Method SumReduce

simulation/src/sum_reduce.cpp:5–55

using namespace pcl::simulation;

pcl::simulation::SumReduce::SumReduce(int width, int height, int levels)
: levels_(levels), width_(width), height_(height), sum_program_(new gllib::Program())
{
  std::cout << "SumReduce: levels: " << levels_ << std::endl;

  // TODO: to remove file dependency include the shader source in the binary
  if (!sum_program_->addShaderFile("sum_score.vert", gllib::VERTEX)) {
    std::cout << "Failed loading vertex shader" << std::endl;
    exit(-1);
  }

  // TODO: to remove file dependency include the shader source in the binary
  if (!sum_program_->addShaderFile("sum_score.frag", gllib::FRAGMENT)) {
    std::cout << "Failed loading fragment shader" << std::endl;
    exit(-1);
  }

  sum_program_->link();

  // Setup the framebuffer object for rendering
  glGenFramebuffers(1, &fbo_);
  arrays_ = new GLuint[levels_];

  glGenTextures(levels_, arrays_);

  int level_width = width_;
  int level_height = height_;

  for (int i = 0; i < levels_; ++i) {
    level_width /= 2;
    level_height /= 2;

    glBindTexture(GL_TEXTURE_2D, arrays_[i]);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_NONE);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_LEQUAL);
    glTexImage2D(GL_TEXTURE_2D,
                 0,
                 GL_R32F,
                 level_width,
                 level_height,
                 0,
                 GL_RED,
                 GL_FLOAT,
                 nullptr);
    glBindTexture(GL_TEXTURE_2D, 0);
  }
}

pcl::simulation::SumReduce::~SumReduce()
{