OpenSceneGraph/examples/osgstereomatch/StereoMultipass.cpp

/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: t; c-basic-offset: 4 -*- */

/* OpenSceneGraph example, osgstereomatch.
*
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*
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*  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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*  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
*  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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*  THE SOFTWARE.
*/

#include "StereoMultipass.h"
#include <osgDB/FileUtils>
#include <iostream>

SubtractPass::SubtractPass(osg::TextureRectangle *left_tex,
						   osg::TextureRectangle *right_tex,
						   int width, int height,
						   int start_disparity) :
    _TextureWidth(width),
    _TextureHeight(height),
    _StartDisparity(start_disparity)
{
    _RootGroup = new osg::Group;
    _InTextureLeft = left_tex;
    _InTextureRight = right_tex;

    createOutputTextures();

    _Camera = new osg::Camera;
    setupCamera();
    _Camera->addChild(createTexturedQuad().get());

    _RootGroup->addChild(_Camera.get());

    setShader("shaders/stereomatch_subtract.frag");
}

SubtractPass::~SubtractPass()
{
}

osg::ref_ptr<osg::Group> SubtractPass::createTexturedQuad()
{
    osg::ref_ptr<osg::Group> top_group = new osg::Group;

    osg::ref_ptr<osg::Geode> quad_geode = new osg::Geode;

    osg::ref_ptr<osg::Vec3Array> quad_coords = new osg::Vec3Array; // vertex coords
    // counter-clockwise
    quad_coords->push_back(osg::Vec3d(0, 0, -1));
    quad_coords->push_back(osg::Vec3d(1, 0, -1));
    quad_coords->push_back(osg::Vec3d(1, 1, -1));
    quad_coords->push_back(osg::Vec3d(0, 1, -1));

    osg::ref_ptr<osg::Vec2Array> quad_tcoords = new osg::Vec2Array; // texture coords
    quad_tcoords->push_back(osg::Vec2(0, 0));
    quad_tcoords->push_back(osg::Vec2(_TextureWidth, 0));
    quad_tcoords->push_back(osg::Vec2(_TextureWidth, _TextureHeight));
    quad_tcoords->push_back(osg::Vec2(0, _TextureHeight));

    osg::ref_ptr<osg::Geometry> quad_geom = new osg::Geometry;
    osg::ref_ptr<osg::DrawArrays> quad_da = new osg::DrawArrays(osg::PrimitiveSet::QUADS,0,4);

    osg::ref_ptr<osg::Vec4Array> quad_colors = new osg::Vec4Array;
    quad_colors->push_back(osg::Vec4(1.0f,1.0f,1.0f,1.0f));

    quad_geom->setVertexArray(quad_coords.get());
    quad_geom->setTexCoordArray(0, quad_tcoords.get());
    quad_geom->addPrimitiveSet(quad_da.get());
    quad_geom->setColorArray(quad_colors.get(), osg::Array::BIND_OVERALL);

    _StateSet = quad_geom->getOrCreateStateSet();
    _StateSet->setMode(GL_LIGHTING,osg::StateAttribute::OFF);
    _StateSet->setTextureAttributeAndModes(0, _InTextureLeft.get(), osg::StateAttribute::ON);
    _StateSet->setTextureAttributeAndModes(1, _InTextureRight.get(), osg::StateAttribute::ON);

    _StateSet->addUniform(new osg::Uniform("textureLeft", 0));
    _StateSet->addUniform(new osg::Uniform("textureRight", 1));
    _StateSet->addUniform(new osg::Uniform("start_disparity", _StartDisparity));

    quad_geode->addDrawable(quad_geom.get());

    top_group->addChild(quad_geode.get());

    return top_group;
}

void SubtractPass::setupCamera()
{
    // clearing
    _Camera->setClearColor(osg::Vec4(0.1f,0.1f,0.3f,1.0f));
    _Camera->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    // projection and view
    _Camera->setProjectionMatrix(osg::Matrix::ortho2D(0,1,0,1));
    _Camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
    _Camera->setViewMatrix(osg::Matrix::identity());

    // viewport
    _Camera->setViewport(0, 0, _TextureWidth, _TextureHeight);

    _Camera->setRenderOrder(osg::Camera::PRE_RENDER);
    _Camera->setRenderTargetImplementation(osg::Camera::FRAME_BUFFER_OBJECT);

    // attach the 4 textures
    for (int i=0; i<4; i++) {
		_Camera->attach(osg::Camera::BufferComponent(osg::Camera::COLOR_BUFFER0+i), _OutTexture[i].get());
    }
}

void SubtractPass::createOutputTextures()
{
    for (int i=0; i<4; i++) {
		_OutTexture[i] = new osg::TextureRectangle;

		_OutTexture[i]->setTextureSize(_TextureWidth, _TextureHeight);
		_OutTexture[i]->setInternalFormat(GL_RGBA);
		_OutTexture[i]->setFilter(osg::Texture2D::MIN_FILTER,osg::Texture2D::LINEAR);
		_OutTexture[i]->setFilter(osg::Texture2D::MAG_FILTER,osg::Texture2D::LINEAR);
    }
}

void SubtractPass::setShader(std::string filename)
{
    osg::ref_ptr<osg::Shader> fshader = new osg::Shader( osg::Shader::FRAGMENT );
    fshader->loadShaderSourceFromFile(osgDB::findDataFile(filename));

    _FragmentProgram = 0;
    _FragmentProgram = new osg::Program;

    _FragmentProgram->addShader(fshader.get());

    _StateSet->setAttributeAndModes(_FragmentProgram.get(), osg::StateAttribute::ON | osg::StateAttribute::OVERRIDE );
}

//XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

AggregatePass::AggregatePass(osg::TextureRectangle *diff_tex0,
							 osg::TextureRectangle *diff_tex1,
							 osg::TextureRectangle *diff_tex2,
							 osg::TextureRectangle *diff_tex3,
							 osg::TextureRectangle *agg_tex_in,
							 osg::TextureRectangle *agg_tex_out,
							 int width, int height,
							 int start_disparity, int window_size):
    _TextureWidth(width),
    _TextureHeight(height),
    _StartDisparity(start_disparity),
    _WindowSize(window_size)
{
    _RootGroup = new osg::Group;

    _InTextureDifference[0] = diff_tex0;
    _InTextureDifference[1] = diff_tex1;
    _InTextureDifference[2] = diff_tex2;
    _InTextureDifference[3] = diff_tex3;

    _InTextureAggregate = agg_tex_in;
    _OutTextureAggregate = agg_tex_out;

    _OutTexture = _OutTextureAggregate;

    _Camera = new osg::Camera;
    setupCamera();
    _Camera->addChild(createTexturedQuad().get());

    _RootGroup->addChild(_Camera.get());

    setShader("shaders/stereomatch_aggregate.frag");

}

AggregatePass::~AggregatePass()
{
}

osg::ref_ptr<osg::Group> AggregatePass::createTexturedQuad()
{
    osg::ref_ptr<osg::Group> top_group = new osg::Group;

    osg::ref_ptr<osg::Geode> quad_geode = new osg::Geode;

    osg::ref_ptr<osg::Vec3Array> quad_coords = new osg::Vec3Array; // vertex coords
    // counter-clockwise
    quad_coords->push_back(osg::Vec3d(0, 0, -1));
    quad_coords->push_back(osg::Vec3d(1, 0, -1));
    quad_coords->push_back(osg::Vec3d(1, 1, -1));
    quad_coords->push_back(osg::Vec3d(0, 1, -1));

    osg::ref_ptr<osg::Vec2Array> quad_tcoords = new osg::Vec2Array; // texture coords
    quad_tcoords->push_back(osg::Vec2(0, 0));
    quad_tcoords->push_back(osg::Vec2(_TextureWidth, 0));
    quad_tcoords->push_back(osg::Vec2(_TextureWidth, _TextureHeight));
    quad_tcoords->push_back(osg::Vec2(0, _TextureHeight));

    osg::ref_ptr<osg::Geometry> quad_geom = new osg::Geometry;
    osg::ref_ptr<osg::DrawArrays> quad_da = new osg::DrawArrays(osg::PrimitiveSet::QUADS,0,4);

    osg::ref_ptr<osg::Vec4Array> quad_colors = new osg::Vec4Array;
    quad_colors->push_back(osg::Vec4(1.0f,1.0f,1.0f,1.0f));

    quad_geom->setVertexArray(quad_coords.get());
    quad_geom->setTexCoordArray(0, quad_tcoords.get());
    quad_geom->addPrimitiveSet(quad_da.get());
    quad_geom->setColorArray(quad_colors.get(), osg::Array::BIND_OVERALL);

    _StateSet = quad_geom->getOrCreateStateSet();
    _StateSet->setMode(GL_LIGHTING,osg::StateAttribute::OFF);
    _StateSet->setTextureAttributeAndModes(0, _InTextureDifference[0].get(), osg::StateAttribute::ON);
    _StateSet->setTextureAttributeAndModes(1, _InTextureDifference[1].get(), osg::StateAttribute::ON);
    _StateSet->setTextureAttributeAndModes(2, _InTextureDifference[2].get(), osg::StateAttribute::ON);
    _StateSet->setTextureAttributeAndModes(3, _InTextureDifference[3].get(), osg::StateAttribute::ON);
    _StateSet->setTextureAttributeAndModes(4, _InTextureAggregate.get(), osg::StateAttribute::ON);

    _StateSet->addUniform(new osg::Uniform("textureDiff0", 0));
    _StateSet->addUniform(new osg::Uniform("textureDiff1", 1));
    _StateSet->addUniform(new osg::Uniform("textureDiff2", 2));
    _StateSet->addUniform(new osg::Uniform("textureDiff3", 3));
    _StateSet->addUniform(new osg::Uniform("textureAggIn", 4));
    _StateSet->addUniform(new osg::Uniform("start_disparity", _StartDisparity));
    _StateSet->addUniform(new osg::Uniform("window_size", _WindowSize));

    quad_geode->addDrawable(quad_geom.get());

    top_group->addChild(quad_geode.get());

    return top_group;
}

void AggregatePass::setupCamera()
{
    // clearing
    _Camera->setClearColor(osg::Vec4(0.1f,0.1f,0.3f,1.0f));
    _Camera->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    // projection and view
    _Camera->setProjectionMatrix(osg::Matrix::ortho2D(0,1,0,1));
    _Camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
    _Camera->setViewMatrix(osg::Matrix::identity());

    // viewport
    _Camera->setViewport(0, 0, _TextureWidth, _TextureHeight);

    _Camera->setRenderOrder(osg::Camera::PRE_RENDER);
    _Camera->setRenderTargetImplementation(osg::Camera::FRAME_BUFFER_OBJECT);

    _Camera->attach(osg::Camera::BufferComponent(osg::Camera::COLOR_BUFFER0+0), _OutTexture.get());
}

void AggregatePass::setShader(std::string filename)
{
    osg::ref_ptr<osg::Shader> fshader = new osg::Shader( osg::Shader::FRAGMENT );
    fshader->loadShaderSourceFromFile(osgDB::findDataFile(filename));

    _FragmentProgram = 0;
    _FragmentProgram = new osg::Program;

    _FragmentProgram->addShader(fshader.get());

    _StateSet->setAttributeAndModes(_FragmentProgram.get(), osg::StateAttribute::ON | osg::StateAttribute::OVERRIDE );
}

// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

SelectPass::SelectPass(osg::TextureRectangle *in_tex,
					   int width, int height,
					   int min_disparity, int max_disparity) :
    _TextureWidth(width),
    _TextureHeight(height),
    _MinDisparity(min_disparity),
    _MaxDisparity(max_disparity)
{
    _RootGroup = new osg::Group;
    _InTexture = in_tex;

    createOutputTextures();

    _Camera = new osg::Camera;
    setupCamera();
    _Camera->addChild(createTexturedQuad().get());

    _RootGroup->addChild(_Camera.get());

    setShader("shaders/stereomatch_select.frag");
}

SelectPass::~SelectPass()
{
}

osg::ref_ptr<osg::Group> SelectPass::createTexturedQuad()
{
    osg::ref_ptr<osg::Group> top_group = new osg::Group;

    osg::ref_ptr<osg::Geode> quad_geode = new osg::Geode;

    osg::ref_ptr<osg::Vec3Array> quad_coords = new osg::Vec3Array; // vertex coords
    // counter-clockwise
    quad_coords->push_back(osg::Vec3d(0, 0, -1));
    quad_coords->push_back(osg::Vec3d(1, 0, -1));
    quad_coords->push_back(osg::Vec3d(1, 1, -1));
    quad_coords->push_back(osg::Vec3d(0, 1, -1));

    osg::ref_ptr<osg::Vec2Array> quad_tcoords = new osg::Vec2Array; // texture coords
    quad_tcoords->push_back(osg::Vec2(0, 0));
    quad_tcoords->push_back(osg::Vec2(_TextureWidth, 0));
    quad_tcoords->push_back(osg::Vec2(_TextureWidth, _TextureHeight));
    quad_tcoords->push_back(osg::Vec2(0, _TextureHeight));

    osg::ref_ptr<osg::Geometry> quad_geom = new osg::Geometry;
    osg::ref_ptr<osg::DrawArrays> quad_da = new osg::DrawArrays(osg::PrimitiveSet::QUADS,0,4);

    osg::ref_ptr<osg::Vec4Array> quad_colors = new osg::Vec4Array;
    quad_colors->push_back(osg::Vec4(1.0f,1.0f,1.0f,1.0f));

    quad_geom->setVertexArray(quad_coords.get());
    quad_geom->setTexCoordArray(0, quad_tcoords.get());
    quad_geom->addPrimitiveSet(quad_da.get());
    quad_geom->setColorArray(quad_colors.get(), osg::Array::BIND_OVERALL);

    _StateSet = quad_geom->getOrCreateStateSet();
    _StateSet->setMode(GL_LIGHTING,osg::StateAttribute::OFF);
    _StateSet->setTextureAttributeAndModes(0, _InTexture.get(), osg::StateAttribute::ON);

    _StateSet->addUniform(new osg::Uniform("textureIn", 0));
    _StateSet->addUniform(new osg::Uniform("min_disparity", _MinDisparity));
    _StateSet->addUniform(new osg::Uniform("max_disparity", _MaxDisparity));

    quad_geode->addDrawable(quad_geom.get());

    top_group->addChild(quad_geode.get());

    return top_group;
}

void SelectPass::setupCamera()
{
    // clearing
    _Camera->setClearColor(osg::Vec4(0.1f,0.1f,0.3f,1.0f));
    _Camera->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    // projection and view
    _Camera->setProjectionMatrix(osg::Matrix::ortho2D(0,1,0,1));
    _Camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
    _Camera->setViewMatrix(osg::Matrix::identity());

    // viewport
    _Camera->setViewport(0, 0, _TextureWidth, _TextureHeight);

    _Camera->setRenderOrder(osg::Camera::PRE_RENDER);
    _Camera->setRenderTargetImplementation(osg::Camera::FRAME_BUFFER_OBJECT);

	_Camera->attach(osg::Camera::BufferComponent(osg::Camera::COLOR_BUFFER0+0), _OutTexture.get());
}

void SelectPass::createOutputTextures()
{
    _OutTexture = new osg::TextureRectangle;

    _OutTexture->setTextureSize(_TextureWidth, _TextureHeight);
    _OutTexture->setInternalFormat(GL_RGBA);
    _OutTexture->setFilter(osg::Texture2D::MIN_FILTER,osg::Texture2D::LINEAR);
    _OutTexture->setFilter(osg::Texture2D::MAG_FILTER,osg::Texture2D::LINEAR);
}

void SelectPass::setShader(std::string filename)
{
    osg::ref_ptr<osg::Shader> fshader = new osg::Shader( osg::Shader::FRAGMENT );
    fshader->loadShaderSourceFromFile(osgDB::findDataFile(filename));

    _FragmentProgram = 0;
    _FragmentProgram = new osg::Program;

    _FragmentProgram->addShader(fshader.get());

    _StateSet->setAttributeAndModes(_FragmentProgram.get(), osg::StateAttribute::ON | osg::StateAttribute::OVERRIDE );
}

// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

StereoMultipass::StereoMultipass(osg::TextureRectangle *left_tex,
								 osg::TextureRectangle *right_tex,
								 int width, int height,
								 int min_disparity, int max_disparity, int window_size) :
    _TextureWidth(width),
    _TextureHeight(height)
{
    _RootGroup = new osg::Group;

    createOutputTextures();

    _Camera = new osg::Camera;
    setupCamera();
    _Camera->addChild(createTexturedQuad().get());

    _RootGroup->addChild(_Camera.get());

    setShader("shaders/stereomatch_clear.frag");

    flip=1;
    flop=0;
	// we can do 16 differences in one pass,
	// but we must ping-pong the aggregate textures between passes
	// add passes until we cover the disparity range
	for (int i=min_disparity; i<=max_disparity; i+=16) {
		SubtractPass *subp = new SubtractPass(left_tex, right_tex,
											  width, height,
											  i);
		AggregatePass *aggp = new AggregatePass(subp->getOutputTexture(0).get(),
												subp->getOutputTexture(1).get(),
												subp->getOutputTexture(2).get(),
												subp->getOutputTexture(3).get(),
												_OutTexture[flip].get(),
												_OutTexture[flop].get(),
												width, height,
												i, window_size);

		_RootGroup->addChild(subp->getRoot().get());
		_RootGroup->addChild(aggp->getRoot().get());
		flip = flip ? 0 : 1;
		flop = flop ? 0 : 1;
    }
    // add select pass
    _SelectPass = new SelectPass(_OutTexture[flip].get(),
								 width, height,
								 min_disparity, max_disparity);
    _RootGroup->addChild(_SelectPass->getRoot().get());
}

StereoMultipass::~StereoMultipass()
{
}

osg::ref_ptr<osg::Group> StereoMultipass::createTexturedQuad()
{
    osg::ref_ptr<osg::Group> top_group = new osg::Group;

    osg::ref_ptr<osg::Geode> quad_geode = new osg::Geode;

    osg::ref_ptr<osg::Vec3Array> quad_coords = new osg::Vec3Array; // vertex coords
    // counter-clockwise
    quad_coords->push_back(osg::Vec3d(0, 0, -1));
    quad_coords->push_back(osg::Vec3d(1, 0, -1));
    quad_coords->push_back(osg::Vec3d(1, 1, -1));
    quad_coords->push_back(osg::Vec3d(0, 1, -1));

    osg::ref_ptr<osg::Vec2Array> quad_tcoords = new osg::Vec2Array; // texture coords
    quad_tcoords->push_back(osg::Vec2(0, 0));
    quad_tcoords->push_back(osg::Vec2(_TextureWidth, 0));
    quad_tcoords->push_back(osg::Vec2(_TextureWidth, _TextureHeight));
    quad_tcoords->push_back(osg::Vec2(0, _TextureHeight));

    osg::ref_ptr<osg::Geometry> quad_geom = new osg::Geometry;
    osg::ref_ptr<osg::DrawArrays> quad_da = new osg::DrawArrays(osg::PrimitiveSet::QUADS,0,4);

    osg::ref_ptr<osg::Vec4Array> quad_colors = new osg::Vec4Array;
    quad_colors->push_back(osg::Vec4(1.0f,1.0f,1.0f,1.0f));

    quad_geom->setVertexArray(quad_coords.get());
    quad_geom->setTexCoordArray(0, quad_tcoords.get());
    quad_geom->addPrimitiveSet(quad_da.get());
    quad_geom->setColorArray(quad_colors.get(), osg::Array::BIND_OVERALL);

    _StateSet = quad_geom->getOrCreateStateSet();
    _StateSet->setMode(GL_LIGHTING,osg::StateAttribute::OFF);

    quad_geode->addDrawable(quad_geom.get());

    top_group->addChild(quad_geode.get());

    return top_group;
}

void StereoMultipass::setupCamera()
{
    // clearing
    _Camera->setClearColor(osg::Vec4(10.0f,0.0f,0.0f,1.0f));
    _Camera->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    // projection and view
    _Camera->setProjectionMatrix(osg::Matrix::ortho2D(0,1,0,1));
    _Camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
    _Camera->setViewMatrix(osg::Matrix::identity());

    // viewport
    _Camera->setViewport(0, 0, _TextureWidth, _TextureHeight);

    _Camera->setRenderOrder(osg::Camera::PRE_RENDER);
    _Camera->setRenderTargetImplementation(osg::Camera::FRAME_BUFFER_OBJECT);

	// attach two textures for aggregating results
    _Camera->attach(osg::Camera::BufferComponent(osg::Camera::COLOR_BUFFER0+0), _OutTexture[0].get());
    _Camera->attach(osg::Camera::BufferComponent(osg::Camera::COLOR_BUFFER0+1), _OutTexture[1].get());
}

void StereoMultipass::createOutputTextures()
{
    for (int i=0; i<2; i++) {
		_OutTexture[i] = new osg::TextureRectangle;

		_OutTexture[i]->setTextureSize(_TextureWidth, _TextureHeight);
		_OutTexture[i]->setInternalFormat(GL_RGBA);
		_OutTexture[i]->setFilter(osg::Texture2D::MIN_FILTER,osg::Texture2D::LINEAR);
		_OutTexture[i]->setFilter(osg::Texture2D::MAG_FILTER,osg::Texture2D::LINEAR);

		// hdr, we want to store floats
		_OutTexture[i]->setInternalFormat(GL_RGBA16F_ARB);
		//_OutTexture[i]->setInternalFormat(GL_FLOAT_RGBA32_NV);
		//_OutTexture[i]->setInternalFormat(GL_FLOAT_RGBA16_NV);
		_OutTexture[i]->setSourceFormat(GL_RGBA);
		_OutTexture[i]->setSourceType(GL_FLOAT);
    }
}

void StereoMultipass::setShader(std::string filename)
{
    osg::ref_ptr<osg::Shader> fshader = new osg::Shader( osg::Shader::FRAGMENT );
    fshader->loadShaderSourceFromFile(osgDB::findDataFile(filename));

    _FragmentProgram = 0;
    _FragmentProgram = new osg::Program;

    _FragmentProgram->addShader(fshader.get());

    _StateSet->setAttributeAndModes(_FragmentProgram.get(), osg::StateAttribute::ON | osg::StateAttribute::OVERRIDE );
}