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Sandbox.cpp
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/***********************************************************************
Sandbox - Vrui application to drive an augmented reality sandbox.
Copyright (c) 2012-2019 Oliver Kreylos
Copyright (c) 2019 Scottsdale Community College
This file is part of the Augmented Reality Sandbox (SARndbox).
The Augmented Reality Sandbox is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the
License, or (at your option) any later version.
The Augmented Reality Sandbox is distributed in the hope that it will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
General Public License for more details.
You should have received a copy of the GNU General Public License along
with the Augmented Reality Sandbox; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
***********************************************************************/
#include "Sandbox.h"
#include <ctype.h>
#include <string.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fcntl.h>
#include <string>
#include <vector>
#include <stdexcept>
#include <iostream>
#include <Misc/SizedTypes.h>
#include <Misc/SelfDestructPointer.h>
#include <Misc/FixedArray.h>
#include <Misc/FunctionCalls.h>
#include <Misc/MessageLogger.h>
#include <Misc/FileNameExtensions.h>
#include <Misc/StandardValueCoders.h>
#include <Misc/ArrayValueCoders.h>
#include <Misc/ConfigurationFile.h>
#include <IO/File.h>
#include <IO/ValueSource.h>
#include <IO/OpenFile.h>
#include <Comm/OpenPipe.h>
#include <Math/Math.h>
#include <Math/Constants.h>
#include <Math/Interval.h>
#include <Math/MathValueCoders.h>
#include <Geometry/Point.h>
#include <Geometry/AffineCombiner.h>
#include <Geometry/HVector.h>
#include <Geometry/Plane.h>
#include <Geometry/LinearUnit.h>
#include <Geometry/GeometryValueCoders.h>
#include <Geometry/OutputOperators.h>
#include <GL/gl.h>
#include <GL/GLMaterialTemplates.h>
#include <GL/GLColorMap.h>
#include <GL/GLLightTracker.h>
#include <GL/Extensions/GLEXTFramebufferObject.h>
#include <GL/Extensions/GLARBTextureRectangle.h>
#include <GL/Extensions/GLARBTextureFloat.h>
#include <GL/Extensions/GLARBTextureRg.h>
#include <GL/Extensions/GLARBDepthTexture.h>
#include <GL/Extensions/GLARBShaderObjects.h>
#include <GL/Extensions/GLARBVertexShader.h>
#include <GL/Extensions/GLARBFragmentShader.h>
#include <GL/Extensions/GLARBMultitexture.h>
#include <GL/GLContextData.h>
#include <GL/GLGeometryWrappers.h>
#include <GL/GLTransformationWrappers.h>
#include <GLMotif/StyleSheet.h>
#include <GLMotif/WidgetManager.h>
#include <GLMotif/PopupMenu.h>
#include <GLMotif/Menu.h>
#include <GLMotif/PopupWindow.h>
#include <GLMotif/Margin.h>
#include <GLMotif/Label.h>
#include <GLMotif/TextField.h>
#include <Vrui/Vrui.h>
#include <Vrui/CoordinateManager.h>
#include <Vrui/Lightsource.h>
#include <Vrui/LightsourceManager.h>
#include <Vrui/Viewer.h>
#include <Vrui/ToolManager.h>
#include <Vrui/DisplayState.h>
#include <Kinect/FileFrameSource.h>
#include <Kinect/MultiplexedFrameSource.h>
#include <Kinect/DirectFrameSource.h>
#include <Kinect/OpenDirectFrameSource.h>
#define SAVEDEPTH 0
#if SAVEDEPTH
#include <Images/RGBImage.h>
#include <Images/WriteImageFile.h>
#endif
#include "FrameFilter.h"
#include "DepthImageRenderer.h"
#include "ElevationColorMap.h"
#include "DEM.h"
#include "SurfaceRenderer.h"
#include "WaterTable2.h"
#include "HandExtractor.h"
#include "RemoteServer.h"
#include "WaterRenderer.h"
#include "GlobalWaterTool.h"
#include "LocalWaterTool.h"
#include "DEMTool.h"
#include "BathymetrySaverTool.h"
#include "Config.h"
/**********************************
Methods of class Sandbox::DataItem:
**********************************/
Sandbox::DataItem::DataItem(void)
: waterTableTime(0.0),
shadowFramebufferObject(0), shadowDepthTextureObject(0) {
/* Check if all required extensions are supported: */
bool supported = GLEXTFramebufferObject::isSupported();
supported = supported && GLARBTextureRectangle::isSupported();
supported = supported && GLARBTextureFloat::isSupported();
supported = supported && GLARBTextureRg::isSupported();
supported = supported && GLARBDepthTexture::isSupported();
supported = supported && GLARBShaderObjects::isSupported();
supported = supported && GLARBVertexShader::isSupported();
supported = supported && GLARBFragmentShader::isSupported();
supported = supported && GLARBMultitexture::isSupported();
if (!supported) {
Misc::throwStdErr("Sandbox: Not all required extensions are supported by local OpenGL");
}
/* Initialize all required extensions: */
GLEXTFramebufferObject::initExtension();
GLARBTextureRectangle::initExtension();
GLARBTextureFloat::initExtension();
GLARBTextureRg::initExtension();
GLARBDepthTexture::initExtension();
GLARBShaderObjects::initExtension();
GLARBVertexShader::initExtension();
GLARBFragmentShader::initExtension();
GLARBMultitexture::initExtension();
}
Sandbox::DataItem::~DataItem(void) {
/* Delete all shaders, buffers, and texture objects: */
glDeleteFramebuffersEXT(1, &shadowFramebufferObject);
glDeleteTextures(1, &shadowDepthTextureObject);
}
/****************************************
Methods of class Sandbox::RenderSettings:
****************************************/
Sandbox::RenderSettings::RenderSettings(void)
: fixProjectorView(false), projectorTransform(PTransform::identity),
projectorTransformValid(false),
hillshade(false), surfaceMaterial(GLMaterial::Color(1.0f, 1.0f, 1.0f)),
useShadows(false),
elevationColorMap(0),
useContourLines(true), contourLineSpacing(0.75f),
renderWaterSurface(false), waterOpacity(2.0f),
surfaceRenderer(0), waterRenderer(0) {
/* Load the default projector transformation: */
loadProjectorTransform(CONFIG_DEFAULTPROJECTIONMATRIXFILENAME);
}
Sandbox::RenderSettings::RenderSettings(const Sandbox::RenderSettings& source)
: fixProjectorView(source.fixProjectorView), projectorTransform(source.projectorTransform),
projectorTransformValid(source.projectorTransformValid),
hillshade(source.hillshade), surfaceMaterial(source.surfaceMaterial),
useShadows(source.useShadows),
elevationColorMap(source.elevationColorMap != 0 ? new ElevationColorMap(
*source.elevationColorMap) : 0),
useContourLines(source.useContourLines), contourLineSpacing(source.contourLineSpacing),
renderWaterSurface(source.renderWaterSurface), waterOpacity(source.waterOpacity),
surfaceRenderer(0), waterRenderer(0) {
}
Sandbox::RenderSettings::~RenderSettings(void) {
delete surfaceRenderer;
delete waterRenderer;
delete elevationColorMap;
}
void Sandbox::RenderSettings::loadProjectorTransform(const char* projectorTransformName) {
std::string fullProjectorTransformName;
try {
/* Open the projector transformation file: */
if (projectorTransformName[0] == '/') {
/* Use the absolute file name directly: */
fullProjectorTransformName = projectorTransformName;
} else {
/* Assemble a file name relative to the configuration file directory: */
fullProjectorTransformName = CONFIG_CONFIGDIR;
fullProjectorTransformName.push_back('/');
fullProjectorTransformName.append(projectorTransformName);
}
IO::FilePtr projectorTransformFile = IO::openFile(fullProjectorTransformName.c_str(),
IO::File::ReadOnly);
projectorTransformFile->setEndianness(Misc::LittleEndian);
/* Read the projector transformation matrix from the binary file: */
Misc::Float64 pt[16];
projectorTransformFile->read(pt, 16);
projectorTransform = PTransform::fromRowMajor(pt);
projectorTransformValid = true;
} catch (const std::runtime_error& err) {
/* Print an error message and disable calibrated projections: */
std::cerr << "Unable to load projector transformation from file " << fullProjectorTransformName <<
" due to exception " << err.what() << std::endl;
projectorTransformValid = false;
}
}
void Sandbox::RenderSettings::loadHeightMap(const char* heightMapName) {
try {
/* Load the elevation color map of the given name: */
ElevationColorMap* newElevationColorMap = new ElevationColorMap(heightMapName);
/* Delete the previous elevation color map and assign the new one: */
delete elevationColorMap;
elevationColorMap = newElevationColorMap;
} catch (const std::runtime_error& err) {
std::cerr << "Ignoring height map due to exception " << err.what() << std::endl;
}
}
/************************
Methods of class Sandbox:
************************/
void Sandbox::rawDepthFrameDispatcher(const Kinect::FrameBuffer& frameBuffer) {
/* Pass the received frame to the frame filter and the hand extractor: */
if (frameFilter != 0 && !pauseUpdates) {
frameFilter->receiveRawFrame(frameBuffer);
}
if (handExtractor != 0) {
handExtractor->receiveRawFrame(frameBuffer);
}
}
void Sandbox::receiveFilteredFrame(const Kinect::FrameBuffer& frameBuffer) {
/* Put the new frame into the frame input buffer: */
filteredFrames.postNewValue(frameBuffer);
/* Wake up the foreground thread: */
Vrui::requestUpdate();
}
void Sandbox::toggleDEM(DEM* dem) {
/* Check if this is the active DEM: */
if (activeDem == dem) {
/* Deactivate the currently active DEM: */
activeDem = 0;
} else {
/* Activate this DEM: */
activeDem = dem;
}
/* Enable DEM matching in all surface renderers that use a fixed projector matrix, i.e., in all physical sandboxes: */
for (std::vector<RenderSettings>::iterator rsIt = renderSettings.begin();
rsIt != renderSettings.end(); ++rsIt)
if (rsIt->fixProjectorView) {
rsIt->surfaceRenderer->setDem(activeDem);
}
}
void Sandbox::addWater(GLContextData& contextData) const {
/* Check if the most recent rain object list is not empty: */
if (handExtractor != 0 && !handExtractor->getLockedExtractedHands().empty()) {
/* Render all rain objects into the water table: */
glPushAttrib(GL_ENABLE_BIT);
glDisable(GL_CULL_FACE);
/* Create a local coordinate frame to render rain disks: */
Vector z = waterTable->getBaseTransform().inverseTransform(Vector(0, 0, 1));
Vector x = Geometry::normal(z);
Vector y = Geometry::cross(z, x);
x.normalize();
y.normalize();
glVertexAttrib1fARB(1, rainStrength / waterSpeed);
for (HandExtractor::HandList::const_iterator hIt =
handExtractor->getLockedExtractedHands().begin();
hIt != handExtractor->getLockedExtractedHands().end(); ++hIt) {
glVertexAttrib1fARB(1, hIt->direction * (rainStrength / waterSpeed));
/* Render a rain disk approximating the hand: */
glBegin(GL_POLYGON);
for (int i = 0; i < 32; ++i) {
Scalar angle = Scalar(2) * Math::Constants<Scalar>::pi * Scalar(i) / Scalar(32);
glVertex(hIt->center + x * (Math::cos(angle)*hIt->radius * 0.75) + y * (Math::sin(
angle)*hIt->radius * 0.75));
}
glEnd();
}
glPopAttrib();
}
}
void Sandbox::pauseUpdatesCallback(GLMotif::ToggleButton::ValueChangedCallbackData* cbData) {
pauseUpdates = cbData->set;
}
void Sandbox::showWaterControlDialogCallback(Misc::CallbackData* cbData) {
Vrui::popupPrimaryWidget(waterControlDialog);
}
void Sandbox::waterSpeedSliderCallback(GLMotif::TextFieldSlider::ValueChangedCallbackData*
cbData) {
waterSpeed = cbData->value;
}
void Sandbox::waterMaxStepsSliderCallback(GLMotif::TextFieldSlider::ValueChangedCallbackData*
cbData) {
waterMaxSteps = int(Math::floor(cbData->value + 0.5));
}
void Sandbox::waterAttenuationSliderCallback(GLMotif::TextFieldSlider::ValueChangedCallbackData*
cbData) {
waterTable->setAttenuation(GLfloat(1.0 - cbData->value));
}
GLMotif::PopupMenu* Sandbox::createMainMenu(void) {
/* Create a popup shell to hold the main menu: */
GLMotif::PopupMenu* mainMenuPopup = new GLMotif::PopupMenu("MainMenuPopup",
Vrui::getWidgetManager());
mainMenuPopup->setTitle("AR Sandbox");
/* Create the main menu itself: */
GLMotif::Menu* mainMenu = new GLMotif::Menu("MainMenu", mainMenuPopup, false);
/* Create a button to pause topography updates: */
pauseUpdatesToggle = new GLMotif::ToggleButton("PauseUpdatesToggle", mainMenu, "Pause Topography");
pauseUpdatesToggle->setToggle(false);
pauseUpdatesToggle->getValueChangedCallbacks().add(this, &Sandbox::pauseUpdatesCallback);
if (waterTable != 0) {
/* Create a button to show the water control dialog: */
GLMotif::Button* showWaterControlDialogButton = new GLMotif::Button("ShowWaterControlDialogButton",
mainMenu, "Show Water Simulation Control");
showWaterControlDialogButton->getSelectCallbacks().add(this,
&Sandbox::showWaterControlDialogCallback);
}
/* Finish building the main menu: */
mainMenu->manageChild();
return mainMenuPopup;
}
GLMotif::PopupWindow* Sandbox::createWaterControlDialog(void) {
const GLMotif::StyleSheet& ss = *Vrui::getUiStyleSheet();
/* Create a popup window shell: */
GLMotif::PopupWindow* waterControlDialogPopup = new GLMotif::PopupWindow("WaterControlDialogPopup",
Vrui::getWidgetManager(), "Water Simulation Control");
waterControlDialogPopup->setCloseButton(true);
waterControlDialogPopup->setResizableFlags(true, false);
waterControlDialogPopup->popDownOnClose();
GLMotif::RowColumn* waterControlDialog = new GLMotif::RowColumn("WaterControlDialog",
waterControlDialogPopup, false);
waterControlDialog->setOrientation(GLMotif::RowColumn::VERTICAL);
waterControlDialog->setPacking(GLMotif::RowColumn::PACK_TIGHT);
waterControlDialog->setNumMinorWidgets(2);
new GLMotif::Label("WaterSpeedLabel", waterControlDialog, "Speed");
waterSpeedSlider = new GLMotif::TextFieldSlider("WaterSpeedSlider", waterControlDialog, 8,
ss.fontHeight * 10.0f);
waterSpeedSlider->getTextField()->setFieldWidth(7);
waterSpeedSlider->getTextField()->setPrecision(4);
waterSpeedSlider->getTextField()->setFloatFormat(GLMotif::TextField::SMART);
waterSpeedSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
waterSpeedSlider->setValueRange(0.001, 10.0, 0.05);
waterSpeedSlider->getSlider()->addNotch(0.0f);
waterSpeedSlider->setValue(waterSpeed);
waterSpeedSlider->getValueChangedCallbacks().add(this, &Sandbox::waterSpeedSliderCallback);
new GLMotif::Label("WaterMaxStepsLabel", waterControlDialog, "Max Steps");
waterMaxStepsSlider = new GLMotif::TextFieldSlider("WaterMaxStepsSlider", waterControlDialog, 8,
ss.fontHeight * 10.0f);
waterMaxStepsSlider->getTextField()->setFieldWidth(7);
waterMaxStepsSlider->getTextField()->setPrecision(0);
waterMaxStepsSlider->getTextField()->setFloatFormat(GLMotif::TextField::FIXED);
waterMaxStepsSlider->setSliderMapping(GLMotif::TextFieldSlider::LINEAR);
waterMaxStepsSlider->setValueType(GLMotif::TextFieldSlider::UINT);
waterMaxStepsSlider->setValueRange(0, 200, 1);
waterMaxStepsSlider->setValue(waterMaxSteps);
waterMaxStepsSlider->getValueChangedCallbacks().add(this, &Sandbox::waterMaxStepsSliderCallback);
new GLMotif::Label("FrameRateLabel", waterControlDialog, "Frame Rate");
GLMotif::Margin* frameRateMargin = new GLMotif::Margin("FrameRateMargin", waterControlDialog,
false);
frameRateMargin->setAlignment(GLMotif::Alignment::LEFT);
frameRateTextField = new GLMotif::TextField("FrameRateTextField", frameRateMargin, 8);
frameRateTextField->setFieldWidth(7);
frameRateTextField->setPrecision(2);
frameRateTextField->setFloatFormat(GLMotif::TextField::FIXED);
frameRateTextField->setValue(0.0);
frameRateMargin->manageChild();
new GLMotif::Label("WaterAttenuationLabel", waterControlDialog, "Attenuation");
waterAttenuationSlider = new GLMotif::TextFieldSlider("WaterAttenuationSlider", waterControlDialog,
8, ss.fontHeight * 10.0f);
waterAttenuationSlider->getTextField()->setFieldWidth(7);
waterAttenuationSlider->getTextField()->setPrecision(5);
waterAttenuationSlider->getTextField()->setFloatFormat(GLMotif::TextField::SMART);
waterAttenuationSlider->setSliderMapping(GLMotif::TextFieldSlider::EXP10);
waterAttenuationSlider->setValueRange(0.001, 1.0, 0.01);
waterAttenuationSlider->getSlider()->addNotch(Math::log10(1.0 - double(
waterTable->getAttenuation())));
waterAttenuationSlider->setValue(1.0 - double(waterTable->getAttenuation()));
waterAttenuationSlider->getValueChangedCallbacks().add(this,
&Sandbox::waterAttenuationSliderCallback);
waterControlDialog->manageChild();
return waterControlDialogPopup;
}
namespace {
/****************
Helper functions:
****************/
void printUsage(void) {
std::cout << "Usage: SARndbox [option 1] ... [option n]" << std::endl;
std::cout << " Options:" << std::endl;
std::cout << " -h" << std::endl;
std::cout << " Prints this help message" << std::endl;
std::cout << " -remote [<listening port ID>]" << std::endl;
std::cout << " Creates a data streaming server listening on TCP port <listening port ID>" <<
std::endl;
std::cout << " Default listening port ID: 26000" << std::endl;
std::cout << " -c <camera index>" << std::endl;
std::cout << " Selects the local 3D camera of the given index (0: first camera" << std::endl;
std::cout << " on USB bus)" << std::endl;
std::cout << " Default: 0" << std::endl;
std::cout << " -f <frame file name prefix>" << std::endl;
std::cout << " Reads a pre-recorded 3D video stream from a pair of color/depth" << std::endl;
std::cout << " files of the given file name prefix" << std::endl;
std::cout << " -s <scale factor>" << std::endl;
std::cout << " Scale factor from real sandbox to simulated terrain" << std::endl;
std::cout << " Default: 100.0 (1:100 scale, 1cm in sandbox is 1m in terrain" << std::endl;
std::cout << " -slf <sandbox layout file name>" << std::endl;
std::cout << " Loads the sandbox layout file of the given name" << std::endl;
std::cout << " Default: " << CONFIG_CONFIGDIR << '/' << CONFIG_DEFAULTBOXLAYOUTFILENAME <<
std::endl;
std::cout << " -er <min elevation> <max elevation>" << std::endl;
std::cout << " Sets the range of valid sand surface elevations relative to the" << std::endl;
std::cout << " ground plane in cm" << std::endl;
std::cout << " Default: Range of elevation color map" << std::endl;
std::cout << " -hmp <x> <y> <z> <offset>" << std::endl;
std::cout << " Sets an explicit base plane equation to use for height color mapping" <<
std::endl;
std::cout << " -nas <num averaging slots>" << std::endl;
std::cout << " Sets the number of averaging slots in the frame filter; latency is" <<
std::endl;
std::cout << " <num averaging slots> * 1/30 s" << std::endl;
std::cout << " Default: 30" << std::endl;
std::cout << " -sp <min num samples> <max variance>" << std::endl;
std::cout << " Sets the frame filter parameters minimum number of valid samples" << std::endl;
std::cout << " and maximum sample variance before convergence" << std::endl;
std::cout << " Default: 10 2" << std::endl;
std::cout << " -he <hysteresis envelope>" << std::endl;
std::cout << " Sets the size of the hysteresis envelope used for jitter removal" << std::endl;
std::cout << " Default: 0.1" << std::endl;
std::cout << " -wts <water grid width> <water grid height>" << std::endl;
std::cout << " Sets the width and height of the water flow simulation grid" << std::endl;
std::cout << " Default: 640 480" << std::endl;
std::cout << " -ws <water speed> <water max steps>" << std::endl;
std::cout << " Sets the relative speed of the water simulation and the maximum" << std::endl;
std::cout << " number of simulation steps per frame" << std::endl;
std::cout << " Default: 1.0 30" << std::endl;
std::cout << " -rer <min rain elevation> <max rain elevation>" << std::endl;
std::cout << " Sets the elevation range of the rain cloud level relative to the" << std::endl;
std::cout << " ground plane in cm" << std::endl;
std::cout << " Default: Above range of elevation color map" << std::endl;
std::cout << " -rs <rain strength>" << std::endl;
std::cout << " Sets the strength of global or local rainfall in cm/s" << std::endl;
std::cout << " Default: 0.25" << std::endl;
std::cout << " -evr <evaporation rate>" << std::endl;
std::cout << " Water evaporation rate in cm/s" << std::endl;
std::cout << " Default: 0.0" << std::endl;
std::cout << " -dds <DEM distance scale>" << std::endl;
std::cout << " DEM matching distance scale factor in cm" << std::endl;
std::cout << " Default: 1.0" << std::endl;
std::cout << " -wi <window index>" << std::endl;
std::cout << " Sets the zero-based index of the display window to which the" << std::endl;
std::cout << " following rendering settings are applied" << std::endl;
std::cout << " Default: 0" << std::endl;
std::cout << " -fpv [projector transform file name]" << std::endl;
std::cout << " Fixes the navigation transformation so that Kinect camera and" << std::endl;
std::cout << " projector are aligned, as defined by the projector transform file" << std::endl;
std::cout << " of the given name" << std::endl;
std::cout << " Default projector transform file name: " << CONFIG_CONFIGDIR << '/' <<
CONFIG_DEFAULTPROJECTIONMATRIXFILENAME << std::endl;
std::cout << " -nhs" << std::endl;
std::cout << " Disables hill shading" << std::endl;
std::cout << " -uhs" << std::endl;
std::cout << " Enables hill shading" << std::endl;
std::cout << " -ns" << std::endl;
std::cout << " Disables shadows" << std::endl;
std::cout << " -us" << std::endl;
std::cout << " Enables shadows" << std::endl;
std::cout << " -nhm" << std::endl;
std::cout << " Disables elevation color mapping" << std::endl;
std::cout << " -uhm [elevation color map file name]" << std::endl;
std::cout << " Enables elevation color mapping and loads the elevation color map from" <<
std::endl;
std::cout << " the file of the given name" << std::endl;
std::cout << " Default elevation color map file name: " << CONFIG_CONFIGDIR << '/' <<
CONFIG_DEFAULTHEIGHTCOLORMAPFILENAME << std::endl;
std::cout << " -ncl" << std::endl;
std::cout << " Disables topographic contour lines" << std::endl;
std::cout << " -ucl [contour line spacing]" << std::endl;
std::cout << " Enables topographic contour lines and sets the elevation distance between" <<
std::endl;
std::cout << " adjacent contour lines to the given value in cm" << std::endl;
std::cout << " Default contour line spacing: 0.75" << std::endl;
std::cout << " -rws" << std::endl;
std::cout << " Renders water surface as geometric surface" << std::endl;
std::cout << " -rwt" << std::endl;
std::cout << " Renders water surface as texture" << std::endl;
std::cout << " -wo <water opacity>" << std::endl;
std::cout << " Sets the water depth at which water appears opaque in cm" << std::endl;
std::cout << " Default: 2.0" << std::endl;
std::cout << " -cp <control pipe name>" << std::endl;
std::cout << " Sets the name of a named POSIX pipe from which to read control commands" <<
std::endl;
}
}
Sandbox::Sandbox(int& argc, char**& argv)
: Vrui::Application(argc, argv),
remoteServer(0),
camera(0), pixelDepthCorrection(0),
frameFilter(0), pauseUpdates(false),
depthImageRenderer(0),
waterTable(0),
handExtractor(0), addWaterFunction(0), addWaterFunctionRegistered(false),
sun(0),
activeDem(0),
mainMenu(0), pauseUpdatesToggle(0), waterControlDialog(0),
waterSpeedSlider(0), waterMaxStepsSlider(0), frameRateTextField(0), waterAttenuationSlider(0),
controlPipeFd(-1) {
/* Read the sandbox's default configuration parameters: */
std::string sandboxConfigFileName = CONFIG_CONFIGDIR;
sandboxConfigFileName.push_back('/');
sandboxConfigFileName.append(CONFIG_DEFAULTCONFIGFILENAME);
Misc::ConfigurationFile sandboxConfigFile(sandboxConfigFileName.c_str());
Misc::ConfigurationFileSection cfg = sandboxConfigFile.getSection("/SARndbox");
unsigned int cameraIndex = cfg.retrieveValue<int>("./cameraIndex", 0);
std::string cameraConfiguration = cfg.retrieveString("./cameraConfiguration", "Camera");
double scale = cfg.retrieveValue<double>("./scaleFactor", 100.0);
std::string sandboxLayoutFileName = CONFIG_CONFIGDIR;
sandboxLayoutFileName.push_back('/');
sandboxLayoutFileName.append(CONFIG_DEFAULTBOXLAYOUTFILENAME);
sandboxLayoutFileName = cfg.retrieveString("./sandboxLayoutFileName", sandboxLayoutFileName);
Math::Interval<double> elevationRange =
cfg.retrieveValue<Math::Interval<double> >("./elevationRange", Math::Interval<double>(-1000.0,
1000.0));
bool haveHeightMapPlane = cfg.hasTag("./heightMapPlane");
Plane heightMapPlane;
if (haveHeightMapPlane) {
heightMapPlane = cfg.retrieveValue<Plane>("./heightMapPlane");
}
unsigned int numAveragingSlots = cfg.retrieveValue<unsigned int>("./numAveragingSlots", 30);
unsigned int minNumSamples = cfg.retrieveValue<unsigned int>("./minNumSamples", 10);
unsigned int maxVariance = cfg.retrieveValue<unsigned int>("./maxVariance", 2);
float hysteresis = cfg.retrieveValue<float>("./hysteresis", 0.1f);
Misc::FixedArray<unsigned int, 2> wtSize;
wtSize[0] = 640;
wtSize[1] = 480;
wtSize = cfg.retrieveValue<Misc::FixedArray<unsigned int, 2> >("./waterTableSize", wtSize);
waterSpeed = cfg.retrieveValue<double>("./waterSpeed", 1.0);
waterMaxSteps = cfg.retrieveValue<unsigned int>("./waterMaxSteps", 30U);
Math::Interval<double> rainElevationRange =
cfg.retrieveValue<Math::Interval<double> >("./rainElevationRange", Math::Interval<double>(-1000.0,
1000.0));
rainStrength = cfg.retrieveValue<GLfloat>("./rainStrength", 0.25f);
double evaporationRate = cfg.retrieveValue<double>("./evaporationRate", 0.0);
float demDistScale = cfg.retrieveValue<float>("./demDistScale", 1.0f);
std::string controlPipeName = cfg.retrieveString("./controlPipeName", "");
/* Process command line parameters: */
bool printHelp = false;
const char* frameFilePrefix = 0;
const char* kinectServerName = 0;
bool useRemoteServer = false;
int remoteServerPortId = 26000;
int windowIndex = 0;
renderSettings.push_back(RenderSettings());
for (int i = 1; i < argc; ++i) {
if (argv[i][0] == '-') {
if (strcasecmp(argv[i] + 1, "h") == 0) {
printHelp = true;
} else if (strcasecmp(argv[i] + 1, "remote") == 0) {
/* Check if there is an optional port number: */
if (i + 1 < argc && argv[i + 1][0] >= '0' && argv[i + 1][0] <= '9') {
++i;
remoteServerPortId = atoi(argv[i]);
}
useRemoteServer = true;
} else if (strcasecmp(argv[i] + 1, "c") == 0) {
++i;
cameraIndex = atoi(argv[i]);
} else if (strcasecmp(argv[i] + 1, "f") == 0) {
++i;
frameFilePrefix = argv[i];
} else if (strcasecmp(argv[i] + 1, "p") == 0) {
++i;
kinectServerName = argv[i];
} else if (strcasecmp(argv[i] + 1, "s") == 0) {
++i;
scale = atof(argv[i]);
} else if (strcasecmp(argv[i] + 1, "slf") == 0) {
++i;
sandboxLayoutFileName = argv[i];
} else if (strcasecmp(argv[i] + 1, "er") == 0) {
++i;
double elevationMin = atof(argv[i]);
++i;
double elevationMax = atof(argv[i]);
elevationRange = Math::Interval<double>(elevationMin, elevationMax);
} else if (strcasecmp(argv[i] + 1, "hmp") == 0) {
/* Read height mapping plane coefficients: */
haveHeightMapPlane = true;
double hmp[4];
for (int j = 0; j < 4; ++j) {
++i;
hmp[j] = atof(argv[i]);
}
heightMapPlane = Plane(Plane::Vector(hmp), hmp[3]);
heightMapPlane.normalize();
} else if (strcasecmp(argv[i] + 1, "nas") == 0) {
++i;
numAveragingSlots = atoi(argv[i]);
} else if (strcasecmp(argv[i] + 1, "sp") == 0) {
++i;
minNumSamples = atoi(argv[i]);
++i;
maxVariance = atoi(argv[i]);
} else if (strcasecmp(argv[i] + 1, "he") == 0) {
++i;
hysteresis = float(atof(argv[i]));
} else if (strcasecmp(argv[i] + 1, "wts") == 0) {
for (int j = 0; j < 2; ++j) {
++i;
wtSize[j] = (unsigned int)(atoi(argv[i]));
}
} else if (strcasecmp(argv[i] + 1, "ws") == 0) {
++i;
waterSpeed = atof(argv[i]);
++i;
waterMaxSteps = atoi(argv[i]);
} else if (strcasecmp(argv[i] + 1, "rer") == 0) {
++i;
double rainElevationMin = atof(argv[i]);
++i;
double rainElevationMax = atof(argv[i]);
rainElevationRange = Math::Interval<double>(rainElevationMin, rainElevationMax);
} else if (strcasecmp(argv[i] + 1, "rs") == 0) {
++i;
rainStrength = GLfloat(atof(argv[i]));
} else if (strcasecmp(argv[i] + 1, "evr") == 0) {
++i;
evaporationRate = atof(argv[i]);
} else if (strcasecmp(argv[i] + 1, "dds") == 0) {
++i;
demDistScale = float(atof(argv[i]));
} else if (strcasecmp(argv[i] + 1, "wi") == 0) {
++i;
windowIndex = atoi(argv[i]);
/* Extend the list of render settings if an index beyond the end is selected: */
while (int(renderSettings.size()) <= windowIndex) {
renderSettings.push_back(renderSettings.back());
}
/* Disable fixed projector view on the new render settings: */
renderSettings.back().fixProjectorView = false;
} else if (strcasecmp(argv[i] + 1, "fpv") == 0) {
renderSettings.back().fixProjectorView = true;
if (i + 1 < argc && argv[i + 1][0] != '-') {
/* Load the projector transformation file specified in the next argument: */
++i;
renderSettings.back().loadProjectorTransform(argv[i]);
}
} else if (strcasecmp(argv[i] + 1, "nhs") == 0) {
renderSettings.back().hillshade = false;
} else if (strcasecmp(argv[i] + 1, "uhs") == 0) {
renderSettings.back().hillshade = true;
} else if (strcasecmp(argv[i] + 1, "ns") == 0) {
renderSettings.back().useShadows = false;
} else if (strcasecmp(argv[i] + 1, "us") == 0) {
renderSettings.back().useShadows = true;
} else if (strcasecmp(argv[i] + 1, "nhm") == 0) {
delete renderSettings.back().elevationColorMap;
renderSettings.back().elevationColorMap = 0;
} else if (strcasecmp(argv[i] + 1, "uhm") == 0) {
if (i + 1 < argc && argv[i + 1][0] != '-') {
/* Load the height color map file specified in the next argument: */
++i;
renderSettings.back().loadHeightMap(argv[i]);
} else {
/* Load the default height color map: */
renderSettings.back().loadHeightMap(CONFIG_DEFAULTHEIGHTCOLORMAPFILENAME);
}
} else if (strcasecmp(argv[i] + 1, "ncl") == 0) {
renderSettings.back().useContourLines = false;
} else if (strcasecmp(argv[i] + 1, "ucl") == 0) {
renderSettings.back().useContourLines = true;
if (i + 1 < argc && argv[i + 1][0] != '-') {
/* Read the contour line spacing: */
++i;
renderSettings.back().contourLineSpacing = GLfloat(atof(argv[i]));
}
} else if (strcasecmp(argv[i] + 1, "rws") == 0) {
renderSettings.back().renderWaterSurface = true;
} else if (strcasecmp(argv[i] + 1, "rwt") == 0) {
renderSettings.back().renderWaterSurface = false;
} else if (strcasecmp(argv[i] + 1, "wo") == 0) {
++i;
renderSettings.back().waterOpacity = GLfloat(atof(argv[i]));
} else if (strcasecmp(argv[i] + 1, "cp") == 0) {
++i;
controlPipeName = argv[i];
} else {
std::cerr << "Ignoring unrecognized command line switch " << argv[i] << std::endl;
}
}
}
/* Print usage help if requested: */
if (printHelp) {
printUsage();
}
if (frameFilePrefix != 0) {
/* Open the selected pre-recorded 3D video files: */
std::string colorFileName = frameFilePrefix;
colorFileName.append(".color");
std::string depthFileName = frameFilePrefix;
depthFileName.append(".depth");
camera = new Kinect::FileFrameSource(IO::openFile(colorFileName.c_str()),
IO::openFile(depthFileName.c_str()));
} else if (kinectServerName != 0) {
/* Split the server name into host name and port: */
const char* colonPtr = 0;
for (const char* snPtr = kinectServerName; *snPtr != '\0'; ++snPtr)
if (*snPtr == ':') {
colonPtr = snPtr;
}
std::string hostName;
int port;
if (colonPtr != 0) {
/* Extract host name and port: */
hostName = std::string(kinectServerName, colonPtr);
port = atoi(colonPtr + 1);
} else {
/* Use complete host name and default port: */
hostName = kinectServerName;
port = 26000;
}
/* Open a multiplexed frame source for the given server host name and port number: */
Kinect::MultiplexedFrameSource* source = Kinect::MultiplexedFrameSource::create(Comm::openTCPPipe(
hostName.c_str(), port));
/* Use the server's first component stream as the camera device: */
camera = source->getStream(0);
} else {
/* Open the 3D camera device of the selected index: */
Kinect::DirectFrameSource* realCamera = Kinect::openDirectFrameSource(cameraIndex, false);
Misc::ConfigurationFileSection cameraConfigurationSection = cfg.getSection(
cameraConfiguration.c_str());
realCamera->configure(cameraConfigurationSection);
camera = realCamera;
}
for (int i = 0; i < 2; ++i) {
frameSize[i] = camera->getActualFrameSize(Kinect::FrameSource::DEPTH)[i];
}
/* Get the camera's per-pixel depth correction parameters and evaluate it on the depth frame's pixel grid: */
Kinect::FrameSource::DepthCorrection* depthCorrection = camera->getDepthCorrectionParameters();
if (depthCorrection != 0) {
pixelDepthCorrection = depthCorrection->getPixelCorrection(frameSize);
delete depthCorrection;
} else {
/* Create dummy per-pixel depth correction parameters: */
pixelDepthCorrection = new PixelDepthCorrection[frameSize[1]*frameSize[0]];
PixelDepthCorrection* pdcPtr = pixelDepthCorrection;
for (unsigned int y = 0; y < frameSize[1]; ++y)
for (unsigned int x = 0; x < frameSize[0]; ++x, ++pdcPtr) {
pdcPtr->scale = 1.0f;
pdcPtr->offset = 0.0f;
}
}
/* Get the camera's intrinsic parameters: */
cameraIps = camera->getIntrinsicParameters();
/* Read the sandbox layout file: */
Geometry::Plane<double, 3> basePlane;
Geometry::Point<double, 3> basePlaneCorners[4];
{
IO::ValueSource layoutSource(IO::openFile(sandboxLayoutFileName.c_str()));
layoutSource.skipWs();
/* Read the base plane equation: */
std::string s = layoutSource.readLine();
basePlane = Misc::ValueCoder<Geometry::Plane<double, 3> >::decode(s.c_str(),
s.c_str() + s.length());
basePlane.normalize();
/* Read the corners of the base quadrilateral and project them into the base plane: */
for (int i = 0; i < 4; ++i) {
layoutSource.skipWs();
s = layoutSource.readLine();
basePlaneCorners[i] = basePlane.project(Misc::ValueCoder<Geometry::Point<double, 3> >::decode(
s.c_str(), s.c_str() + s.length()));
}
}
/* Limit the valid elevation range to the intersection of the extents of all height color maps: */
for (std::vector<RenderSettings>::iterator rsIt = renderSettings.begin();
rsIt != renderSettings.end(); ++rsIt)
if (rsIt->elevationColorMap != 0) {
Math::Interval<double> mapRange(rsIt->elevationColorMap->getScalarRangeMin(),
rsIt->elevationColorMap->getScalarRangeMax());
elevationRange.intersectInterval(mapRange);
}
/* Scale all sizes by the given scale factor: */
double sf = scale / 100.0; // Scale factor from cm to final units
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 4; ++j) {
cameraIps.depthProjection.getMatrix()(i, j) *= sf;
}
basePlane = Geometry::Plane<double, 3>(basePlane.getNormal(), basePlane.getOffset() * sf);
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 3; ++j) {
basePlaneCorners[i][j] *= sf;
}
if (elevationRange != Math::Interval<double>::full) {
elevationRange *= sf;
}
if (rainElevationRange != Math::Interval<double>::full) {
rainElevationRange *= sf;
}
for (std::vector<RenderSettings>::iterator rsIt = renderSettings.begin();
rsIt != renderSettings.end(); ++rsIt) {
if (rsIt->elevationColorMap != 0) {
rsIt->elevationColorMap->setScalarRange(rsIt->elevationColorMap->getScalarRangeMin()*sf,
rsIt->elevationColorMap->getScalarRangeMax()*sf);
}
rsIt->contourLineSpacing *= sf;
rsIt->waterOpacity /= sf;
for (int i = 0; i < 4; ++i) {
rsIt->projectorTransform.getMatrix()(i, 3) *= sf;
}
}
rainStrength *= sf;
evaporationRate *= sf;
demDistScale *= sf;
/* Create the frame filter object: */
frameFilter = new FrameFilter(frameSize, numAveragingSlots, pixelDepthCorrection,
cameraIps.depthProjection, basePlane);
frameFilter->setValidElevationInterval(cameraIps.depthProjection, basePlane,
elevationRange.getMin(), elevationRange.getMax());
frameFilter->setStableParameters(minNumSamples, maxVariance);
frameFilter->setHysteresis(hysteresis);
frameFilter->setSpatialFilter(true);
frameFilter->setOutputFrameFunction(Misc::createFunctionCall(this,
&Sandbox::receiveFilteredFrame));
if (waterSpeed > 0.0) {
/* Create the hand extractor object: */
handExtractor = new HandExtractor(frameSize, pixelDepthCorrection, cameraIps.depthProjection);
}
/* Start streaming depth frames: */
camera->startStreaming(0, Misc::createFunctionCall(this, &Sandbox::rawDepthFrameDispatcher));
/* Create the depth image renderer: */
depthImageRenderer = new DepthImageRenderer(frameSize);
depthImageRenderer->setIntrinsics(cameraIps);
depthImageRenderer->setBasePlane(basePlane);
{
/* Calculate the transformation from camera space to sandbox space: */
ONTransform::Vector z = basePlane.getNormal();
ONTransform::Vector x = (basePlaneCorners[1] - basePlaneCorners[0]) +
(basePlaneCorners[3] - basePlaneCorners[2]);
ONTransform::Vector y = z ^ x;
boxTransform = ONTransform::rotate(Geometry::invert(ONTransform::Rotation::fromBaseVectors(x, y)));
ONTransform::Point center = Geometry::mid(Geometry::mid(basePlaneCorners[0], basePlaneCorners[1]),
Geometry::mid(basePlaneCorners[2], basePlaneCorners[3]));
boxTransform *= ONTransform::translateToOriginFrom(center);
/* Calculate the size of the sandbox area: */
boxSize = Geometry::dist(center, basePlaneCorners[0]);
for (int i = 1; i < 4; ++i) {
boxSize = Math::max(boxSize, Geometry::dist(center, basePlaneCorners[i]));
}
}
/* Calculate a bounding box around all potential surfaces: */
bbox = Box::empty;
for (int i = 0; i < 4; ++i) {
bbox.addPoint(basePlaneCorners[i] + basePlane.getNormal()*elevationRange.getMin());
bbox.addPoint(basePlaneCorners[i] + basePlane.getNormal()*elevationRange.getMax());
}
if (waterSpeed > 0.0) {
/* Initialize the water flow simulator: */
waterTable = new WaterTable2(wtSize[0], wtSize[1], depthImageRenderer, basePlaneCorners);
waterTable->setElevationRange(elevationRange.getMin(), rainElevationRange.getMax());
waterTable->setWaterDeposit(evaporationRate);
/* Register a render function with the water table: */
addWaterFunction = Misc::createFunctionCall(this, &Sandbox::addWater);
waterTable->addRenderFunction(addWaterFunction);
addWaterFunctionRegistered = true;
}
if (useRemoteServer) {
/* Create a remote server: */
try {
remoteServer = new RemoteServer(this, remoteServerPortId, 1.0 / 30.0);
} catch (const std::runtime_error& err) {
Misc::formattedConsoleError("Sandbox: Unable to create remote server on port %d due to exception %s",
remoteServerPortId, err.what());
}
}
/* Initialize all surface renderers: */
for (std::vector<RenderSettings>::iterator rsIt = renderSettings.begin();
rsIt != renderSettings.end(); ++rsIt) {
/* Calculate the texture mapping plane for this renderer's height map: */
if (rsIt->elevationColorMap != 0) {
if (haveHeightMapPlane) {
rsIt->elevationColorMap->calcTexturePlane(heightMapPlane);
} else {
rsIt->elevationColorMap->calcTexturePlane(depthImageRenderer);
}
}
/* Initialize the surface renderer: */
rsIt->surfaceRenderer = new SurfaceRenderer(depthImageRenderer);
rsIt->surfaceRenderer->setDrawContourLines(rsIt->useContourLines);
rsIt->surfaceRenderer->setContourLineDistance(rsIt->contourLineSpacing);
rsIt->surfaceRenderer->setElevationColorMap(rsIt->elevationColorMap);
rsIt->surfaceRenderer->setIlluminate(rsIt->hillshade);
if (waterTable != 0) {
if (rsIt->renderWaterSurface) {
/* Create a water renderer: */
rsIt->waterRenderer = new WaterRenderer(waterTable);
} else {
rsIt->surfaceRenderer->setWaterTable(waterTable);
rsIt->surfaceRenderer->setAdvectWaterTexture(true);
rsIt->surfaceRenderer->setWaterOpacity(rsIt->waterOpacity);
}
}
rsIt->surfaceRenderer->setDemDistScale(demDistScale);
}
#if 0
/* Create a fixed-position light source: */
sun = Vrui::getLightsourceManager()->createLightsource(true);
for (int i = 0; i < Vrui::getNumViewers(); ++i) {
Vrui::getViewer(i)->setHeadlightState(false);
}
sun->enable();
sun->getLight().position = GLLight::Position(1, 0, 1, 0);
#endif
/* Create the GUI: */
mainMenu = createMainMenu();