wg-perception/ork_renderer

ork_renderer's Issues

load model issue

  scene->mMeshes[i]->mVertices[j].x *= -1;
  scene->mMeshes[i]->mVertices[j].y *= -1;
  scene->mMeshes[i]->mVertices[j].z *= -1;

when you load the model,why you multiply -1

Illegal glut reinitialization attempt when using several objects

GLUT fails reinitializing the renderer for training the second object.
For now I have to look for object id myself, type it in training.ork and train them one by one

Training 2 objects.
computing object_id: 6032cd3e53c8687ca9f60576df000c3c
Info,  T0: Load /tmp/fileDTLhMD.stl
Info,  T0: Found a matching importer for this file format
Info,  T0: Import root directory is '/tmp/'
Info,  T0: Entering post processing pipeline
Info,  T0: Points: 0, Lines: 0, Triangles: 1, Polygons: 0 (Meshes, X = removed)
Error, T0: Failed to compute tangents; need UV data in channel0
Warn,  T0: Mesh 0: Not suitable for vcache optimization
Info,  T0: Cache relevant are 0 meshes (0 faces). Average output ACMR is -nan
Info,  T0: Leaving post processing pipeline
computing object_id: b5bc216623c0e4d6ca4a0d4429002102
freeglut illegal glutInit() reinitialization attempt

Compile error OpenGl

Hello,
i get the following compile error. Any ideas?

/ork/src/ork_renderer/src/renderer3d.cpp:131:41: error: ‘gluPerspective’ was not declared in this scope gluPerspective(fovy, aspect, near, far);

/ork/src/ork_renderer/src/renderer3d.cpp: In member function ‘virtual void Renderer3d::lookAt(double, double, double, double, double, double)’:

/ork/src/ork_renderer/src/renderer3d.cpp:144:43: error: ‘glLookAt’ was not declared in this scope glLookAt(x, y, z, 0, 0, 0, upx, upy, upz);

Linemod issue

I think that this issue is actually in this respository!

No sample files to test with

It would be good to include some example 2d (png) or 2d files that could be used to test the renderer and planar trainer. I had to reverse engineer the png file format encoding for depth and the mask...

Merge pull request #5 from nlyubova/master breaks compilation of linemod_train.cpp

Since render was changed from 3 args to 4 args.

render(cv::Mat &image_out, cv::Mat &depth_out, cv::Mat &mask_out) const = 0;
+ render(cv::Mat &image_out, cv::Mat &depth_out, cv::Mat &mask_out, cv::Rect &rect_out) const = 0;

Either update the other packages that depend on ork_renderer or have backward compatibility in ork_renderer by having another render function with 3 args.

Texture rendering

Currently doesn't work, as mentioned in wg-perception/linemod#10
A hacky fix is there (mentioned in the link)

Can not catkin_make this package

When I run catkin_make I always face this problem. Anyone knows why?

CMakeFiles/trainer_planar.dir/trainer_planar.cpp.o: In function `main':
trainer_planar.cpp:(.text.startup+0xcd): undefined reference to `cv::linemod::getDefaultLINE()'
trainer_planar.cpp:(.text.startup+0x3e0): undefined reference to `cv::Rodrigues(cv::_InputArray const&, cv::_OutputArray const&, cv::_OutputArray const&)'
trainer_planar.cpp:(.text.startup+0x99c): undefined reference to `cv::linemod::Detector::addTemplate(std::vector<cv::Mat, std::allocator<cv::Mat> > const&, std::string const&, cv::Mat const&, cv::Rect_<int>*)'
trainer_planar.cpp:(.text.startup+0xc7e): undefined reference to `cv::linemod::Detector::writeClasses(std::string const&) const'
trainer_planar.cpp:(.text.startup+0xf76): undefined reference to `cv::linemod::Detector::match(std::vector<cv::Mat, std::allocator<cv::Mat> > const&, float, std::vector<cv::linemod::Match, std::allocator<cv::linemod::Match> >&, std::vector<std::string, std::allocator<std::string> > const&, cv::_OutputArray const&, std::vector<cv::Mat, std::allocator<cv::Mat> > const&) const'
trainer_planar.cpp:(.text.startup+0x12fa): undefined reference to `cv::linemod::Detector::getTemplates(std::string const&, int) const'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/tu/catkin_ws/devel/lib/object_recognition_renderer/trainer_planar] Error 1
make[1]: *** [ork/src/ork_renderer/src/apps/CMakeFiles/trainer_planar.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....