helpers.h

/*
Copyright (c) 2011-2013 Gerhard Reitmayr, TU Graz

Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and associated documentation files (the
"Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to
permit persons to whom the Software is furnished to do so, subject to
the following conditions:

The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#ifndef HELPERS_H
#define HELPERS_H

#include "kfusion.h"

#include <TooN/se3.h>

#ifdef WIN32
#define WIN32_LEAN_AND_MEAN
#include <windows.h>
#undef min
#undef max
#endif

#include <cuda_gl_interop.h> // includes cuda_gl_interop.h

template<typename P>
inline Matrix4 toMatrix4( const TooN::SE3<P> & p){
    const TooN::Matrix<4, 4, float> I = TooN::Identity;
    Matrix4 R;
    TooN::wrapMatrix<4,4>(&R.data[0].x) = p * I;
    return R;
}

void renderDepthMap( Image<uchar3> out, const Image<float> &, const float nearPlane, const float farPlane ); // scales the depth map from near-far to 0-1
void renderNormalMap( Image<uchar3> out, const Image<float3> & ); // renders into a RGB normalmap
void renderLight( Image<uchar4> out, const Image<float3> & vertex, const Image<float3> & normal, const float3 light, const float3 ambient); // renders into a grayscale intensity map with lightsource
void renderTrackResult( Image<uchar4> out, const Image<TrackData> & data );
void renderVolumeLight( Image<uchar4> out, const Volume & volume, const Matrix4 view, const float nearPlane, const float farPlane, const float largestep, const float3 light, const float3 ambient );
void renderInput( Image<float3> pos3D, Image<float3> normal, Image<float> depth, const Volume volume, const Matrix4 view, const float nearPlane, const float farPlane, const float step, const float largestep);
void renderTexture( Image<uchar4> out, const Image<float3> & vertex, const Image<float3> & normal, const Image<uchar3> & texture, const Matrix4 & texproj, const float3 light);

// simple wrappers around the kfusion.h kernel functions
void initVolumeWrap( Volume volume, const float val );

// some more wrappers around simple test kernels
void setBoxWrap(Volume volume, const float3 min_corner, const float3 max_corner, const float val );
void setSphereWrap(Volume volume, const float3 center, const float radius, const float val );

template <typename T> struct gl;

template<> struct gl<unsigned char> {
    static const int format=GL_LUMINANCE;
    static const int type  =GL_UNSIGNED_BYTE;
};

template<> struct gl<uchar3> {
    static const int format=GL_RGB;
    static const int type  =GL_UNSIGNED_BYTE;
};

template<> struct gl<uchar4> {
    static const int format=GL_RGBA;
    static const int type  =GL_UNSIGNED_BYTE;
};

 template<> struct gl<float> {
    static const int format=GL_LUMINANCE;
    static const int type  =GL_FLOAT;
};

 template<> struct gl<float3> {
    static const int format=GL_RGB;
    static const int type  =GL_FLOAT;
};

template <typename T, typename A>
inline void glDrawPixels( const Image<T, A> & i ){
    ::glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
    ::glPixelStorei(GL_UNPACK_ROW_LENGTH, i.size.x);
    ::glDrawPixels(i.size.x, i.size.y, gl<T>::format, gl<T>::type, i.data());
}

#endif // HELPERS_H