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Support for new glarea intefrace, added data structures for undistorting

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This commit is contained in:
Andrea Bernabei bernabei 2011-02-11 14:24:42 +00:00
parent 591be67891
commit 9eece8ed90
2 changed files with 45 additions and 6 deletions
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42
src/meshlabplugins/edit_kinect/edit_kinect.cpp
View File

@ -126,10 +126,37 @@ bool KinectEditPlugin::ScanningConverged(){
void KinectEditPlugin::CleanupGL(){
glDeleteTextures(1, &gl_depth_tex);
glDeleteTextures(1, &gl_depth_tex_avg);
glDeleteTextures(1, &gl_undistort_depth_tex);
glDeleteTextures(1, &gl_undistort_rgb_tex);
glDeleteTextures(1, &gl_color_tex);
glDeleteBuffers(1, &point_cloud);
glDeleteProgram(pr);
}
void KinectEditPlugin::UndistortMaps()
{
/*RGB Undistort Texture, loading on the device*/
glActiveTexture(GL_TEXTURE3);
glGenTextures(1, &gl_undistort_rgb_tex);
glBindTexture(GL_TEXTURE_2D, gl_undistort_rgb_tex);
glTexImage2D(GL_TEXTURE_2D, 0,GL_R32F, 1024, 512, 0, GL_RED, GL_UNSIGNED_SHORT, 0);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_CLAMP_TO_EDGE);
/*Depth Undistort Texture, loading on the device*/
glActiveTexture(GL_TEXTURE4);
glGenTextures(1, &gl_undistort_depth_tex);
glBindTexture(GL_TEXTURE_2D, gl_undistort_depth_tex);
glTexImage2D(GL_TEXTURE_2D, 0,GL_R32F, 1024, 512, 0, GL_RED, GL_UNSIGNED_SHORT, 0);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_CLAMP_TO_EDGE);
}
void KinectEditPlugin::InitializeGL(){
@ -179,7 +206,8 @@ void KinectEditPlugin::InitializeGL(){
std::string str_vs =
std::string("varying bool kill;")+
std::string("uniform float depth_distortion[5];")+
std::string("uniform sampler2D rgb_undistort;")+
std::string("uniform sampler2D depth_undistort;")+
std::string("uniform sampler2D col;")+
std::string("uniform sampler2D dv;")+
std::string("uniform float focal;")+
@ -241,8 +269,12 @@ void KinectEditPlugin::InitializeGL(){
glUniform1i(depth_loc,0);
GLuint col_loc = glGetUniformLocation(pr,"col");
glUniform1i(col_loc,2);
GLuint depth_dis_loc = glGetUniformLocation(pr,"depth_distortion");
glUniform1fv(depth_dis_loc,5,&depth_distortion[0]);
GLuint rgb_dis_loc = glGetUniformLocation(pr,"rgb_undistort");
glUniform1i(rgb_dis_loc,3);
GLuint depth_dis_loc = glGetUniformLocation(pr,"depth_undistort");
glUniform1i(depth_dis_loc,4);
GLuint R_loc = glGetUniformLocation(pr,"R");
glUniformMatrix3fv(R_loc,1,false,&R[0][0]);
GLuint T_loc = glGetUniformLocation(pr,"T");
@ -258,6 +290,7 @@ void KinectEditPlugin::InitializeGL(){
void KinectEditPlugin::Decorate(MeshModel &, GLArea * )
{
if(toinitialize){
InitializeGL();
toinitialize = false;
@ -327,6 +360,7 @@ void KinectEditPlugin::loadCalibration(){
if(!filename.isEmpty())
if(!::LoadCalibrationData(filename))
::LoadCalibrationData("default_calibration.yml");
UndistortMaps();
}
@ -365,7 +399,7 @@ vcg::Point3f Point(float v, float X, float Y){
void KinectEditPlugin::saveScan(){
mm = (MeshModel*)1;
mm = gla->meshDoc->addNewMesh("Kinect Mesh",false);
mm = gla->md()->addNewMesh("Kinect Mesh",false);
CMeshO::VertexIterator vi =
vcg::tri::Allocator<CMeshO>::AddVertices(mm->cm,640*480);

9
src/meshlabplugins/edit_kinect/edit_kinect.h
View File

@ -39,7 +39,9 @@ class KinectEditPlugin : public QObject, public MeshEditInterface
{
Q_OBJECT
Q_INTERFACES(MeshEditInterface)
public:
KinectEditPlugin();
virtual ~KinectEditPlugin() {}
@ -70,7 +72,9 @@ public:
foc_loc,
shx_loc,
point_cloud, // VBO of 680*480 vertex
pr; // program to displace vertices
pr, // program to displace vertices
gl_undistort_rgb_tex,
gl_undistort_depth_tex;
enum {VIEW_SCANNED_MODEL,VIEW_REAL_TIME} ViewMode;
struct Frame{ unsigned short data[640*480];};
@ -81,6 +85,7 @@ public:
bool ScanningConverged();
void InitializeGL();
void CleanupGL();
void UndistortMaps();
public slots:
void loadCalibration();
void startScan();