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Kind of stuck, now. Rendering red and blue point clouds

Browse Source 
- Color information from second camera only gets through if first camera
is disabled.

- How do I print BOTH point clouds from uniform data?
This commit is contained in:
Brandon Thomas committed 2020-05-18 04:47:45 -04:00
1 parent 6141c453fd
commit 0a70b326e7
1 file changed
+108 -80
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src/point_cloud/point_cloud_renderer.rs
+108 -80
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@@ -62,7 +62,7 @@ pub static POINT_CLOUD_VERTEX_SHADER : &'static str = "\
// NB: It appears that locations need to be wide enough apart, or the colors bleed across locations.
layout(location = 0) in vec4 inColor0;
layout(location = 4) in vec4 inColor1;
layout(location = 10) in vec4 inColor1;
out vec4 vertexColor;
@@ -74,63 +74,90 @@ layout(rgba32f, binding=1) readonly uniform image2D pointCloudTexture1;
uniform bool enableShading;
bool GetPoint3d(in vec2 pointCloudSize, in ivec2 point2d, out vec3 point3d)
{
if (point2d.x < 0 || point2d.x >= pointCloudSize.x ||
point2d.y < 0 || point3d.y >= pointCloudSize.y)
{
return false;
}
point3d = imageLoad(pointCloudTexture0, point2d).xyz;
if (point3d.z <= 0)
{
return false;
}
return true;
}
// bool GetPoint3d(in vec2 pointCloudSize, in ivec2 point2d, out vec3 point3d)
// {
// if (point2d.x < 0 || point2d.x >= pointCloudSize.x ||
// point2d.y < 0 || point3d.y >= pointCloudSize.y)
// {
// return false;
// }
//
// point3d = imageLoad(pointCloudTexture0, point2d).xyz;
// if (point3d.z <= 0)
// {
// return false;
// }
//
// return true;
// }
void main()
{
ivec2 pointCloudSize = imageSize(pointCloudTexture0);
ivec2 currentDepthPixelCoordinates = ivec2(gl_VertexID % pointCloudSize.x, gl_VertexID / pointCloudSize.x);
//vec3 vertexPosition = imageLoad(pointCloudTexture0, currentDepthPixelCoordinates).xyz;
//int pointCloudVertexLength = pointCloudSize.x * pointCloudSize.y;
ivec2 pointCloudSize0 = imageSize(pointCloudTexture0);
ivec2 pointCloudSize1 = imageSize(pointCloudTexture1);
int pointCloudLength0 = pointCloudSize0.x * pointCloudSize0.y;
int pointCloudLength1 = pointCloudSize1.x * pointCloudSize1.y;
vec3 vertexPosition;
vec4 colorOut;
if (gl_VertexID % 2 == 0) {
// Camera #0
ivec2 currentDepthPixelCoordinates = ivec2(gl_VertexID % pointCloudSize0.x, gl_VertexID / pointCloudSize0.x);
vertexPosition = imageLoad(pointCloudTexture0, currentDepthPixelCoordinates).xyz;
colorOut = inColor0;
//colorOut = inColor0;
colorOut = vec4(
100,
inColor0.g,
inColor0.b,
255
);
} else {
// Camera #1
ivec2 currentDepthPixelCoordinates = ivec2(gl_VertexID % pointCloudSize1.x, gl_VertexID / pointCloudSize1.x);
vec3 originalPosition = imageLoad(pointCloudTexture1, currentDepthPixelCoordinates).xyz;
//vertexPosition = originalPosition;
vertexPosition = vec3(
originalPosition.x - 1.5,
originalPosition.y,
originalPosition.z
);
//colorOut = inColor1; // NOT WORKING FULLY
colorOut = vec4(
inColor1.r + 255,
inColor1.r,
inColor1.g,
100,
255
);
//colorOut = inColor1;
/*colorOut = vec4(
inColor1.r + 0,
inColor1.g + 0,
inColor1.b + 0,
inColor1.a + 255
);
inColor1.a + 0
);*/
}
//vec3 vertexPosition = imageLoad(pointCloudTexture0, currentDepthPixelCoordinates).xyz;
//int pointCloudVertexLength = pointCloudSize.x * pointCloudSize.y;
//if (gl_VertexID % 2 == 0) {
//} else {
//}
// Scale up while model view matrices not implemented.
//vertexPosition.x *= 2.0 + 10.0;
//vertexPosition.y *= 2.0 + 10.0;
//vertexPosition.z *= 2.0;
if (view[0][0] > 0.5) {
vertexPosition.x -= 2.0;
vertexPosition.y -= 2.0;
@@ -146,59 +173,60 @@ void main()
vertexColor.a = 0.0f;
}
if (enableShading)
{
// Compute the location of the closest neighbor pixel to compute lighting
//
vec3 closestNeighbor = vertexPosition;
// If no neighbors have data, default to 1 meter behind point.
//
closestNeighbor.z += 1.0f;
vec3 outPoint;
if (GetPoint3d(pointCloudSize, currentDepthPixelCoordinates - ivec2(1, 0), outPoint))
{
if (closestNeighbor.z > outPoint.z)
{
closestNeighbor = outPoint;
}
}
if (GetPoint3d(pointCloudSize, currentDepthPixelCoordinates + ivec2(1, 0), outPoint))
{
if (closestNeighbor.z > outPoint.z)
{
closestNeighbor = outPoint;
}
}
if (GetPoint3d(pointCloudSize, currentDepthPixelCoordinates - ivec2(0, 1), outPoint))
{
if (closestNeighbor.z > outPoint.z)
{
closestNeighbor = outPoint;
}
}
if (GetPoint3d(pointCloudSize, currentDepthPixelCoordinates + ivec2(0, 1), outPoint))
{
if (closestNeighbor.z > outPoint.z)
{
closestNeighbor = outPoint;
}
}
vec3 lightPosition = vec3(0, 0, 0);
float occlusion = length(vertexPosition - closestNeighbor) * 20.0f;
float diffuse = 1.0f - clamp(occlusion, 0.0f, 0.6f);
float distance = length(lightPosition - vertexPosition);
// Attenuation term for light source that covers distance up to 50 meters
// http://wiki.ogre3d.org/tiki-index.php?page=-Point+Light+Attenuation
//
float attenuation = 1.0 / (1.0 + 0.09 * distance + 0.032 * distance * distance);
vertexColor = vec4(attenuation * diffuse * vertexColor.rgb, vertexColor.a);
}
// NB: This is affecting the second camera. Disabling for now.
// if (enableShading)
// {
// // Compute the location of the closest neighbor pixel to compute lighting
// //
// vec3 closestNeighbor = vertexPosition;
//
// // If no neighbors have data, default to 1 meter behind point.
// //
// closestNeighbor.z += 1.0f;
//
// vec3 outPoint;
// if (GetPoint3d(pointCloudSize, currentDepthPixelCoordinates - ivec2(1, 0), outPoint))
// {
// if (closestNeighbor.z > outPoint.z)
// {
// closestNeighbor = outPoint;
// }
// }
// if (GetPoint3d(pointCloudSize, currentDepthPixelCoordinates + ivec2(1, 0), outPoint))
// {
// if (closestNeighbor.z > outPoint.z)
// {
// closestNeighbor = outPoint;
// }
// }
// if (GetPoint3d(pointCloudSize, currentDepthPixelCoordinates - ivec2(0, 1), outPoint))
// {
// if (closestNeighbor.z > outPoint.z)
// {
// closestNeighbor = outPoint;
// }
// }
// if (GetPoint3d(pointCloudSize, currentDepthPixelCoordinates + ivec2(0, 1), outPoint))
// {
// if (closestNeighbor.z > outPoint.z)
// {
// closestNeighbor = outPoint;
// }
// }
//
// vec3 lightPosition = vec3(0, 0, 0);
// float occlusion = length(vertexPosition - closestNeighbor) * 20.0f;
// float diffuse = 1.0f - clamp(occlusion, 0.0f, 0.6f);
//
// float distance = length(lightPosition - vertexPosition);
//
// // Attenuation term for light source that covers distance up to 50 meters
// // http://wiki.ogre3d.org/tiki-index.php?page=-Point+Light+Attenuation
// //
// float attenuation = 1.0 / (1.0 + 0.09 * distance + 0.032 * distance * distance);
//
// vertexColor = vec4(attenuation * diffuse * vertexColor.rgb, vertexColor.a);
// }
}
";