DepthImageRenderer.h

   1 /***********************************************************************
   2 DepthImageRenderer - Class to centralize storage of raw or filtered
   3 depth images on the GPU, and perform simple repetitive rendering tasks
   4 such as rendering elevation values into a frame buffer.
   5 Copyright (c) 2014-2018 Oliver Kreylos
   6
   7 This file is part of the Augmented Reality Sandbox (SARndbox).
   8
   9 The Augmented Reality Sandbox is free software; you can redistribute it
  10 and/or modify it under the terms of the GNU General Public License as
  11 published by the Free Software Foundation; either version 2 of the
  12 License, or (at your option) any later version.
  13
  14 The Augmented Reality Sandbox is distributed in the hope that it will be
  15 useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
  16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  17 General Public License for more details.
  18
  19 You should have received a copy of the GNU General Public License along
  20 with the Augmented Reality Sandbox; if not, write to the Free Software
  21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  22 ***********************************************************************/
  23
  24 #ifndef DEPTHIMAGERENDERER_INCLUDED
  25 #define DEPTHIMAGERENDERER_INCLUDED
  26
  27 #include <GL/gl.h>
  28 #include <GL/Extensions/GLARBShaderObjects.h>
  29 #include <GL/GLObject.h>
  30 #include <GL/GLGeometryVertex.h>
  31 #include <Kinect/FrameBuffer.h>
  32 #include <Kinect/FrameSource.h>
  33
  34 #include "Types.h"
  35
  36 class DepthImageRenderer: public GLObject {
  37     /* Embedded classes: */
  38   private:
  39     typedef GLGeometry::Vertex<void, 0, void, 0, void, GLfloat, 2>
  40     Vertex; // Type for template vertices
  41
  42     struct DataItem: public GLObject::DataItem { // Structure storing per-context OpenGL state
  43         /* Elements: */
  44       public:
  45
  46         /* OpenGL state management: */
  47         GLuint vertexBuffer; // ID of vertex buffer object holding surface's template vertices
  48         GLuint indexBuffer; // ID of index buffer object holding surface's triangles
  49         GLuint depthTexture; // ID of texture object holding surface's vertex elevations in depth image space
  50         unsigned int depthTextureVersion; // Version number of the depth image texture
  51
  52         /* GLSL shader management: */
  53         GLhandleARB depthShader; // Shader program to render the surface's depth only
  54         GLint depthShaderUniforms[2]; // Locations of the depth shader's uniform variables
  55         GLhandleARB
  56         elevationShader; // Shader program to render the surface's elevation relative to a plane
  57         GLint elevationShaderUniforms[4]; // Locations of the elevation shader's uniform variables
  58
  59         /* Constructors and destructors: */
  60         DataItem(void);
  61         virtual ~DataItem(void);
  62     };
  63
  64     /* Elements: */
  65     unsigned int depthImageSize[2]; // Size of depth image texture
  66     Kinect::LensDistortion lensDistortion; // 2D lens distortion parameters
  67     PTransform depthProjection; // Projection matrix from depth image space into 3D camera space
  68     GLfloat depthProjectionMatrix[16]; // Same, in GLSL-compatible format
  69     GLfloat weightDicEq[4]; // Equation to calculate the weight of a depth image-space point in 3D camera space
  70     Plane basePlane; // Base plane to calculate surface elevation
  71     GLfloat basePlaneDicEq[4]; // Base plane equation in depth image space in GLSL-compatible format
  72
  73     /* Transient state: */
  74     Kinect::FrameBuffer depthImage; // The most recent float-pixel depth image
  75     unsigned int depthImageVersion; // Version number of the depth image
  76
  77     /* Constructors and destructors: */
  78   public:
  79     DepthImageRenderer(const unsigned int
  80                        sDepthImageSize[2]); // Creates an elevation renderer for the given depth image size
  81
  82     /* Methods from GLObject: */
  83     virtual void initContext(GLContextData& contextData) const;
  84
  85     /* New methods: */
  86     const unsigned int* getDepthImageSize(void) const { // Returns the depth image size
  87         return depthImageSize;
  88     }
  89     unsigned int getDepthImageSize(int index) const { // Returns one component of the depth image size
  90         return depthImageSize[index];
  91     }
  92     const PTransform& getDepthProjection(void) const { // Returns the depth unprojection matrix
  93         return depthProjection;
  94     }
  95     const Plane& getBasePlane(void) const { // Returns the elevation base plane
  96         return basePlane;
  97     }
  98     void setDepthProjection(const PTransform&
  99                             newDepthProjection); // Sets a new depth unprojection matrix
 100     void setIntrinsics(const Kinect::FrameSource::IntrinsicParameters&
 101                        ips); // Sets a new depth unprojection matrix and, if present, 2D lens distortion parameters
 102     void setBasePlane(const Plane& newBasePlane); // Sets a new base plane for elevation rendering
 103     void setDepthImage(const Kinect::FrameBuffer&
 104                        newDepthImage); // Sets a new depth image for subsequent surface rendering
 105     Scalar intersectLine(const Point& p0, const Point& p1, Scalar elevationMin,
 106                          Scalar elevationMax)
 107     const; // Intersects a line segment with the current depth image in camera space; returns intersection point's parameter along line
 108     unsigned int getDepthImageVersion(void)
 109     const { // Returns the version number of the current depth image
 110         return depthImageVersion;
 111     }
 112     void uploadDepthProjection(GLint location)
 113     const; // Uploads the depth unprojection matrix into the GLSL 4x4 matrix at the given uniform location
 114     void bindDepthTexture(GLContextData& contextData)
 115     const; // Binds the up-to-date depth texture image to the currently active texture unit
 116     void renderSurfaceTemplate(GLContextData& contextData)
 117     const; // Renders the template quad strip mesh using current OpenGL settings
 118     void renderDepth(const PTransform& projectionModelview,
 119                      GLContextData& contextData)
 120     const; // Renders the surface into a pure depth buffer, for early z culling or shadow passes etc.
 121     void renderElevation(const PTransform& projectionModelview,
 122                          GLContextData& contextData)
 123     const; // Renders the surface's elevation relative to the base plane into the current one-component floating-point valued frame buffer
 124 };
 125
 126 #endif