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That pixel is real geometry. About to mess w/ projection matrix

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Brandon Thomas committed 2020-04-22 04:16:29 -04:00
1 parent 4dab692e2d
commit eadafd34ab
1 file changed
+14 -57
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src/point_cloud/point_cloud_renderer_shader.rs
+14 -57
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@@ -96,7 +96,6 @@ void main()
gl_Position = vec4(vertexPosition, 1);
//gl_Position = vec4(0.5, 0.5, 0.5, 1);
//TODO TEST WITH vertexColor = vec4(0.0, 0.0, 1.0, 1.0);
vertexColor = inColor;
// Pass along the 'invalid pixel' flag as the alpha channel
@@ -181,14 +180,14 @@ void main()
// discard;
// }
// TODO TEST WITH : fragmentColor = vec4(0.5, 1.0, 0.0, 1.0);
fragmentColor = vertexColor;
fragmentColor = vec4(0.5, 1.0, 0.0, 1.0);
//fragmentColor = vertexColor;
}
";
pub struct PointCloudRendererShader {
/// The OpenGL program
program_id: GLuint,
shader_program_id: GLuint,
/// The OpenGL vertex shader
vertex_shader_id: GLuint,
@@ -283,7 +282,7 @@ impl PointCloudRendererShader {
println!("Uniform point cloud texture location - view: {:?}", point_cloud_texture_index);
Self {
program_id,
shader_program_id: program_id,
vertex_shader_id,
fragment_shader_id,
point_size: 2,
@@ -313,22 +312,18 @@ impl PointCloudRendererShader {
println!("==== Renderer.update_point_clouds() [buffering data]");
unsafe {
println!("-> gl::BindVertexArray(): {:?}", self.vertex_array_object.id());
gl::BindVertexArray(self.vertex_array_object.id());
// Vertex Colors
println!("-> gl::BindBuffer(): {:?}", self.vertex_color_buffer_object.id());
gl::BindBuffer(gl::ARRAY_BUFFER, self.vertex_color_buffer_object.id());
}
let color_image_size_bytes = color_image.get_size() as i32;
if self.vertex_array_size_bytes != color_image_size_bytes /* TODO TEMP ENABLE W/ +1 */ {
println!("Updating vertex array size bytes: {}", color_image_size_bytes);
if self.vertex_array_size_bytes != color_image_size_bytes {
self.vertex_array_size_bytes = color_image_size_bytes;
unsafe {
println!("-> gl::BufferData(...)");
gl::BufferData(
gl::ARRAY_BUFFER,
self.vertex_array_size_bytes as isize,
@@ -338,13 +333,7 @@ impl PointCloudRendererShader {
}
}
gl_get_error()?; // TODO TEMPORARY DEBUG
let vertex_mapped_buffer = unsafe {
// GLubyte *vertexMappedBuffer = reinterpret_cast<GLubyte *>(
println!("-> gl::MapBufferRange(...) [puts the buffer into client addr space] size = {}",
color_image_size_bytes);
gl::MapBufferRange(
gl::ARRAY_BUFFER,
0,
@@ -353,53 +342,29 @@ impl PointCloudRendererShader {
)
};
println!("glMapBufferRange: memAddr = {:?} (bytes: {})", vertex_mapped_buffer, color_image_size_bytes);
if vertex_mapped_buffer as usize == 0 {
// TODO: return glGetError() instead
return Err(PointCloudRendererError::UnknownError);
let error = gl_get_error().expect_err("should be map buffer range error");
return Err(PointCloudRendererError::OpenGlError(error));
}
println!("color image: handle = {:?} size = {}x{}",
color_image.0,
color_image.get_width_pixels(),
color_image.get_height_pixels());
let mut color_src = color_image.get_buffer();
unsafe {
println!(
"color image bytes: {:?} {:?} {:?} {:?} {:?} {:?}",
*color_src.offset(0),
*color_src.offset(100),
*color_src.offset(1000),
*color_src.offset(2000),
*color_src.offset(3000),
*color_src.offset(5000),
);
}
let result = unsafe {
//const GLubyte *colorSrc = reinterpret_cast<const GLubyte *>(color.get_buffer());
//std::copy(colorSrc, colorSrc + colorImageSizeBytes, vertexMappedBuffer);
//std::ptr::copy::<u8>(color_src, vertex_mapped_buffer as *mut u8,
// color_image_size_bytes as usize);
std::ptr::copy_nonoverlapping::<u8>(color_src, vertex_mapped_buffer as *mut u8,
color_image_size_bytes as usize);
std::ptr::copy::<u8>(color_src, vertex_mapped_buffer as *mut u8,
color_image_size_bytes as usize);
println!("-> gl::UnmapBuffer()");
gl::UnmapBuffer(gl::ARRAY_BUFFER)
};
if result == gl::FALSE {
println!("Failure copying data / unmapping buffer");
return Err(PointCloudRendererError::UnknownError);
let error = gl_get_error().expect_err("should be unmap buffer error");
return Err(PointCloudRendererError::OpenGlError(error));
}
unsafe {
println!("-> gl::EnableVertexAttribArray(0)");
gl::EnableVertexAttribArray(0);
println!("-> gl::VertexAttribPointer(...)");
gl::VertexAttribPointer(
0,
gl::BGRA as i32,
@@ -408,18 +373,14 @@ impl PointCloudRendererShader {
get_stride::<f32>(0),
get_pointer_offset::<f32>(0),
);
println!("-> gl::UseProgram(): {:?}", self.program_id);
gl::UseProgram(self.program_id);
gl::UseProgram(self.shader_program_id);
}
// Uniforms
// Bind our point cloud texture (which was written by the compute shader)
unsafe {
println!("-> gl::ActiveTexture(TEXTURE0)");
gl::ActiveTexture(gl::TEXTURE0);
println!("-> gl::BindTexture(): {:?}", point_cloud_texture.id());
gl::BindTexture(gl::TEXTURE_2D, point_cloud_texture.id());
println!("-> gl::BindImageTexture(...)");
gl::BindImageTexture(
0,
point_cloud_texture.id(),
@@ -429,10 +390,8 @@ impl PointCloudRendererShader {
gl::READ_ONLY,
POINT_CLOUD_TEXTURE_FORMAT,
);
println!("-> gl::Uniform1i(): {:?}", self.point_cloud_texture_index);
gl::Uniform1i(self.point_cloud_texture_index, 0);
println!("-> gl::BindVertexArray(0)");
gl::BindVertexArray(0);
}
@@ -447,7 +406,7 @@ impl PointCloudRendererShader {
gl::BlendFunc(gl::SRC_ALPHA, gl::ONE_MINUS_SRC_ALPHA);
gl::PointSize(self.point_size as f32);
gl::UseProgram(self.program_id);
gl::UseProgram(self.shader_program_id);
// TODO: view and projection matrices
// Update view/projection matrices in shader
@@ -460,11 +419,9 @@ impl PointCloudRendererShader {
gl::Uniform1i(self.enable_shading_index, enable_shading);
// glDrawArrays(GL_POINTS, 0, m_vertexArraySizeBytes / static_cast<GLsizei>(sizeof(BgraPixel)));
let size = self.vertex_array_size_bytes / size_of::<BgraPixel>() as i32;
// Render point cloud
gl::BindVertexArray(self.vertex_array_object.id());
let size = self.vertex_array_size_bytes / size_of::<BgraPixel>() as i32;
gl::DrawArrays(gl::POINTS, 0, size);
gl::BindVertexArray(0);