114 lines
3.2 KiB
C
114 lines
3.2 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 K4APOINTCLOUDVISUALIZER_H
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#define K4APOINTCLOUDVISUALIZER_H
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// System headers
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//
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#include <vector>
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// Library headers
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//
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#include <k4a/k4a.hpp>
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// Project headers
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//
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#include "gpudepthtopointcloudconverter.h"
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#include "k4apointcloudrenderer.h"
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#include "k4apointcloudviewcontrol.h"
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#include "k4aviewerutil.h"
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#include "k4aviewerimage.h"
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namespace k4aviewer
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{
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enum class PointCloudVisualizationResult
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{
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Success,
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OpenGlError,
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MissingDepthImage,
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MissingColorImage,
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DepthToXyzTransformationFailed,
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DepthToColorTransformationFailed
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};
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class K4APointCloudVisualizer
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{
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public:
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enum class ColorizationStrategy
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{
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Simple,
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Shaded,
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Color
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};
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GLenum InitializeTexture(std::shared_ptr<K4AViewerImage> *texture) const;
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PointCloudVisualizationResult UpdateTexture(std::shared_ptr<K4AViewerImage> *texture, const k4a::capture &capture);
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void ProcessMouseMovement(const linmath::vec2 displayDimensions,
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const linmath::vec2 mousePos,
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const linmath::vec2 mouseDelta,
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MouseMovementType movementType);
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void ProcessMouseScroll(float yoffset);
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void ResetPosition();
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PointCloudVisualizationResult SetColorizationStrategy(ColorizationStrategy strategy);
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void SetPointSize(int size);
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K4APointCloudVisualizer(bool enableColorPointCloud, const k4a::calibration &calibrationData);
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~K4APointCloudVisualizer() = default;
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K4APointCloudVisualizer(const K4APointCloudVisualizer &) = delete;
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K4APointCloudVisualizer &operator=(const K4APointCloudVisualizer &) = delete;
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K4APointCloudVisualizer(const K4APointCloudVisualizer &&) = delete;
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K4APointCloudVisualizer &operator=(const K4APointCloudVisualizer &&) = delete;
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private:
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PointCloudVisualizationResult UpdatePointClouds(const k4a::capture &capture);
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std::pair<DepthPixel, DepthPixel> m_expectedValueRange;
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ImageDimensions m_dimensions;
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PointCloudRenderer m_pointCloudRenderer;
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ViewControl m_viewControl;
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bool m_enableColorPointCloud = false;
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ColorizationStrategy m_colorizationStrategy;
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linmath::mat4x4 m_projection{};
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linmath::mat4x4 m_view{};
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OpenGL::Framebuffer m_frameBuffer = OpenGL::Framebuffer(true);
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OpenGL::Renderbuffer m_depthBuffer = OpenGL::Renderbuffer(true);
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k4a::calibration m_calibrationData;
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k4a::transformation m_transformation;
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k4a::capture m_lastCapture;
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// Buffer that holds the depth image transformed to the color coordinate space.
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// Used in color mode only.
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//
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k4a::image m_transformedDepthImage;
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// In color mode, this is just a shallow copy of the latest color image.
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// In depth mode, this is a buffer that holds the colorization of the depth image.
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//
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k4a::image m_pointCloudColorization;
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// Holds the XYZ point cloud as a texture.
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// Format is XYZA, where A (the alpha channel) is unused.
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//
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OpenGL::Texture m_xyzTexture;
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GpuDepthToPointCloudConverter m_pointCloudConverter;
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k4a::image m_colorXyTable;
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k4a::image m_depthXyTable;
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};
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} // namespace k4aviewer
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#endif
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