86 lines
3.3 KiB
C
86 lines
3.3 KiB
C
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// Copyright (c) Microsoft Corporation. All rights reserved.
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// Licensed under the MIT License.
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#ifndef GPUDEPTHTOPOINTCLOUDCONVERTER_H
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#define GPUDEPTHTOPOINTCLOUDCONVERTER_H
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// System headers
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//
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// Library headers
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//
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#include <k4a/k4a.hpp>
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#include "k4aimgui_all.h"
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// Project headers
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//
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#include "openglhelpers.h"
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namespace k4aviewer
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{
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class GpuDepthToPointCloudConverter
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{
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public:
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GpuDepthToPointCloudConverter();
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~GpuDepthToPointCloudConverter() = default;
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// Creates a k4a::image containing the XY tables from calibration based on calibrationType.
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// The table is a 2D array of k4a_float2_t's with the same resolution as the camera of calibrationType
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// specified in calibration.
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//
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// You can use this table to convert a depth image into a point cloud, e.g. by using the Convert method.
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// Conversion is done by multiplying the depth pixel value by the XY table values - i.e. the result
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// pixel will be (xyTable[p].x * depthImage[p], xyTable[p].y * depthImage[p], depthImage[p]), where
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// p is the index of a given pixel.
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//
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static k4a::image GenerateXyTable(const k4a::calibration &calibration, k4a_calibration_type_t calibrationType);
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// Set the XY table that will be used by future calls to Convert(). Get an XY table by calling
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// GenerateXyTable().
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//
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GLenum SetActiveXyTable(const k4a::image &xyTable);
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// Takes depth data and turns it into a texture containing the XYZ coordinates of the depth map
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// using the most recently set-to-active XY table. The input depth image and output texture
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// (if already set) must be of the same resolution that was used to generate that XY table, or
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// else behavior is undefined.
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//
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// Essentially a reimplementation of k4a::transform::depth_image_to_point_cloud on the GPU.
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// This is much more performant than k4a::transform::depth_image_to_point_cloud, but is a bit
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// more unwieldly to use since you have to use its output in shaders.
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//
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// The output texture has an internal format of GL_RGBA32F and is intended to be used directly
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// by other OpenGL shaders as an image2d uniform.
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//
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// To avoid excess image allocations, you can reuse a texture that was previously output
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// by this function, provided the depth image and XY table previously used was for the same
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// sized texture.
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//
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GLenum Convert(const k4a::image &depth, OpenGL::Texture *texture);
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// The format that the point cloud texture uses internally to store points.
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// If you want to use the texture that this outputs from your shader, you
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// need to pass this as the format argument to glBindImageTexture().
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//
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static constexpr GLenum PointCloudTextureFormat = GL_RGBA32F;
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GpuDepthToPointCloudConverter(GpuDepthToPointCloudConverter &) = delete;
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GpuDepthToPointCloudConverter(GpuDepthToPointCloudConverter &&) = delete;
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GpuDepthToPointCloudConverter &operator=(GpuDepthToPointCloudConverter &) = delete;
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GpuDepthToPointCloudConverter &operator=(GpuDepthToPointCloudConverter &&) = delete;
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private:
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OpenGL::Program m_shaderProgram;
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GLint m_destTexId;
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GLint m_xyTableId;
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GLint m_depthImageId;
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OpenGL::Texture m_depthImageTexture;
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OpenGL::Texture m_xyTableTexture;
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OpenGL::Buffer m_depthImagePixelBuffer;
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};
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} // namespace k4aviewer
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#endif
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