40 lines
No EOL
1,008 B
GLSL
40 lines
No EOL
1,008 B
GLSL
#ifdef GL_ES
|
|
precision mediump float;
|
|
#endif
|
|
|
|
// OF built-in attributes.
|
|
|
|
uniform mat4 modelViewMatrix;
|
|
|
|
// Custom attributes.
|
|
|
|
uniform sampler2D uDepthTex; // Sampler for the depth space data
|
|
uniform sampler2D uWorldTex; // Transformation from kinect depth/color space to kinect world space
|
|
|
|
uniform ivec2 uFrameSize;
|
|
|
|
uniform vec2 u_resolution;
|
|
|
|
out vec4 vPosition;
|
|
out vec2 vTexCoord;
|
|
flat out int vValid;
|
|
|
|
void main()
|
|
{
|
|
vTexCoord = vec2(gl_InstanceID % uFrameSize.x, gl_InstanceID / uFrameSize.x)/u_resolution;
|
|
|
|
float depth = texture2D(uDepthTex, vTexCoord).x;
|
|
vec4 ray = texture2D(uWorldTex, vTexCoord);
|
|
|
|
vValid = (depth != 0 && ray.x != 0 && ray.y != 0) ? 1 : 0;
|
|
|
|
vec4 posWorld = vec4(1);
|
|
posWorld.z = depth * 65535.0; // Remap to float range.
|
|
posWorld.x = ray.x * posWorld.z;
|
|
posWorld.y = ray.y * posWorld.z;
|
|
|
|
// Flip X as OpenGL and K4A have different conventions on which direction is positive.
|
|
posWorld.x *= -1;
|
|
|
|
vPosition = modelViewMatrix * posWorld;
|
|
} |