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cleanup

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Brandon Thomas committed 2020-04-26 17:29:40 -04:00
1 parent 73ef98251e
commit 87fbf45ed9
2 files changed
+16 -69
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src/point_cloud/gpu_point_cloud_converter.rs
+14 -67
View File
@@ -75,9 +75,12 @@ void main()
ivec2 pixel = ivec2(gl_GlobalInvocationID.xy);
float vertexValue = float(imageLoad(depthImage, pixel));
// TODO: The problem is that these are bound to (0.0, 0.0). It isn't working.
vec2 xyValue = imageLoad(xyTable, pixel).xy;
float alpha = 1.0f;
// vertexPosition format: RGB colors as floats, but not range [0.0, 1.0], but rather [0.0, 255.0]
// HOWEVER, there are operations that reverse the sign of the 'x' channel ('r') and scale down by 1000 below.
vec3 vertexPosition = vec3(vertexValue * xyValue.x, vertexValue * xyValue.y, vertexValue);
// Invalid pixels have their XY table values set to 0.
@@ -100,7 +103,6 @@ void main()
vertexPosition.x *= -1;
imageStore(destTex, pixel, vec4(vertexPosition, alpha));
//imageStore(destTex, pixel, vec4(1.0, 1.0, 1.0, 1.0));
}
";
@@ -146,8 +148,8 @@ impl GpuPointCloudConverter {
/// Uniform variable name in OpenGL shader program
// TODO: Turns out this does nothing.
//let DEST_TEX : CString = CString::new("destTex").expect("string is correct");
//let DEST_TEX_PTR : *const c_char = DEST_TEX.as_ptr() as *const c_char;
let DEST_TEX : CString = CString::new("destTex").expect("string is correct");
let DEST_TEX_PTR : *const c_char = DEST_TEX.as_ptr() as *const c_char;
/// Uniform variable name in OpenGL shader program
let XY_TABLE : CString = CString::new("xyTable").expect("string is correct");
@@ -158,12 +160,12 @@ impl GpuPointCloudConverter {
let DEPTH_IMAGE_PTR : *const c_char = DEPTH_IMAGE.as_ptr() as *const c_char;
unsafe {
//dest_tex_id = gl::GetUniformLocation(program_id, DEST_TEX_PTR);
dest_tex_id = gl::GetUniformLocation(program_id, DEST_TEX_PTR);
xy_table_id = gl::GetUniformLocation(program_id, XY_TABLE_PTR);
depth_image_id = gl::GetUniformLocation(program_id, DEPTH_IMAGE_PTR);
}
//println!("Uniform: dest_tex_id location = {:?}", dest_tex_id);
println!("Uniform: dest_tex_id location = {:?}", dest_tex_id);
println!("Uniform: xy_table_id location = {:?}", xy_table_id);
println!("Uniform: depth_image_id location = {:?}", depth_image_id);
@@ -211,7 +213,7 @@ impl GpuPointCloudConverter {
.save(Path::new("depth_before.png"))
.expect("should save");*/
// TODO: This should overwrite the first few lines.
/*// TODO: This should overwrite the first few lines.
unsafe {
let width = depth_image.get_width_pixels() as i32;
let height = depth_image.get_height_pixels() as i32;
@@ -223,7 +225,7 @@ impl GpuPointCloudConverter {
(*typed_buffer.offset(i)) = 5000;
(*typed_buffer.offset(i)) = 5000;
}
}
}*/
/*
// TODO: This depth image looks good -- it's truncated as we would expect.
@@ -467,20 +469,10 @@ impl GpuPointCloudConverter {
calibration_type: k4a_sys::k4a_calibration_type_t)
-> Result<Image>
{
/*typedef enum
{
K4A_CALIBRATION_TYPE_UNKNOWN = -1, /**< Calibration type is unknown */
K4A_CALIBRATION_TYPE_DEPTH, /**< Depth sensor */
K4A_CALIBRATION_TYPE_COLOR, /**< Color sensor */
K4A_CALIBRATION_TYPE_GYRO, /**< Gyroscope sensor */
K4A_CALIBRATION_TYPE_ACCEL, /**< Accelerometer sensor */
K4A_CALIBRATION_TYPE_NUM, /**< Number of types excluding unknown type*/
} k4a_calibration_type_t;*/
let camera_calibration : k4a_sys::k4a_calibration_camera_t = match calibration_type {
// k4a_sys::K4A_CALIBRATION_TYPE_COLOR should be "1" per above enum.
1 => calibration.color_camera_calibration,
_ => calibration.depth_camera_calibration,
k4a_sys::k4a_calibration_type_t_K4A_CALIBRATION_TYPE_COLOR => calibration.color_camera_calibration,
k4a_sys::k4a_calibration_type_t_K4A_CALIBRATION_TYPE_DEPTH => calibration.depth_camera_calibration,
_ => return Err(PointCloudComputeError::UnknownError),
};
let width = camera_calibration.resolution_width as u32;
@@ -531,12 +523,7 @@ impl GpuPointCloudConverter {
};
let mut idx = 0;
//let length = width*height;
unsafe {
//let mut xy_table_buffer2: *mut k4a_sys::k4a_float2_t = std::mem::transmute(&table_data);
//let mut xy_table_buffer3 = std::slice::from_raw_parts_mut(xy_table_buffer2, length as usize);
//let xy_table_buffer2 = table_data as *mut k4a_sys::k4a_float2_t; // TODO: Don't use transmute!
let mut table_data = xy_table.get_buffer();
let mut typed_buffer = table_data as *mut k4a_sys::k4a_float2_t;
@@ -566,60 +553,20 @@ impl GpuPointCloudConverter {
if valid == 1 {
unsafe {
/*if y % 10_000 == 0 {
println!("This pixel is GOOD: {}, {}", ray.xyz.x, ray.xyz.y);
}*/
//typed_buffer[idx].xy.x = ray.xyz.x;
//typed_buffer[idx].xy.y = ray.xyz.y;
(*typed_buffer.offset(idx)).xy.x = ray.xyz.x;
(*typed_buffer.offset(idx)).xy.y = ray.xyz.y;
//xy_table_buffer3[idx].xy.x = 1.0;
//xy_table_buffer3[idx].xy.y = 1.0;
}
} else {
unsafe {
// This pixel is invalid
//(*typed_buffer.offset(idx)).xy.x = 0.0;
//(*typed_buffer.offset(idx)).xy.y = 0.0;
(*typed_buffer.offset(idx)).xy.x = 1.0;
(*typed_buffer.offset(idx)).xy.y = 1.0;
(*typed_buffer.offset(idx)).xy.x = 0.0;
(*typed_buffer.offset(idx)).xy.y = 0.0;
}
}
idx += 1;
}
}
//let byte_size = width * height * size_of::<k4a_sys::k4a_float2_t>() as u32;
//std::ptr::write_bytes(table_data as *mut u8, 0, byte_size as usize);
/*println!("Table size: {} x {}", width , height);
// k4a_float2_t *tableData = reinterpret_cast<k4a_float2_t *>(xyTable.get_buffer());
println!("Created XY Table reports: {} x {} (stride = {}",
xy_table.get_width_pixels(),
xy_table.get_height_pixels(),
xy_table.get_stride_bytes(),
);
//let mut xy_table_buffer2: *mut k4a_sys::k4a_float2_t = std::mem::transmute::< k4a_sys::k4a_float2_t>(&table_data);
let mut xy_table_buffer2 = table_data as *mut k4a_sys::k4a_float2_t;
// TODO: When this is actually working, it should render a diagonal line...
let mut idx = 0;
for y in 0..height {
//println!("Y: {}", y);
for x in 0 .. width {
//println!("X: {}", x);
//println!("idx: {}", idx);
(*xy_table_buffer2.offset(idx)).xy.x = 0.0;
(*xy_table_buffer2.offset(idx)).xy.y = 0.0;
idx += 1;
}
}
let byte_size = width * height * size_of::<k4a_sys::k4a_float2_t>() as u32;
std::ptr::write_bytes(table_data, 0, byte_size as usize);*/
}
Ok(xy_table)
src/point_cloud/point_cloud_visualiser.rs
+2 -2
View File
@@ -173,12 +173,12 @@ impl PointCloudVisualizer {
// TODO: generate color xytable only on `enable_color_point_cloud`.
let color_xy_table = GpuPointCloudConverter::generate_xy_table(
calibration_data.clone(),
1, //k4a_sys::K4A_CALIBRATION_TYPE_COLOR,
k4a_sys::k4a_calibration_type_t_K4A_CALIBRATION_TYPE_COLOR,
).unwrap();
let depth_xy_table = GpuPointCloudConverter::generate_xy_table(
calibration_data.clone(),
0, // k4a_sys::K4A_CALIBRATION_TYPE_DEPTH,
k4a_sys::k4a_calibration_type_t_K4A_CALIBRATION_TYPE_DEPTH,
).unwrap();
let mut visualizer = Self {