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Use new buffer stuff in glview
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This gets rid of most memcpys, swapping buffers instead

Signed-off-by: Hector Martin <hector@marcansoft.com>
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@marcan
marcan committed Nov 28, 2010
1 parent 1f2859a commit 5dcf307
Showing 1 changed file with 68 additions and 36 deletions.
104 changes: 68 additions & 36 deletions examples/glview.c
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Expand Up @@ -27,6 +27,7 @@

#include <stdio.h>
#include <string.h>
#include <assert.h>
#include "libfreenect.h"

#include <pthread.h>
Expand All @@ -53,11 +54,11 @@ int window;

pthread_mutex_t gl_backbuf_mutex = PTHREAD_MUTEX_INITIALIZER;

uint8_t gl_depth_front[640*480*4];
uint8_t gl_depth_back[640*480*4];

uint8_t gl_rgb_front[640*480*4];
uint8_t gl_rgb_back[640*480*4];
// back: owned by libfreenect (implicit for depth)
// mid: owned by callbacks, "latest frame ready"
// front: owned by GL, "currently being drawn"
uint8_t *depth_mid, *depth_front;
uint8_t *rgb_back, *rgb_mid, *rgb_front;

GLuint gl_depth_tex;
GLuint gl_rgb_tex;
Expand All @@ -69,19 +70,32 @@ int freenect_led;


pthread_cond_t gl_frame_cond = PTHREAD_COND_INITIALIZER;
int got_frames = 0;
int got_rgb = 0;
int got_depth = 0;

void DrawGLScene()
{
pthread_mutex_lock(&gl_backbuf_mutex);

while (got_frames < 2) {
while (!got_depth || !got_rgb) {
pthread_cond_wait(&gl_frame_cond, &gl_backbuf_mutex);
}

memcpy(gl_depth_front, gl_depth_back, sizeof(gl_depth_back));
memcpy(gl_rgb_front, gl_rgb_back, sizeof(gl_rgb_back));
got_frames = 0;
void *tmp;

if (got_depth) {
tmp = depth_front;
depth_front = depth_mid;
depth_mid = tmp;
got_depth = 0;
}
if (got_rgb) {
tmp = rgb_front;
rgb_front = rgb_mid;
rgb_mid = tmp;
got_rgb = 0;
}

pthread_mutex_unlock(&gl_backbuf_mutex);

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
Expand All @@ -90,7 +104,7 @@ void DrawGLScene()
glEnable(GL_TEXTURE_2D);

glBindTexture(GL_TEXTURE_2D, gl_depth_tex);
glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, gl_depth_front);
glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, depth_front);

glBegin(GL_TRIANGLE_FAN);
glColor4f(255.0f, 255.0f, 255.0f, 255.0f);
Expand All @@ -101,7 +115,7 @@ void DrawGLScene()
glEnd();

glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, gl_rgb_front);
glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb_front);

glBegin(GL_TRIANGLE_FAN);
glColor4f(255.0f, 255.0f, 255.0f, 255.0f);
Expand All @@ -120,6 +134,11 @@ void keyPressed(unsigned char key, int x, int y)
die = 1;
pthread_join(freenect_thread, NULL);
glutDestroyWindow(window);
free(depth_mid);
free(depth_front);
free(rgb_back);
free(rgb_mid);
free(rgb_front);
pthread_exit(NULL);
}
if (key == 'w') {
Expand Down Expand Up @@ -227,52 +246,58 @@ void depth_cb(freenect_device *dev, void *v_depth, uint32_t timestamp)
int lb = pval & 0xff;
switch (pval>>8) {
case 0:
gl_depth_back[3*i+0] = 255;
gl_depth_back[3*i+1] = 255-lb;
gl_depth_back[3*i+2] = 255-lb;
depth_mid[3*i+0] = 255;
depth_mid[3*i+1] = 255-lb;
depth_mid[3*i+2] = 255-lb;
break;
case 1:
gl_depth_back[3*i+0] = 255;
gl_depth_back[3*i+1] = lb;
gl_depth_back[3*i+2] = 0;
depth_mid[3*i+0] = 255;
depth_mid[3*i+1] = lb;
depth_mid[3*i+2] = 0;
break;
case 2:
gl_depth_back[3*i+0] = 255-lb;
gl_depth_back[3*i+1] = 255;
gl_depth_back[3*i+2] = 0;
depth_mid[3*i+0] = 255-lb;
depth_mid[3*i+1] = 255;
depth_mid[3*i+2] = 0;
break;
case 3:
gl_depth_back[3*i+0] = 0;
gl_depth_back[3*i+1] = 255;
gl_depth_back[3*i+2] = lb;
depth_mid[3*i+0] = 0;
depth_mid[3*i+1] = 255;
depth_mid[3*i+2] = lb;
break;
case 4:
gl_depth_back[3*i+0] = 0;
gl_depth_back[3*i+1] = 255-lb;
gl_depth_back[3*i+2] = 255;
depth_mid[3*i+0] = 0;
depth_mid[3*i+1] = 255-lb;
depth_mid[3*i+2] = 255;
break;
case 5:
gl_depth_back[3*i+0] = 0;
gl_depth_back[3*i+1] = 0;
gl_depth_back[3*i+2] = 255-lb;
depth_mid[3*i+0] = 0;
depth_mid[3*i+1] = 0;
depth_mid[3*i+2] = 255-lb;
break;
default:
gl_depth_back[3*i+0] = 0;
gl_depth_back[3*i+1] = 0;
gl_depth_back[3*i+2] = 0;
depth_mid[3*i+0] = 0;
depth_mid[3*i+1] = 0;
depth_mid[3*i+2] = 0;
break;
}
}
got_frames++;
got_depth++;
pthread_cond_signal(&gl_frame_cond);
pthread_mutex_unlock(&gl_backbuf_mutex);
}

void rgb_cb(freenect_device *dev, freenect_pixel *rgb, uint32_t timestamp)
{
pthread_mutex_lock(&gl_backbuf_mutex);
got_frames++;
memcpy(gl_rgb_back, rgb, FREENECT_RGB_SIZE);

// swap buffers
assert (rgb_back == rgb);
rgb_back = rgb_mid;
freenect_set_rgb_buffer(dev, rgb_back);
rgb_mid = rgb;

got_rgb++;
pthread_cond_signal(&gl_frame_cond);
pthread_mutex_unlock(&gl_backbuf_mutex);
}
Expand All @@ -285,6 +310,7 @@ void *freenect_threadfunc(void *arg)
freenect_set_rgb_callback(f_dev, rgb_cb);
freenect_set_rgb_format(f_dev, FREENECT_FORMAT_RGB);
freenect_set_depth_format(f_dev, FREENECT_FORMAT_11_BIT);
freenect_set_rgb_buffer(f_dev, rgb_back);

freenect_start_depth(f_dev);
freenect_start_rgb(f_dev);
Expand Down Expand Up @@ -318,6 +344,12 @@ int main(int argc, char **argv)
{
int res;

depth_mid = malloc(640*480*3);
depth_front = malloc(640*480*3);
rgb_back = malloc(640*480*3);
rgb_mid = malloc(640*480*3);
rgb_front = malloc(640*480*3);

printf("Kinect camera test\n");

int i;
Expand Down

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