diff options
| -rw-r--r-- | client2.cpp | 103 |
1 files changed, 94 insertions, 9 deletions
diff --git a/client2.cpp b/client2.cpp index 5b04602..84e1a37 100644 --- a/client2.cpp +++ b/client2.cpp @@ -53,6 +53,7 @@ const char* justDrawASpriteVertexSource = //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" @@ -91,6 +92,38 @@ const char* drawOnCanvasFragmentSource = //" outColor = vec4(point_in_cam_pic/vec2(CAM_XRES,CAM_YRES),-point_in_cam_pic_uniform.z/1000,1);\n" " else\n" " outColor = vec4(0.0,0.0,0.0,0.00);" + " float xxx = Texcoord.x/3.141592654*180/10+100;" + " float yyy = Texcoord.y/3.141592654*180/10+100;" + " if ( (abs(xxx- int(xxx)) < 0.1) || (abs(yyy- int(yyy)) <.1)) outColor = vec4(0.5,0.5,0.5,0.5);" + "}\n"; + + +const char* drawFromCanvasFragmentSource = + "#version 150\n" + "uniform sampler2D texVideo;\n" + "uniform float eye_yaw;\n" + "uniform float eye_pitch;\n" + "uniform float eye_roll;\n" + "const float aspect_ratio=1280./720.;\n" + "const float horiz_field_of_view=70/180.*3.141592654;\n" + "const float CAM_FX=1/2.0 / tan(horiz_field_of_view/2.0);\n" + "const mat3 eye_cal_inv = transpose(mat3(1/CAM_FX, 0, -1/2/CAM_FX, 0, 1/CAM_FX, -1/aspect_ratio/2/CAM_FX, 0,0,1));\n" + "const mat3 opencv_to_math = mat3(0,1,0, 0,0,1, -1,0,0);\n" + "in vec2 Texcoord;\n" + "out vec4 outColor;\n" + "void main()\n" + "{\n" + //" vec3 point_in_eye_frame = opencv_to_math * eye_cal_inv * vec3( Texcoord.x, Texcoord.y/aspect_ratio, 1 );\n" + " vec3 point_in_eye_frame = opencv_to_math * vec3( vec2(Texcoord.x-0.5, (Texcoord.y-0.5)/aspect_ratio) /CAM_FX , 1);" + " // eye_rot_inv rotates a pixel FROM eye TO world frame\n" + " mat3 eye_rot_inv = transpose( transpose(mat3(1,0,0, 0,cos(eye_roll),sin(eye_roll), 0,-sin(eye_roll),cos(eye_roll))) * transpose(mat3(cos(eye_pitch),0,-sin(eye_pitch), 0,1,0, sin(eye_pitch),0,cos(eye_pitch))) * transpose(mat3(cos(eye_yaw),sin(eye_yaw),0,-sin(eye_yaw),cos(eye_yaw),0,0,0,1)) );\n" + " vec3 point_in_world_frame = eye_rot_inv * point_in_eye_frame;\n" + " float yaw = atan( point_in_world_frame.y , point_in_world_frame.x );\n" + " float pitch = atan(-point_in_world_frame.z, sqrt(pow(point_in_world_frame.x,2)+pow(point_in_world_frame.y,2)));\n" + //" outColor = vec4( 10*yaw/2/3.1415+0.5, 10*pitch/3.1415+0.5,0.5,1);\n" + " outColor = texture(texVideo, vec2( yaw/2/3.141593654+0.5, pitch/3.141592654+0.5 ))+vec4(0,0.2,0,0);\n" + //" outColor = texture(texVideo, Texcoord);\n" + //" outColor = vec4(Texcoord,0,1.0);\n" "}\n"; const char* justDrawASpriteFragmentSource = @@ -176,6 +209,26 @@ float vertices[] = { -1.f, 1.f, -PI,PI/2 // Vertex 1 (X, Y) }; +float vertices2[] = { + -1.f, 1.f, 1.f,0.f, // Vertex 1 (X, Y) + 1.f, 1.f, 0.f,0.f, // Vertex 2 (X, Y) + 1.f, -1.f, 0.f,1.f, // Vertex 3 (X, Y) + + 1.f, -1.f, 0.f,1.f, // Vertex 3 (X, Y) + -1.f, -1.f, 1.f,1.f, // Vertex 4 (X, Y) + -1.f, 1.f, 1.f,0.f // Vertex 1 (X, Y) +}; + +/*float vertices2[] = { + -1.f, 1.f, 0.f,1.f, // Vertex 1 (X, Y) + 1.f, 1.f, 1.f,1.f, // Vertex 2 (X, Y) + 1.f, -1.f, 1.f,0.f, // Vertex 3 (X, Y) + + 1.f, -1.f, 1.f,0.f, // Vertex 3 (X, Y) + -1.f, -1.f, 0.f,0.f, // Vertex 4 (X, Y) + -1.f, 1.f, 0.f,1.f // Vertex 1 (X, Y) +};*/ + float wholescreenVertices[] = { -1.f, -1.f, // Vertex 1 (X, Y) 1.f, -1.f, // Vertex 2 (X, Y) @@ -281,6 +334,27 @@ GLuint newCanvasShaderProgram(GLuint vao, GLuint vbo) return shaderProgram; } +GLuint newEyeShaderProgram(GLuint vao, GLuint vbo) +{ + GLuint vertexShader, fragmentShader, shaderProgram; + compileShaderProgram(justDrawASpriteVertexSource, drawFromCanvasFragmentSource, 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) { @@ -408,20 +482,25 @@ int main(int argc, const char** argv) GLFWwindow* window = initOpenGL(); - GLuint vaoCanvas, vaoQuad, vaoWholescreenQuad; + GLuint vaoCanvas, vaoEye, vaoQuad, vaoWholescreenQuad; glGenVertexArrays(1, &vaoCanvas); + glGenVertexArrays(1, &vaoEye); glGenVertexArrays(1, &vaoQuad); glGenVertexArrays(1, &vaoWholescreenQuad); - GLuint vboCanvas, vboQuad, vboWholescreenQuad; + GLuint vboCanvas, vboEye, vboQuad, vboWholescreenQuad; glGenBuffers(1, &vboCanvas); + glGenBuffers(1, &vboEye); glGenBuffers(1, &vboQuad); glGenBuffers(1, &vboWholescreenQuad); glBindBuffer(GL_ARRAY_BUFFER, vboCanvas); glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW); + glBindBuffer(GL_ARRAY_BUFFER, vboEye); + glBufferData(GL_ARRAY_BUFFER, sizeof(vertices2), vertices2, GL_STATIC_DRAW); + glBindBuffer(GL_ARRAY_BUFFER, vboQuad); glBufferData(GL_ARRAY_BUFFER, sizeof(quadVertices), quadVertices, GL_STATIC_DRAW); @@ -440,6 +519,10 @@ int main(int argc, const char** argv) GLint uniCamYaw = glGetUniformLocation(drawOnCanvasProgram, "cam_yaw"); GLint uniCamPitch = glGetUniformLocation(drawOnCanvasProgram, "cam_pitch"); GLint uniCamRoll = glGetUniformLocation(drawOnCanvasProgram, "cam_roll"); + GLuint drawFromCanvasProgram = newEyeShaderProgram(vaoEye, vboEye); + GLint uniEyeYaw = glGetUniformLocation(drawFromCanvasProgram, "eye_yaw"); + GLint uniEyePitch = glGetUniformLocation(drawFromCanvasProgram, "eye_pitch"); + GLint uniEyeRoll = glGetUniformLocation(drawFromCanvasProgram, "eye_roll"); // texture GLuint texVideo; @@ -630,19 +713,21 @@ glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glUseProgram(drawOnCanvasProgram); glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, texVideo); - - glUniform1f(uniCamYaw,(float)total_x/virtual_canvas_width*2*PI); - glUniform1f(uniCamPitch,-(float)total_y/px_per_deg/180.*PI); - glUniform1f(uniCamRoll,-total_rot/180.*PI); + glUniform1f(uniCamYaw,(float)total_x/virtual_canvas_width*2*PI); + glUniform1f(uniCamPitch,-(float)total_y/px_per_deg/180.*PI); + glUniform1f(uniCamRoll,-total_rot/180.*PI); glDrawArrays(GL_TRIANGLES, 0, 6); glBindFramebuffer(GL_FRAMEBUFFER, eyeFB); glViewport(0,0,EYE_WIDTH,EYE_HEIGHT); - glBindVertexArray(vaoQuad); - glUseProgram(quadShaderProgram); + glBindVertexArray(vaoEye); + glUseProgram(drawFromCanvasProgram); glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, canvasTex); + glUniform1f(uniEyeYaw,3.1415+(float)total_x/virtual_canvas_width*2*PI); + glUniform1f(uniEyePitch,(float)total_y/px_per_deg/180.*PI); + glUniform1f(uniEyeRoll,0); glDrawArrays(GL_TRIANGLES, 0, 6); @@ -651,7 +736,7 @@ glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glBindVertexArray(vaoWholescreenQuad); glUseProgram(oculusShaderProgram); glActiveTexture(GL_TEXTURE0); - glBindTexture(GL_TEXTURE_2D, canvasTex/*eyeTex*/); + glBindTexture(GL_TEXTURE_2D, eyeTex); glDrawArrays(GL_TRIANGLES, 0, 6); |