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PORendering Kinect Point Cloud with Vertex Buffer Object (VBO)
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  1. PORendering Kinect Point Cloud with Vertex Buffer Object (VBO)
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    copied!<p>I´m trying to make a dynamic point cloud visualizer. The points are updated every frame with Kinect Sensor. To grab the frames I´m using OpenCV and GLUT to display. The OpenCV API returns a 640 x 480 (float *), for the points xyz position , and a 640 x 480 (int *) for the rgb color data. To get the maximum performance, I´m trying to use Vertex Buffer Object in stream mode instead of a simple Vertex Array. I´m being able to render it with Vertex Array, but nothing is being rendered with my VBO implementation. I tryied a bunch of different orders in the declarations, but i can't find what I'm missing. Can someone try to point me to the right direction? Here is the simpflified code: (I´ve rewrited the wrong version as asked by Christian Rau, so you guys can understand my mistakes)</p> <pre><code>int main() { //Delaring variables, inittiating glut, setting camera and checking the compatibility as http://www.songho.ca/opengl/gl_vbo.html glutDisplayFunc(displayCB); glutIdleFunc(displayCB); ... //Inittiating the vertex buffers if(vboSupported) { glGenBuffers(1, &amp;vertex_buffer); glBindBuffer(GL_ARRAY_BUFFER_ARB, buffer); glBufferData(GL_ARRAY_BUFFER_ARB, (sizeof(GLfloat) * 640 * 480 * 3), 0, GL_STREAM_DRAW_ARB); glBufferSubData(GL_ARRAY_BUFFER_ARB, 0, (sizeof(float) * 640 * 480 * 3), point_cloud.points_position); glGenBuffers(2, &amp;color_buffer); glBindBuffer(GL_ARRAY_BUFFER_ARB, buffer); glBufferData(GL_ARRAY_BUFFER_ARB, (sizeof(GLbyte) * 640 * 480 * 3), 0, GL_STREAM_DRAW_ARB); glBufferSubData(GL_ARRAY_BUFFER_ARB, 0, (sizeof(char) * 640 * 480 * 3), point_cloud.points_color); } //glutMainLoop(), cleaning memory, ending main .. } //Updating the screen void displayCB() { point_cloud.update(); // clear buffer glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT); // save the initial ModelView matrix before modifying ModelView matrix glPushMatrix(); glBindBuffer(GL_ARRAY_BUFFER_ARB, color_buffer); glBufferSubData(GL_ARRAY_BUFFER_ARB, 0, (sizeof(char) * 640 * 480 * 3), point_cloud.points_color); glColorPointer(3, GL_UNSIGNED_BYTE, 0, 0); glBindBuffer(GL_ARRAY_BUFFER_ARB, vertex_buffer); glBufferSubData(GL_ARRAY_BUFFER_ARB, 0, (sizeof(float) * 640 * 480 * 3), point_cloud.points_position); glVertexPointer(3, GL_FLOAT, 0, 0)); // enable vertex arrays glEnableClientState(GL_VERTEX_ARRAY); glEnableClientState(GL_COLOR_ARRAY); glDrawArrays(GL_POINT, 0, 640*480); glDisableClientState(GL_VERTEX_ARRAY); // disable vertex arrays glDisableClientState(GL_COLOR_ARRAY); glBindBuffer(GL_ARRAY_BUFFER_ARB, 0); glPopMatrix(); glutSwapBuffers(); } </code></pre>
 

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