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Sandbox.cpp
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Sandbox.cpp
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/***********************************************************************
Sandbox - Vrui application to drive an augmented reality sandbox.
Copyright (c) 2012-2018 Oliver Kreylos
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/FileNameExtensions.h>
#include <Misc/StandardValueCoders.h>
#include <Misc/ArrayValueCoders.h>
#include <Misc/ConfigurationFile.h>
#include <IO/File.h>
#include <IO/ValueSource.h>
#include <Cluster/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 <Vrui/OpenFile.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 "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=Vrui::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)
{
/* 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::getWidgetManager()->getStyleSheet();
/* 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<<" -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),
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;
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,"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(Vrui::openFile(colorFileName.c_str()),Vrui::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(Cluster::openTCPPipe(Vrui::getClusterMultiplexer(),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);
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(Vrui::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;
}
/* 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);