#include <sstream>#include "point_cloud_drawable.h"#include "rtabmap/utilite/ULogger.h"#include "rtabmap/utilite/UTimer.h"#include "rtabmap/utilite/UConversion.h"#include <opencv2/imgproc/imgproc.hpp>#include "util.h"#include "pcl/common/transforms.h"#include <OpenGLES/ES2/gl.h>
Include dependency graph for point_cloud_drawable.cpp:
Go to the source code of this file.
Macros | |
| #define | LOW_DEC 2 |
| #define | LOWLOW_DEC 4 |
Enumerations | |
| enum | PointCloudShaders { kPointCloud = 0, kPointCloudBlending = 1, kPointCloudLighting = 2, kPointCloudLightingBlending = 3, kTexture = 4, kTextureBlending = 5, kTextureLighting = 6, kTextureLightingBlending = 7, kDepthPacking = 8 } |
Macro Definition Documentation
◆ LOW_DEC
| #define LOW_DEC 2 |
Definition at line 44 of file point_cloud_drawable.cpp.
◆ LOWLOW_DEC
| #define LOWLOW_DEC 4 |
Definition at line 45 of file point_cloud_drawable.cpp.
Enumeration Type Documentation
◆ PointCloudShaders
| enum PointCloudShaders |
| Enumerator | |
|---|---|
| kPointCloud | |
| kPointCloudBlending | |
| kPointCloudLighting | |
| kPointCloudLightingBlending | |
| kTexture | |
| kTextureBlending | |
| kTextureLighting | |
| kTextureLightingBlending | |
| kDepthPacking | |
Definition at line 47 of file point_cloud_drawable.cpp.
Variable Documentation
◆ kPointCloudBlendingFragmentShader
| const std::string kPointCloudBlendingFragmentShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"uniform float uGainR;\n"
"uniform float uGainG;\n"
"uniform float uGainB;\n"
"uniform float uNearZ;\n"
"uniform float uFarZ;\n"
"uniform sampler2D uDepthTexture;\n"
"uniform vec2 uScreenScale;\n"
"varying vec3 vColor;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" vec4 textureColor = vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
" float alpha = 1.0;\n"
" vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
" vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
" float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
" float num = (2.0 * uNearZ * uFarZ);\n"
" float diff = (uFarZ - uNearZ);\n"
" float add = (uFarZ + uNearZ);\n"
" float ndcDepth = depth * 2.0 - 1.0;\n"
" float linearDepth = num / (add - ndcDepth * diff);\n"
" float ndcFragz = gl_FragCoord.z * 2.0 - 1.0;\n"
" float linearFragz = num / (add - ndcFragz * diff);\n"
" if(linearFragz > linearDepth + 0.05)\n"
" alpha=0.0;\n"
" gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, alpha);\n"
"}\n"
Definition at line 118 of file point_cloud_drawable.cpp.
◆ kPointCloudDepthPackingFragmentShader
| const std::string kPointCloudDepthPackingFragmentShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"void main() {\n"
" vec4 enc = vec4(1.,255.,65025.,16581375.) * gl_FragCoord.z;\n"
" enc = fract(enc);\n"
" enc -= enc.yzww * vec2(1./255., 0.).xxxy;\n"
" gl_FragColor = enc;\n"
"}\n"
Definition at line 158 of file point_cloud_drawable.cpp.
◆ kPointCloudDepthPackingVertexShader
| const std::string kPointCloudDepthPackingVertexShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"attribute vec3 aVertex;\n"
"uniform mat4 uMVP;\n"
"uniform float uPointSize;\n"
"void main() {\n"
" gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
" gl_PointSize = uPointSize;\n"
"}\n"
Definition at line 148 of file point_cloud_drawable.cpp.
◆ kPointCloudFragmentShader
| const std::string kPointCloudFragmentShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"uniform float uGainR;\n"
"uniform float uGainG;\n"
"uniform float uGainB;\n"
"varying vec3 vColor;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" vec4 textureColor = vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
" gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, textureColor.a);\n"
"}\n"
Definition at line 106 of file point_cloud_drawable.cpp.
◆ kPointCloudLightingVertexShader
| const std::string kPointCloudLightingVertexShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"attribute vec3 aVertex;\n"
"attribute vec3 aNormal;\n"
"attribute vec3 aColor;\n"
"uniform mat4 uMVP;\n"
"uniform mat3 uN;\n"
"uniform vec3 uLightingDirection;\n"
"uniform float uPointSize;\n"
"varying vec3 vColor;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
" gl_PointSize = uPointSize;\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
" if(vLightWeighting<0.5)"
" vLightWeighting=0.5;\n"
" vColor = aColor;\n"
"}\n"
Definition at line 81 of file point_cloud_drawable.cpp.
◆ kPointCloudVertexShader
| const std::string kPointCloudVertexShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"attribute vec3 aVertex;\n"
"attribute vec3 aColor;\n"
"uniform mat4 uMVP;\n"
"uniform float uPointSize;\n"
"varying vec3 vColor;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
" gl_PointSize = uPointSize;\n"
" vLightWeighting = 1.0;\n"
" vColor = aColor;\n"
"}\n"
Definition at line 63 of file point_cloud_drawable.cpp.
◆ kTextureMeshBlendingFragmentShader
| const std::string kTextureMeshBlendingFragmentShader |
Definition at line 235 of file point_cloud_drawable.cpp.
◆ kTextureMeshFragmentShader
| const std::string kTextureMeshFragmentShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"uniform sampler2D uTexture;\n"
"uniform float uGainR;\n"
"uniform float uGainG;\n"
"uniform float uGainB;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
""
"void main() {\n"
" vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
" gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, textureColor.a);\n"
"}\n"
Definition at line 221 of file point_cloud_drawable.cpp.
◆ kTextureMeshLightingVertexShader
| const std::string kTextureMeshLightingVertexShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"attribute vec3 aVertex;\n"
"attribute vec3 aNormal;\n"
"attribute vec2 aTexCoord;\n"
"uniform mat4 uMVP;\n"
"uniform mat3 uN;\n"
"uniform vec3 uLightingDirection;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
" if(aTexCoord.x < 0.0) {\n"
" vTexCoord.x = 1.0;\n"
" vTexCoord.y = 1.0;\n"
" } else {\n"
" vTexCoord = aTexCoord;\n"
" }\n"
" vec3 transformedNormal = uN * aNormal;\n"
" vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
" if(vLightWeighting<0.5) \n"
" vLightWeighting=0.5;\n"
"}\n"
Definition at line 192 of file point_cloud_drawable.cpp.
◆ kTextureMeshVertexShader
| const std::string kTextureMeshVertexShader |
Initial value:
=
"precision highp float;\n"
"precision mediump int;\n"
"attribute vec3 aVertex;\n"
"attribute vec2 aTexCoord;\n"
"uniform mat4 uMVP;\n"
"varying vec2 vTexCoord;\n"
"varying float vLightWeighting;\n"
"void main() {\n"
" gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
" if(aTexCoord.x < 0.0) {\n"
" vTexCoord.x = 1.0;\n"
" vTexCoord.y = 1.0;\n"
" } else {\n"
" vTexCoord = aTexCoord;\n"
" }\n"
" vLightWeighting = 1.0;\n"
"}\n"
Definition at line 169 of file point_cloud_drawable.cpp.