void ImageViewer::update()
{
mCinderDS->update();
mTexRgb->update(*mCinderDS->getRgbFrame());
auto depthChannel = mCinderDS->getDepthFrame();
auto depthSurface = Surface8u::create(mDepthDims.x, mDepthDims.y, SurfaceChannelOrder::RGB);
auto iter = depthSurface->getIter();
while (iter.line())
{
while (iter.pixel())
{
iter.r() = 0;
iter.g() = 0;
iter.b() = 0;
// Not optimal mapping, TODO: color from histogram
float depthValue = (float)*depthChannel->getData(iter.x(), iter.y());
if (depthValue > 100 && depthValue < 1000)
{
int colorValue = (int)lmap<float>(depthValue, 100, 1000, 255, 0);
iter.r() = colorValue;
iter.g() = colorValue;
}
}
}
mTexDepth->update(*depthSurface);
}
void PointCloudApp::update()
{
mCinderRS->update();
mPoints.clear();
Channel16u cChanDepth = mCinderRS->getDepthFrame();
mTexRgb->update(mCinderRS->getRgbFrame());
for (int dy = 0; dy < mDepthDims.y; ++dy)
{
for (int dx = 0; dx < mDepthDims.x; ++dx)
{
float cDepth = (float)*cChanDepth.getData(dx, dy);
if (cDepth > 100 && cDepth < 1000)
{
vec3 cPos = mCinderRS->getDepthSpacePoint(vec3(dx, dy, cDepth));
vec2 cUV = mCinderRS->getColorCoordsFromDepthImage(static_cast<float>(dx),
static_cast<float>(dy),
cDepth);
mPoints.push_back(CloudPoint(cPos, cUV));
}
}
}
mBufferObj->bufferData(mPoints.size()*sizeof(CloudPoint), mPoints.data(), GL_DYNAMIC_DRAW);
mMeshObj = gl::VboMesh::create(mPoints.size(), GL_POINTS, { { mAttribObj, mBufferObj } });
mDrawObj->replaceVboMesh(mMeshObj);
}
void PTApp::update()
{
if (frameDone)
{
imgTex->update(frameBuffer, GL_RGB, GL_UNSIGNED_BYTE, 0, frameBufferWidth, frameBufferHeight);
frameDone = false;
renderFrame = true;
console() << "Render time: " << renderTime << "s\n";
}
}
