extract point cloud compute shader; share file ops

src/files/mod.rs

@@ -0,0 +1 @@
+pub mod read_file_string_contents;

src/files/read_file_string_contents.rs

@@ -0,0 +1,10 @@
+use anyhow::Result as AnyhowResult;
+use std::fs::File;
+use std::io::Read;
+
+pub fn read_file_string_contents(filename: &str) -> AnyhowResult<String> {
+  let mut file = File::open(filename)?;
+  let mut contents = String::new();
+  file.read_to_string(&mut contents)?;
+  Ok(contents)
+}

src/main.rs

@@ -31,10 +31,11 @@ use kinect::k4a_sys_wrapper::Device;
 use kinect::sensor_control::{capture_thread, CaptureProvider};
 use kinect::multi_device_capturer::{MultiDeviceCapturer, start_capture_thread};
 
-pub mod image_debug;
 pub mod core_types;
+pub mod files;
 pub mod graphics_imgui;
 pub mod gui;
+pub mod image_debug;
 pub mod imgui_support;
 pub mod kinect;
 pub mod opengl;

src/point_cloud/gpu_point_cloud_converter.rs

@@ -20,6 +20,7 @@ use opengl::opengl_wrapper::OpenGlError;
 use opengl::opengl_wrapper::Texture;
 use opengl::opengl_wrapper::{Buffer, gl_get_error};
 use point_cloud::pixel_structs::DepthPixel;
+use files::read_file_string_contents::read_file_string_contents;
 
 pub type Result<T> = std::result::Result<T, PointCloudComputeError>;
 
@@ -55,62 +56,6 @@ impl std::error::Error for PointCloudComputeError {
   }
 }
 
-/// This is taken from Microsoft's MIT-licensed k4a libraries.
-/// From the file `tools/k4aviewer/graphics/shaders/gpudepthtopointcloudconverter.cpp`
-pub static COMPUTE_SHADER_SRC: &'static str = "\
-#version 430
-
-layout(location=0, rgba32f) writeonly uniform image2D destTex;
-
-layout(location=1, r16ui) readonly uniform uimage2D depthImage;
-layout(location=2, rg32f) readonly uniform image2D xyTable;
-
-layout(local_size_x = 1, local_size_y = 1) in;
-
-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.
-    // Set the rest of their values to 0 so clients can pick them out.
-    //
-    if (xyValue.x == 0.0f && xyValue.y == 0.0f)
-    {
-        alpha = 0.0f;
-        vertexValue = 0.0f;
-    }
-
-    // Vertex positions are in millimeters, but everything else is in meters, so we need to convert
-    //
-    vertexPosition /= 1000.0f;
-
-    // OpenGL and K4A have different conventions on which direction is positive -
-    // we need to flip the X coordinate.
-    //
-    vertexPosition.x *= -1;
-
-    // Distance Threshold
-    // TODO: Make configurable.
-    /*if (vertexPosition.z > 1.5) {
-        alpha = 0.0f;
-        vertexPosition.x = 0.0;
-        vertexPosition.y = 0.0;
-        vertexPosition.z = 0.0;
-    }*/
-
-    imageStore(destTex, pixel, vec4(vertexPosition, alpha));
-}
-";
-
 /// The format that the point cloud texture uses internally to store points.
 /// If you want to use the texture that this outputs from your shader, you
 /// need to pass this as the format argument to glBindImageTexture().
@@ -143,7 +88,10 @@ impl GpuPointCloudConverter {
 
   pub fn new() -> Self {
     let program_id = unsafe { gl::CreateProgram() };
-    let shader_id = compile_shader(COMPUTE_SHADER_SRC, gl::COMPUTE_SHADER);
+
+    let point_cloud_compute_shader = read_file_string_contents("src/point_cloud/shaders/point_cloud_compute_shader.glsl").unwrap();
+
+    let shader_id = compile_shader(&point_cloud_compute_shader, gl::COMPUTE_SHADER);
 
     link_program(program_id, shader_id);
 

src/point_cloud/point_cloud_renderer.rs

@@ -27,6 +27,7 @@ use std::fs::{File, OpenOptions};
 use std::io::{Read, Write};
 use opengl::link_program::link_shader_program;
 use point_cloud::debug::color_image_bytes::ColorImageBytes;
+use files::read_file_string_contents::read_file_string_contents;
 
 pub type Result<T> = std::result::Result<T, PointCloudRendererError>;
 
@@ -170,8 +171,8 @@ impl PointCloudRenderer {
 
     let program_id = unsafe { gl::CreateProgram() };
 
-    let mut point_cloud_vertex_shader = read_file_contents("src/point_cloud/shaders/point_cloud_vertex_shader.glsl").unwrap();
-    let mut point_cloud_fragment_shader = read_file_contents("src/point_cloud/shaders/point_cloud_fragment_shader.glsl").unwrap();
+    let mut point_cloud_vertex_shader = read_file_string_contents("src/point_cloud/shaders/point_cloud_vertex_shader.glsl").unwrap();
+    let mut point_cloud_fragment_shader = read_file_string_contents("src/point_cloud/shaders/point_cloud_fragment_shader.glsl").unwrap();
 
     let vertex_shader_id = compile_shader(&point_cloud_vertex_shader, gl::VERTEX_SHADER);
     let fragment_shader_id = compile_shader(&point_cloud_fragment_shader, gl::FRAGMENT_SHADER);
@@ -268,8 +269,8 @@ impl PointCloudRenderer {
 
     let mut debug_static_color_frames = Vec::new();
 
-    //debug_static_color_frames.push(ColorImageBytes::from_file("output/color_src_0").unwrap());
-    //debug_static_color_frames.push(ColorImageBytes::from_file("output/color_src_1").unwrap());
+    debug_static_color_frames.push(ColorImageBytes::from_file("output/color_src_0").unwrap());
+    debug_static_color_frames.push(ColorImageBytes::from_file("output/color_src_1").unwrap());
 
     Self {
       num_cameras,
@@ -557,13 +558,6 @@ impl PointCloudRenderer {
   }
 }
 
-fn read_file_contents(filename: &str) -> AnyhowResult<String> {
-  let mut file = File::open(filename)?;
-  let mut contents = String::new();
-  file.read_to_string(&mut contents)?;
-  Ok(contents)
-}
-
 /// Raw memory copy into a file
 fn write_file_from_byte_ptr(filename: &str, byte_src: *const u8, size_bytes: usize) -> AnyhowResult<()> {
   let mut file = OpenOptions::new()

src/point_cloud/shaders/point_cloud_compute_shader.glsl

@@ -0,0 +1,53 @@
+// This is taken from Microsoft's MIT-licensed k4a libraries.
+// From the file `tools/k4aviewer/graphics/shaders/gpudepthtopointcloudconverter.cpp`
+#version 430
+
+layout(location=0, rgba32f) writeonly uniform image2D destTex;
+
+layout(location=1, r16ui) readonly uniform uimage2D depthImage;
+layout(location=2, rg32f) readonly uniform image2D xyTable;
+
+layout(local_size_x = 1, local_size_y = 1) in;
+
+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.
+    // Set the rest of their values to 0 so clients can pick them out.
+    //
+    if (xyValue.x == 0.0f && xyValue.y == 0.0f)
+    {
+        alpha = 0.0f;
+        vertexValue = 0.0f;
+    }
+
+    // Vertex positions are in millimeters, but everything else is in meters, so we need to convert
+    //
+    vertexPosition /= 1000.0f;
+
+    // OpenGL and K4A have different conventions on which direction is positive -
+    // we need to flip the X coordinate.
+    //
+    vertexPosition.x *= -1;
+
+    // Distance Threshold
+    // TODO: Make configurable.
+    /*if (vertexPosition.z > 1.5) {
+        alpha = 0.0f;
+        vertexPosition.x = 0.0;
+        vertexPosition.y = 0.0;
+        vertexPosition.z = 0.0;
+    }*/
+
+    imageStore(destTex, pixel, vec4(vertexPosition, alpha));
+}