diff options
| -rw-r--r-- | client2.cpp | 86 |
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); |