class can be used to warp sequences of pmd depth images into a second view with different parameters, including a different camera center. More...

#include <OpenGLFramework/SpecializedBatches/PMDWarp.hh>

Collaboration diagram for BIAS::PMDWarp:

Public Member Functions
void	ChangeZClipping (double zNear, double zFar)

void	Draw ()

void	ExecuteLinearHypothesesAssignment (const BIAS::ProjectionParametersPerspective &relativePpp, double zNear, double zFar, float N, int output=0)
	Function is used to assign a hypotheses to the warped depth map. More...

BIAS::glfBatch &	GetBatch ()

BIAS::glfDepthBufferMode &	GetDepthBufferMode ()

void	Init (const BIAS::ProjectionParametersPerspective &pppd, bool targetParametersHaveDistortion=false)
	Initializes all neccessary data in order to render using a batch. More...

	PMDWarp ()

void	SetDispForDistanceAndScale (const float &dist_from_cam, const float &disp, const float &scale)
	if disparity output is required, then points with the distance (dist_from_cam) will get disparity (disp) all disparities will also be scaled with the given scale factor More...

void	SetRenderTarget (const BIAS::glfRenderTarget *renderTarget)

void	SetTargetCameraParameters (const BIAS::ProjectionParametersPerspective &relativePpp, double zNear, double zFar)
	is also used to determine viewport More...

void	SetTargetCameraParameters (BIAS::Matrix4x4< double > modelViewMatrix, BIAS::Matrix4x4< double > projectionMatrix, unsigned int width, unsigned int height)

void	SetTargetCameraParametersToGlobal (bool global)

void	SetViewportSize (unsigned int width, unsigned int height)

void	SetViewportToGlobal (bool global)

void	UploadDepthMap (const BIAS::Image< float > &pmdDepthImage)
	Upload the pmd depth image to the graphics card. More...

void	UploadDepthMap (const BIAS::ImageBase &pmdDepthImage)
	Upload the pmd depth image to the graphics card. More...

void	UploadProjectiveTexture (const BIAS::Image< unsigned char > &projectiveTexture)
	Upload the color image to the graphics card. More...

void	UseProjectiveTexturing (const BIAS::ProjectionParametersPerspective &ppp)
	ppp extrinsicis have to be in global coordinates of pppd of Init call! projective texturing cannot deal with distortion! More...

	~PMDWarp ()

Protected Member Functions
void	SetupDefaultPrimitiveRendering_ ()

void	SetupShadersDefault_ ()

void	SetupShadersProjectiveTexturing_ ()

Protected Attributes
BIAS::glfBatch	batch_

bool	defaultRendering_

BIAS::glfDepthBufferMode	depthBufferMode_

unsigned int	depthImageHeight_

unsigned int	depthImageWidth_

BIAS::glfElementBuffer	elements_

BIAS::glfShader	fragmentProgram_

BIAS::glfShader	geometryProgram_

BIAS::glfPassiveRenderMatrix	globalModelViewNProjection_

BIAS::glfPassiveViewport	globalViewport_

float	maxSize_

BIAS::glfMatrix	modelView_

BIAS::glfTexture2D	pmdDepthImage_

BIAS::ProjectionParametersPerspective	pmdParams_

BIAS::glfMatrix	Projection_

BIAS::glfTexture2D	projectiveTexture_

BIAS::glfShaderProgram	shaderProgram_

bool	targetParametersHaveDistortion_

BIAS::ProjectionParametersPerspective	targetParams_

BIAS::glfMatrix	textureMatrix_

BIAS::glfShader	vertexProgram_

BIAS::glfVertexBuffer	vertices_

BIAS::glfViewport	viewport_

Detailed Description

class can be used to warp sequences of pmd depth images into a second view with different parameters, including a different camera center.

Attention: this a specialized implementation, mind the usage.

usage:

establish OpenGL context to be used! Let it be current and valid!
Call Init()
if projective texturing has to be used call UseProjectiveTexturing() for each warping call :
upload images using Upload* methods.
set virtual camera params via SetTargetCameraParameters();
call Draw()

deliverence of output can be controlled using the SetRenderTarget() method.

Author: bartczak 02/2008

Definition at line 61 of file PMDWarp.hh.

Constructor & Destructor Documentation

PMDWarp::~PMDWarp ( )

Definition at line 248 of file PMDWarp.cpp.

PMDWarp::PMDWarp ( )

Definition at line 243 of file PMDWarp.cpp.

Member Function Documentation

void PMDWarp::ChangeZClipping	(	double	zNear,
		double	zFar
	)

Definition at line 206 of file PMDWarp.cpp.

void PMDWarp::Draw ( )

Definition at line 213 of file PMDWarp.cpp.

References BIAS::TimeMeasure::PrintRealTime(), BIAS::TimeMeasure::Reset(), BIAS::TimeMeasure::Start(), and BIAS::TimeMeasure::Stop().

void PMDWarp::ExecuteLinearHypothesesAssignment	(	const BIAS::ProjectionParametersPerspective &	relativePpp,
		double	zNear,
		double	zFar,
		float	N,
		int	output = `0`
	)

Function is used to assign a hypotheses to the warped depth map.

The result will be pushed to the MRT target identified by output. The result is a 3D image the first two channels coding the two representants the warped depth is lying in between, if an exact representant is found, both will be the same. The third channels is holding the relative distance of the depth to the two representants. The range between zNear and zFar is equidistantly discretized into N intervalls.

Attention: call after init, use of SetTargetCameraParameters() is not required.

Definition at line 458 of file PMDWarp.cpp.

References BIAS::glfShader::Create(), fragmentProgram_, BIAS::glfShader::GetInfoLog(), BIAS::glfShaderProgram::GetInfoLog(), BIAS::glfShaderProgram::Link(), SetTargetCameraParameters(), BIAS::glfShaderProgram::SetUniform(), and shaderProgram_.

glfBatch & PMDWarp::GetBatch ( )

Definition at line 69 of file PMDWarp.cpp.

BIAS::glfDepthBufferMode & PMDWarp::GetDepthBufferMode ( )

Definition at line 75 of file PMDWarp.cpp.

void PMDWarp::Init	(	const BIAS::ProjectionParametersPerspective &	pppd,
		bool	targetParametersHaveDistortion = `false`
	)

Initializes all neccessary data in order to render using a batch.

Parameters

parametersHaveDistortion is a flag the toggles the use of distortion parameters, if this is set to false then a shader using idealy perspective camera parameters is used, otherwise vertices are displaced so that they form a distorted image, uniform params are derived from target parameters (see SetTargetCameraParameters)!

Attention: call this method only if the gl-context that has to be used is active and valid.

Definition at line 36 of file PMDWarp.cpp.

References BIAS::ProjectionParametersBase::GetImageSize().

void PMDWarp::SetDispForDistanceAndScale	(	const float &	dist_from_cam,
		const float &	disp,
		const float &	scale
	)

if disparity output is required, then points with the distance (dist_from_cam) will get disparity (disp) all disparities will also be scaled with the given scale factor

Definition at line 449 of file PMDWarp.cpp.

References BIAS::glfShaderProgram::SetUniform(), and shaderProgram_.

void PMDWarp::SetRenderTarget ( const BIAS::glfRenderTarget * renderTarget )

Definition at line 129 of file PMDWarp.cpp.

void PMDWarp::SetTargetCameraParameters	(	const BIAS::ProjectionParametersPerspective &	relativePpp,
		double	zNear,
		double	zFar
	)

is also used to determine viewport

Attention: relativePpp means extrinsics relative to the pppd param passed to Init().

Definition at line 143 of file PMDWarp.cpp.

References BIAS::ProjectionParametersPerspective::GetUndistortion().

Referenced by ExecuteLinearHypothesesAssignment().

void PMDWarp::SetTargetCameraParameters	(	BIAS::Matrix4x4< double >	modelViewMatrix,
		BIAS::Matrix4x4< double >	projectionMatrix,
		unsigned int	width,
		unsigned int	height
	)

Attention: This method should not be used if distortion is used, if distortion parameters are required and you use this method the result is undefined.

Definition at line 166 of file PMDWarp.cpp.

void PMDWarp::SetTargetCameraParametersToGlobal ( bool global )

Definition at line 177 of file PMDWarp.cpp.

void PMDWarp::SetupDefaultPrimitiveRendering_ ( )

protected

Definition at line 253 of file PMDWarp.cpp.

References BIAS::glfVertexFormat::AddAttribute(), BIAS::glfVertexFormat::ATTRIB_POSITION, BIAS::glfVertexFormat::ATTRIB_TEXCOORD, batch_, BIAS::glfVertexBuffer::Create(), BIAS::glfElementBuffer::Create(), defaultRendering_, depthImageHeight_, depthImageWidth_, elements_, BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), pmdParams_, BIAS::glfBatch::SetElementBuffer(), BIAS::glfBatch::SetVertexBuffer(), BIAS::ProjectionParametersPerspective::UnProjectLocal(), and vertices_.

void PMDWarp::SetupShadersDefault_ ( )

protected

Definition at line 335 of file PMDWarp.cpp.

References BIAS::glfShaderProgram::AttachShader(), BIAS::glfShader::Create(), fragmentProgram_, geometryProgram_, BIAS::glfShaderProgram::GetProgramId(), BIAS::glfShaderProgram::Link(), BIAS::glfShaderProgram::SetUniform(), shaderProgram_, targetParametersHaveDistortion_, and vertexProgram_.

void PMDWarp::SetupShadersProjectiveTexturing_ ( )

protected

Definition at line 514 of file PMDWarp.cpp.

References BIAS::glfShader::Create(), fragmentProgram_, BIAS::glfShaderProgram::Link(), BIAS::glfShaderProgram::SetUniform(), shaderProgram_, targetParametersHaveDistortion_, and vertexProgram_.

void PMDWarp::SetViewportSize	(	unsigned int	width,
		unsigned int	height
	)

Definition at line 135 of file PMDWarp.cpp.

void PMDWarp::SetViewportToGlobal ( bool global )

Definition at line 193 of file PMDWarp.cpp.

void PMDWarp::UploadDepthMap ( const BIAS::Image< float > & pmdDepthImage )

Upload the pmd depth image to the graphics card.

Do not flip the image!

Definition at line 83 of file PMDWarp.cpp.

void PMDWarp::UploadDepthMap ( const BIAS::ImageBase & pmdDepthImage )

Upload the pmd depth image to the graphics card.

Do not flip the image!

Definition at line 89 of file PMDWarp.cpp.

void PMDWarp::UploadProjectiveTexture ( const BIAS::Image< unsigned char > & projectiveTexture )

Upload the color image to the graphics card.

Do not flip the image! projective texturing cannot deal with distortion!

Definition at line 123 of file PMDWarp.cpp.

void PMDWarp::UseProjectiveTexturing ( const BIAS::ProjectionParametersPerspective & ppp )

ppp extrinsicis have to be in global coordinates of pppd of Init call! projective texturing cannot deal with distortion!

Definition at line 95 of file PMDWarp.cpp.

References BIAS::CoordinateTransform3D::BecomeRelativeTransform(), BIAS::ProjectionParametersBase::GetC(), BIAS::ProjectionParametersBase::GetPose(), and BIAS::ProjectionParametersBase::SetPose().

Member Data Documentation

BIAS::glfBatch BIAS::PMDWarp::batch_

protected

Definition at line 178 of file PMDWarp.hh.

Referenced by SetupDefaultPrimitiveRendering_().

bool BIAS::PMDWarp::defaultRendering_

protected

Definition at line 182 of file PMDWarp.hh.

Referenced by SetupDefaultPrimitiveRendering_().

BIAS::glfDepthBufferMode BIAS::PMDWarp::depthBufferMode_

protected

Definition at line 167 of file PMDWarp.hh.

unsigned int BIAS::PMDWarp::depthImageHeight_

protected

Definition at line 180 of file PMDWarp.hh.

Referenced by SetupDefaultPrimitiveRendering_().

unsigned int BIAS::PMDWarp::depthImageWidth_

protected

Definition at line 179 of file PMDWarp.hh.

Referenced by SetupDefaultPrimitiveRendering_().

BIAS::glfElementBuffer BIAS::PMDWarp::elements_

protected

Definition at line 165 of file PMDWarp.hh.

Referenced by SetupDefaultPrimitiveRendering_().

BIAS::glfShader BIAS::PMDWarp::fragmentProgram_

protected

Definition at line 172 of file PMDWarp.hh.

Referenced by ExecuteLinearHypothesesAssignment(), SetupShadersDefault_(), and SetupShadersProjectiveTexturing_().

BIAS::glfShader BIAS::PMDWarp::geometryProgram_

protected

Definition at line 173 of file PMDWarp.hh.

Referenced by SetupShadersDefault_().

BIAS::glfPassiveRenderMatrix BIAS::PMDWarp::globalModelViewNProjection_

protected

Definition at line 158 of file PMDWarp.hh.

BIAS::glfPassiveViewport BIAS::PMDWarp::globalViewport_

protected

Definition at line 161 of file PMDWarp.hh.

float BIAS::PMDWarp::maxSize_

protected

Definition at line 190 of file PMDWarp.hh.

BIAS::glfMatrix BIAS::PMDWarp::modelView_

protected

Definition at line 156 of file PMDWarp.hh.

BIAS::glfTexture2D BIAS::PMDWarp::pmdDepthImage_

protected

Definition at line 169 of file PMDWarp.hh.

BIAS::ProjectionParametersPerspective BIAS::PMDWarp::pmdParams_

protected

Definition at line 153 of file PMDWarp.hh.

Referenced by SetupDefaultPrimitiveRendering_().

BIAS::glfMatrix BIAS::PMDWarp::Projection_

protected

Definition at line 157 of file PMDWarp.hh.

BIAS::glfTexture2D BIAS::PMDWarp::projectiveTexture_

protected

Definition at line 175 of file PMDWarp.hh.

BIAS::glfShaderProgram BIAS::PMDWarp::shaderProgram_

protected

Definition at line 170 of file PMDWarp.hh.

Referenced by ExecuteLinearHypothesesAssignment(), SetDispForDistanceAndScale(), SetupShadersDefault_(), and SetupShadersProjectiveTexturing_().

bool BIAS::PMDWarp::targetParametersHaveDistortion_

protected

Definition at line 188 of file PMDWarp.hh.

Referenced by SetupShadersDefault_(), and SetupShadersProjectiveTexturing_().

BIAS::ProjectionParametersPerspective BIAS::PMDWarp::targetParams_

protected

Definition at line 154 of file PMDWarp.hh.

BIAS::glfMatrix BIAS::PMDWarp::textureMatrix_

protected

Definition at line 176 of file PMDWarp.hh.

BIAS::glfShader BIAS::PMDWarp::vertexProgram_

protected

Definition at line 171 of file PMDWarp.hh.

Referenced by SetupShadersDefault_(), and SetupShadersProjectiveTexturing_().

BIAS::glfVertexBuffer BIAS::PMDWarp::vertices_

protected

Definition at line 164 of file PMDWarp.hh.

Referenced by SetupDefaultPrimitiveRendering_().

BIAS::glfViewport BIAS::PMDWarp::viewport_

protected

Definition at line 160 of file PMDWarp.hh.

The documentation for this class was generated from the following files:

OpenGLFramework/SpecializedBatches/PMDWarp.hh
OpenGLFramework/SpecializedBatches/PMDWarp.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation