void upload(const void * data, int width, int height, rs::format format)
{
// If the frame timestamp has changed since the last time show(...) was called, re-upload the texture
if(!texture) glGenTextures(1, &texture);
glBindTexture(GL_TEXTURE_2D, texture);
switch(format)
{
case rs::format::any:
throw std::runtime_error("not a valid format");
case rs::format::z16:
case rs::format::disparity16:
rgb.resize(width * height * 3);
make_depth_histogram(rgb.data(), reinterpret_cast<const uint16_t *>(data), width, height);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb.data());
break;
case rs::format::xyz32f:
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_FLOAT, data);
break;
case rs::format::yuyv: // Display YUYV by showing the luminance channel and packing chrominance into ignored alpha channel
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_LUMINANCE_ALPHA, GL_UNSIGNED_BYTE, data);
break;
case rs::format::rgb8: case rs::format::bgr8: // Display both RGB and BGR by interpreting them RGB, to show the flipped byte ordering. Obviously, GL_BGR could be used on OpenGL 1.2+
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
break;
case rs::format::rgba8: case rs::format::bgra8: // Display both RGBA and BGRA by interpreting them RGBA, to show the flipped byte ordering. Obviously, GL_BGRA could be used on OpenGL 1.2+
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, data);
break;
case rs::format::y8:
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, data);
break;
case rs::format::y16:
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_SHORT, data);
break;
case rs::format::raw10:
// Visualize Raw10 by performing a naive downsample. Each 2x2 block contains one red pixel, two green pixels, and one blue pixel, so combine them into a single RGB triple.
rgb.clear(); rgb.resize(width/2 * height/2 * 3);
auto out = rgb.data(); auto in0 = reinterpret_cast<const uint8_t *>(data), in1 = in0 + width*5/4;
for(int y=0; y<height; y+=2)
{
for(int x=0; x<width; x+=4)
{
*out++ = in0[0]; *out++ = (in0[1] + in1[0]) / 2; *out++ = in1[1]; // RGRG -> RGB RGB
*out++ = in0[2]; *out++ = (in0[3] + in1[2]) / 2; *out++ = in1[3]; // GBGB
in0 += 5; in1 += 5;
}
in0 = in1; in1 += width*5/4;
}
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width/2, height/2, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb.data());
break;
}
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
glBindTexture(GL_TEXTURE_2D, 0);
}
inline void draw_depth_histogram(const uint16_t depth_image[], int width, int height)
{
static uint8_t rgb_image[640*480*3];
make_depth_histogram(rgb_image, depth_image, width, height);
glDrawPixels(width, height, GL_RGB, GL_UNSIGNED_BYTE, rgb_image);
}
