1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
|
/*
* Copyright 2017 Google Inc. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "point_cloud_renderer.h"
#include "util.h"
namespace hello_ar {
namespace {
constexpr char kVertexShader[] = R"(
attribute vec4 vertex;
uniform mat4 mvp;
void main() {
gl_PointSize = 5.0;
// Pointcloud vertex's w component is confidence value.
// Not used in renderer.
gl_Position = mvp * vec4(vertex.xyz, 1.0);
})";
constexpr char kFragmentShader[] = R"(
precision lowp float;
void main() {
gl_FragColor = vec4(0.1215, 0.7372, 0.8235, 1.0);
})";
} // namespace
void PointCloudRenderer::InitializeGlContent() {
shader_program_ = util::CreateProgram(kVertexShader, kFragmentShader);
CHECK(shader_program_);
attribute_vertices_ = glGetAttribLocation(shader_program_, "vertex");
uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
util::CheckGlError("point_cloud_renderer::InitializeGlContent()");
}
void PointCloudRenderer::Draw(glm::mat4 mvp_matrix, ArSession *ar_session,
ArPointCloud *ar_point_cloud) const {
CHECK(shader_program_);
glUseProgram(shader_program_);
int32_t number_of_points = 0;
ArPointCloud_getNumberOfPoints(ar_session, ar_point_cloud, &number_of_points);
if (number_of_points <= 0) {
return;
}
const float *point_cloud_data;
ArPointCloud_getData(ar_session, ar_point_cloud, &point_cloud_data);
glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_matrix));
glEnableVertexAttribArray(attribute_vertices_);
glVertexAttribPointer(attribute_vertices_, 4, GL_FLOAT, GL_FALSE, 0,
point_cloud_data);
glDrawArrays(GL_POINTS, 0, number_of_points);
glUseProgram(0);
util::CheckGlError("PointCloudRenderer::Draw");
}
} // namespace hello_ar
|
