void CUDARayCastSDF::render(const HashData& hashData, const HashParams& hashParams, const DepthCameraData& cameraData, const mat4f& lastRigidTransform)
{
rayIntervalSplatting(hashData, hashParams, cameraData, lastRigidTransform);
m_data.d_rayIntervalSplatMinArray = m_rayIntervalSplatting.mapMinToCuda();
m_data.d_rayIntervalSplatMaxArray = m_rayIntervalSplatting.mapMaxToCuda();
// Start query for timing
if(GlobalAppState::getInstance().s_timingsDetailledEnabled)
{
cutilSafeCall(cudaDeviceSynchronize());
m_timer.start();
}
renderCS(hashData, m_data, cameraData, m_params);
//convertToCameraSpace(cameraData);
if (!m_params.m_useGradients)
{
computeNormals(m_data.d_normals, m_data.d_depth4, m_params.m_width, m_params.m_height);
}
m_rayIntervalSplatting.unmapCuda();
// Wait for query
if(GlobalAppState::getInstance().s_timingsDetailledEnabled)
{
cutilSafeCall(cudaDeviceSynchronize());
m_timer.stop();
TimingLog::totalTimeRayCast+=m_timer.getElapsedTimeMS();
TimingLog::countTimeRayCast++;
}
}
void renderScene()
{
// clear and set camera
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
// lighting from the viewer perspective
GLfloat lp[] = { 0.0f, 0.0f, 0.0f, 1.0f };
glLightfv(GL_LIGHT0, GL_POSITION, lp);
// translate scene in viewing direction
glTranslatef(transX, transY, transZ);
// rotate scene
glRotatef(angleX, 0.0f, 1.0f, 0.0f);
glRotatef(angleY, 1.0f, 0.0f, 0.0f);
// draw data structure (lines) without lighting
glDisable(GL_LIGHTING);
renderDS(heDS);
// draw 3d objects with lighting
glEnable(GL_LIGHTING);
renderHEActive(activeHE);
renderCS();
// swap Buffers
glFlush();
glutSwapBuffers();
}
