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depthdemo.html
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depthdemo.html
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<html>
<head>
</head>
<style>
body {
display: flex;
flex-direction: column;
font-family: 'Roboto', 'Noto', sans-serif;
line-height: 1.5;
background-color: #fbfbfb;
margin: 20px;
}
.select {
margin: 16px 0px;
display: flex;
flex-direction: column;
max-width: 400px;
}
select {
background-color: transparent;
width: 100%;
padding: 4px 0;
font-size: 16px;
color: rgba(0,0,0, 0.26);
border: none;
border-bottom: 1px solid rgba(0,0,0, 0.12);
}
select:focus {
outline: none;
}
.select > label {
font-size: 10pt;
color: gray;
}
#console {
color: red;
font-size: 150%;
}
canvas {
border: 1px solid #cccccd;
background-color: white;
}
#tabcontainer {
margin: 16px 0px;
}
#tabcontainer input {
height: 35px;
visibility: hidden;
}
label[for=tab1], label[for=tab2] {
color: gray;
cursor: pointer;
display: block;
float: left;
height, : 40px;
line-height: 40px;
margin-right: 5px;
padding: 0 20px;
text-align: center;
}
#tabcontainer input:hover + label {
background: lightgray;
color: gray;
}
#tabcontainer input:checked + label {
background: #f0f0f0;
color: dimgray;
position: relative;
z-index: 6;
}
#tabcontent1, #tabcontent2 {
background: #f0f0f0;
opacity: 0;
position: absolute;
z-index: -100;
}
#tabcontainer input#tab1:checked ~ #tabcontent #tabcontent1,
#tabcontainer input#tab2:checked ~ #tabcontent #tabcontent2 {
opacity: 1;
z-index: 100;
}
input.visible {
visibility: visible !important;
}
video-stream {
color: dimgray;
}
#synctab {
margin: 16px;
padding:0px;
color: dimgray;
}
label[for=synccanvas] {
display:block;
}
#show-background-video {
position: absolute;
bottom: 50px;
right: 25px;
color: gray;
z-index: 5;
height: 20px;
text-align: right;
}
#show-background-color {
position: absolute;
bottom: 30px;
right: 25px;
color: gray;
z-index: 5;
height: 20px;
text-align: right;
}
#show-video-toggle, #show-color-toggle {
visibility: visible !important;
height: 15px !important;
vertical-align:middle;
}
</style>
<template id="video-stream">
<style>
:host {
display: flex;
flex-flow: row wrap;
}
canvas {
align-self: center;
}
div {
margin: 16px;
}
label {
display: block;
}
</style>
<div>
<label>WebGL canvas with depth video frame texture:</label>
<canvas id="canvasGL" width="640" height="480"></canvas>
</div>
<div>
<label><input type="checkbox" onchange="readAndShowPixels(this)"></input>gl.readPixels and show in 2D canvas</label>
<canvas id="canvas2D" width="640" height="480"></canvas>
</div>
</template>
<body onload="onLoad()">
<h2>Depth Capture Demo</h2>
<div id="console">
<!-- Print error messages here. -->
</div>
<div class="select">
<label for="selectVideoDevice">Capture device with depth stream</label>
<select id="selectVideoDevice"></select>
</div>
<div id="tabcontainer">
<input id="tab1" type="radio" name="tabs" value="basic" checked="checked" data-ontaboff="stopBasicTab" data-ontabon="startBasicTab"/>
<label for="tab1">Render depth</label>
<input id="tab2" type="radio" name="tabs" value="sync" data-ontaboff="stopSyncTab" data-ontabon="startSyncTab"/>
<label for="tab2">Background removal</label>
<div id="tabcontent">
<div id = tabcontent1>
<video-stream></video-stream>
</div>
<div id="tabcontent2">
<div id="synctab">
<label for="synccanvas">Color stream is displayed over depth that is aligned to color:</label>
<div id="show-background-video">background video <input id="show-video-toggle" type="checkbox">
</div>
<div id="show-background-color">background color <input id="show-color-toggle" type="checkbox">
</div>
<canvas id="synccanvas" width="640px" height="480px"
style="background-color: black;">
</canvas>
</div>
</div>
</div>
</div>
</body>
<script src="depth-camera.js"></script>
<script src="depth-to-color-sync-render.js"></script>
<script>
let readAndShowDepthPixels = false;
let error = window.console.error;
window.console.error = (message, ...rest) => {
let target = document.querySelector('#console');
error.call(window.console, message, ...rest);
if (message instanceof Error) {
message = `${message.name}: ${message.message}`;
}
target.innerHTML += `${message}<br>`;
}
function readAndShowPixels(element) {
readAndShowDepthPixels = element.checked;
}
let tabs = document.getElementsByName("tabs");
let videos = {depth: null, color: null};
let syncrender = new DepthToColorSyncRender(document.querySelector("#synccanvas"));
let selectedtab = tabs[0];
for(let i = 0; i < tabs.length; i++) {
tabs[i].onclick = function() {
if(this !== selectedtab) {
window[selectedtab.dataset.ontaboff]();
selectedtab = this;
window[selectedtab.dataset.ontabon]();
}
};
}
function stopVideo(video) {
if (video && video.srcObject) {
const cs = video.srcObject;
for (let track of cs.getTracks()) {
track.stop();
}
video.srcObject = null;
}
}
function startBasicTab() {
const videoStreamEl = document.querySelector('video-stream');
videoStreamEl.play();
}
function stopBasicTab() {
const videoStreamEl = document.querySelector('video-stream');
videoStreamEl.pause();
}
async function startSyncTab() {
syncrender.setDepthVideo(videos.depth);
await syncrender.play();
videos.color = syncrender.colorVideo;
videos.depth = syncrender.depthVideo;
}
function stopSyncTab() {
syncrender.pause();
stopVideo(videos.color);
}
const videoToggle = document.getElementById("show-video-toggle");
const colorToggle = document.getElementById("show-color-toggle");
videoToggle.addEventListener("change", function() {
if (this.checked)
colorToggle.checked = false;
syncrender.showBackgroundColor(false);
syncrender.showBackgroundVideo(this.checked);
});
colorToggle.addEventListener("change", function() {
if (this.checked)
videoToggle.checked = false;
syncrender.showBackgroundVideo(false);
syncrender.showBackgroundColor(this.checked);
});
customElements.define('video-stream', class extends HTMLElement {
constructor() {
super();
const template = document.querySelector('#video-stream');
const clone = document.importNode(template.content, true);
const shadowRoot = this.attachShadow({ mode: 'open' });
this.shadowRoot.appendChild(clone);
this._frameLoop = this._frameLoop.bind(this);
this.readBuffer = null;
this.readFormat = null;
}
connectedCallback() {
this.gl = this._configureGLContext();
const canvas = this.shadowRoot.getElementById("canvas2D");
this.ctx2d = canvas.getContext("2d");
this.frameAvailable = false;
this.video = this._createOffscreenVideo();
this.video.oncanplay = _ => { this.frameAvailable = true; }
this.video.addEventListener("play", this._frameLoop);
let hasTouchListeners = false;
const onVideoTouchStart = _ => {
hasTouchListeners = false;
window.removeEventListener("touchstart", onVideoTouchStart, true);
this.video.play();
}
if (this.video && this.video.paused && !hasTouchListeners) {
hasTouchListeners = true;
window.addEventListener("touchstart", onVideoTouchStart, true);
}
}
_createOffscreenVideo() {
return Object.assign(document.createElement("video"), {
autoplay: true,
loop: true,
crossOrigin: "anonymous",
width: 640,
height: 480
});
}
_frameLoop() {
const gl = this.gl;
gl.activeTexture(gl.TEXTURE0);
gl.bindTexture(gl.TEXTURE_2D, gl.depth_texture);
if (this.frameAvailable) {
// Upload the video frame to texture.
if (gl.color_buffer_float_ext) {
gl.texImage2D(gl.TEXTURE_2D, 0, gl.R32F, gl.RED, gl.FLOAT, this.video);
} else {
gl.texImage2D(gl.TEXTURE_2D, 0, gl.RGBA32F, gl.RGBA, gl.FLOAT, this.video);
}
if (readAndShowDepthPixels) {
// Read it back to buffer.
this._readPixels();
// TODO: process pixels.
// Put read and processed pixels to 2D canvas.
// Note: This is just one of scenarios for the demo. You can directly
// bind video to 2D canvas without using WebGL as intermediate step.
this._putReadPixelsTo2DCanvas();
}
}
gl.bindBuffer(gl.ARRAY_BUFFER, gl.vertex_buffer);
gl.vertexAttribPointer(gl.vertex_location, 2, gl.FLOAT, false, 0, 0);
gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, gl.index_buffer);
gl.drawElements(gl.TRIANGLES, 6, gl.UNSIGNED_SHORT, 0);
if (!this.paused)
window.requestAnimationFrame(this._frameLoop);
}
pause() {
this.paused = true;
}
play() {
this.paused = false;
window.requestAnimationFrame(this._frameLoop);
}
_readPixels() {
const gl = this.gl;
// Bind the framebuffer the texture is color-attached to.
gl.bindFramebuffer(gl.FRAMEBUFFER, gl.framebuffer);
if (!this.readBuffer) {
this.readFormat = gl.getParameter(gl.IMPLEMENTATION_COLOR_READ_FORMAT);
if (this.readFormat == gl.RED && gl.getParameter(gl.IMPLEMENTATION_COLOR_READ_TYPE) == gl.FLOAT) {
this.readBuffer = new Float32Array(this.video.width * this.video.height);
} else {
this.readFormat = gl.RGBA;
this.readBuffer = new Float32Array(this.video.width * this.video.height * 4);
}
}
gl.readPixels(0, 0, this.video.width, this.video.height, this.readFormat, gl.FLOAT, this.readBuffer);
gl.bindFramebuffer(gl.FRAMEBUFFER, null);
}
_putReadPixelsTo2DCanvas() {
const img = this.ctx2d.getImageData(0, 0, this.video.width, this.video.height);
const data = img.data;
const stride = (this.readFormat === this.gl.RED) ? 1 : 4;
for (let i = 0, j = 0; i < data.length; i += 4, j += stride) {
data[i] = this.readBuffer[j] * 255;
data[i+3] = 255;
}
this.ctx2d.putImageData(img, 0, 0);
}
// Creates WebGL/WebGL2 context used to upload depth video to texture,
// read the pixels to Float buffer and optionElally render the texture.
_configureGLContext() {
const canvas = this.shadowRoot.getElementById("canvasGL");
const gl = canvas.getContext("webgl2");
if (gl) {
// The extension tells us if we can use single component R32F texture format.
gl.color_buffer_float_ext = gl.getExtension('EXT_color_buffer_float');
} else {
gl = canvas.getContext("webgl");
gl.getExtension("OES_texture_float");
}
gl.enable(gl.BLEND);
gl.blendFunc(gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA);
// Shaders and program are needed only if rendering depth texture.
var vertex_shader = gl.createShader(gl.VERTEX_SHADER);
gl.shaderSource(vertex_shader, `
attribute vec2 v;
varying vec2 t;
void main(){
gl_Position = vec4(v.x * 2.0 - 1.0, 1.0 - v.y * 2.0, 0, 1);
t = v;
}`);
gl.compileShader(vertex_shader);
var pixel_shader = gl.createShader(gl.FRAGMENT_SHADER);
gl.shaderSource(pixel_shader, `
precision mediump float;
uniform sampler2D s;
varying vec2 t;
void main(){
vec4 tex = texture2D(s, t) * vec4(10.0, 10.0, 10.0, 1.0);
gl_FragColor = tex.rrra;
}`);
gl.compileShader(pixel_shader);
var program = gl.createProgram();
gl.attachShader(program, vertex_shader);
gl.attachShader(program, pixel_shader);
gl.linkProgram(program);
gl.useProgram(program);
var vertex_location = gl.getAttribLocation(program, "v");
gl.enableVertexAttribArray(vertex_location);
gl.uniform1i(gl.getUniformLocation(program, "s"), 0);
var vertex_buffer = gl.createBuffer();
gl.bindBuffer(gl.ARRAY_BUFFER, vertex_buffer);
gl.bufferData(gl.ARRAY_BUFFER, new Float32Array([0,0,1,0,1,1,0,1]), gl.STATIC_DRAW);
var index_buffer= gl.createBuffer();
gl.bindBuffer(gl.ELEMENT_ARRAY_BUFFER, index_buffer);
gl.bufferData(gl.ELEMENT_ARRAY_BUFFER, new Uint16Array([0,1,2,0,2,3]), gl.STATIC_DRAW);
var depth_texture = gl.createTexture();
gl.bindTexture(gl.TEXTURE_2D, depth_texture);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST);
// Framebuffer for reading back the texture.
var framebuffer = gl.createFramebuffer();
gl.bindFramebuffer(gl.FRAMEBUFFER, framebuffer);
gl.framebufferTexture2D(gl.FRAMEBUFFER, gl.COLOR_ATTACHMENT0, gl.TEXTURE_2D, depth_texture, 0);
gl.bindFramebuffer(gl.FRAMEBUFFER, null);
gl.vertex_buffer = vertex_buffer;
gl.vertex_location = vertex_location;
gl.index_buffer = index_buffer;
gl.depth_texture = depth_texture;
gl.framebuffer = framebuffer;
return gl;
}
async loadStream(deviceId) {
stopVideo(videos.depth);
stopVideo(videos.color);
// If the item in drop-down list is selected, use it.
const getUserMedia = () => {
// add ?allow=all to URL to allow listing all devices (incl. those not supporting depth).
if (!deviceId && (new URL(window.location)).searchParams.get("allow") !== "all") {
return DepthCamera.getDepthStream();
}
const constraints = {
video: {
deviceId: deviceId ? { exact: deviceId } : {}
}
}
return navigator.mediaDevices.getUserMedia(constraints);
}
try {
const stream = await getUserMedia();
this.video.srcObject = stream;
videos.depth = this.video;
// Chrome, starting with version 59, implements getSettings() API.
const track = stream.getVideoTracks()[0];
if (track.getSettings) {
this.depthDeviceId = track.getSettings().deviceId;
}
} catch (err) {
console.error(err);
}
}
});
function populateSelectElement(devices) {
const selectEl = document.querySelector('#selectVideoDevice');
const videoStreamEl = document.querySelector('video-stream');
let selected = selectEl.value;
while (selectEl.firstChild) {
selectEl.removeChild(selectEl.firstChild);
}
let selectedDeviceStillExists = false;
for (let i = 0; i < devices.length; ++i) {
const info = devices[i];
if (info.kind !== 'videoinput') {
continue;
}
const optionEl = document.createElement('option');
optionEl.value = info.deviceId;
optionEl.text = info.label || 'camera ' + (selectEl.length + 1);
selectEl.appendChild(optionEl);
if (optionEl.value === selected) {
selectedDeviceStillExists = true;
}
}
if (selectedDeviceStillExists) {
selectEl.value = selected;
} else if (!selected) {
// If no other device is selected, set the initial selection to depth device.
if (videoStreamEl.depthDeviceId) {
selectEl.value = videoStreamEl.depthDeviceId;
}
}
}
function onLoad() {
const videoStreamEl = document.querySelector('video-stream');
const selectEl = document.querySelector('#selectVideoDevice');
selectEl.onchange = async event => {
selectEl.disabled = true;
const deviceId = event.target.value;
await videoStreamEl.loadStream(deviceId);
const devices = await navigator.mediaDevices.enumerateDevices();
populateSelectElement(devices);
if (selectedtab.value != "basic") {
// It is on by default; stop rendering it if not visible.
stopBasicTab();
}
window[selectedtab.dataset.ontabon]();
selectEl.disabled = false;
};
selectEl.dispatchEvent(new Event('change', { 'bubbles': true }))
}
</script>
</html>