65 lines
3.3 KiB
C
65 lines
3.3 KiB
C
/*
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* Copyright (C) 2017 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef SHADER_PROJECTED_TEX_H
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#define SHADER_PROJECTED_TEX_H
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// This shader is used to project a sensors image onto wold space geometry
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// as if it were projected from the original sensor's point of view in the world.
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const char vtxShader_projectedTexture[] = ""
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"#version 300 es \n"
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"layout(location = 0) in vec4 pos; \n"
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"uniform mat4 cameraMat; \n"
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"uniform mat4 projectionMat; \n"
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"out vec4 projectionSpace; \n"
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"void main() \n"
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"{ \n"
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" gl_Position = cameraMat * pos; \n"
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" projectionSpace = projectionMat * pos; \n"
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"} \n";
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const char pixShader_projectedTexture[] =
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"#version 300 es \n"
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"precision mediump float; \n"
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"uniform sampler2D tex; \n"
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"in vec4 projectionSpace; \n"
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"out vec4 color; \n"
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"void main() \n"
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"{ \n"
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" const vec2 zero = vec2(0.0f, 0.0f); \n"
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" const vec2 one = vec2(1.0f, 1.0f); \n"
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" \n"
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" // Compute perspective correct texture coordinates \n"
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" // in the sensor map \n"
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" vec2 cs = projectionSpace.xy / projectionSpace.w; \n"
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" \n"
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" // flip the texture! \n"
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" cs.y = -cs.y; \n"
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" \n"
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" // scale from -1/1 clip space to 0/1 uv space \n"
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" vec2 uv = (cs + 1.0f) * 0.5f; \n"
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" \n"
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" // Bail if we don't have a valid projection \n"
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" if ((projectionSpace.w <= 0.0f) || \n"
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" any(greaterThan(uv, one)) || \n"
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" any(lessThan(uv, zero))) { \n"
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" discard; \n"
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" } \n"
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" color = texture(tex, uv); \n"
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"} \n";
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#endif // SHADER_PROJECTED_TEX_H
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