// Copyright 2015 Shoestring Research, LLC. All rights reserved.
package com.projecttango.experiments.javapointcloud;
import android.content.Context;
import android.content.Intent;
import android.content.SharedPreferences;
import android.graphics.Bitmap;
import android.graphics.Point;
import android.net.Uri;
import android.opengl.GLES11Ext;
import android.opengl.GLSurfaceView;
import android.os.Environment;
import android.util.Log;
import android.widget.Toast;
import com.google.atap.tangoservice.TangoCameraIntrinsics;
import com.projecttango.experiments.javapointcloud.PointCloudActivity;
import java.io.File;
import java.io.FileOutputStream;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.nio.IntBuffer;
import javax.microedition.khronos.egl.EGLConfig;
import javax.microedition.khronos.opengles.GL10;
// Need OpenGL ES 3.0 for RGBA8 renderbuffer.
import static android.opengl.GLES30.*;
class FrameRenderer implements GLSurfaceView.Renderer {
// Vertex program flips Y when drawing on screen, doesn't flip
// when drawing offscreen for saving.
static final String videoVertexSource =
"uniform mediump int cap;\n" +
"attribute vec4 a_v;\n" +
"varying vec2 t;\n" +
"void main() {\n" +
" gl_Position = a_v;\n" +
" t = 0.5*vec2(a_v.x, cap != 0 ? a_v.y : -a_v.y) + vec2(0.5,0.5);\n" +
"}\n";
// Fragment buffer reorders color components when drawing offscreen
// for saving.
static final String videoFragmentSource =
"#extension GL_OES_EGL_image_external : require\n" +
"precision mediump float;\n" +
"uniform mediump int cap;\n" +
"varying vec2 t;\n" +
"uniform samplerExternalOES colorTex;\n" +
"void main() {\n" +
" vec4 c = texture2D(colorTex, t);\n" +
" gl_FragColor = cap != 0 ? c.bgra : c;\n" +
"}\n";
PointCloudActivity activity_;
int videoProgram_;
int videoVertexAttribute_;
int videoVertexBuffer_;
int videoTextureName_;
int offscreenBuffer_;
Point offscreenSize_;
volatile boolean saveNextFrame_ = false;
FrameRenderer(PointCloudActivity activity) {
activity_ = activity;
}
@Override
public void onSurfaceCreated(GL10 gl, EGLConfig config) {
glClearColor(0.3f, 0.3f, 0.3f, 1.0f);
IntBuffer bufferNames = IntBuffer.allocate(1);
glGenBuffers(1, bufferNames);
videoVertexBuffer_ = bufferNames.get(0);
// Create a bi-unit square geometry.
glBindBuffer(GL_ARRAY_BUFFER, videoVertexBuffer_);
glBufferData(GL_ARRAY_BUFFER, 8, null, GL_STATIC_DRAW);
((ByteBuffer)glMapBufferRange(
GL_ARRAY_BUFFER,
0, 8,
GL_MAP_WRITE_BIT | GL_MAP_INVALIDATE_BUFFER_BIT))
.order(ByteOrder.nativeOrder())
.put(new byte[] { -1, 1, -1, -1, 1, 1, 1, -1 });
glUnmapBuffer(GL_ARRAY_BUFFER);
// Create the video texture.
IntBuffer textureNames = IntBuffer.allocate(1);
glGenTextures(1, textureNames);
videoTextureName_ = textureNames.get(0);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, videoTextureName_);
// Connect the texture to Tango.
activity_.attachTexture(TangoCameraIntrinsics.TANGO_CAMERA_COLOR, videoTextureName_);
// Prepare the shader program.
videoProgram_ = createShaderProgram(videoVertexSource, videoFragmentSource);
glUseProgram(videoProgram_);
videoVertexAttribute_ = glGetAttribLocation(videoProgram_, "a_v");
glUniform1i(
glGetUniformLocation(videoProgram_, "colorTex"),
0); // GL_TEXTURE0
glUniform1i(
glGetUniformLocation(videoProgram_, "cap"),
0);
// Get the camera frame dimensions.
offscreenSize_ = activity_.getCameraFrameSize(TangoCameraIntrinsics.TANGO_CAMERA_COLOR);
// Create an offscreen render target to capture a frame.
IntBuffer renderbufferName = IntBuffer.allocate(1);
glGenRenderbuffers(1, renderbufferName);
glBindRenderbuffer(GL_RENDERBUFFER, renderbufferName.get(0));
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, offscreenSize_.x, offscreenSize_.y);
IntBuffer framebufferName = IntBuffer.allocate(1);
glGenFramebuffers(1, framebufferName);
glBindFramebuffer(GL_FRAMEBUFFER, framebufferName.get(0));
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_RENDERBUFFER, renderbufferName.get(0));
glBindFramebuffer(GL_FRAMEBUFFER, 0);
offscreenBuffer_ = framebufferName.get(0);
Log.i(activity_.TAG, "onSurfaceCreated");
}
@Override
public void onSurfaceChanged(GL10 gl, int width, int height) {
glViewport(0, 0, width, height);
Log.i(activity_.TAG, "onSurfaceChanged");
}
@Override
public void onDrawFrame(GL10 gl) {
activity_.updateTexture(TangoCameraIntrinsics.TANGO_CAMERA_COLOR);
if (!saveNextFrame_) {
glBindBuffer(GL_ARRAY_BUFFER, videoVertexBuffer_);
glVertexAttribPointer(videoVertexAttribute_, 2, GL_BYTE, false, 0, 0);
glEnableVertexAttribArray(videoVertexAttribute_);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, videoTextureName_);
glTexParameteri(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
}
else {
Log.i(activity_.TAG, "Saving Image");
// Switch to the offscreen buffer.
glBindFramebuffer(GL_FRAMEBUFFER, offscreenBuffer_);
// Save current viewport and change to offscreen size.
IntBuffer viewport = IntBuffer.allocate(4);
glGetIntegerv(GL_VIEWPORT, viewport);
glViewport(0, 0, offscreenSize_.x, offscreenSize_.y);
// Render in capture mode. Setting this flags tells the shader
// program to draw the texture right-side up and change the color
// order to ARGB for compatibility with Bitmap.
glUniform1i(glGetUniformLocation(videoProgram_, "cap"), 1);
// Render.
glBindBuffer(GL_ARRAY_BUFFER, videoVertexBuffer_);
glVertexAttribPointer(videoVertexAttribute_, 2, GL_BYTE, false, 0, 0);
glEnableVertexAttribArray(videoVertexAttribute_);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, videoTextureName_);
glTexParameteri(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GLES11Ext.GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
// Read offscreen buffer.
IntBuffer intBuffer = ByteBuffer.allocateDirect(offscreenSize_.x * offscreenSize_.y * 4)
.order(ByteOrder.nativeOrder())
.asIntBuffer();
glReadPixels(0, 0, offscreenSize_.x, offscreenSize_.y, GL_RGBA, GL_UNSIGNED_BYTE, intBuffer.rewind());
// Restore onscreen state.
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glViewport(viewport.get(0), viewport.get(1), viewport.get(2), viewport.get(3));
glUniform1i(glGetUniformLocation(videoProgram_, "cap"), 0);
// Convert to an array for Bitmap.createBitmap().
int[] pixels = new int[intBuffer.capacity()];
intBuffer.rewind();
intBuffer.get(pixels);
saveNextFrame_ = false;
try {
// Create/access a pictures subdirectory.
File directory = new File(
Environment.getExternalStoragePublicDirectory(Environment.DIRECTORY_DOCUMENTS),
"myScans");
if (!directory.mkdirs() && !directory.isDirectory()) {
Toast.makeText(
activity_,
"Could not access save directory",
Toast.LENGTH_SHORT).show();
return;
}
// Get the current capture index to construct a unique filename.
SharedPreferences prefs = activity_.getPreferences(Context.MODE_PRIVATE);
// Create the capture file.
String filename = String.format("tango%05d.png", activity_.scanNumber-1);
Log.i(activity_.TAG, String.format("Saving to %s", filename));
File file = new File(directory, filename);
FileOutputStream fileOutputStream = new FileOutputStream(file);
// Bitmap conveniently provides file output.
Bitmap bitmap = Bitmap.createBitmap(pixels, offscreenSize_.x, offscreenSize_.y, Bitmap.Config.ARGB_8888);
bitmap.compress(Bitmap.CompressFormat.PNG, 90, fileOutputStream);
fileOutputStream.close();
// Make the new file visible to other apps.
activity_.sendBroadcast(new Intent(Intent.ACTION_MEDIA_SCANNER_SCAN_FILE, Uri.fromFile(file)));
}
catch (Exception e) {
e.printStackTrace();
}
}
}
void saveFrame() {
saveNextFrame_ = true;
}
private int createShaderProgram(String vertexSource, String fragmentSource) {
int vsName = glCreateShader(GL_VERTEX_SHADER);
glShaderSource(vsName, vertexSource);
glCompileShader(vsName);
System.out.println(glGetShaderInfoLog(vsName));
int fsName = glCreateShader(GL_FRAGMENT_SHADER);
glShaderSource(fsName, fragmentSource);
glCompileShader(fsName);
System.out.println(glGetShaderInfoLog(fsName));
int programName = glCreateProgram();
glAttachShader(programName, vsName);
glAttachShader(programName, fsName);
glLinkProgram(programName);
System.out.println(glGetProgramInfoLog(programName));
return programName;
}
}
