Canvas3DI.java

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// -*- indent-tabs-mode: nil; tab-width: 4; -*-
/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * General Robotix Inc.
 * National Institute of Advanced Industrial Science and Technology (AIST) 
 */
package com.generalrobotix.ui.view.vsensor;

import java.awt.GraphicsConfiguration;
import java.awt.image.BufferedImage;

import javax.media.j3d.DepthComponentFloat;
import javax.media.j3d.GraphicsContext3D;
import javax.media.j3d.Raster;

@SuppressWarnings("serial")
public class Canvas3DI extends javax.media.j3d.Canvas3D {
        // raster object
        protected Raster raster_;
        protected int width_;
        protected int height_;
        protected int rasterType_;
        protected GraphicsContext3D     gc_;

        // color buffer, depth buffer
        int[]   colorBuffer_;
        float[] depthBuffer_;
        boolean finished_ = false;

        // working space
        protected BufferedImage                 color_;
        protected DepthComponentFloat   depth_;

        public Canvas3DI(GraphicsConfiguration gc) {
                super(gc);
        }

        public Canvas3DI(GraphicsConfiguration gc, boolean offscr,
                                         Raster raster, int width, int height, int rasterType) {
                super(gc, offscr);
                gc_ = getGraphicsContext3D();
                raster_ = raster;
                width_ = width;
                height_ = height;
                rasterType_ = rasterType;

                if (rasterType_ == Raster.RASTER_DEPTH
                        || rasterType_ == Raster.RASTER_COLOR_DEPTH) {
                        depthBuffer_ = new float[width_ * height_];
                }
                if (rasterType_ == Raster.RASTER_COLOR
                        || rasterType_ == Raster.RASTER_COLOR_DEPTH) {
                    colorBuffer_ = new int[width_ * height_]; 
        }
                setSize(width, height);
        }

        public int[] getColorBuffer() {
                return colorBuffer_;
        }

        public byte[] getMonoBuffer() {
                byte[] monoBuffer = new byte[width_*height_];
                for (int i=0; i<width_; i++) {
                        for (int j=0; j<height_; j++) {
                                monoBuffer[i+j*width_] = 
                                        (byte)(0.587*(0xff&(colorBuffer_[i+j*width_]>>8))
                                        +0.114*(0xff&(colorBuffer_[i+j*width_]))
                                        +0.299*(0xff&(colorBuffer_[i+j*width_]>>16)));
                        }
                }
                return monoBuffer;
        }

        public float[] getDepthBuffer() {
                return depthBuffer_;
        }
        public void postSwap() {
                super.postSwap();
                _readRaster();
        }

        private void _readRaster() {
                if (finished_)
                        return;

                gc_.readRaster(raster_);
                
                // read color buffer
                if (rasterType_ == Raster.RASTER_COLOR ||
                                rasterType_ == Raster.RASTER_COLOR_DEPTH){
                        color_ = raster_.getImage().getImage();
                        color_.getRGB(0, 0, width_, height_, colorBuffer_, 0, width_);
            if (colorBuffer_.length != width_*height_){
                System.out.println("invalid length of color buffer = "+colorBuffer_.length);
            }
                }

                // read depth buffer
                if (rasterType_ == Raster.RASTER_DEPTH ||
                                rasterType_ == Raster.RASTER_COLOR_DEPTH){
                        depth_ = (DepthComponentFloat)raster_.getDepthComponent();
                        depth_.getDepthData(depthBuffer_);
            if (depthBuffer_.length != width_*height_){
                System.out.println("invalid length of depth buffer = "+depthBuffer_.length);
            }
                }
                finished_ = true;
        }

        public void renderOnce(){
        finished_ = false;
    }
}