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-rw-r--r--client2.cpp86
1 files changed, 73 insertions, 13 deletions
diff --git a/client2.cpp b/client2.cpp
index 02042d5..65b123d 100644
--- a/client2.cpp
+++ b/client2.cpp
@@ -47,6 +47,47 @@ const char* justDrawASpriteVertexSource =
" Texcoord = texcoord;\n"
"}\n";
+
+//(1*tan(oeffnungswinkel/2) , 0 , 1) soll auf (XRES, YRES/2) mappen
+
+//M*p = (alphax*tan(w/2)+XRES/2, YRES/2, 1)
+//also XRES/2 / tan(w/2) = alphax
+
+const char* drawOnCanvasFragmentSource =
+ "#version 150\n"
+ "uniform sampler2D texVideo;\n"
+ "uniform float cam_yaw;\n"
+ "uniform float cam_pitch;\n"
+ "uniform float cam_roll;\n"
+ "const float CAM_XRES=1280;\n"
+ "const float CAM_YRES=720;\n"
+ "const float CAM_XDEG=82/180.*3.141592654;\n"
+ "const float CAM_FX=CAM_XRES/2.0 / tan(CAM_XDEG/2.0);\n"
+ //"const float CAM_FX=1;\n"
+ "const mat3 cam_cal = transpose(mat3(CAM_FX, 0, CAM_XRES/2, 0, CAM_FX, CAM_YRES/2, 0,0,1));\n"
+ "const mat3 math_to_opencv = transpose(mat3(0,1,0, 0,0,1, -1,0,0));\n"
+ "in vec2 Texcoord;\n"
+ "out vec4 outColor;\n"
+ "void main()\n"
+ "{\n"
+ " // cam_rot rotates a pixel FROM world TO cam frame\n"
+ " // mat3 cam_rot = transpose(mat3(1,0,0, 0,cos(cam_roll),sin(cam_roll), 0,-sin(cam_roll),cos(cam_roll))) * transpose(mat3(cos(cam_pitch),0,-sin(cam_pitch), 0,1,0, sin(cam_pitch),0,cos(cam_pitch))) * transpose(mat3(cos(cam_yaw),sin(cam_yaw),0,-sin(cam_yaw),cos(cam_yaw),0,0,0,1));\n"
+ " mat3 cam_rot = transpose(mat3(1,0,0, 0,1,0, 0,0,1));\n"
+ " // Texcoord.xy is yaw/pitch in the unit sphere\n"
+ " vec3 point_in_world_frame = vec3( cos(Texcoord.x)*cos(Texcoord.y), sin(Texcoord.x)*cos(Texcoord.y), -sin(Texcoord.y) );\n"
+// " if ((0.2< abs(point_in_world_frame.z)) && (abs(point_in_world_frame.z) < 0.3)) outColor=vec4(1,1,1,1); else outColor=vec4(0,0,0,1); return;"
+ " vec3 point_in_cam_frame = cam_rot * point_in_world_frame;\n"
+ " vec3 point_in_cam_pic_uniform = cam_cal * math_to_opencv * point_in_cam_frame;\n"
+ " vec2 point_in_cam_pic = point_in_cam_pic_uniform.xy / point_in_cam_pic_uniform.z;\n"
+ " if ( point_in_cam_pic_uniform.z < 0 && \n"
+ " (0 <= point_in_cam_pic.x && point_in_cam_pic.x < CAM_XRES) && \n"
+ " (0 <= point_in_cam_pic.y && point_in_cam_pic.y < CAM_YRES) ) \n"
+ " outColor = texture(texVideo, vec2(1.0,1.0)-point_in_cam_pic/vec2(CAM_XRES,CAM_YRES));\n"
+ //" outColor = vec4(point_in_cam_pic/vec2(CAM_XRES,CAM_YRES),-point_in_cam_pic_uniform.z/1000,1);\n"
+ " else\n"
+ " outColor = vec4(1.0,0.0,1.0,0.1);"
+ "}\n";
+
const char* justDrawASpriteFragmentSource =
"#version 150\n"
"uniform sampler2D texVideo;\n"
@@ -121,13 +162,13 @@ const char* justDrawASpriteFragmentSourceGray =
float vertices[] = {
- -1.f, 1.f, 0.0f,0.0f, // Vertex 1 (X, Y)
- 1.f, 1.f, 1.0f,0.0f, // Vertex 2 (X, Y)
- 1.f, -1.f, 1.0f,1.0f, // Vertex 3 (X, Y)
+ -1.f, 1.f, -PI,PI/2, // Vertex 1 (X, Y)
+ 1.f, 1.f, PI,PI/2, // Vertex 2 (X, Y)
+ 1.f, -1.f, PI,-PI/2, // Vertex 3 (X, Y)
- 1.f, -1.f, 1.0f,1.0f, // Vertex 3 (X, Y)
- -1.f, -1.f, 0.0f,1.0f, // Vertex 4 (X, Y)
- -1.f, 1.f, 0.0f,0.0f // Vertex 1 (X, Y)
+ 1.f, -1.f, PI,-PI/2, // Vertex 3 (X, Y)
+ -1.f, -1.f, -PI,-PI/2, // Vertex 4 (X, Y)
+ -1.f, 1.f, -PI,PI/2 // Vertex 1 (X, Y)
};
float wholescreenVertices[] = {
@@ -214,6 +255,28 @@ void compileShaderProgram(const GLchar* vertSrc, const GLchar* fragSrc, GLuint&
glLinkProgram(shaderProgram);
}
+GLuint newCanvasShaderProgram(GLuint vao, GLuint vbo)
+{
+ GLuint vertexShader, fragmentShader, shaderProgram;
+ compileShaderProgram(justDrawASpriteVertexSource, drawOnCanvasFragmentSource, vertexShader, fragmentShader, shaderProgram);
+
+
+ glBindVertexArray(vao);
+ glBindBuffer(GL_ARRAY_BUFFER, vbo);
+
+ // set up shaders
+ GLint posAttrib = glGetAttribLocation(shaderProgram, "position");
+ glEnableVertexAttribArray(posAttrib);
+ glVertexAttribPointer(posAttrib, 2, GL_FLOAT, GL_FALSE, 4*sizeof(float), 0);
+
+
+ GLint texAttrib = glGetAttribLocation(shaderProgram, "texcoord");
+ glEnableVertexAttribArray(texAttrib);
+ glVertexAttribPointer(texAttrib, 2, GL_FLOAT, GL_FALSE, 4*sizeof(float), (void*)(2*sizeof(float)));
+
+ return shaderProgram;
+}
+
GLuint justDrawASpriteShaderProgram(GLuint vao, GLuint vbo, bool gray=false)
{
GLuint vertexShader, fragmentShader, shaderProgram;
@@ -351,8 +414,6 @@ int main(int argc, const char** argv)
glGenBuffers(1, &vboQuad);
glGenBuffers(1, &vboWholescreenQuad);
- calcVerticesRotated(0,0,PI/2,vertices);
-
glBindBuffer(GL_ARRAY_BUFFER, vboCanvas);
glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
@@ -370,6 +431,7 @@ int main(int argc, const char** argv)
GLuint shaderProgram = justDrawASpriteShaderProgram(vaoCanvas, vboCanvas);
GLuint quadShaderProgram = justDrawASpriteShaderProgram(vaoQuad, vboQuad);
GLuint oculusShaderProgram = newOculusShaderProgram(vaoWholescreenQuad, vboWholescreenQuad);
+ GLuint drawOnCanvasProgram = newCanvasShaderProgram(vaoCanvas, vboCanvas);
// texture
@@ -396,7 +458,8 @@ int main(int argc, const char** argv)
-
+glEnable (GL_BLEND);
+glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
@@ -548,19 +611,16 @@ int main(int argc, const char** argv)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, frame_gl.size().width, frame_gl.size().height, 0, GL_RGB, GL_UNSIGNED_BYTE, frame_gl.ptr<unsigned char>(0));
- calcVerticesRotated(total_x, -total_y,-total_rot*PI/180.,vertices);
calcVerticesRotated2(ringbuf_psi2.get(),10,0,quadVertices);
glBindBuffer(GL_ARRAY_BUFFER, vboQuad);
glBufferData(GL_ARRAY_BUFFER, sizeof(quadVertices), quadVertices, GL_STATIC_DRAW);
- glBindBuffer(GL_ARRAY_BUFFER, vboCanvas);
- glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
glBindFramebuffer(GL_FRAMEBUFFER, canvasFB);
glViewport(0,0,CANVAS_WIDTH,CANVAS_HEIGHT);
glBindVertexArray(vaoCanvas);
- glUseProgram(shaderProgram);
+ glUseProgram(drawOnCanvasProgram);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, texVideo);
glDrawArrays(GL_TRIANGLES, 0, 6);