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Merge pull request #952 from YunfeiBai/master

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Add depth image when using hardware renderer.
This commit is contained in:
erwincoumans 2017-02-09 15:58:18 -08:00 committed by GitHub
commit 32b15d7aee
5 changed files with 33 additions and 3 deletions
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3
examples/CommonInterfaces/CommonCameraInterface.h
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@ -36,6 +36,9 @@ struct CommonCameraInterface
virtual void setAspectRatio(float ratio) = 0;
virtual float getAspectRatio() const = 0;
virtual float getCameraFrustumFar() const = 0;
virtual float getCameraFrustumNear() const = 0;
};
#endif //COMMON_CAMERA_INTERFACE_H

7
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@ -437,10 +437,15 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
int sourceDepthIndex = xIndex+yIndex*sourceWidth;
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
}
}
}
@ -456,7 +461,7 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
{
for (int i=0;i<numRequestedPixels;i++)
{
depthBuffer[i] = m_data->m_depthBuffer1[i];
depthBuffer[i] = m_data->m_depthBuffer1[i+startPixelIndex];
}
}
if (numPixelsCopied)

10
examples/OpenGLWindow/SimpleCamera.cpp
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@ -383,3 +383,13 @@ float SimpleCamera::getAspectRatio() const
{
return m_data->m_aspect;
}
float SimpleCamera::getCameraFrustumFar() const
{
return m_data->m_frustumZFar;
}
float SimpleCamera::getCameraFrustumNear() const
{
return m_data->m_frustumZNear;
}

3
examples/OpenGLWindow/SimpleCamera.h
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@ -47,6 +47,9 @@ struct SimpleCamera : public CommonCameraInterface
virtual void setAspectRatio(float ratio);
virtual float getAspectRatio() const;
virtual float getCameraFrustumFar() const;
virtual float getCameraFrustumNear() const;
};
#endif //SIMPLE_CAMERA_H

11
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@ -958,7 +958,16 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
{
if (depthBuffer)
{
depthBuffer[i] = m_data->m_depthBuffer[i+startPixelIndex];
float distance = -m_data->m_depthBuffer[i+startPixelIndex];
float farPlane = m_data->m_camera.getCameraFrustumFar();
float nearPlane = m_data->m_camera.getCameraFrustumNear();
btClamp(distance,nearPlane,farPlane);
// the depth buffer value is between 0 and 1
float a = farPlane / (farPlane - nearPlane);
float b = farPlane * nearPlane / (nearPlane - farPlane);
depthBuffer[i] = a + b / distance;
}
if (segmentationMaskBuffer)
{