void display(void){
const uint2 imageSize = kfusion.configuration.inputSize;
static bool integrate = true;
glClear( GL_COLOR_BUFFER_BIT );
const double startFrame = Stats.start();
const double startProcessing = Stats.sample("kinect");
// kfusion.setKinectDeviceDepth(depthImage[GetKinectFrame()].getDeviceImage());
kfusion.setKinectDeviceDepth(depthImage[rgbdDevice->currentDepthBufferIndex()].getDeviceImage());
Stats.sample("raw to cooked");
integrate = kfusion.Track();
Stats.sample("track");
if((should_integrate && integrate && ((counter % integration_rate) == 0)) || reset){
kfusion.Integrate();
kfusion.Raycast();
Stats.sample("integrate");
if(counter > 2) // use the first two frames to initialize
reset = false;
}
renderLight( lightScene.getDeviceImage(), kfusion.inputVertex[0], kfusion.inputNormal[0], light, ambient );
renderLight( lightModel.getDeviceImage(), kfusion.vertex, kfusion.normal, light, ambient);
renderTrackResult(trackModel.getDeviceImage(), kfusion.reduction);
static int count = 4;
if(count > 3 || redraw_big_view){
renderInput( pos, normals, dep, kfusion.integration, toMatrix4( trans * rot * preTrans ) * getInverseCameraMatrix(kfusion.configuration.camera * 2), kfusion.configuration.nearPlane, kfusion.configuration.farPlane, kfusion.configuration.stepSize(), 0.75 * kfusion.configuration.mu);
count = 0;
redraw_big_view = false;
} else
count++;
if(render_texture)
renderTexture( texModel.getDeviceImage(), pos, normals, rgbImage.getDeviceImage(), getCameraMatrix(2*kfusion.configuration.camera) * inverse(kfusion.pose), light);
else
renderLight( texModel.getDeviceImage(), pos, normals, light, ambient);
cudaDeviceSynchronize();
Stats.sample("render");
glClear(GL_COLOR_BUFFER_BIT);
glRasterPos2i(0, 0);
glDrawPixels(lightScene); // left top
glRasterPos2i(0, 240);
glPixelZoom(0.5, -0.5);
glDrawPixels(rgbImage); // left bottom
glPixelZoom(1,-1);
glRasterPos2i(320,0);
glDrawPixels(lightModel); // middle top
glRasterPos2i(320,240);
glDrawPixels(trackModel); // middle bottom
glRasterPos2i(640, 0);
glDrawPixels(texModel); // right
const double endProcessing = Stats.sample("draw");
Stats.sample("total", endProcessing - startFrame, PerfStats::TIME);
Stats.sample("total_proc", endProcessing - startProcessing, PerfStats::TIME);
if(printCUDAError())
exit(1);
++counter;
if(counter % 50 == 0){
Stats.print();
Stats.reset();
std::cout << std::endl;
}
glutSwapBuffers();
}
void display(void) {
static bool integrate = true;
const uint2 imageSize = kfusion.configuration.inputSize;
const double start = Stats.start();
renderInput(vertex.getDeviceImage(), normal.getDeviceImage(), depth.getDeviceImage(), reference, toMatrix4( trans * rot * preTrans ) * getInverseCameraMatrix(kfusion.configuration.camera), kfusion.configuration.nearPlane, kfusion.configuration.farPlane, kfusion.configuration.stepSize(), 0.01 );
cudaDeviceSynchronize();
Stats.sample("ground raycast");
Stats.sample("ground copy");
glRasterPos2i(0,0);
glDrawPixels(vertex);
glRasterPos2i(imageSize.x, 0);
glDrawPixels(normal);
glRasterPos2i(imageSize.x * 2, 0);
glDrawPixels(depth);
Stats.sample("ground draw");
kfusion.setDepth( depth.getDeviceImage() );
cudaDeviceSynchronize();
const double track_start = Stats.sample("process depth");
if(counter > 1){
integrate = kfusion.Track();
cudaDeviceSynchronize();
Stats.sample("track");
}
renderTrackResult(rgb.getDeviceImage(), kfusion.reduction);
cudaDeviceSynchronize();
Stats.sample("track render");
Stats.sample("track copy");
if(integrate){
kfusion.Integrate();
cudaDeviceSynchronize();
Stats.sample("integration");
kfusion.Raycast();
cudaDeviceSynchronize();
Stats.sample("raycast");
vertex = kfusion.vertex;
normal = kfusion.normal;
Stats.sample("raycast get");
}
glRasterPos2i(0,imageSize.y * 1);
glDrawPixels(vertex);
glRasterPos2i(imageSize.x, imageSize.y * 1);
glDrawPixels(normal);
glRasterPos2i(2 * imageSize.x, imageSize.y * 1);
glDrawPixels(rgb);
Stats.sample("track draw");
Stats.sample("total track", Stats.get_time() - track_start, PerfStats::TIME);
renderInput(vertex.getDeviceImage(), normal.getDeviceImage(), depth.getDeviceImage(), kfusion.integration, kfusion.pose * getInverseCameraMatrix(kfusion.configuration.camera), kfusion.configuration.nearPlane, kfusion.configuration.farPlane, kfusion.configuration.stepSize(), 0.7 * kfusion.configuration.mu );
cudaDeviceSynchronize();
Stats.sample("view raycast");
Stats.sample("view copy");
glRasterPos2i(0,imageSize.y * 2);
glDrawPixels(vertex);
glRasterPos2i(imageSize.x, imageSize.y * 2);
glDrawPixels(normal);
glRasterPos2i(imageSize.x * 2, imageSize.y * 2);
glDrawPixels(depth);
Stats.sample("view draw");
Stats.sample("events");
Stats.sample("total all", Stats.get_time() - start, PerfStats::TIME);
if(counter % 30 == 0){
Stats.print();
Stats.reset();
cout << endl;
}
++counter;
printCUDAError();
glutSwapBuffers();
}
