# HG changeset patch
# User Eleni Maria Stea <eleni@mutantstargoat.com>
# Date 1384637355 -7200
# Node ID b50ad2711f5fdd81859cb45a7bedaaeb49bc6243
# Parent  531a814d4d6b1decfe7a82e414bbe00323074ac3
fixed fov aspect projection et c, added shaders
todo: segmentation

diff -r 531a814d4d6b -r b50ad2711f5f data/shaders/invisible.f.glsl
--- a/data/shaders/invisible.f.glsl	Sun Nov 10 14:32:29 2013 +0200
+++ b/data/shaders/invisible.f.glsl	Sat Nov 16 23:29:15 2013 +0200
@@ -0,0 +1,6 @@
+uniform sampler2D tex;
+
+void main()
+{
+	gl_FragColor = texture2D(tex, gl_TexCoord[0].xy);
+}
diff -r 531a814d4d6b -r b50ad2711f5f data/shaders/invisible.v.glsl
--- a/data/shaders/invisible.v.glsl	Sun Nov 10 14:32:29 2013 +0200
+++ b/data/shaders/invisible.v.glsl	Sat Nov 16 23:29:15 2013 +0200
@@ -0,0 +1,11 @@
+uniform sampler2D depth_tex;
+
+void main()
+{
+	float depth = texture2D(depth_tex, gl_MultiTexCoord0.xy).r;
+	vec4 vpos = gl_Vertex;
+	vpos.z = depth;
+
+	gl_Position = gl_ModelViewProjectionMatrix * vpos;
+	gl_TexCoord[0] = gl_MultiTexCoord0;
+}
diff -r 531a814d4d6b -r b50ad2711f5f src/main.cc
--- a/src/main.cc	Sun Nov 10 14:32:29 2013 +0200
+++ b/src/main.cc	Sat Nov 16 23:29:15 2013 +0200
@@ -1,6 +1,7 @@
 #include <GL/glew.h>
 #include <GL/glut.h>
 
+#include <math.h>
 #include <stdio.h>
 
 #include "kinect.h"
@@ -9,7 +10,8 @@
 #include "tesquad.h"
 #include "texture.h"
 
-#define ASPECT 1
+#define FOV 45.0
+#define QUAD_DIST 20.0 /*depth*/
 
 freenect_context *kin_ctx;
 freenect_device *kin_dev;
@@ -17,16 +19,20 @@
 Frame *frame;
 
 static const char *filename = "data/textures/wallpaper.jpg";
-//static const char *vsdr_path = "data/shaders/invisible.v.glsl";
-//static const char *fsdr_path = "data/shaders/invisible.f.glsl";
+static const char *vsdr_path = "data/shaders/invisible.v.glsl";
+static const char *fsdr_path = "data/shaders/invisible.f.glsl";
+static unsigned int sprog;
 static unsigned int drawing;
 static unsigned int debugging;
-//static unsigned int sprog;
 static unsigned char tex;
+static int tex_height;
+static int tex_width;
+static float aspect;
 static bool show;
 
 static void cleanup();
-static void init();
+static bool init();
+static void init_tessquad();
 
 static void display();
 static void reshape(int w, int h);
@@ -59,7 +65,9 @@
 	glutIdleFunc(idle);
 
 	atexit(cleanup);
-	init();
+	if(!init()) {
+		return 1;
+	}
 
 	glutMainLoop();
 }
@@ -78,8 +86,32 @@
 	}
 	frame->process();
 
-//	glUseProgram(sprog);
+	glUseProgram(sprog);
+
+	// draw video frame
+	glMatrixMode(GL_MODELVIEW);
+	glPushMatrix();
+	glTranslatef(0, 0, -QUAD_DIST);
+
+	glActiveTexture(GL_TEXTURE0);
+	glEnable(GL_TEXTURE_2D);
+	glBindTexture(GL_TEXTURE_2D, tex);
+	glActiveTexture(GL_TEXTURE1);
+	glEnable(GL_TEXTURE_2D);
+	glBindTexture(GL_TEXTURE_2D, frame->depth_tex);
+
 	glCallList(drawing);
+
+	glActiveTexture(GL_TEXTURE1);
+	glDisable(GL_TEXTURE_2D);
+	glActiveTexture(GL_TEXTURE0);
+	glDisable(GL_TEXTURE_2D);
+
+	glMatrixMode(GL_MODELVIEW);
+	glPopMatrix();
+
+	glUseProgram(0);
+
 	if(show)
 		glCallList(debugging);
 	glFlush();
@@ -89,10 +121,12 @@
 
 static void reshape(int w, int h)
 {
+	aspect = (float)w / (float)h;
 	glViewport(0, 0, (GLsizei) w, (GLsizei) h);
 	glMatrixMode(GL_PROJECTION);
 	glLoadIdentity();
-	gluPerspective(45, (float)w / (float)h, 1, 1000);
+	gluPerspective(FOV, aspect, 1, 1000);
+	init_tessquad();
 }
 
 static void keyb(unsigned char key, int x, int y)
@@ -118,39 +152,37 @@
 
 static void cleanup()
 {
+	glDeleteLists(drawing, 1);
+	glDeleteLists(debugging, 1);
+
 	stop_kinect_frames(kin_dev);
 	stop_kinect(kin_ctx, kin_dev);
 }
 
-static void init()
+static bool init()
 {
-	glClearColor(1, 1, 1, 1);
+	glClearColor(1, 0, 0, 1);
 
     frame = new Frame;
-	if(!(tex = load_texture(filename))) {
+	if(!(tex = load_texture(filename, &tex_width, &tex_height))) {
 		fprintf(stderr, "Failed to load texture: %s\n", filename);
-		exit(1);
+		return false;
 	}
 
 	/* shaders setup */
-//	if(!(sprog = sdr_getprog(vsdr_path, fsdr_path))) {
-//		fprintf(stderr, "Failed to create shader program!\n");
-//		exit(1);
-//	}
+	if(!(sprog = sdr_getprog(vsdr_path, fsdr_path))) {
+		fprintf(stderr, "Failed to create shader program!\n");
+		return false;
+	}
 
-	/* drawing */
-	drawing = glGenLists(1);
-	glNewList(drawing, GL_COMPILE);
-	glMatrixMode(GL_MODELVIEW);
-	glPushMatrix();
-	glTranslatef(0, 0, -24);
-	glEnable(GL_TEXTURE_2D);
-	glBindTexture(GL_TEXTURE_2D, tex);
-	draw_tess_quad(-14, -14 * 1/ASPECT, 28, 28 * 1 / ASPECT, 850, 850 * 1 / ASPECT);
-	glDisable(GL_TEXTURE_2D);
-	glPopMatrix();
-	glMatrixMode(GL_MODELVIEW);
-	glEndList();
+	glUseProgram(sprog);
+	int dloc = glGetUniformLocation(sprog, "depth_tex");
+	if(dloc != -1)
+		glUniform1i(dloc, 1);
+	int tloc = glGetUniformLocation(sprog, "tex");
+	if(tloc != -1)
+		glUniform1i(tloc, 0);
+	glUseProgram(0);
 
 	/* debugging */
 	debugging = glGenLists(1);
@@ -162,4 +194,20 @@
 	draw_tess_quad(0, -1, 1, 2, 1, 1, true);
 	glDisable(GL_TEXTURE_2D);
 	glEndList();
+
+	return true;
 }
+
+static void init_tessquad()
+{
+	if(drawing)
+		glDeleteLists(drawing, 1);
+
+	drawing = glGenLists(1);
+	glNewList(drawing, GL_COMPILE);
+	float fov_rads = FOV / 180.0 * M_PI;
+	float ysz = QUAD_DIST * tan(fov_rads / 2.0);
+	float xsz = ysz * aspect;
+	draw_tess_quad(-xsz, -ysz, xsz * 2, ysz * 2, tex_width/8 - 1, tex_height/8 - 1);
+	glEndList();
+}
diff -r 531a814d4d6b -r b50ad2711f5f src/sdr.cc
--- a/src/sdr.cc	Sun Nov 10 14:32:29 2013 +0200
+++ b/src/sdr.cc	Sat Nov 16 23:29:15 2013 +0200
@@ -25,14 +25,16 @@
 	ctr = ftell(fp);
 	rewind(fp);
 
-	char *glsl = NULL;
+	char *glsl;
 	if(!(glsl = (char*) malloc(ctr + 1))) {
 		perror("Failed to allocate memory");
 		return 0;
 	}
-	ctr = fread(glsl, 1, ctr, fp);
+	fread(glsl, 1, ctr, fp);
 	fclose(fp);
 
+	glsl[ctr] = 0;
+
 	return glsl;
 }
 
diff -r 531a814d4d6b -r b50ad2711f5f src/tesquad.cc
--- a/src/tesquad.cc	Sun Nov 10 14:32:29 2013 +0200
+++ b/src/tesquad.cc	Sat Nov 16 23:29:15 2013 +0200
@@ -3,11 +3,11 @@
 
 void draw_tess_quad(float x, float y, float w, float h, int usub, int vsub, bool ortho)
 {
+	glPushAttrib(GL_ENABLE_BIT);
+	glDisable(GL_DEPTH_TEST);
+	glDisable(GL_LIGHTING);
+
 	if(ortho) {
-		glPushAttrib(GL_ENABLE_BIT);
-		glDisable(GL_DEPTH_TEST);
-		glDisable(GL_LIGHTING);
-
 		glMatrixMode(GL_PROJECTION);
 		glPushMatrix();
 		glLoadIdentity();
@@ -41,6 +41,6 @@
 
 	if(ortho) {
 		glPopMatrix();
-		glPopAttrib();
 	}
+	glPopAttrib();
 }
diff -r 531a814d4d6b -r b50ad2711f5f src/texture.cc
--- a/src/texture.cc	Sun Nov 10 14:32:29 2013 +0200
+++ b/src/texture.cc	Sat Nov 16 23:29:15 2013 +0200
@@ -3,7 +3,7 @@
 #include <cv.h>
 #include "texture.h"
 
-unsigned int load_texture(const char* fname)
+unsigned int load_texture(const char* fname, int *xsz, int *ysz)
 {
 	IplImage* img = cvLoadImage(fname);
 	if(!img) {
@@ -22,5 +22,11 @@
 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, mat.cols, mat.rows,
 			0, GL_BGR, GL_UNSIGNED_BYTE, mat.data);
 
+	if(xsz) {
+		*xsz = mat.cols;
+	}
+	if(ysz) {
+		*ysz = mat.rows;
+	}
 	return tex;
 }
diff -r 531a814d4d6b -r b50ad2711f5f src/texture.h
--- a/src/texture.h	Sun Nov 10 14:32:29 2013 +0200
+++ b/src/texture.h	Sat Nov 16 23:29:15 2013 +0200
@@ -1,6 +1,6 @@
 #ifndef TEXTURE_H_
 #define TEXTURE_H_
 
-unsigned int load_texture(const char *fname);
+unsigned int load_texture(const char *fname, int *xsz = 0, int *ysz = 0);
 
 #endif // TEXTURE_H_