Merge pull request #952 from YunfeiBai/master

Add depth image when using hardware renderer.

examples/CommonInterfaces/CommonCameraInterface.h

@@ -36,6 +36,9 @@ struct CommonCameraInterface
 
 	virtual void	setAspectRatio(float ratio) = 0;
 	virtual float	getAspectRatio() const = 0;
+    
+    virtual float getCameraFrustumFar() const = 0;
+    virtual float getCameraFrustumNear() const = 0;
 };
 
 #endif //COMMON_CAMERA_INTERFACE_H

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -437,10 +437,15 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
                         int bytesPerPixel = 4; //RGBA
                         
                         int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
+                        int sourceDepthIndex = xIndex+yIndex*sourceWidth;
+                        
                         m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
                         m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
                         m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
                         m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
+                        
+                        m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
+                        
                     }
                 }
             }
@@ -456,7 +461,7 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
         {
             for (int i=0;i<numRequestedPixels;i++)
             {
-                depthBuffer[i] = m_data->m_depthBuffer1[i];
+                depthBuffer[i] = m_data->m_depthBuffer1[i+startPixelIndex];
             }
         }
 		if (numPixelsCopied)

examples/OpenGLWindow/SimpleCamera.cpp

@@ -383,3 +383,13 @@ float	SimpleCamera::getAspectRatio() const
 {
 	return m_data->m_aspect;
 }
+
+float SimpleCamera::getCameraFrustumFar() const
+{
+    return m_data->m_frustumZFar;
+}
+
+float SimpleCamera::getCameraFrustumNear() const
+{
+    return m_data->m_frustumZNear;
+}

examples/OpenGLWindow/SimpleCamera.h

@@ -47,6 +47,9 @@ struct SimpleCamera : public CommonCameraInterface
 
 	virtual void	setAspectRatio(float ratio);
 	virtual float	getAspectRatio() const;
+    
+    virtual float getCameraFrustumFar() const;
+    virtual float getCameraFrustumNear() const;
 };
 
 #endif //SIMPLE_CAMERA_H

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -958,7 +958,16 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
         {
 			if (depthBuffer)
 			{
-				depthBuffer[i] = m_data->m_depthBuffer[i+startPixelIndex];
+                float distance = -m_data->m_depthBuffer[i+startPixelIndex];
+                float farPlane = m_data->m_camera.getCameraFrustumFar();
+                float nearPlane = m_data->m_camera.getCameraFrustumNear();
+                
+                btClamp(distance,nearPlane,farPlane);
+                
+                // the depth buffer value is between 0 and 1
+                float a = farPlane / (farPlane - nearPlane);
+                float b = farPlane * nearPlane / (nearPlane - farPlane);
+                depthBuffer[i] = a + b / distance;
 			}
 			if (segmentationMaskBuffer)
             {