcoord;</span></div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="stringliteral"> gl_Position = vec4(vpoint, 1.0);</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="stringliteral"> }</span></div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="stringliteral"> )GLSL";</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="stringliteral"></span></div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="stringliteral"> </span><span class="keyword">const</span> GLchar* fshader_rgb = R<span class="stringliteral">"GLSL(</span></div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="stringliteral"> #version 330 core</span></div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="stringliteral"> uniform sampler2D tex;</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="stringliteral"> in vec2 uv;</span></div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="stringliteral"> out vec4 color;</span></div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="stringliteral"> void main() { color = vec4(texture(tex,uv).rgb,1); }</span></div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="stringliteral"> )GLSL";</span></div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="stringliteral"></span></div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="stringliteral"> </span><span class="keyword">const</span> GLchar* fshader_gray = R<span class="stringliteral">"GLSL(</span></div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="stringliteral"> #version 330 core</span></div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="stringliteral"> uniform sampler2D tex;</span></div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="stringliteral"> in vec2 uv;</span></div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="stringliteral"> out vec4 color;</span></div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="stringliteral"> void main() { color = vec4(vec3(texture(tex,uv).r),1); }</span></div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="stringliteral"> )GLSL";</span></div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="stringliteral"></span></div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="stringliteral"></span><span class="keyword">public</span>:</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  Box3 bounding_box(){ <span class="keywordflow">return</span> Box3( Vec3(-1,-1,0), Vec3(+1,+1,0) ); }</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordtype">void</span> init(){</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">const</span> GLchar* fshader = NULL;</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  fshader = (std::is_same<PixelType, Eigen::Vector3f >::value) ? fshader_rgb : fshader;</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  fshader = (std::is_same<PixelType, float >::value) ? fshader_gray : fshader;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  assert(fshader!=NULL);</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  program.add_vshader_from_source(vshader);</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  program.add_fshader_from_source(fshader);</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  program.link();</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">const</span> GLfloat vpoint[] = { <span class="comment">/*V0*/</span> -1.0f, -1.0f, 0.0f,</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">/*V1*/</span> +1.0f, -1.0f, 0.0f,</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="comment">/*V2*/</span> -1.0f, +1.0f, 0.0f,</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="comment">/*V3*/</span> +1.0f, +1.0f, 0.0f };</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  _buffer_vpos.upload_raw(vpoint, 4);</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">const</span> GLfloat vtexcoord[] = { <span class="comment">/*v0*/</span> 0.0f, 0.0f,</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="comment">/*v1*/</span> 1.0f, 0.0f,</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="comment">/*v2*/</span> 0.0f, 1.0f,</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="comment">/*v3*/</span> 1.0f, 1.0f };</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  _buffer_vtex.upload_raw(vtexcoord, 4);</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  {</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  glGenTextures(1, &_tex);</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  glBindTexture(GL_TEXTURE_2D, _tex);</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">if</span> ( std::is_same<PixelType, Eigen::Vector3f>::value ){</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  glTexImage2D(GL_TEXTURE_2D, <span class="comment">/*level*/</span> 0, GL_RGB32F,</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  _image.cols(), _image.rows(), 0,</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  GL_RGB, GL_FLOAT, _image.data());</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span>( std::is_same<PixelType, float>::value ){</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F,</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  _image.cols(), _image.rows(), 0,</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  GL_RED, GL_FLOAT, _image.data());</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  }</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  program.bind();</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  _vao.bind();</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  program.set_attribute(<span class="stringliteral">"vpoint"</span>, _buffer_vpos);</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  program.set_attribute(<span class="stringliteral">"vtexcoord"</span>, _buffer_vtex);</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  glUniform1i(glGetUniformLocation(program.programId(), <span class="stringliteral">"tex"</span>), 0 <span class="comment">/*GL_TEXTURE0*/</span>);</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  _vao.unbind();</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  program.unbind();</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  }</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">void</span> display(){</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  _vao.bind();</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  program.bind();</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  glActiveTexture(GL_TEXTURE0);</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  glBindTexture(GL_TEXTURE_2D, _tex);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  program.unbind();</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  _vao.unbind();</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  }</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span> };</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="keyword">template</span> <<span class="keyword">class</span> PixelType></div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> imshow( EigenImage<PixelType>& I, <span class="keyword">const</span> <span class="keywordtype">char</span>* title=<span class="stringliteral">""</span> ){</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  GlfwWindow window(title, I.cols(), I.rows());</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  ImageRenderer<PixelType> renderer(I);</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  window.scene.add(renderer);</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">return</span> window.run();</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span> }</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">using</span> PNGPixelRGB = Eigen::Matrix<GLubyte, 3, 1>;</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment">//using PNGPixelRGBA = Eigen::Matrix<GLubyte, 4, 1>;</span></div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span> </div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="keyword">using</span> PNGImageRGB = Eigen::Matrix<PNGPixelRGB, Eigen::Dynamic, Eigen::Dynamic>;</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment">//using PNGImageRGBA = Eigen::Matrix<PNGPixelRGB, Eigen::Dynamic, Eigen::Dynamic>;</span></div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span> </div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">static</span> <span class="keywordtype">void</span> imwrite_png(<span class="keyword">const</span> <span class="keywordtype">char</span>* path, <span class="keyword">const</span> EigenImage<Vec3>& _I) {</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span> }</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">template</span> <<span class="keyword">typename</span> ImageType></div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">static</span> <span class="keywordtype">void</span> imread_png(<span class="keyword">const</span> <span class="keywordtype">char</span>* path, ImageType& I_out) {</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  FILE* fid = fopen(path,<span class="stringliteral">"rb"</span>);</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  GLubyte header[8];</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordflow">if</span>( fread(header, <span class="keyword">sizeof</span>(header), 1, fid) != 1 )</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  mFatal() << <span class="stringliteral">"Cannot read TGA header"</span>;</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">if</span> (png_sig_cmp(header, 0, 8))</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  mFatal() << <span class="stringliteral">"File is not a PNG image"</span>;</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  png_struct *read_struct = png_create_read_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  png_info *info_struct = png_create_info_struct(read_struct);</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  png_init_io(read_struct, fid);</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  png_set_sig_bytes(read_struct, 8);</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  png_read_info(read_struct, info_struct);</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordtype">int</span> width = png_get_image_width(read_struct, info_struct);</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordtype">int</span> height = png_get_image_height(read_struct, info_struct);</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  GLubyte color_type = png_get_color_type(read_struct, info_struct);</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  GLubyte bit_depth = png_get_bit_depth(read_struct, info_struct);</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span> </div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">if</span> (ImageType::Scalar::RowsAtCompileTime == 3) {</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">if</span> (color_type != PNG_COLOR_TYPE_RGB) {</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  mFatal() << <span class="stringliteral">"Image color type does not match file"</span>;</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ImageType::Scalar::RowsAtCompileTime == 4) {</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">if</span> (color_type != PNG_COLOR_TYPE_RGB_ALPHA) {</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  mFatal() << <span class="stringliteral">"Image color type does not match file"</span>;</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  }</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  mFatal() << <span class="stringliteral">"Image color type does not match file"</span>;</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  }</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span> </div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span> </div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordtype">int</span> passes = png_set_interlace_handling(read_struct);</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  png_read_update_info(read_struct, info_struct);</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span> </div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  Eigen::Matrix<GLubyte*, Eigen::Dynamic, Eigen::Dynamic> row_ptrs(height, 1);</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="comment">//for (int i = 0;i < height;i++) {</span></div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="comment">// row_ptrs(i) = &(I);</span></div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="comment">//}</span></div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span> </div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  mLogger() << (int)color_type;</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span> </div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> }</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment">// http://geekchef.com/using-targa-files</span></div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment">// http://stackoverflow.com/questions/16538945/writing-uncompressed-tga-to-file-in-c</span></div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment">// https://github.com/nlguillemot/JustGL/blob/f8566ed540413e7b0503a6a08396df7363891a62/ext/justgl_image.cpp#L30</span></div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span> <span class="comment">// http://nehe.gamedev.net/tutorial/loading_compressed_and_uncompressed_tga's/22001</span></div><div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="struct_open_g_p_1_1_targa_vec3b.html"> 209</a></span> <span class="comment"></span><span class="keyword">struct </span><a class="code" href="struct_open_g_p_1_1_targa_vec3b.html">TargaVec3b</a>{</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  uchar rgb[3];</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keyword">operator</span> Vec3()<span class="keyword"> const</span>{<span class="keywordflow">return</span> Vec3(rgb[2]/255.0,rgb[1]/255.0,rgb[0]/255.0);}</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span> };</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">typedef</span> Eigen::Matrix<TargaVec3b, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> TargaImage;</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span> <span class="keyword">static</span> <span class="keywordtype">void</span> imwrite(<span class="keyword">const</span> <span class="keywordtype">char</span>* path, <span class="keyword">const</span> EigenImage<Vec3>& _I){</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  TargaImage I(_I.rows(), _I.cols());</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row < I.rows(); row++){</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col = 0; col < I.cols(); col++){</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  uchar r = 255 * _I(row,col)[0];</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  uchar g = 255 * _I(row,col)[1];</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  uchar b = 255 * _I(row,col)[2];</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="comment">// Note: R<==>B colors are swapped in file format</span></div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  I(row,col) = {b, g, r};</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  }</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  }</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span> </div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  FILE* fid = fopen(path,<span class="stringliteral">"wb"</span>);</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  GLubyte header[18]={0,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  header[12] = (I.cols()) & 0xFF;</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  header[13] = (I.cols() >> 8) & 0xFF;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  header[14] = (I.rows()) & 0xFF;</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  header[15] = (I.rows() >> 8) & 0xFF;</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  header[16] = 24;</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  fwrite(header,<span class="keyword">sizeof</span>(GLubyte),18,fid);</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  fwrite(I.data(),<span class="keyword">sizeof</span>(GLubyte), I.rows() * I.cols() * 3 ,fid);</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  fclose(fid);</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span> }</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span> </div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="keyword">static</span> <span class="keywordtype">void</span> imread(<span class="keyword">const</span> <span class="keywordtype">char</span>* path, EigenImage<Vec3>& I_out){</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  FILE* fid = fopen(path,<span class="stringliteral">"rb"</span>);</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  GLubyte header[18];</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordflow">if</span>( fread(header, <span class="keyword">sizeof</span>(header), 1, fid) != 1 )</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  mFatal() << <span class="stringliteral">"Cannot read TGA header"</span>;</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordtype">int</span> width = (header[13] << 8) + header[12];</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordtype">int</span> height = (header[15] << 8) + header[14];</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordflow">if</span>(header[16]!=24)</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  mFatal() << <span class="stringliteral">"Only 24bits TGA supported"</span>;</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">int</span> channels = header[16] / 8;</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="comment">// mDebug("%d x %d @ %d", width, height, channels);</span></div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  TargaImage I(height, width);</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">if</span>( fread(I.data(), channels * width * height, 1, fid) != 1 )</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  mFatal() << <span class="stringliteral">"Failed to read TGA data"</span>;</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  fclose(fid);</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="comment">// I_out = I.cast<Vec3>(); // Doesn't compile</span></div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  I_out.resize(I.rows(), I.cols());</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0;i < I.rows();i++)</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0;j < I.cols();j++)</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  I_out(i, j) = I(i, j).operator Vec3();</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span> }</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span> </div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="comment">//=============================================================================</span></div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span> } <span class="comment">// OpenGP::</span></div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="comment">//=============================================================================</span></div><div class="ttc" id="namespace_open_g_p_html"><div class="ttname"><a href="namespace_open_g_p.html">OpenGP</a></div><div class="ttdef"><b>Definition:</b> VirtualDepthSensor.h:19</div></div>
<div class="ttc" id="struct_open_g_p_1_1_targa_vec3b_html"><div class="ttname"><a href="struct_open_g_p_1_1_targa_vec3b.html">OpenGP::TargaVec3b</a></div><div class="ttdoc">A pixel is represented as a 3-channel [0,256] tuple. </div><div class="ttdef"><b>Definition:</b> Image.h:209</div></div>
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