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9 namespace visualization {
17 "uniform sampler2D image_texture;\n"
19 "out vec4 FragColor;\n"
23 " FragColor = texture(image_texture, UV);\n"
37 namespace visualization {
45 "uniform sampler2D image_texture;\n"
47 "uniform vec3 mask_color;\n"
48 "uniform float mask_alpha;\n"
50 "out vec4 FragColor;\n"
54 " FragColor = vec4(mask_color, texture(image_texture, UV).r * mask_alpha);\n"
68 namespace visualization {
75 "in vec3 vertex_position;\n"
76 "in vec2 vertex_UV;\n"
82 " gl_Position = vec4(vertex_position, 1);\n"
97 namespace visualization {
104 "in vec3 vertex_position;\n"
105 "in vec2 vertex_UV;\n"
109 "uniform vec3 vertex_scale;\n"
113 " gl_Position = vec4(vertex_position * vertex_scale, 1);\n"
128 namespace visualization {
135 "in vec3 vertex_normal_camera;\n"
136 "out vec4 FragColor;\n"
140 " FragColor = vec4(vertex_normal_camera * 0.5 + 0.5, 1);\n"
154 namespace visualization {
161 "in vec3 vertex_position;\n"
162 "in vec3 vertex_normal;\n"
164 "out vec3 vertex_normal_camera;\n"
166 "uniform mat4 MVP;\n"
172 " gl_Position = MVP * vec4(vertex_position, 1);\n"
173 " vertex_normal_camera = (V * M * vec4(vertex_normal, 0)).xyz;\n"
187 namespace visualization {
194 "in vec3 vertex_position_world;\n"
195 "in vec3 vertex_normal_camera;\n"
196 "in vec3 eye_dir_camera;\n"
197 "in mat4 light_dir_camera_4;\n"
198 "in vec3 fragment_color;\n"
200 "uniform mat4 light_color_4;\n"
201 "uniform vec4 light_diffuse_power_4;\n"
202 "uniform vec4 light_specular_power_4;\n"
203 "uniform vec4 light_specular_shininess_4;\n"
204 "uniform vec4 light_ambient;\n"
206 "out vec4 FragColor;\n"
210 " vec3 diffuse_color = fragment_color;\n"
211 " vec3 ambient_color = light_ambient.xyz * diffuse_color;\n"
212 " vec3 specular_color = vec3(1.0, 1.0, 1.0);\n"
215 " vec3 n, e, l, r;\n"
217 " n = normalize(vertex_normal_camera);\n"
218 " e = normalize(eye_dir_camera);\n"
219 " l = normalize(light_dir_camera_4[0].xyz);\n"
220 " r = reflect(-l, n);\n"
221 " cos_theta[0] = clamp(dot(n, l), 0, 1);\n"
222 " cos_alpha[0] = clamp(dot(e, r), 0, 1);\n"
224 " l= normalize(light_dir_camera_4[1].xyz);\n"
225 " r = reflect(-l, n);\n"
226 " cos_theta[1] = clamp(dot(n, l), 0, 1);\n"
227 " cos_alpha[1] = clamp(dot(e, r), 0, 1);\n"
229 " l= normalize(light_dir_camera_4[2].xyz);\n"
230 " r = reflect(-l, n);\n"
231 " cos_theta[2] = clamp(dot(n, l), 0, 1);\n"
232 " cos_alpha[2] = clamp(dot(e, r), 0, 1);\n"
234 " l= normalize(light_dir_camera_4[3].xyz);\n"
235 " r = reflect(-l, n);\n"
236 " cos_theta[3] = clamp(dot(n, l), 0, 1);\n"
237 " cos_alpha[3] = clamp(dot(e, r), 0, 1);\n"
239 " FragColor = vec4(ambient_color + \n"
240 " diffuse_color * light_color_4[0].xyz * light_diffuse_power_4[0] * cos_theta[0] +\n"
241 " specular_color * light_color_4[0].xyz * light_specular_power_4[0] * pow(cos_alpha[0], light_specular_shininess_4[0]) +\n"
242 " diffuse_color * light_color_4[1].xyz * light_diffuse_power_4[1] * cos_theta[1] +\n"
243 " specular_color * light_color_4[1].xyz * light_specular_power_4[1] * pow(cos_alpha[1], light_specular_shininess_4[1]) +\n"
244 " diffuse_color * light_color_4[2].xyz * light_diffuse_power_4[2] * cos_theta[2] +\n"
245 " specular_color * light_color_4[2].xyz * light_specular_power_4[2] * pow(cos_alpha[2], light_specular_shininess_4[2]) +\n"
246 " diffuse_color * light_color_4[3].xyz * light_diffuse_power_4[3] * cos_theta[3] +\n"
247 " specular_color * light_color_4[3].xyz * light_specular_power_4[3] * pow(cos_alpha[3], light_specular_shininess_4[3]), 1);\n"
261 namespace visualization {
268 "in vec3 vertex_position;\n"
269 "in vec3 vertex_normal;\n"
270 "in vec3 vertex_color;\n"
272 "out vec3 vertex_position_world;\n"
273 "out vec3 vertex_normal_camera;\n"
274 "out vec3 eye_dir_camera;\n"
275 "out mat4 light_dir_camera_4;\n"
276 "out vec3 fragment_color;\n"
278 "uniform mat4 MVP;\n"
281 "uniform mat4 light_position_world_4;\n"
285 " gl_Position = MVP * vec4(vertex_position, 1);\n"
286 " vertex_position_world = (M * vec4(vertex_position, 1)).xyz;\n"
288 " vec3 vertex_position_camera = (V * M * vec4(vertex_position, 1)).xyz;\n"
289 " eye_dir_camera = vec3(0, 0, 0) - vertex_position_camera;\n"
291 " vec4 v = vec4(vertex_position_camera, 1);\n"
292 " light_dir_camera_4 = V * light_position_world_4 - mat4(v, v, v, v);\n"
294 " vertex_normal_camera = (V * M * vec4(vertex_normal, 0)).xyz;\n"
295 " if (dot(eye_dir_camera, vertex_normal_camera) < 0.0)\n"
296 " vertex_normal_camera = vertex_normal_camera * -1.0;\n"
298 " fragment_color = vertex_color;\n"
312 namespace visualization {
319 "in vec4 fragment_color;\n"
320 "out vec4 FragColor;\n"
324 " FragColor = fragment_color;\n"
338 namespace visualization {
345 "in vec3 vertex_position;\n"
346 "in float vertex_index;\n"
347 "uniform mat4 MVP;\n"
349 "out vec4 fragment_color;\n"
353 " float r, g, b, a;\n"
354 " gl_Position = MVP * vec4(vertex_position, 1);\n"
355 " r = floor(vertex_index / 16777216.0) / 255.0;\n"
356 " g = mod(floor(vertex_index / 65536.0), 256.0) / 255.0;\n"
357 " b = mod(floor(vertex_index / 256.0), 256.0) / 255.0;\n"
358 " a = mod(vertex_index, 256.0) / 255.0;\n"
359 " fragment_color = vec4(r, g, b, a);\n"
373 namespace visualization {
381 "uniform sampler2D image_texture;\n"
384 "/* built-in option to ensure RGB and D are handled in the same shader,\n"
385 " which can be used in 2 passes */\n"
386 "#define DEPTH_TEXTURE_MODE 0\n"
387 "#define RGB_TEXTURE_MODE 1\n"
388 "#define GRAYSCALE_TEXTURE_MODE 2\n"
389 "uniform int texture_mode;\n"
391 "/* Decides the colormap of the depth image */\n"
392 "uniform float depth_max;\n"
393 "out vec4 FragColor;\n"
395 "float Interpolate(float value, float y0, float x0, float y1, float x1) {\n"
396 " if (value < x0) return y0;\n"
397 " if (value > x1) return y1;\n"
398 " return (value - x0) * (y1 - y0) / (x1 - x0) + y0;\n"
401 "float Jet(float value /* already clamped in [0, 1] */) {\n"
402 " if (value <= -0.75) {\n"
404 " } else if (value <= -0.25) {\n"
405 " return Interpolate(value, 0.0, -0.75, 1.0, -0.25);\n"
406 " } else if (value <= 0.25) {\n"
408 " } else if (value <= 0.75) {\n"
409 " return Interpolate(value, 1.0, 0.25, 0.0, 0.75);\n"
416 " if (texture_mode == DEPTH_TEXTURE_MODE) {\n"
417 " float depth = texture(image_texture, UV).r;\n"
418 " depth = clamp(depth, 0, depth_max);\n"
419 " depth = depth / depth_max;\n"
420 " depth = 2 * depth - 1;\n"
421 " FragColor = vec4(Jet(depth - 0.5), Jet(depth), Jet(depth + 0.5), 1);\n"
422 " } else if (texture_mode == RGB_TEXTURE_MODE) {\n"
423 " FragColor = texture(image_texture, UV);\n"
424 " } else if (texture_mode == GRAYSCALE_TEXTURE_MODE) {\n"
425 " float scalar = texture(image_texture, UV).r;\n"
426 " FragColor = vec4(vec3(scalar), 1);\n"
441 namespace visualization {
448 "in vec3 fragment_color;\n"
449 "out vec4 FragColor;\n"
453 " FragColor = vec4(fragment_color, 1);\n"
467 namespace visualization {
474 "in vec3 vertex_position;\n"
475 "in vec3 vertex_color;\n"
477 "out vec3 fragment_color;\n"
481 " gl_Position = vec4(vertex_position, 1);\n"
482 " fragment_color = vertex_color;\n"
496 namespace visualization {
503 "out vec4 FragColor;\n"
507 " FragColor = vec4(0.1, 0.1, 0.1, 1);\n"
521 namespace visualization {
528 "in vec3 vertex_position;\n"
529 "uniform mat4 MVP;\n"
533 " gl_Position = MVP * vec4(vertex_position, 1);\n"
547 namespace visualization {
554 "in vec3 fragment_color;\n"
555 "out vec4 FragColor;\n"
559 " FragColor = vec4(fragment_color, 1);\n"
573 namespace visualization {
580 "in vec3 vertex_position;\n"
581 "in vec3 vertex_color;\n"
582 "uniform mat4 MVP;\n"
584 "out vec3 fragment_color;\n"
588 " gl_Position = MVP * vec4(vertex_position, 1);\n"
589 " fragment_color = vertex_color;\n"
603 namespace visualization {
610 "in vec3 vertex_position_world;\n"
611 "in vec3 vertex_normal_camera;\n"
612 "in vec3 eye_dir_camera;\n"
613 "in mat4 light_dir_camera_4;\n"
614 "in vec2 fragment_uv;\n"
616 "uniform mat4 light_color_4;\n"
617 "uniform vec4 light_diffuse_power_4;\n"
618 "uniform vec4 light_specular_power_4;\n"
619 "uniform vec4 light_specular_shininess_4;\n"
620 "uniform vec4 light_ambient;\n"
621 "uniform sampler2D diffuse_texture;\n"
623 "out vec4 FragColor;\n"
627 " vec3 diffuse_color = texture(diffuse_texture, fragment_uv).rgb;\n"
628 " vec3 ambient_color = light_ambient.xyz * diffuse_color;\n"
629 " vec3 specular_color = vec3(1.0, 1.0, 1.0);\n"
632 " vec3 n, e, l, r;\n"
634 " n = normalize(vertex_normal_camera);\n"
635 " e = normalize(eye_dir_camera);\n"
636 " l = normalize(light_dir_camera_4[0].xyz);\n"
637 " r = reflect(-l, n);\n"
638 " cos_theta[0] = clamp(dot(n, l), 0, 1);\n"
639 " cos_alpha[0] = clamp(dot(e, r), 0, 1);\n"
641 " l= normalize(light_dir_camera_4[1].xyz);\n"
642 " r = reflect(-l, n);\n"
643 " cos_theta[1] = clamp(dot(n, l), 0, 1);\n"
644 " cos_alpha[1] = clamp(dot(e, r), 0, 1);\n"
646 " l= normalize(light_dir_camera_4[2].xyz);\n"
647 " r = reflect(-l, n);\n"
648 " cos_theta[2] = clamp(dot(n, l), 0, 1);\n"
649 " cos_alpha[2] = clamp(dot(e, r), 0, 1);\n"
651 " l= normalize(light_dir_camera_4[3].xyz);\n"
652 " r = reflect(-l, n);\n"
653 " cos_theta[3] = clamp(dot(n, l), 0, 1);\n"
654 " cos_alpha[3] = clamp(dot(e, r), 0, 1);\n"
656 " FragColor = vec4(ambient_color + \n"
657 " diffuse_color * light_color_4[0].xyz * light_diffuse_power_4[0] * cos_theta[0] +\n"
658 " specular_color * light_color_4[0].xyz * light_specular_power_4[0] * pow(cos_alpha[0], light_specular_shininess_4[0]) +\n"
659 " diffuse_color * light_color_4[1].xyz * light_diffuse_power_4[1] * cos_theta[1] +\n"
660 " specular_color * light_color_4[1].xyz * light_specular_power_4[1] * pow(cos_alpha[1], light_specular_shininess_4[1]) +\n"
661 " diffuse_color * light_color_4[2].xyz * light_diffuse_power_4[2] * cos_theta[2] +\n"
662 " specular_color * light_color_4[2].xyz * light_specular_power_4[2] * pow(cos_alpha[2], light_specular_shininess_4[2]) +\n"
663 " diffuse_color * light_color_4[3].xyz * light_diffuse_power_4[3] * cos_theta[3] +\n"
664 " specular_color * light_color_4[3].xyz * light_specular_power_4[3] * pow(cos_alpha[3], light_specular_shininess_4[3]), 1);\n"
678 namespace visualization {
685 "in vec3 vertex_position;\n"
686 "in vec3 vertex_normal;\n"
687 "in vec2 vertex_uv;\n"
689 "out vec3 vertex_position_world;\n"
690 "out vec3 vertex_normal_camera;\n"
691 "out vec3 eye_dir_camera;\n"
692 "out mat4 light_dir_camera_4;\n"
693 "out vec2 fragment_uv;\n"
695 "uniform mat4 MVP;\n"
698 "uniform mat4 light_position_world_4;\n"
702 " gl_Position = MVP * vec4(vertex_position, 1);\n"
703 " vertex_position_world = (M * vec4(vertex_position, 1)).xyz;\n"
705 " vec3 vertex_position_camera = (V * M * vec4(vertex_position, 1)).xyz;\n"
706 " eye_dir_camera = vec3(0, 0, 0) - vertex_position_camera;\n"
708 " vec4 v = vec4(vertex_position_camera, 1);\n"
709 " light_dir_camera_4 = V * light_position_world_4 - mat4(v, v, v, v);\n"
711 " vertex_normal_camera = (V * M * vec4(vertex_normal, 0)).xyz;\n"
712 " if (dot(eye_dir_camera, vertex_normal_camera) < 0.0)\n"
713 " vertex_normal_camera = vertex_normal_camera * -1.0;\n"
715 " fragment_uv = vertex_uv;\n"
730 namespace visualization {
737 "in vec2 fragment_uv;\n"
738 "out vec4 FragColor;\n"
740 "uniform sampler2D diffuse_texture;\n"
744 " FragColor = texture(diffuse_texture, fragment_uv);\n"
758 namespace visualization {
765 "in vec3 vertex_position;\n"
766 "in vec2 vertex_uv;\n"
767 "uniform mat4 MVP;\n"
769 "out vec2 fragment_uv;\n"
773 " gl_Position = MVP * vec4(vertex_position, 1);\n"
774 " fragment_uv = vertex_uv;\n"
const char *const NormalVertexShader
Definition: Shader.h:158
const char *const TextureSimpleVertexShader
Definition: Shader.h:762
const char *const PickingVertexShader
Definition: Shader.h:342
const char *const PickingFragmentShader
Definition: Shader.h:316
const char *const ImageFragmentShader
Definition: Shader.h:13
const char *const TexturePhongVertexShader
Definition: Shader.h:682
const char *const ImageMaskFragmentShader
Definition: Shader.h:41
const char *const TexturePhongFragmentShader
Definition: Shader.h:607
const char *const RGBDImageFragmentShader
Definition: Shader.h:377
const char *const PhongVertexShader
Definition: Shader.h:265
const char *const TextureSimpleFragmentShader
Definition: Shader.h:734
const char *const Simple2DVertexShader
Definition: Shader.h:471
const char *const NormalFragmentShader
Definition: Shader.h:132
const char *const Simple2DFragmentShader
Definition: Shader.h:445
const char *const SimpleBlackVertexShader
Definition: Shader.h:525
Definition: PinholeCameraIntrinsic.cpp:34
const char *const ImageMaskVertexShader
Definition: Shader.h:72
const char *const SimpleFragmentShader
Definition: Shader.h:551
const char *const ImageVertexShader
Definition: Shader.h:101
const char *const PhongFragmentShader
Definition: Shader.h:191
const char *const SimpleBlackFragmentShader
Definition: Shader.h:500
const char *const SimpleVertexShader
Definition: Shader.h:577