158 lines
4.3 KiB
C++
158 lines
4.3 KiB
C++
// Copyright (c) Microsoft Corporation. All rights reserved.
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// Licensed under the MIT License.
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// Associated header
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//
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#include "k4apointcloudrenderer.h"
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// System headers
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//
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#include <algorithm>
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#include <sstream>
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// Library headers
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//
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// Project headers
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//
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#include "gpudepthtopointcloudconverter.h"
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#include "k4apixel.h"
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#include "k4apointcloudshaders.h"
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#include "k4apointcloudviewcontrol.h"
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#include "k4aviewerutil.h"
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#include "perfcounter.h"
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using namespace linmath;
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using namespace k4aviewer;
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PointCloudRenderer::PointCloudRenderer()
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{
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mat4x4_identity(m_view);
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mat4x4_identity(m_projection);
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// Context Settings
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glEnable(GL_PROGRAM_POINT_SIZE);
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OpenGL::Shader vertexShader(GL_VERTEX_SHADER, PointCloudVertexShader);
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OpenGL::Shader fragmentShader(GL_FRAGMENT_SHADER, PointCloudFragmentShader);
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m_shaderProgram.AttachShader(std::move(vertexShader));
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m_shaderProgram.AttachShader(std::move(fragmentShader));
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m_shaderProgram.Link();
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m_viewIndex = glGetUniformLocation(m_shaderProgram.Id(), "view");
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m_projectionIndex = glGetUniformLocation(m_shaderProgram.Id(), "projection");
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m_enableShadingIndex = glGetUniformLocation(m_shaderProgram.Id(), "enableShading");
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m_pointCloudTextureIndex = glGetUniformLocation(m_shaderProgram.Id(), "pointCloudTexture");
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}
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void PointCloudRenderer::UpdateViewProjection(mat4x4 view, mat4x4 projection)
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{
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mat4x4_dup(m_view, view);
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mat4x4_dup(m_projection, projection);
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}
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GLenum PointCloudRenderer::UpdatePointClouds(const k4a::image &color, const OpenGL::Texture &pointCloudTexture)
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{
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glBindVertexArray(m_vertexArrayObject.Id());
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// Vertex Colors
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//
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glBindBuffer(GL_ARRAY_BUFFER, m_vertexColorBufferObject.Id());
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const int colorImageSizeBytes = static_cast<int>(color.get_size());
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if (m_vertexArraySizeBytes != colorImageSizeBytes)
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{
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m_vertexArraySizeBytes = colorImageSizeBytes;
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glBufferData(GL_ARRAY_BUFFER, m_vertexArraySizeBytes, nullptr, GL_STREAM_DRAW);
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}
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GLubyte *vertexMappedBuffer = reinterpret_cast<GLubyte *>(
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glMapBufferRange(GL_ARRAY_BUFFER, 0, colorImageSizeBytes, GL_MAP_WRITE_BIT | GL_MAP_INVALIDATE_BUFFER_BIT));
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if (!vertexMappedBuffer)
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{
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return glGetError();
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}
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const GLubyte *colorSrc = reinterpret_cast<const GLubyte *>(color.get_buffer());
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std::copy(colorSrc, colorSrc + colorImageSizeBytes, vertexMappedBuffer);
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if (!glUnmapBuffer(GL_ARRAY_BUFFER))
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{
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return glGetError();
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}
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glEnableVertexAttribArray(0);
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glVertexAttribPointer(0, GL_BGRA, GL_UNSIGNED_BYTE, GL_TRUE, 0, 0);
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glUseProgram(m_shaderProgram.Id());
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// Uniforms
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//
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// Bind our point cloud texture
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//
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glActiveTexture(GL_TEXTURE0);
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glBindTexture(GL_TEXTURE_2D, pointCloudTexture.Id());
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glBindImageTexture(0,
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pointCloudTexture.Id(),
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0,
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GL_FALSE,
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0,
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GL_READ_ONLY,
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GpuDepthToPointCloudConverter::PointCloudTextureFormat);
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glUniform1i(m_pointCloudTextureIndex, 0);
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glBindVertexArray(0);
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return glGetError();
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}
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GLenum PointCloudRenderer::Render()
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{
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glEnable(GL_DEPTH_TEST);
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glEnable(GL_BLEND);
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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glPointSize(static_cast<GLfloat>(m_pointSize));
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glUseProgram(m_shaderProgram.Id());
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// Update view/projective matrices in shader
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//
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glUniformMatrix4fv(m_viewIndex, 1, GL_FALSE, reinterpret_cast<const GLfloat *>(m_view));
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glUniformMatrix4fv(m_projectionIndex, 1, GL_FALSE, reinterpret_cast<const GLfloat *>(m_projection));
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// Update render settings in shader
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//
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glUniform1i(m_enableShadingIndex, static_cast<GLint>(m_enableShading));
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// Render point cloud
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//
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glBindVertexArray(m_vertexArrayObject.Id());
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glDrawArrays(GL_POINTS, 0, m_vertexArraySizeBytes / static_cast<GLsizei>(sizeof(BgraPixel)));
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glBindVertexArray(0);
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return glGetError();
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}
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int PointCloudRenderer::GetPointSize() const
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{
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return m_pointSize;
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}
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void PointCloudRenderer::SetPointSize(const int pointSize)
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{
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m_pointSize = pointSize;
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}
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void PointCloudRenderer::EnableShading(bool enableShading)
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{
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m_enableShading = enableShading;
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}
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bool PointCloudRenderer::ShadingIsEnabled() const
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{
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return m_enableShading;
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}
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