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ARDriver.cc
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ARDriver.cc
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// Copyright 2008 Isis Innovation Limited
#define GL_GLEXT_PROTOTYPES 1
#include "ARDriver.h"
using namespace GVars3;
using namespace CVD;
using namespace std;
static bool CheckFramebufferStatus();
ARDriver::ARDriver(const ATANCamera &cam, ImageRef irFrameSize, GLWindow2 &glw)
:mCamera(cam), mGLWindow(glw)
{
mirFrameSize = irFrameSize;
mCamera.SetImageSize(mirFrameSize);
mbInitialised = false;
}
void ARDriver::Init()
{
mbInitialised = true;
mirFBSize = GV3::get<ImageRef>("ARDriver.FrameBufferSize", ImageRef(1200,900), SILENT);
glGenTextures(1, &mnFrameTex);
glBindTexture(GL_TEXTURE_RECTANGLE_ARB,mnFrameTex);
glTexImage2D(GL_TEXTURE_RECTANGLE_ARB, 0,
GL_RGBA, mirFrameSize.x, mirFrameSize.y, 0,
GL_RGBA, GL_UNSIGNED_BYTE, NULL);
MakeFrameBuffer();
mGame.Init();
};
void ARDriver::Reset()
{
mGame.Reset();
mnCounter = 0;
}
void ARDriver::Render(Image<Rgb<byte> > &imFrame, SE3<> se3CfromW)
{
if(!mbInitialised)
{
Init();
Reset();
};
mnCounter++;
// Upload the image to our frame texture
glBindTexture(GL_TEXTURE_RECTANGLE_ARB, mnFrameTex);
glTexSubImage2D(GL_TEXTURE_RECTANGLE_ARB,
0, 0, 0,
mirFrameSize.x, mirFrameSize.y,
GL_RGB,
GL_UNSIGNED_BYTE,
imFrame.data());
// Set up rendering to go the FBO, draw undistorted video frame into BG
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT,mnFrameBuffer);
CheckFramebufferStatus();
glViewport(0,0,mirFBSize.x,mirFBSize.y);
DrawFBBackGround();
glClearDepth(1);
glClear(GL_DEPTH_BUFFER_BIT);
// Set up 3D projection
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMultMatrix(mCamera.MakeUFBLinearFrustumMatrix(0.005, 100));
glMultMatrix(se3CfromW);
DrawFadingGrid();
mGame.DrawStuff(se3CfromW.inverse().get_translation());
glDisable(GL_DEPTH_TEST);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glDisable(GL_BLEND);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// Set up for drawing 2D stuff:
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT,0);
DrawDistortedFB();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
mGLWindow.SetupViewport();
mGLWindow.SetupVideoOrtho();
mGLWindow.SetupVideoRasterPosAndZoom();
}
void ARDriver::MakeFrameBuffer()
{
// Needs nvidia drivers >= 97.46
cout << " ARDriver: Creating FBO... ";
glGenTextures(1, &mnFrameBufferTex);
glBindTexture(GL_TEXTURE_RECTANGLE_ARB,mnFrameBufferTex);
glTexImage2D(GL_TEXTURE_RECTANGLE_ARB, 0,
GL_RGBA, mirFBSize.x, mirFBSize.y, 0,
GL_RGBA, GL_UNSIGNED_BYTE, NULL);
glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
GLuint DepthBuffer;
glGenRenderbuffersEXT(1, &DepthBuffer);
glBindRenderbufferEXT(GL_RENDERBUFFER_EXT, DepthBuffer);
glRenderbufferStorageEXT(GL_RENDERBUFFER_EXT, GL_DEPTH_COMPONENT24, mirFBSize.x, mirFBSize.y);
glGenFramebuffersEXT(1, &mnFrameBuffer);
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, mnFrameBuffer);
glFramebufferTexture2DEXT(GL_FRAMEBUFFER_EXT, GL_COLOR_ATTACHMENT0_EXT,
GL_TEXTURE_RECTANGLE_ARB, mnFrameBufferTex, 0);
glFramebufferRenderbufferEXT(GL_FRAMEBUFFER_EXT, GL_DEPTH_ATTACHMENT_EXT,
GL_RENDERBUFFER_EXT, DepthBuffer);
CheckFramebufferStatus();
cout << " .. created FBO." << endl;
glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, 0);
}
static bool CheckFramebufferStatus()
{
GLenum n;
n = glCheckFramebufferStatusEXT(GL_FRAMEBUFFER_EXT);
if(n == GL_FRAMEBUFFER_COMPLETE_EXT)
return true; // All good
cout << "glCheckFrameBufferStatusExt returned an error." << endl;
return false;
};
void ARDriver::DrawFBBackGround()
{
static bool bFirstRun = true;
static GLuint nList;
mGLWindow.SetupUnitOrtho();
glEnable(GL_TEXTURE_RECTANGLE_ARB);
glBindTexture(GL_TEXTURE_RECTANGLE_ARB, mnFrameTex);
glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glDisable(GL_POLYGON_SMOOTH);
glDisable(GL_BLEND);
// Cache the cpu-intesive projections in a display list..
if(bFirstRun)
{
bFirstRun = false;
nList = glGenLists(1);
glNewList(nList, GL_COMPILE_AND_EXECUTE);
glColor3f(1,1,1);
// How many grid divisions in the x and y directions to use?
int nStepsX = 24; // Pretty arbitrary..
int nStepsY = (int) (nStepsX * ((double) mirFrameSize.x / mirFrameSize.y)); // Scaled by aspect ratio
if(nStepsY < 2)
nStepsY = 2;
for(int ystep = 0; ystep< nStepsY; ystep++)
{
glBegin(GL_QUAD_STRIP);
for(int xstep = 0; xstep <= nStepsX; xstep++)
for(int yystep = ystep; yystep<=ystep+1; yystep++) // Two y-coords in one go - magic.
{
Vector<2> v2Iter;
v2Iter[0] = (double) xstep / nStepsX;
v2Iter[1] = (double) yystep / nStepsY;
// If this is a border quad, draw a little beyond the
// outside of the frame, this avoids strange jaggies
// at the edge of the reconstructed frame later:
if(xstep == 0 || yystep == 0 || xstep == nStepsX || yystep == nStepsY)
for(int i=0; i<2; i++)
v2Iter[i] = v2Iter[i] * 1.02 - 0.01;
Vector<2> v2UFBDistorted = v2Iter;
Vector<2> v2UFBUnDistorted = mCamera.UFBLinearProject(mCamera.UFBUnProject(v2UFBDistorted));
glTexCoord2d(v2UFBDistorted[0] * mirFrameSize.x, v2UFBDistorted[1] * mirFrameSize.y);
glVertex(v2UFBUnDistorted);
}
glEnd();
}
glEndList();
}
else
glCallList(nList);
glDisable(GL_TEXTURE_RECTANGLE_ARB);
}
void ARDriver::DrawDistortedFB()
{
static bool bFirstRun = true;
static GLuint nList;
mGLWindow.SetupViewport();
mGLWindow.SetupUnitOrtho();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glEnable(GL_TEXTURE_RECTANGLE_ARB);
glBindTexture(GL_TEXTURE_RECTANGLE_ARB, mnFrameBufferTex);
glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_RECTANGLE_ARB, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glDisable(GL_POLYGON_SMOOTH);
glDisable(GL_BLEND);
if(bFirstRun)
{
bFirstRun = false;
nList = glGenLists(1);
glNewList(nList, GL_COMPILE_AND_EXECUTE);
// How many grid divisions in the x and y directions to use?
int nStepsX = 24; // Pretty arbitrary..
int nStepsY = (int) (nStepsX * ((double) mirFrameSize.x / mirFrameSize.y)); // Scaled by aspect ratio
if(nStepsY < 2)
nStepsY = 2;
glColor3f(1,1,1);
for(int ystep = 0; ystep<nStepsY; ystep++)
{
glBegin(GL_QUAD_STRIP);
for(int xstep = 0; xstep<=nStepsX; xstep++)
for(int yystep = ystep; yystep<=ystep + 1; yystep++) // Two y-coords in one go - magic.
{
Vector<2> v2Iter;
v2Iter[0] = (double) xstep / nStepsX;
v2Iter[1] = (double) yystep / nStepsY;
Vector<2> v2UFBDistorted = v2Iter;
Vector<2> v2UFBUnDistorted = mCamera.UFBLinearProject(mCamera.UFBUnProject(v2UFBDistorted));
glTexCoord2d(v2UFBUnDistorted[0] * mirFBSize.x, (1.0 - v2UFBUnDistorted[1]) * mirFBSize.y);
glVertex(v2UFBDistorted);
}
glEnd();
}
glEndList();
}
else
glCallList(nList);
glDisable(GL_TEXTURE_RECTANGLE_ARB);
}
void ARDriver::DrawFadingGrid()
{
double dStrength;
if(mnCounter >= 60)
return;
if(mnCounter < 30)
dStrength = 1.0;
dStrength = (60 - mnCounter) / 30.0;
glColor4f(1,1,1,dStrength);
int nHalfCells = 8;
if(mnCounter < 8)
nHalfCells = mnCounter + 1;
int nTot = nHalfCells * 2 + 1;
Vector<3> aaVertex[17][17];
for(int i=0; i<nTot; i++)
for(int j=0; j<nTot; j++)
{
Vector<3> v3;
v3[0] = (i - nHalfCells) * 0.1;
v3[1] = (j - nHalfCells) * 0.1;
v3[2] = 0.0;
aaVertex[i][j] = v3;
}
glEnable(GL_LINE_SMOOTH);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glLineWidth(2);
for(int i=0; i<nTot; i++)
{
glBegin(GL_LINE_STRIP);
for(int j=0; j<nTot; j++)
glVertex(aaVertex[i][j]);
glEnd();
glBegin(GL_LINE_STRIP);
for(int j=0; j<nTot; j++)
glVertex(aaVertex[j][i]);
glEnd();
};
};