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glAnthropometric3DModel.cpp
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/***************************************************************************
* Copyright (C) 2007 by pedromartins *
* pedromartins@isr.uc.pt *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
***************************************************************************/
//Compile with OpenGL and OpenCV libs
// g++ glAnthropometric3DModel.cpp -I /usr/local/include/opencv/ -L /usr/local/lib -lcv -lhighgui -lcvaux -lX11 -lXi -lXmu -lglut -lGL -lGLU -lm -o glAnthropometric3DModel
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glut.h>
#include <stdlib.h>
#include <stdio.h>
#include <cv.h>
#include <cvaux.h>
#include <highgui.h>
#define cvM32f(Matrix,i,j) CV_MAT_ELEM(*(Matrix),float,(i),(j))
//Angle Conversion Macros
#define PI (3.141592653589793)
#define rad2deg(Theta) (Theta)*180/PI
#define deg2rad(Theta) (Theta)*PI/180
//Display Matrix
void cvPrintMat(CvMat*Matrix){
int i,MatrixType;
register int j;
for(i=0;i<Matrix->rows;i++){ //For Each Line
for(j=0;j<Matrix->cols;j++) printf("%g ",cvM32f(Matrix,i,j)); //For Each Columm
printf("\n");
}
}
float Model3D[58][3]={{-7.308957,0.913869,0.000000}, {-6.775290,-0.730814,-0.012799}, {-5.665918,-3.286078,1.022951}, {-5.011779,-4.876396,1.047961}, {-4.056931,-5.947019,1.636229}, {-1.833492,-7.056977,4.061275}, {0.000000,-7.415691,4.070434}, {1.833492,-7.056977,4.061275}, {4.056931,-5.947019,1.636229}, {5.011779,-4.876396,1.047961}, {5.665918,-3.286078,1.022951}, {6.775290,-0.730814,-0.012799}, {7.308957,0.913869,0.000000}, {5.311432,5.485328,3.987654}, {4.461908,6.189018,5.594410}, {3.550622,6.185143,5.712299}, {2.542231,5.862829,4.687939}, {1.789930,5.393625,4.413414}, {2.693583,5.018237,5.072837}, {3.530191,4.981603,4.937805}, {4.490323,5.186498,4.694397}, {-5.311432,5.485328,3.987654}, {-4.461908,6.189018,5.594410}, {-3.550622,6.185143,5.712299}, {-2.542231,5.862829,4.687939}, {-1.789930,5.393625,4.413414}, {-2.693583,5.018237,5.072837}, {-3.530191,4.981603,4.937805}, {-4.490323,5.186498,4.694397}, {1.330353,7.122144,6.903745}, {2.533424,7.878085,7.451034}, {4.861131,7.878672,6.601275}, {6.137002,7.271266,5.200823}, {6.825897,6.760612,4.402142}, {-1.330353,7.122144,6.903745}, {-2.533424,7.878085,7.451034}, {-4.861131,7.878672,6.601275}, {-6.137002,7.271266,5.200823}, {-6.825897,6.760612,4.402142}, {-2.774015,-2.080775,5.048531}, {-0.509714,-1.571179,6.566167}, {0.000000,-1.646444,6.704956}, {0.509714,-1.571179,6.566167}, {2.774015,-2.080775,5.048531}, {0.589441,-2.958597,6.109526}, {0.000000,-3.116408,6.097667}, {-0.589441,-2.958597,6.109526}, {-0.981972,4.554081,6.301271}, {-0.973987,1.916389,7.654050}, {-2.005628,1.409845,6.165652}, {-1.930245,0.424351,5.914376}, {-0.746313,0.348381,6.263227}, {0.000000,0.000000,6.763430}, {0.746313,0.348381,6.263227}, {1.930245,0.424351,5.914376}, {2.005628,1.409845,6.165652}, {0.973987,1.916389,7.654050}, {0.981972,4.554081,6.301271}};
int MeanDelaunayTriangles[95][3]={ {0,1,50}, {0,21,38}, {0,28,21}, {0,49,28}, {0,50,49}, {1,2,39}, {1,39,50}, {2,3,39}, {3,4,46}, {3,46,39}, {4,5,46}, {5,6,45}, {5,45,46}, {6,7,44}, {6,44,45}, {7,8,44}, {8,9,43}, {8,43,44}, {9,10,43}, {10,11,43}, {11,12,54}, {11,54,43}, {12,13,20}, {12,20,55}, {12,33,13}, {12,55,54}, {13,14,20}, {13,33,14}, {14,15,19}, {14,19,20}, {14,31,15}, {14,32,31}, {14,33,32}, {15,16,19}, {15,30,16}, {15,31,30}, {16,17,18}, {16,18,19}, {16,29,17}, {16,30,29}, {17,29,57}, {17,57,18}, {18,56,19}, {18,57,56}, {19,55,20}, {19,56,55}, {21,22,38}, {21,28,22}, {22,23,36}, {22,27,23}, {22,28,27}, {22,36,37}, {22,37,38}, {23,24,35}, {23,26,24}, {23,27,26}, {23,35,36},
{24,25,34}, {24,26,25}, {24,34,35}, {25,26,48}, {25,47,34}, {25,48,47}, {26,27,49}, {26,49,48}, {27,28,49}, {29,30,35}, {29,34,57}, {29,35,34}, {30,31,36}, {30,36,35}, {34,47,57}, {39,40,50}, {39,46,40}, {40,41,52}, {40,46,41}, {40,51,50}, {40,52,51}, {41,42,52}, {41,44,42},
{41,45,44}, {41,46,45}, {42,43,53}, {42,44,43}, {42,53,52}, {43,54,53}, {47,48,57}, {48,49,51}, {48,51,52}, {48,52,56}, {48,56,57}, {49,50,51}, {52,53,56}, {53,54,55}, {53,55,56}};
void Anthropometric3DModel(int LineWidth){
int k;
glColor3f(0.0, 0.0, 0.0);
//glLineWidth(2.0);
glLineWidth(LineWidth);
glPushMatrix();
glBegin(GL_LINES);
for(k=0;k<95;k++){
glVertex3f(Model3D[MeanDelaunayTriangles[k][0]][0],Model3D[MeanDelaunayTriangles[k][0]][1],Model3D[MeanDelaunayTriangles[k][0]][2]);
glVertex3f(Model3D[MeanDelaunayTriangles[k][1]][0],Model3D[MeanDelaunayTriangles[k][1]][1],Model3D[MeanDelaunayTriangles[k][1]][2]);
glVertex3f(Model3D[MeanDelaunayTriangles[k][1]][0],Model3D[MeanDelaunayTriangles[k][1]][1],Model3D[MeanDelaunayTriangles[k][1]][2]);
glVertex3f(Model3D[MeanDelaunayTriangles[k][2]][0],Model3D[MeanDelaunayTriangles[k][2]][1],Model3D[MeanDelaunayTriangles[k][2]][2]);
glVertex3f(Model3D[MeanDelaunayTriangles[k][2]][0],Model3D[MeanDelaunayTriangles[k][2]][1],Model3D[MeanDelaunayTriangles[k][2]][2]);
glVertex3f(Model3D[MeanDelaunayTriangles[k][0]][0],Model3D[MeanDelaunayTriangles[k][0]][1],Model3D[MeanDelaunayTriangles[k][0]][2]);
}
glEnd();
glColor3f(1.0, 0.0, 0.0);
glPointSize(LineWidth+2);
glBegin(GL_POINTS);
for(k=0;k<58;k++) glVertex3f(Model3D[k][0],Model3D[k][1],Model3D[k][2]);
glEnd();
glPopMatrix();
}
GLUquadricObj*Quadric=gluNewQuadric();
void DrawAxes(float Size,float Radius){
glPushMatrix();
//Draw z axis
glColor3f(0.0, 0.0, 1.0);
glPushMatrix();
gluCylinder(Quadric,Radius,Radius,Size,40,40);
glTranslatef(0,0,Size);
gluCylinder(Quadric,Radius*2,0,1,40,40);
glPopMatrix();
//Draw x axis
glColor3f(1.0, 0.0, 0.0);
glPushMatrix();
glRotatef(90,0,1,0); //rotate over y 90º
gluCylinder(Quadric,Radius,Radius,Size,40,40);
glTranslatef(0,0,Size);
gluCylinder(Quadric,Radius*2,0,1,40,40);
glPopMatrix();
//Draw y axis
glColor3f(0.0, 1.0, 0.0);
glPushMatrix();
glRotatef(-90,1,0,0); //rotate over x -90º
gluCylinder(Quadric,Radius,Radius,Size,40,40);
glTranslatef(0,0,Size);
gluCylinder(Quadric,Radius*2,0,1,40,40);
glPopMatrix();
glPopMatrix();
}
GLfloat WorldTx=0,WorldTy=0,WorldTz=0,WorldRoll=0,WorldPitch=0,WorldYaw=0;
GLfloat FaceTx=0,FaceTy=0,FaceTz=0,FaceRoll=0,FacePitch=0,FaceYaw=0;
IplImage*Image=NULL;
//OpenGL Display Routine
void Display(void){
int k;
glClear(GL_COLOR_BUFFER_BIT);
glPushMatrix();
glTranslatef(FaceTx,FaceTy,FaceTz);
glRotatef(FaceRoll,0,0,1);
glRotatef(FacePitch,0,1,0);
glRotatef(FaceYaw,1,0,0);
Anthropometric3DModel(3);
DrawAxes(5,0.1);
glPopMatrix();
glutSwapBuffers();
//Read From FrameBuffer
glReadPixels(0,0,Image->width,Image->height,GL_BGR,GL_UNSIGNED_BYTE,Image->imageData);
}
//OpenGL Idle Function
void Idle(void){
//printf("glIdle\n");
glutPostRedisplay();
}
void Visible(int vis){
if (vis == GLUT_VISIBLE)
glutIdleFunc(Idle);
else
glutIdleFunc(NULL);
}
void KeyboardHandler(unsigned char Key, int x, int y){
switch(Key){
case 27: cvReleaseImage(&Image);
cvDestroyWindow("Image");
exit(0); break;
case 'r': WorldRoll+=5; break;
case 'R': WorldRoll-=5; break;
case 'p': WorldPitch+=5; break;
case 'P': WorldPitch-=5; break;
case 'y': WorldYaw+=5; break;
case 'Y': WorldYaw-=5; break;
case '7': FaceRoll+=2; break;
case '1': FaceRoll-=2; break;
case '9': FacePitch+=2; break;
case '3': FacePitch-=2; break;
case '/': FaceYaw+=2; break;
case '*': FaceYaw-=2; break;
case '6': FaceTx+=0.5; break;
case '4': FaceTx-=0.5; break;
case '8': FaceTy+=0.5; break;
case '2': FaceTy-=0.5; break;
case '+': FaceTz+=0.5; break;
case '-': FaceTz-=0.5; break;
case 's': cvFlip(Image,Image);
cvShowImage("Image",Image);
cvWaitKey(50);
char Buffer[50];
static int FrameIndex=0;
sprintf(Buffer,"Frame-%03d.jpg",FrameIndex++);
cvSaveImage(Buffer,Image);
break;
}
glRotatef(WorldRoll,0,0,1);
glRotatef(WorldPitch,0,1,0);
glRotatef(WorldYaw,1,0,0);
WorldRoll=0;
WorldPitch=0;
WorldYaw=0;
glutPostRedisplay();
}
void SpecialKeyboardHandler(int Key, int x, int y){
switch(Key){
case GLUT_KEY_RIGHT: WorldTx+=0.5; break;
case GLUT_KEY_LEFT: WorldTx-=0.5; break;
case GLUT_KEY_UP: WorldTy+=0.5; break;
case GLUT_KEY_DOWN: WorldTy-=0.5; break;
case GLUT_KEY_PAGE_UP: WorldTz+=0.5; break;
case GLUT_KEY_PAGE_DOWN: WorldTz-=0.5; break;
}
glTranslatef(WorldTx,WorldTy,WorldTz);
WorldTx=0;
WorldTy=0;
WorldTz=0;
glutPostRedisplay();
}
//Reshape Window Handler
void ReshapeWindow(GLsizei w,GLsizei h){
glViewport( 0, 0, w, h);
glMatrixMode (GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0, (GLfloat) w/(GLfloat) h, 1.0, 200.0);
//Using Orthographic Projection
//glOrtho (0, w, 0, h, -5.0, 5.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0.0, 0.0, -25);
//glGetDoublev(GL_MODELVIEW_MATRIX, R);
}
//Set Texture Mapping Parameters
void Init(void){
//Clear The Background Color
glClearColor(1.0f, 1.0f, 1.0f, 0.0f);
glShadeModel(GL_SMOOTH);
Image=cvCreateImage(cvSize(800,600),IPL_DEPTH_8U,3);
cvSetZero(Image);
cvNamedWindow("Image",CV_WINDOW_AUTOSIZE);
}
int main(int argc, char** argv){
glutInit(&argc,argv);
//Init OpenGL With Double Buffer in RGB Mode
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB);
glutInitWindowSize(800,600);
glutCreateWindow("3D Model");
//Set Display Handler
glutDisplayFunc(Display);
//Set Keyboard Handler
glutKeyboardFunc(KeyboardHandler);
glutSpecialFunc(SpecialKeyboardHandler);
glutReshapeFunc(ReshapeWindow);
glutVisibilityFunc(Visible);
Init();
//OpenGL Main Loop
glutMainLoop();
return 0;
}