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main_living_room_dynamic.cpp
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#include <iostream>
#include <opencv2/opencv.hpp>
#include <boost/filesystem.hpp>
#include <TooN/TooN.h>
#include <pangolin/pangolin.h>
#include <pangolin/display.h>
#include <cvd/image_io.h>
#include <boost/random.hpp>
#include <boost/random/normal_distribution.hpp>
#include <boost/random/random_number_generator.hpp>
#include "utils/map_object_label2training_label.h"
#include "utils/povray_utils.h"
#include "tinyobjloader/tiny_obj_loader.h"
#include "utils/mesh_utils.h"
//#include "utils/distinct_colours.h"
//#include "utils/simulated_annealing.h"
//#include "sceneGraph/sceneGraph.h"
//#include "utils/convex_hull.h"
using namespace pangolin;
static void PrintInfo(const std::vector<tinyobj::shape_t>& shapes,
const std::vector<tinyobj::material_t>& materials)
{
std::cout << "# of shapes : " << shapes.size() << std::endl;
std::cout << "# of materials : " << materials.size() << std::endl;
for (size_t i = 0; i < shapes.size(); i++) {
printf("shape[%ld].name = %s\n", i, shapes[i].name.c_str());
// printf("Size of shape[%ld].indices: %ld\n", i, shapes[i].mesh.indices.size());
// printf("Size of shape[%ld].material_ids: %ld\n", i, shapes[i].mesh.material_ids.size());
assert((shapes[i].mesh.indices.size() % 3) == 0);
// for (size_t f = 0; f < shapes[i].mesh.indices.size() / 3; f++) {
// printf(" idx[%ld] = %d, %d, %d. mat_id = %d\n", f, shapes[i].mesh.indices[3*f+0], shapes[i].mesh.indices[3*f+1], shapes[i].mesh.indices[3*f+2], shapes[i].mesh.material_ids[f]);
// }
// printf("shape[%ld].vertices: %ld\n", i, shapes[i].mesh.positions.size());
// assert((shapes[i].mesh.positions.size() % 3) == 0);
// for (size_t v = 0; v < shapes[i].mesh.positions.size() / 3; v++) {
// printf(" v[%ld] = (%f, %f, %f)\n", v,
// shapes[i].mesh.positions[3*v+0],
// shapes[i].mesh.positions[3*v+1],
// shapes[i].mesh.positions[3*v+2]);
// }
}
for (size_t i = 0; i < materials.size(); i++) {
printf("material[%ld].name = %s\n", i, materials[i].name.c_str());
printf(" material.Ka = (%f, %f ,%f)\n", materials[i].ambient[0], materials[i].ambient[1], materials[i].ambient[2]);
printf(" material.Kd = (%f, %f ,%f)\n", materials[i].diffuse[0], materials[i].diffuse[1], materials[i].diffuse[2]);
printf(" material.Ks = (%f, %f ,%f)\n", materials[i].specular[0], materials[i].specular[1], materials[i].specular[2]);
printf(" material.Tr = (%f, %f ,%f)\n", materials[i].transmittance[0], materials[i].transmittance[1], materials[i].transmittance[2]);
printf(" material.Ke = (%f, %f ,%f)\n", materials[i].emission[0], materials[i].emission[1], materials[i].emission[2]);
printf(" material.Ns = %f\n", materials[i].shininess);
printf(" material.Ni = %f\n", materials[i].ior);
printf(" material.dissolve = %f\n", materials[i].dissolve);
printf(" material.illum = %d\n", materials[i].illum);
printf(" material.map_Ka = %s\n", materials[i].ambient_texname.c_str());
printf(" material.map_Kd = %s\n", materials[i].diffuse_texname.c_str());
printf(" material.map_Ks = %s\n", materials[i].specular_texname.c_str());
printf(" material.map_Ns = %s\n", materials[i].normal_texname.c_str());
std::map<std::string, std::string>::const_iterator it(materials[i].unknown_parameter.begin());
std::map<std::string, std::string>::const_iterator itEnd(materials[i].unknown_parameter.end());
for (; it != itEnd; it++) {
printf(" material.%s = %s\n", it->first.c_str(), it->second.c_str());
}
printf("\n");
}
}
bool TestLoadObj(
const char* filename,
// const char* basepath = NULL,
std::vector<tinyobj::shape_t>& shapes,
std::vector<tinyobj::material_t>& materials)
{
std::cout << "Loading " << filename << std::endl;
std::string err = tinyobj::LoadObj(shapes, materials, filename, NULL);
if (!err.empty()) {
std::cerr << err << std::endl;
return false;
}
PrintInfo(shapes, materials);
return true;
}
#define RADPERDEG 0.0174533
void Arrow(GLdouble x1,GLdouble y1,GLdouble z1,GLdouble x2,GLdouble y2,GLdouble z2,GLdouble D)
{
double x=x2-x1;
double y=y2-y1;
double z=z2-z1;
double L=sqrt(x*x+y*y+z*z);
GLUquadricObj *quadObj;
glPushMatrix ();
glTranslated(x1,y1,z1);
if((x!=0.)||(y!=0.)) {
glRotated(atan2(y,x)/RADPERDEG,0.,0.,1.);
glRotated(atan2(sqrt(x*x+y*y),z)/RADPERDEG,0.,1.,0.);
} else if (z<0){
glRotated(180,1.,0.,0.);
}
glTranslatef(0,0,L-4*D);
quadObj = gluNewQuadric ();
gluQuadricDrawStyle (quadObj, GLU_FILL);
gluQuadricNormals (quadObj, GLU_SMOOTH);
gluCylinder(quadObj, 2*D, 0.0, 4*D, 32, 1);
gluDeleteQuadric(quadObj);
quadObj = gluNewQuadric ();
gluQuadricDrawStyle (quadObj, GLU_FILL);
gluQuadricNormals (quadObj, GLU_SMOOTH);
gluDisk(quadObj, 0.0, 2*D, 32, 1);
gluDeleteQuadric(quadObj);
glTranslatef(0,0,-L+4*D);
quadObj = gluNewQuadric ();
gluQuadricDrawStyle (quadObj, GLU_FILL);
gluQuadricNormals (quadObj, GLU_SMOOTH);
gluCylinder(quadObj, D, D, L-4*D, 32, 1);
gluDeleteQuadric(quadObj);
quadObj = gluNewQuadric ();
gluQuadricDrawStyle (quadObj, GLU_FILL);
gluQuadricNormals (quadObj, GLU_SMOOTH);
gluDisk(quadObj, 0.0, D, 32, 1);
gluDeleteQuadric(quadObj);
glPopMatrix ();
}
void drawAxes(GLdouble length)
{
glPushMatrix();
glColor3f(1.0,0,0);
glTranslatef(-length,0,0);
Arrow(0,0,0, 2*length,0,0, 0.1);
glPopMatrix();
glPushMatrix();
glColor3f(0.0,1.0,0);
glTranslatef(0,-length,0);
Arrow(0,0,0, 0,2*length,0, 0.1);
glPopMatrix();
glPushMatrix();
glColor3f(0.0,0.0,1.0);
glTranslatef(0,0,-length);
Arrow(0,0,0, 0,0,2*length, 0.1);
glPopMatrix();
}
void change_basis(TooN::SE3<>& T_wc_ref,
TooN::Matrix<4>&T)
{
TooN::Matrix<4>T4x4 = T.T() * T_wc_ref * T ;
TooN::Matrix<3>R_slice = TooN::Data(T4x4(0,0),T4x4(0,1),T4x4(0,2),
T4x4(1,0),T4x4(1,1),T4x4(1,2),
T4x4(2,0),T4x4(2,1),T4x4(2,2));
TooN::Vector<3>t_slice = TooN::makeVector(T4x4(0,3),T4x4(1,3),T4x4(2,3));
T_wc_ref = TooN::SE3<>(TooN::SO3<>(R_slice),t_slice);
}
void setOpenglMatrix(OpenGlMatrix& openglSE3Matrix, TooN::SE3<>&T_wcam)
{
TooN::SE3<>T_cw = T_wcam.inverse();
TooN::SO3<>Rot = TooN::SO3<>(T_cw.get_rotation()) /** TooN::SO3<>(TooN::makeVector((float)rx,(float)ry,(float)rz))*/;
TooN::Matrix<3>SO3Mat = Rot.get_matrix();
TooN::Vector<3>trans = T_cw.get_translation();
TooN::Matrix<4>SE3Mat = Identity(4);
SE3Mat.slice(0,0,3,3) = SO3Mat;
SE3Mat(0,3) = trans[0]/*+(float)tx*/;
SE3Mat(1,3) = trans[1]/*+(float)ty*/;
SE3Mat(2,3) = trans[2]/*+(float)tz*/;
/// Ref: http://www.felixgers.de/teaching/jogl/generalTransfo.html
/// It should be a transpose - stored in column major
for(int col = 0; col < 4; col++ )
{
for(int row = 0; row < 4; row++)
{
openglSE3Matrix.m[col*4+row] = SE3Mat(row,col);
}
}
}
double checkDisplacement(TooN::SE3<>&T1, TooN::SE3<>&T2)
{
TooN::Vector<6>t1_ln = T1.ln();
TooN::Vector<6>t2_ln = T2.ln();
return TooN::norm(t1_ln-t2_ln);
}
int main(int argc, char *argv[])
{
std::cout<<"Able to compile and print" << std::endl;
std::vector<tinyobj::shape_t> shapes;
std::vector<tinyobj::material_t> materials;
std::string fileName = "../data/living-room.obj";
TestLoadObj(fileName.c_str(),
shapes,
materials);
std::cout<<"shapes = " << shapes.size() << std::endl;
std::cout<<"materials = " << shapes.size() << std::endl;
std::vector<float*>shape_vertices(shapes.size(),NULL);
std::vector<float*>shape_normals(shapes.size(),NULL);
/// Reading the obj mesh
for(int i = 0; i < shape_vertices.size(); i++)
{
int num_vertices = shapes[i].mesh.positions.size()/3;
int num_faces = shapes[i].mesh.indices.size() / 3;
shape_vertices[i] = new float[num_faces*3*3];
shape_normals[i] = new float[num_faces*3*3];
int count=0;
for (size_t f = 0; f < shapes[i].mesh.indices.size() / 3; f++)
{
int v1_idx = shapes[i].mesh.indices[3*f+0];
int v2_idx = shapes[i].mesh.indices[3*f+1];
int v3_idx = shapes[i].mesh.indices[3*f+2];
int max_index = max(max(v1_idx,v2_idx),v3_idx);
if ( max_index > num_vertices )
{
std::cerr<<"max_vertex_index exceeds the number of vertices, something fishy!" << std::endl;
return 1;
}
shape_vertices[i][count+0] = shapes[i].mesh.positions[3*v1_idx+0];
shape_vertices[i][count+1] = shapes[i].mesh.positions[3*v1_idx+1];
shape_vertices[i][count+2] = shapes[i].mesh.positions[3*v1_idx+2];
shape_normals[i][count+0] = shapes[i].mesh.normals[3*v1_idx+0];
shape_normals[i][count+1] = shapes[i].mesh.normals[3*v1_idx+1];
shape_normals[i][count+2] = shapes[i].mesh.normals[3*v1_idx+2];
count+=3;
shape_vertices[i][count+0] = shapes[i].mesh.positions[3*v2_idx+0];
shape_vertices[i][count+1] = shapes[i].mesh.positions[3*v2_idx+1];
shape_vertices[i][count+2] = shapes[i].mesh.positions[3*v2_idx+2];
shape_normals[i][count+0] = shapes[i].mesh.normals[3*v2_idx+0];
shape_normals[i][count+1] = shapes[i].mesh.normals[3*v2_idx+1];
shape_normals[i][count+2] = shapes[i].mesh.normals[3*v2_idx+2];
count+=3;
shape_vertices[i][count+0] = shapes[i].mesh.positions[3*v3_idx+0];
shape_vertices[i][count+1] = shapes[i].mesh.positions[3*v3_idx+1];
shape_vertices[i][count+2] = shapes[i].mesh.positions[3*v3_idx+2];
shape_normals[i][count+0] = shapes[i].mesh.normals[3*v3_idx+0];
shape_normals[i][count+1] = shapes[i].mesh.normals[3*v3_idx+1];
shape_normals[i][count+2] = shapes[i].mesh.normals[3*v3_idx+2];
count+=3;
}
}
ifstream ifile("../data/ross_trajectories_2015/bedroom5_poses_0.txt");
TooN::SE3<>T_wc;
std::vector< TooN::SE3<> > gtPoses;
while(1)
{
if (ifile.eof())
break;
ifile >> T_wc;
// std::cout<<"T_wc = " << T_wc << std::endl;
gtPoses.push_back(T_wc);
}
ifile.close();
std::vector<float>red_colours;
std::vector<float>green_colours;
std::vector<float>blue_colours;
for(int i = 0; i < shapes.size(); i++)
{
float red = (float)rand()/RAND_MAX;
float green = (float)rand()/RAND_MAX;
float blue = (float)rand()/RAND_MAX;
red_colours.push_back( red );
green_colours.push_back( green );
blue_colours.push_back( blue );
}
// /// Scale 1 means 640x480 images
// /// Scale 2 means 320x240 images
int w_width = 640;
int w_height = 480;
const int UI_WIDTH = 150;
glutInit(& argc, argv);
pangolin::CreateWindowAndBind("GUISandbox",w_width+150,w_height);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glewInit();
/// Create a Panel
pangolin::View& d_panel = pangolin::CreatePanel("ui")
.SetBounds(1.0, 0.0, 0, pangolin::Attach::Pix(150));
pangolin::OpenGlRenderState browsing_cam;
browsing_cam.SetProjectionMatrix(ProjectionMatrixRDF_BottomLeft(640, 480, 420, 420, 320, 320, 0.1, 1000.0));
browsing_cam.SetModelViewMatrix(ModelViewLookAt(-0.63628,0.457925,10.21563,
0,0,0,AxisNegZ));
pangolin::OpenGlRenderState s_cam(
ProjectionMatrixRDF_BottomLeft(640,480,420.0,420.0,320,240,0.1, 1000.0),
ModelViewLookAt(3,3,3, 0,0,0, AxisNegZ)
);
pangolin::View& display_browsing_cam = pangolin::Display("cam")
.SetBounds(0.0, 1, Attach::Pix(UI_WIDTH), 1/*0.5*/, -640.0f/480.0f)
.SetHandler(new Handler3D(browsing_cam));
// std::cout<<"entering the while loop" << std::endl;
std::vector<TooN::Vector<3> > sizes_bb(shapes.size());
std::vector<TooN::Vector<3> > sizes_ctr(shapes.size());
TooN::Vector<3>size_;
TooN::Vector<3>center_;
// std::vector< CVD::Rgb<float> > _object_colours;
// for(int i = 0; i < grouped_object_vertices.size();i++)
// {
// int rand_val;
// rand_val = rand()%63;
// _object_colours.push_back(colorConverter(distinct_colours[rand_val]));
// }
///// http://www.sitmo.com/article/generating-random-numbers-in-c-with-boost/
// typedef boost::random::mt19937 ENG; // Mersenne Twister
// typedef boost::random::normal_distribution<double> DIST; // Normal Distribution
// typedef boost::random::variate_generator<ENG,DIST> GEN; // Variate generator
TooN::Matrix<>objectMetaData(shape_vertices.size(),6);
for(int i = 0 ; i < shape_vertices.size();i++)
{
int num_faces = shapes[i].mesh.indices.size() / 3;
int mesh_size = num_faces*3*3;
get_bbox_vecf(shape_vertices.at(i),
mesh_size,
size_,
center_);
sizes_bb.at(i) = size_;
sizes_ctr.at(i) = center_;
objectMetaData(i,0) = size_[0];
objectMetaData(i,1) = size_[1];
objectMetaData(i,2) = size_[2];
objectMetaData(i,3) = center_[0];
objectMetaData(i,4) = center_[1];
objectMetaData(i,5) = center_[2];
std::cout<<"size = " << size_ << std::endl;
std::cout<<"center = " << center_ << std::endl;
}
float new_val_x = 0, new_val_y = 0, new_val_z= 0;
std::cout<<"number of poses = " << gtPoses.size() << std::endl;
int render_pose_count=0;
int numposes2plot = 0;
CVD::Image<CVD::Rgb<CVD::byte> > img_flipped(CVD::ImageRef(640,480));
OpenGlMatrix openglSE3Matrix;
while(!pangolin::ShouldQuit())
{
static Var<float>x_min("ui.x_min",-4.935,0,5);
static Var<float>x_max("ui.x_max",3.486,0,5);
static Var<float>z_min("ui.z_min",-4.449,0,5);
static Var<float>z_max("ui.z_max",4.645,0,5);
// static Var<float>height("ui.height",0.3,0,5);
// static Var<float>c_angle("ui.angle",0,-180,180);
// static Var<int> max_iters("ui.max_iters",1000,1,25000);
static Var<float>rand_x("ui.rand_x",0,0,5);
static Var<float>rand_y("ui.rand_y",0,0,5);
static Var<float>rand_z("ui.rand_z",0,0,5);
static Var<float>vel("ui.vel",1,1,100);
static Var<int>models2show ("ui.models2show",(int)shapes.size(),
0,(int)shapes.size());
static Var<float> line_width("ui.line_width",2,0,100);
static Var<float> end_pt("ui.end_pt",0.1,0,10);
static Var<bool>render_images("ui.render_images",false);
// static Var<float>LightX("ui.x_Light",10,-10,10);
// static Var<float>LightY("ui.y_Light",5.652,-10,10);
// static Var<float>LightZ("ui.z_Light",7.981,-10,10);
// static Var<float>transparency("ui.transparency",1,0,1);
// static Var<bool> random_center("ui.random_center",false);
static Var<bool> plot_3d_model("ui.plot_model",true);
// static Var<bool> optimise("ui.optimise",false);
// static Var<bool> rotate_random("ui.rotate_random",false);
static Var<int> poses_size("ui.poses_size",0);
// static Var<bool> write_file("ui.write_file",false);
// static Var<bool> pairwise_flag("ui.pairwise",true);
// static Var<bool> visibility_flag("ui.visibility",true);
// static Var<bool> boundingbox_flag("ui.boundingbox",true);
// static Var<bool> angle_flag("ui.angle_flag",true);
// {
if ( render_images )
{
numposes2plot = render_pose_count;
if ( numposes2plot >= gtPoses.size())
break;
TooN::SE3<>T_wc = TooN::SE3<>(TooN::SO3<>(), TooN::makeVector(-0.3203,
-0.1365,
0.1449)) * gtPoses.at(render_pose_count);
// gtPoses.at(render_pose_count) = T_wc;
TooN::SE3<>T_cw = T_wc.inverse();
TooN::SO3<>Rot = T_cw.get_rotation();
TooN::Matrix<3>SO3Mat = Rot.get_matrix();
TooN::Vector<3>trans = T_cw.get_translation();
TooN::Matrix<4>SE3Mat = Identity(4);
SE3Mat.slice(0,0,3,3) = SO3Mat;
SE3Mat(0,3) = trans[0];
SE3Mat(1,3) = trans[1];
SE3Mat(2,3) = trans[2];
/// Ref: http://www.felixgers.de/teaching/jogl/generalTransfo.html
/// It should be a transpose - stored in column major
for(int col = 0; col < 4; col++ )
{
for(int row = 0; row < 4; row++)
{
openglSE3Matrix.m[col*4+row] = SE3Mat(row,col);
}
}
s_cam.SetModelViewMatrix(openglSE3Matrix);
s_cam.Apply();
numposes2plot = render_pose_count;
display_browsing_cam.ActivateScissorAndClear(s_cam);
}
else
{
display_browsing_cam.ActivateScissorAndClear(browsing_cam);
}
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT);
glColor3f(1.0f,1.0f,1.0f);
// /// Code to plot each of the objects in the mesh
if( plot_3d_model )
{
for(int i = 0; i < std::min((int)models2show,(int)shapes.size()-1); i++)
{
if (!render_images && (i == 28 || i == 29) /*room enclosure*/)
continue;
int num_faces = shapes[i].mesh.indices.size() / 3;
int mesh_size = num_faces*3*3;
std::string shape_name = shapes[i].name;
// std::cout<<"shape_name = " << shape_name << std::endl;
TooN::Vector<3>dims = sizes_bb.at(i);
{
dims = sizes_bb.at(i);
int num_faces = shapes[i].mesh.indices.size() / 3;
float* vertices = new float[num_faces*3*3];
for(int p =0; p < num_faces*3; p++)
{
vertices[3*p+0] = shape_vertices.at(i)[3*p+0] - sizes_ctr.at(i)[0];// + new_val_x;
vertices[3*p+1] = shape_vertices.at(i)[3*p+1] - sizes_ctr.at(i)[1];// + new_val_y;
vertices[3*p+2] = shape_vertices.at(i)[3*p+2] - sizes_ctr.at(i)[2];// + new_val_z;
}
glPushMatrix();
// TooN::Vector<3>center_random = TooN::makeVector(((float)rand()/RAND_MAX)*(x_max-x_min)+x_min,
// ((float)rand()/RAND_MAX)*(z_max-z_min)+z_min,/*sizes_bb.at(i)[1],*/
// dims[2]);
// center_random[0] = center_random[0];
// center_random[1] = center_random[1];
// if ( shape_name.find("chair1") != std::string::npos )
// {
// sizes_ctr.at(i)[0] = (float)x_min;
// sizes_ctr.at(i)[2] = (float)z_min;
// glTranslatef((float)x_min,
// sizes_ctr.at(i)[1],
// (float)z_min);
// std::cout<<"size_ctr.at(i)[0] = " << sizes_ctr.at(i)[0] << std::endl;
// std::cout<<"size_ctr.at(i)[2] = " << sizes_ctr.at(i)[2] << std::endl;
// }
// else
{
glTranslatef(sizes_ctr.at(i)[0],
sizes_ctr.at(i)[1],
sizes_ctr.at(i)[2]);
}
// TooN::Vector<3>ctr = TooN::makeVector(0,0,
// dims[2]/2);
// draw_bbox_only(dims,
// ctr);
glColor3f(red_colours.at(i),
green_colours.at(i),
blue_colours.at(i));
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3,GL_FLOAT,0,vertices);
// glVertexPointer(3,GL_FLOAT,0,shape_vertices[i]);
// glDrawArrays(GL_TRIANGLES,0,grouped_object_vertices.at(i).size()/3);
glDrawArrays(GL_TRIANGLES,0, mesh_size/3);
// glDrawArrays(GL_TRIANGLES,0, num_vertices*3);
glDisableClientState(GL_VERTEX_ARRAY);
glPopMatrix();
delete vertices;
}
}
}
if ( render_images )
{
// CVD::Image<CVD::Rgb<CVD::byte> > img = CVD::glReadPixels<CVD::Rgb<CVD::byte> >(CVD::ImageRef(640,480),
// CVD::ImageRef(150,0));
// int height = 480;
// int width = 640;
//#pragma omp parallel for
// for(int yy = 0; yy < height; yy++ )
// {
// for(int xx = 0; xx < width; xx++)
// {
// img_flipped[CVD::ImageRef(xx,height-1-yy)] = img[CVD::ImageRef(xx,yy)];
// }
// }
// char fileName[500];
// sprintf(fileName,"scene_00_%07d.png",render_pose_count);
// CVD::img_save(img_flipped,fileName);
render_pose_count++;
}
if ( !render_images)
{
for(int i =0; i < gtPoses.size();i++)
{
TooN::SE3<>T_wc = TooN::SE3<>(TooN::SO3<>(), TooN::makeVector((float)rand_x,
(float)rand_y,
(float)rand_z));
povray_utils::DrawCamera(T_wc * gtPoses.at(i),(float)end_pt, (float)line_width, false);
}
}
poses_size = (int)gtPoses.size();
// if ( optimise )
// {
// while(1)
// {
// static int count = 0;
// srand(time(NULL));
// x_dims = TooN::makeVector((float)x_min,
// (float)x_max);
// z_dims = TooN::makeVector((float)z_min,
// (float)z_max);
// simulated_annealing_objects(vertex_pos,
// sizes_bb,
// vertex_rot,
// bb_constraints,
// pw_constraints,
// angle_constraints,
// access_constraints,
// x_dims,
// z_dims,
// scene_graph.modelNames,
// pairwise_flag,
// visibility_flag,
// boundingbox_flag,
// angle_flag,
// (int)max_iters);
// std::cout<<"Entering here.. " << count++ << std::endl;
// if (valid_configuration(vertex_pos,
// sizes_bb,
// access_constraints,
// vertex_rot,
// bb_constraints) )
// {
//// optimise = false;
// break;
// }
// }
// optimised = true;
// optimise = false;
// }
// if ( optimised )
// {
// plot_3d_model = false;
// /// Enabling alpha channel
// x_dims = TooN::makeVector((float)x_min,
// (float)x_max);
// z_dims = TooN::makeVector((float)z_min,
// (float)z_max);
// glEnable( GL_BLEND );
// glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
//// glColor4f(1.0,1.0,0.0,0.3);
//// glColor3f(1.0,1.0,0.0);
//// glRectf(x_dims[0],z_dims[0],x_dims[1],z_dims[1]);
//// glDisable(GL_BLEND);
//// draw_bbox_only(dims,
//// ctr);
// glColor3f(0.0,1.0,1.0);
// glBegin(GL_LINE_LOOP);
// glVertex2f(x_dims[0],z_dims[0]);
// glVertex2f(x_dims[0],z_dims[1]);
// glVertex2f(x_dims[1],z_dims[1]);
// glVertex2f(x_dims[1],z_dims[0]);
// glEnd();
// GLfloat lightKa[] = {1.f, 0.2f, 1.f, 1.0f}; // ambient light
// GLfloat lightKd[] = {1.f, 1.f, 1.f, 1.0f}; // diffuse light
// GLfloat lightKs[] = {1, 1, 1, 1}; // specular light
// /// Enabling the light
// GLfloat _aLight[4];
// // position the light
// _aLight[0] = (float)LightX;
// _aLight[1] = (float)LightY;
// _aLight[2] = (float)LightZ;
// _aLight[3] = 1.0f;
// glEnable(GL_COLOR_MATERIAL);
// glEnable(GL_LIGHTING);
// glEnable(GL_LIGHT0); // MUST enable each light source after configuration
// glLightfv(GL_LIGHT0, GL_POSITION,_aLight);
// glLightfv(GL_LIGHT0, GL_AMBIENT, lightKa);
// glLightfv(GL_LIGHT0, GL_DIFFUSE, lightKd);
// glLightfv(GL_LIGHT0, GL_SPECULAR, lightKs);
// float colorMaterials[] = { 1.0f, 1.0f, 1.0f, 1.0f };
// glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, colorMaterials);
// std::vector<Point>input_points;
// int table_ind = 0;
// for(int i = 0; i < grouped_object_vertices.size(); i++)
// {
// if ( scene_graph.modelNames.at(i).find("table") != std::string::npos)
// {
// table_ind = i;
// break;
// }
// }
// for(int i = 0; i < min((int)models2show,(int)grouped_object_vertices.size());i++)
// {
// int training_label = obj_label2training_label(scene_graph.modelNames.at(i));
// TooN::Vector<3>dims = sizes_bb.at(i);
// {
// float* vertices = new float[grouped_object_vertices.at(i).size()];
// float* normals = new float[grouped_object_normals.at(i).size()];
// for(int p =0; p < grouped_object_vertices.at(i).size()/3; p++)
// {
// vertices[3*p+0] = (grouped_object_vertices.at(i).at(3*p+0));
// vertices[3*p+1] = (grouped_object_vertices.at(i).at(3*p+1));
// vertices[3*p+2] = (grouped_object_vertices.at(i).at(3*p+2));
// }
// if (grouped_object_normals.at(i).size() == grouped_object_vertices.at(i).size())
// {
// for(int vn = 0; vn < grouped_object_normals.at(i).size()/3; vn++)
// {
// normals[3*vn+0] = grouped_object_normals.at(i).at(3*vn+0);
// normals[3*vn+1] = grouped_object_normals.at(i).at(3*vn+1);
// normals[3*vn+2] = grouped_object_normals.at(i).at(3*vn+2);
// }
// }
// dims = sizes_bb.at(i);
// glPushMatrix();
// glTranslatef(vertex_pos.at(i)[0],
// vertex_pos.at(i)[1],
// 0);
// Point p;
// p.x = vertex_pos.at(i)[0]-dims[0]/2;
// p.y = vertex_pos.at(i)[1]-dims[1]/2;
// input_points.push_back(p);
// p.x = vertex_pos.at(i)[0]+dims[0]/2;
// p.y = vertex_pos.at(i)[1]-dims[1]/2;
// input_points.push_back(p);
// p.x = vertex_pos.at(i)[0]-dims[0]/2;
// p.y = vertex_pos.at(i)[1]+dims[1]/2;
// input_points.push_back(p);
// p.x = vertex_pos.at(i)[0]+dims[0]/2;
// p.y = vertex_pos.at(i)[1]+dims[1]/2;
// input_points.push_back(p);
// float current_angle = vertex_rot.at(i);
// if ( scene_graph.modelNames.at(i).find("chair") != std::string::npos
// /*&& rotate_random*/ )
// {
// float diff_y = vertex_pos.at(table_ind)[1]-
// vertex_pos.at(i)[1];
// float diff_x = vertex_pos.at(table_ind)[0]-
// vertex_pos.at(i)[0];
// /// Measuring angle with negative y-axis
// float angle = atan2(diff_x,-diff_y)*180/M_PI;
// current_angle = (float)c_angle;
// if ( rotate_random )
// {
// current_angle = (float)angle;//(-angle+180.f);
// }
// }
// if (scene_graph.modelNames.at(i).find("sofa") != std::string::npos )
// {
// if( vertex_pos.at(table_ind)[0] > vertex_pos.at(i)[0] )
// {
// current_angle = 180.0f;
// }
// }
// if (scene_graph.modelNames.at(i).find("night_stand") != std::string::npos )
// {
// current_angle = 90.0f;
// }
// if (scene_graph.modelNames.at(i).find("tv_set") != std::string::npos )
// {
//// current_angle = 90.0f;
// /// Find the nearest wall
// float dist_x_max = fabs(vertex_pos.at(i)[0]-x_dims[1]);
// float dist_x_min = fabs(vertex_pos.at(i)[0]-x_dims[0]);
// float dist_y_max = fabs(vertex_pos.at(i)[1]-z_dims[1]);
// float dist_y_min = fabs(vertex_pos.at(i)[1]-z_dims[0]);
// float min_d = min(min(dist_x_min,dist_x_max),min(dist_y_max,dist_y_min));
// current_angle = 90.0f; (float)c_angle;
// }
// glRotatef(current_angle,0,0,1);
// vertex_rot.at(i) = current_angle;
// TooN::Vector<3>ctr = TooN::makeVector(0,0,
// dims[2]/2);
// draw_bbox_only(dims,
// ctr);
// glColor3f(colours(training_label,0),colours(training_label,1),colours(training_label,2));
// if ( grouped_object_normals.at(i).size() )
// {
// glEnableClientState(GL_NORMAL_ARRAY);
// glNormalPointer(GL_FLOAT,3*sizeof(float),normals);
// }
// glEnableClientState(GL_VERTEX_ARRAY);
// glVertexPointer(3,GL_FLOAT,0,vertices);
// glDrawArrays(GL_TRIANGLES,0,grouped_object_vertices.at(i).size()/3);
// glDisableClientState(GL_VERTEX_ARRAY);
// glPopMatrix();
// if ( grouped_object_normals.at(i).size() )
// {
// glDisableClientState(GL_NORMAL_ARRAY);
// }
// delete vertices;
// delete normals;
// }
// }
// std::vector<Point>_convexHull = convex_hull(input_points);
// glBegin(GL_POLYGON);
// glColor4f(0.0,0.0,1.0,(float)transparency);
// for(int p=0; p<_convexHull.size()-1; p++)
// {
// float _x = _convexHull.at(p).x;
// float _y = _convexHull.at(p).y;
// glVertex3f((GLfloat)_x, (GLfloat)_y,0.0f);
// }
// glEnd();
// /// Wall
// std::string label = std::string("wall");
// int training_label = obj_label2training_label(label);
// glBegin(GL_POLYGON);
// glColor3f(colours(training_label,0),colours(training_label,1),colours(training_label,2));
// glVertex3f((float)x_min,(float)z_min,0);
// glVertex3f((float)x_max,(float)z_min,0);
// glVertex3f((float)x_max,(float)z_min,(float)height);
// glVertex3f((float)x_min,(float)z_min,(float)height);
// glEnd();
// glBegin(GL_POLYGON);
//// glColor4f((float)wall_red,(float)wall_green,(float)wall_blue,(float)transparency);
// glVertex3f((float)x_min,(float)z_max,0);
// glVertex3f((float)x_max,(float)z_max,0);
// glVertex3f((float)x_max,(float)z_max,(float)height);
// glVertex3f((float)x_min,(float)z_max,(float)height);
// glEnd();
// glBegin(GL_POLYGON);
//// glColor4f((float)wall_red,(float)wall_green,(float)wall_blue,(float)transparency);
// glVertex3f((float)x_min,(float)z_min,0);
// glVertex3f((float)x_min,(float)z_max,0);
// glVertex3f((float)x_min,(float)z_max,(float)height);
// glVertex3f((float)x_min,(float)z_min,(float)height);
// glEnd();
// glBegin(GL_POLYGON);
//// glColor4f((float)wall_red,(float)wall_green,(float)wall_blue,(float)transparency);
// glVertex3f((float)x_max,(float)z_min,0);
// glVertex3f((float)x_max,(float)z_max,0);
// glVertex3f((float)x_max,(float)z_max,(float)height);
// glVertex3f((float)x_max,(float)z_min,(float)height);
// glEnd();
// /// Floor
// glBegin(GL_POLYGON);