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IndexMap.cpp
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IndexMap.cpp
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/*
* This file is part of ElasticFusion.
*
* Copyright (C) 2015 Imperial College London
*
* The use of the code within this file and all code within files that
* make up the software that is ElasticFusion is permitted for
* non-commercial purposes only. The full terms and conditions that
* apply to the code within this file are detailed within the LICENSE.txt
* file and at <http://www.imperial.ac.uk/dyson-robotics-lab/downloads/elastic-fusion/elastic-fusion-license/>
* unless explicitly stated. By downloading this file you agree to
* comply with these terms.
*
* If you wish to use any of this code for commercial purposes then
* please email researchcontracts.engineering@imperial.ac.uk.
*
*/
#include "IndexMap.h"
const int IndexMap::FACTOR = 4;
IndexMap::IndexMap()
: indexProgram(loadProgramFromFile("index_map.vert", "index_map.frag")),
indexRenderBuffer(Resolution::getInstance().width() * IndexMap::FACTOR, Resolution::getInstance().height() * IndexMap::FACTOR),
indexTexture(Resolution::getInstance().width() * IndexMap::FACTOR,
Resolution::getInstance().height() * IndexMap::FACTOR,
GL_LUMINANCE32UI_EXT,
GL_LUMINANCE_INTEGER_EXT,
GL_UNSIGNED_INT),
vertConfTexture(Resolution::getInstance().width() * IndexMap::FACTOR,
Resolution::getInstance().height() * IndexMap::FACTOR,
GL_RGBA32F, GL_LUMINANCE, GL_FLOAT),
colorTimeTexture(Resolution::getInstance().width() * IndexMap::FACTOR,
Resolution::getInstance().height() * IndexMap::FACTOR,
GL_RGBA32F, GL_LUMINANCE, GL_FLOAT),
normalRadTexture(Resolution::getInstance().width() * IndexMap::FACTOR,
Resolution::getInstance().height() * IndexMap::FACTOR,
GL_RGBA32F, GL_LUMINANCE, GL_FLOAT),
drawDepthProgram(loadProgramFromFile("empty.vert", "visualise_textures.frag", "quad.geom")),
drawRenderBuffer(Resolution::getInstance().width(), Resolution::getInstance().height()),
drawTexture(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_RGBA,
GL_RGB,
GL_UNSIGNED_BYTE,
false),
depthProgram(loadProgramFromFile("splat.vert", "depth_splat.frag")),
depthRenderBuffer(Resolution::getInstance().width(), Resolution::getInstance().height()),
depthTexture(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_LUMINANCE32F_ARB,
GL_LUMINANCE,
GL_FLOAT,
false),
combinedProgram(loadProgramFromFile("splat.vert", "combo_splat.frag")),
combinedRenderBufferLowConf(Resolution::getInstance().width(), Resolution::getInstance().height()),
combinedRenderBufferHighConf(Resolution::getInstance().width(), Resolution::getInstance().height()),
imageTextureLowConf(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_RGBA,
GL_RGB,
GL_UNSIGNED_BYTE,
false),
imageTextureHighConf(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_RGBA,
GL_RGB,
GL_UNSIGNED_BYTE,
false),
vertexTextureLowConf(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_RGBA32F, GL_LUMINANCE, GL_FLOAT, false),
vertexTextureHighConf(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_RGBA32F, GL_LUMINANCE, GL_FLOAT, false),
normalTextureLowConf(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_RGBA32F, GL_LUMINANCE, GL_FLOAT, false),
normalTextureHighConf(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_RGBA32F, GL_LUMINANCE, GL_FLOAT, false),
timeTextureLowConf(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_LUMINANCE16UI_EXT,
GL_LUMINANCE_INTEGER_EXT,
GL_UNSIGNED_SHORT,
false),
timeTextureHighConf(Resolution::getInstance().width(),
Resolution::getInstance().height(),
GL_LUMINANCE16UI_EXT,
GL_LUMINANCE_INTEGER_EXT,
GL_UNSIGNED_SHORT,
false)
{
indexFrameBuffer.AttachColour(*indexTexture.texture);
indexFrameBuffer.AttachColour(*vertConfTexture.texture);
indexFrameBuffer.AttachColour(*colorTimeTexture.texture);
indexFrameBuffer.AttachColour(*normalRadTexture.texture);
indexFrameBuffer.AttachDepth(indexRenderBuffer);
drawFrameBuffer.AttachColour(*drawTexture.texture);
drawFrameBuffer.AttachDepth(drawRenderBuffer);
depthFrameBuffer.AttachColour(*depthTexture.texture);
depthFrameBuffer.AttachDepth(depthRenderBuffer);
combinedFrameBufferLowConf.AttachColour(*imageTextureLowConf.texture);
combinedFrameBufferLowConf.AttachColour(*vertexTextureLowConf.texture);
combinedFrameBufferLowConf.AttachColour(*normalTextureLowConf.texture);
combinedFrameBufferLowConf.AttachColour(*timeTextureLowConf.texture);
combinedFrameBufferLowConf.AttachDepth(combinedRenderBufferLowConf);
combinedFrameBufferHighConf.AttachColour(*imageTextureHighConf.texture);
combinedFrameBufferHighConf.AttachColour(*vertexTextureHighConf.texture);
combinedFrameBufferHighConf.AttachColour(*normalTextureHighConf.texture);
combinedFrameBufferHighConf.AttachColour(*timeTextureHighConf.texture);
combinedFrameBufferHighConf.AttachDepth(combinedRenderBufferHighConf);
}
IndexMap::~IndexMap()
{
}
void IndexMap::predictIndices(const Eigen::Matrix4f & pose,
const int & time,
const std::pair<GLuint, GLuint> & model,
const float depthCutoff,
const int timeDelta)
{
indexFrameBuffer.Bind();
glPushAttrib(GL_VIEWPORT_BIT);
glViewport(0, 0, indexRenderBuffer.width, indexRenderBuffer.height);
glClearColor(0, 0, 0, 0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
indexProgram->Bind();
Eigen::Matrix4f t_inv = pose.inverse();
Eigen::Vector4f cam(Intrinsics::getInstance().cx() * IndexMap::FACTOR,
Intrinsics::getInstance().cy() * IndexMap::FACTOR,
Intrinsics::getInstance().fx() * IndexMap::FACTOR,
Intrinsics::getInstance().fy() * IndexMap::FACTOR);
indexProgram->setUniform(Uniform("t_inv", t_inv));
indexProgram->setUniform(Uniform("cam", cam));
indexProgram->setUniform(Uniform("maxDepth", depthCutoff));
indexProgram->setUniform(Uniform("cols", (float)Resolution::getInstance().cols() * IndexMap::FACTOR));
indexProgram->setUniform(Uniform("rows", (float)Resolution::getInstance().rows() * IndexMap::FACTOR));
indexProgram->setUniform(Uniform("time", time));
indexProgram->setUniform(Uniform("timeDelta", timeDelta));
glBindBuffer(GL_ARRAY_BUFFER, model.first);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, 0);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f)));
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f) * 2));
glDrawTransformFeedback(GL_POINTS, model.second);
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
glDisableVertexAttribArray(2);
glBindBuffer(GL_ARRAY_BUFFER, 0);
indexFrameBuffer.Unbind();
indexProgram->Unbind();
glPopAttrib();
glFinish();
}
void IndexMap::renderDepth(const float depthCutoff)
{
drawFrameBuffer.Bind();
glPushAttrib(GL_VIEWPORT_BIT);
glViewport(0, 0, drawRenderBuffer.width, drawRenderBuffer.height);
glClearColor(0, 0, 0, 0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
drawDepthProgram->Bind();
drawDepthProgram->setUniform(Uniform("maxDepth", depthCutoff));
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, vertexTextureHighConf.texture->tid);
drawDepthProgram->setUniform(Uniform("texVerts", 0));
glDrawArrays(GL_POINTS, 0, 1);
drawFrameBuffer.Unbind();
drawDepthProgram->Unbind();
glBindTexture(GL_TEXTURE_2D, 0);
glPopAttrib();
glFinish();
}
void IndexMap::combinedPredict(const Eigen::Matrix4f & pose,
const std::pair<GLuint, GLuint> & model,
const float depthCutoff,
const float confThreshold,
const int time,
const int maxTime,
const int timeDelta,
IndexMap::Texture whichTexture)
{
glEnable(GL_PROGRAM_POINT_SIZE);
glEnable(GL_POINT_SPRITE);
if (whichTexture == IndexMap::LOW_CONF) {
combinedFrameBufferLowConf.Bind();
} else {
combinedFrameBufferHighConf.Bind();
}
glPushAttrib(GL_VIEWPORT_BIT);
if (whichTexture == IndexMap::LOW_CONF) {
glViewport(0, 0, combinedRenderBufferLowConf.width, combinedRenderBufferLowConf.height);
} else {
glViewport(0, 0, combinedRenderBufferHighConf.width, combinedRenderBufferHighConf.height);
}
glClearColor(0, 0, 0, 0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
combinedProgram->Bind();
Eigen::Matrix4f t_inv = pose.inverse();
Eigen::Vector4f cam(Intrinsics::getInstance().cx(),
Intrinsics::getInstance().cy(),
Intrinsics::getInstance().fx(),
Intrinsics::getInstance().fy());
combinedProgram->setUniform(Uniform("t_inv", t_inv));
combinedProgram->setUniform(Uniform("cam", cam));
combinedProgram->setUniform(Uniform("maxDepth", depthCutoff));
combinedProgram->setUniform(Uniform("confThreshold", confThreshold));
combinedProgram->setUniform(Uniform("cols", (float)Resolution::getInstance().cols()));
combinedProgram->setUniform(Uniform("rows", (float)Resolution::getInstance().rows()));
combinedProgram->setUniform(Uniform("time", time));
combinedProgram->setUniform(Uniform("maxTime", maxTime));
combinedProgram->setUniform(Uniform("timeDelta", timeDelta));
glBindBuffer(GL_ARRAY_BUFFER, model.first);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, 0);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f) * 1));
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f) * 2));
glDrawTransformFeedback(GL_POINTS, model.second);
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
glDisableVertexAttribArray(2);
glBindBuffer(GL_ARRAY_BUFFER, 0);
if (whichTexture == IndexMap::LOW_CONF) {
combinedFrameBufferLowConf.Unbind();
} else {
combinedFrameBufferHighConf.Unbind();
}
combinedProgram->Unbind();
glDisable(GL_PROGRAM_POINT_SIZE);
glDisable(GL_POINT_SPRITE);
glPopAttrib();
glFinish();
}