OpenKinect · christiankerl · Jul 27, 2015
diff --git a/examples/protonect/src/flextGL.c b/examples/protonect/src/flextGL.c
@@ -24,8 +24,8 @@ int flextInit(GLFWwindow* window, OpenGLBindings *bindings)
 
     /* --- Check for minimal version and profile --- */
 
-    if (major * 10 + minor < 33) {
-        fprintf(stderr, "Error: OpenGL version 3.3 not supported.\n");
+    if (major * 10 + minor < 31) {
+        fprintf(stderr, "Error: OpenGL version 3.1 not supported.\n");
         fprintf(stderr, "       Your version is %d.%d.\n", major, minor);
         fprintf(stderr, "       Try updating your graphics driver.\n");
         return GL_FALSE;
@@ -306,7 +306,7 @@ void flextLoadOpenGLFunctions(OpenGLBindings *bindings)
     bindings->glUniformBlockBinding = (PFNGLUNIFORMBLOCKBINDING_PROC*)glfwGetProcAddress("glUniformBlockBinding");
 
     /* GL_VERSION_3_2 */
-
+/*
     bindings->glDrawElementsBaseVertex = (PFNGLDRAWELEMENTSBASEVERTEX_PROC*)glfwGetProcAddress("glDrawElementsBaseVertex");
     bindings->glDrawRangeElementsBaseVertex = (PFNGLDRAWRANGEELEMENTSBASEVERTEX_PROC*)glfwGetProcAddress("glDrawRangeElementsBaseVertex");
     bindings->glDrawElementsInstancedBaseVertex = (PFNGLDRAWELEMENTSINSTANCEDBASEVERTEX_PROC*)glfwGetProcAddress("glDrawElementsInstancedBaseVertex");
@@ -326,9 +326,9 @@ void flextLoadOpenGLFunctions(OpenGLBindings *bindings)
     bindings->glTexImage3DMultisample = (PFNGLTEXIMAGE3DMULTISAMPLE_PROC*)glfwGetProcAddress("glTexImage3DMultisample");
     bindings->glGetMultisamplefv = (PFNGLGETMULTISAMPLEFV_PROC*)glfwGetProcAddress("glGetMultisamplefv");
     bindings->glSampleMaski = (PFNGLSAMPLEMASKI_PROC*)glfwGetProcAddress("glSampleMaski");
-
+*/
     /* GL_VERSION_3_3 */
-
+/*
     bindings->glBindFragDataLocationIndexed = (PFNGLBINDFRAGDATALOCATIONINDEXED_PROC*)glfwGetProcAddress("glBindFragDataLocationIndexed");
     bindings->glGetFragDataIndex = (PFNGLGETFRAGDATAINDEX_PROC*)glfwGetProcAddress("glGetFragDataIndex");
     bindings->glGenSamplers = (PFNGLGENSAMPLERS_PROC*)glfwGetProcAddress("glGenSamplers");
@@ -357,7 +357,7 @@ void flextLoadOpenGLFunctions(OpenGLBindings *bindings)
     bindings->glVertexAttribP3uiv = (PFNGLVERTEXATTRIBP3UIV_PROC*)glfwGetProcAddress("glVertexAttribP3uiv");
     bindings->glVertexAttribP4ui = (PFNGLVERTEXATTRIBP4UI_PROC*)glfwGetProcAddress("glVertexAttribP4ui");
     bindings->glVertexAttribP4uiv = (PFNGLVERTEXATTRIBP4UIV_PROC*)glfwGetProcAddress("glVertexAttribP4uiv");
-
+*/
 }
 
 /* ----------------------- Extension flag definitions ---------------------- */

diff --git a/examples/protonect/src/flextGL.h b/examples/protonect/src/flextGL.h
@@ -841,7 +841,7 @@ typedef struct __GLsync *GLsync;
 #define GL_INVALID_INDEX 0xFFFFFFFFu
 
 /* GL_VERSION_3_2 */
-
+/*
 #define GL_CONTEXT_CORE_PROFILE_BIT 0x00000001
 #define GL_CONTEXT_COMPATIBILITY_PROFILE_BIT 0x00000002
 #define GL_LINES_ADJACENCY 0x000A
@@ -906,9 +906,9 @@ typedef struct __GLsync *GLsync;
 #define GL_MAX_COLOR_TEXTURE_SAMPLES 0x910E
 #define GL_MAX_DEPTH_TEXTURE_SAMPLES 0x910F
 #define GL_MAX_INTEGER_SAMPLES 0x9110
-
+*/
 /* GL_VERSION_3_3 */
-
+/*
 #define GL_VERTEX_ATTRIB_ARRAY_DIVISOR 0x88FE
 #define GL_SRC1_COLOR 0x88F9
 #define GL_ONE_MINUS_SRC1_COLOR 0x88FA
@@ -925,7 +925,7 @@ typedef struct __GLsync *GLsync;
 #define GL_TIME_ELAPSED 0x88BF
 #define GL_TIMESTAMP 0x8E28
 #define GL_INT_2_10_10_10_REV 0x8D9F
-
+*/
 /* --------------------------- FUNCTION PROTOTYPES --------------------------- */
 
 
@@ -1258,7 +1258,7 @@ typedef void (APIENTRY PFNGLGETACTIVEUNIFORMBLOCKNAME_PROC (GLuint program, GLui
 typedef void (APIENTRY PFNGLUNIFORMBLOCKBINDING_PROC (GLuint program, GLuint uniformBlockIndex, GLuint uniformBlockBinding));
 
 /* GL_VERSION_3_2 */
-  
+/*
 typedef void (APIENTRY PFNGLDRAWELEMENTSBASEVERTEX_PROC (GLenum mode, GLsizei count, GLenum type, const void * indices, GLint basevertex));
 typedef void (APIENTRY PFNGLDRAWRANGEELEMENTSBASEVERTEX_PROC (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const void * indices, GLint basevertex));
 typedef void (APIENTRY PFNGLDRAWELEMENTSINSTANCEDBASEVERTEX_PROC (GLenum mode, GLsizei count, GLenum type, const void * indices, GLsizei instancecount, GLint basevertex));
@@ -1278,9 +1278,9 @@ typedef void (APIENTRY PFNGLTEXIMAGE2DMULTISAMPLE_PROC (GLenum target, GLsizei s
 typedef void (APIENTRY PFNGLTEXIMAGE3DMULTISAMPLE_PROC (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations));
 typedef void (APIENTRY PFNGLGETMULTISAMPLEFV_PROC (GLenum pname, GLuint index, GLfloat * val));
 typedef void (APIENTRY PFNGLSAMPLEMASKI_PROC (GLuint maskNumber, GLbitfield mask));
-    
+*/
 /* GL_VERSION_3_3 */
-  
+/*
 typedef void (APIENTRY PFNGLBINDFRAGDATALOCATIONINDEXED_PROC (GLuint program, GLuint colorNumber, GLuint index, const GLchar * name));
 typedef GLint (APIENTRY PFNGLGETFRAGDATAINDEX_PROC (GLuint program, const GLchar * name));
 typedef void (APIENTRY PFNGLGENSAMPLERS_PROC (GLsizei count, GLuint * samplers));
@@ -1309,7 +1309,7 @@ typedef void (APIENTRY PFNGLVERTEXATTRIBP3UI_PROC (GLuint index, GLenum type, GL
 typedef void (APIENTRY PFNGLVERTEXATTRIBP3UIV_PROC (GLuint index, GLenum type, GLboolean normalized, const GLuint * value));
 typedef void (APIENTRY PFNGLVERTEXATTRIBP4UI_PROC (GLuint index, GLenum type, GLboolean normalized, GLuint value));
 typedef void (APIENTRY PFNGLVERTEXATTRIBP4UIV_PROC (GLuint index, GLenum type, GLboolean normalized, const GLuint * value));
-        
+*/
 struct OpenGLBindings
 {
 
@@ -1574,7 +1574,7 @@ struct OpenGLBindings
   PFNGLUNIFORMBLOCKBINDING_PROC* glUniformBlockBinding;
 
   /* GL_VERSION_3_2 */
-
+/*
   PFNGLDRAWELEMENTSBASEVERTEX_PROC* glDrawElementsBaseVertex;
   PFNGLDRAWRANGEELEMENTSBASEVERTEX_PROC* glDrawRangeElementsBaseVertex;
   PFNGLDRAWELEMENTSINSTANCEDBASEVERTEX_PROC* glDrawElementsInstancedBaseVertex;
@@ -1594,9 +1594,9 @@ struct OpenGLBindings
   PFNGLTEXIMAGE3DMULTISAMPLE_PROC* glTexImage3DMultisample;
   PFNGLGETMULTISAMPLEFV_PROC* glGetMultisamplefv;
   PFNGLSAMPLEMASKI_PROC* glSampleMaski;
-    
+*/
   /* GL_VERSION_3_3 */
-
+/*
   PFNGLBINDFRAGDATALOCATIONINDEXED_PROC* glBindFragDataLocationIndexed;
   PFNGLGETFRAGDATAINDEX_PROC* glGetFragDataIndex;
   PFNGLGENSAMPLERS_PROC* glGenSamplers;
@@ -1625,6 +1625,7 @@ struct OpenGLBindings
   PFNGLVERTEXATTRIBP3UIV_PROC* glVertexAttribP3uiv;
   PFNGLVERTEXATTRIBP4UI_PROC* glVertexAttribP4ui;
   PFNGLVERTEXATTRIBP4UIV_PROC* glVertexAttribP4uiv;
+*/
 };
 
 typedef struct OpenGLBindings OpenGLBindings;

diff --git a/examples/protonect/src/opengl_depth_packet_processor.cpp b/examples/protonect/src/opengl_depth_packet_processor.cpp
@@ -32,7 +32,8 @@
 
 #include <iostream>
 #include <fstream>
-
+#include <string>
+#include <map>
 
 #include <stdint.h>
 
@@ -117,6 +118,8 @@ bool loadBufferFromFile(const std::string& filename, unsigned char *buffer, size
 
 struct ShaderProgram : public WithOpenGLBindings
 {
+  typedef std::map<std::string, int> FragDataMap;
+  FragDataMap frag_data_map_;
   GLuint program, vertex_shader, fragment_shader;
 
   char error_buffer[2048];
@@ -144,6 +147,11 @@ struct ShaderProgram : public WithOpenGLBindings
     gl()->glShaderSource(fragment_shader, 1, &src_, &length_);
   }
 
+  void bindFragDataLocation(const std::string &name, int output)
+  {
+    frag_data_map_[name] = output;
+  }
+
   void build()
   {
     GLint status;
@@ -174,6 +182,11 @@ struct ShaderProgram : public WithOpenGLBindings
     gl()->glAttachShader(program, vertex_shader);
     gl()->glAttachShader(program, fragment_shader);
 
+    for(FragDataMap::iterator it = frag_data_map_.begin(); it != frag_data_map_.end(); ++it)
+    {
+      gl()->glBindFragDataLocation(program, it->second, it->first.c_str());
+    }
+
     gl()->glLinkProgram(program);
 
     gl()->glGetProgramiv(program, GL_LINK_STATUS, &status);
@@ -471,7 +484,7 @@ struct OpenGLDepthPacketProcessorImpl : public WithOpenGLBindings
     OpenGLBindings *b = new OpenGLBindings();
     if (flextInit(opengl_context_ptr, b) == 0)
     {
-        std::cerr << "[OpenGLDepthPacketProcessor] Failed to initialize flextGL.";
+        std::cerr << "[OpenGLDepthPacketProcessor] Failed to initialize flextGL!"<<std::endl;
         exit(-1);
     }
     gl(b);
@@ -499,24 +512,39 @@ struct OpenGLDepthPacketProcessorImpl : public WithOpenGLBindings
 
     stage1.setVertexShader(loadShaderSource(shader_folder + "default.vs"));
     stage1.setFragmentShader(loadShaderSource(shader_folder + "stage1.fs"));
+    stage1.bindFragDataLocation("Debug", 0);
+    stage1.bindFragDataLocation("A", 1);
+    stage1.bindFragDataLocation("B", 2);
+    stage1.bindFragDataLocation("Norm", 3);
+    stage1.bindFragDataLocation("Infrared", 4);
     stage1.build();
 
     filter1.setVertexShader(loadShaderSource(shader_folder + "default.vs"));
     filter1.setFragmentShader(loadShaderSource(shader_folder + "filter1.fs"));
+    filter1.bindFragDataLocation("Debug", 0);
+    filter1.bindFragDataLocation("FilterA", 1);
+    filter1.bindFragDataLocation("FilterB", 2);
+    filter1.bindFragDataLocation("MaxEdgeTest", 3);
     filter1.build();
 
     stage2.setVertexShader(loadShaderSource(shader_folder + "default.vs"));
     stage2.setFragmentShader(loadShaderSource(shader_folder + "stage2.fs"));
+    stage2.bindFragDataLocation("Debug", 0);
+    stage2.bindFragDataLocation("Depth", 1);
+    stage2.bindFragDataLocation("DepthAndIrSum", 2);
     stage2.build();
 
     filter2.setVertexShader(loadShaderSource(shader_folder + "default.vs"));
     filter2.setFragmentShader(loadShaderSource(shader_folder + "filter2.fs"));
+    filter2.bindFragDataLocation("Debug", 0);
+    filter2.bindFragDataLocation("FilterDepth", 1);
     filter2.build();
 
     if(do_debug)
     {
       debug.setVertexShader(loadShaderSource(shader_folder + "default.vs"));
       debug.setFragmentShader(loadShaderSource(shader_folder + "debug.fs"));
+      debug.bindFragDataLocation("Debug", 0);
       debug.build();
     }
 
@@ -575,11 +603,11 @@ struct OpenGLDepthPacketProcessorImpl : public WithOpenGLBindings
     gl()->glBindBuffer(GL_ARRAY_BUFFER, square_vbo);
     gl()->glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
 
-    GLint position_attr = stage1.getAttributeLocation("Position");
+    GLint position_attr = stage1.getAttributeLocation("InputPosition");
     gl()->glVertexAttribPointer(position_attr, 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)0);
     gl()->glEnableVertexAttribArray(position_attr);
 
-    GLint texcoord_attr = stage1.getAttributeLocation("TexCoord");
+    GLint texcoord_attr = stage1.getAttributeLocation("InputTexCoord");
     gl()->glVertexAttribPointer(texcoord_attr, 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)(2 * sizeof(float)));
     gl()->glEnableVertexAttribArray(texcoord_attr);
   }
@@ -774,25 +802,25 @@ OpenGLDepthPacketProcessor::OpenGLDepthPacketProcessor(void *parent_opengl_conte
   // init glfw - if already initialized nothing happens
   if (glfwInit() == GL_FALSE)
   {
-      std::cerr << "[OpenGLDepthPacketProcessor] Failed to initialize GLFW.";
+      std::cerr << "[OpenGLDepthPacketProcessor] Failed to initialize GLFW." << std::endl;
       exit(-1);
   }
 
   // setup context
   glfwDefaultWindowHints();
   glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
-  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+  glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
   #ifdef __APPLE__
     glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
   #endif
-  glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+  glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_ANY_PROFILE);
   glfwWindowHint(GLFW_VISIBLE, debug ? GL_TRUE : GL_FALSE);
 
   GLFWwindow* window = glfwCreateWindow(1024, 848, "OpenGLDepthPacketProcessor", 0, parent_window);
 
   if (window == NULL)
   {
-      std::cerr << "[OpenGLDepthPacketProcessor] Failed to create opengl window.";
+      std::cerr << "[OpenGLDepthPacketProcessor] Failed to create opengl window." << std::endl;
       exit(-1);
   }
 

diff --git a/examples/protonect/src/shader/debug.fs b/examples/protonect/src/shader/debug.fs
@@ -1,16 +1,14 @@
-#version 330
+#version 140
 
 uniform sampler2DRect Data;
 
-in VertexData {
-    vec2 TexCoord;
-} FragmentIn;
+in vec2 TexCoord;
 
-layout(location = 0) out vec4 Color;
+out vec4 Color;
 
 void main(void)
 {
-  ivec2 uv = ivec2(FragmentIn.TexCoord.x, FragmentIn.TexCoord.y);
+  ivec2 uv = ivec2(TexCoord.x, TexCoord.y);
 
   Color = texelFetch(Data, uv);
 }
diff --git a/examples/protonect/src/shader/default.vs b/examples/protonect/src/shader/default.vs
@@ -1,14 +1,12 @@
-#version 330
+#version 140
 
-in vec2 Position;
-in vec2 TexCoord;
+in vec2 InputPosition;
+in vec2 InputTexCoord;
 
-out VertexData {
-  vec2 TexCoord;
-} VertexOut;
+out vec2 TexCoord;
 
 void main(void)
 {
-  gl_Position = vec4(Position, 0.0, 1.0);
-  VertexOut.TexCoord = TexCoord;
+  gl_Position = vec4(InputPosition, 0.0, 1.0);
+  TexCoord = InputTexCoord;
 }
diff --git a/examples/protonect/src/shader/filter1.fs b/examples/protonect/src/shader/filter1.fs
@@ -1,4 +1,4 @@
-#version 330
+#version 140
 
 struct Parameters
 {
@@ -40,14 +40,12 @@ uniform sampler2DRect Norm;
 
 uniform Parameters Params;
 
-in VertexData {
-    vec2 TexCoord;
-} FragmentIn;
+in vec2 TexCoord;
 
-layout(location = 0) out vec4 Debug;
-layout(location = 1) out vec3 FilterA;
-layout(location = 2) out vec3 FilterB;
-layout(location = 3) out uint MaxEdgeTest;
+/*layout(location = 0)*/ out vec4 Debug;
+/*layout(location = 1)*/ out vec3 FilterA;
+/*layout(location = 2)*/ out vec3 FilterB;
+/*layout(location = 3)*/ out uint MaxEdgeTest;
 
 void applyBilateralFilter(ivec2 uv)
 {
@@ -115,7 +113,7 @@ void applyBilateralFilter(ivec2 uv)
 
 void main(void)
 {
-  ivec2 uv = ivec2(FragmentIn.TexCoord.x, FragmentIn.TexCoord.y);
+  ivec2 uv = ivec2(TexCoord.x, TexCoord.y);
 
   applyBilateralFilter(uv);
 

diff --git a/examples/protonect/src/shader/filter2.fs b/examples/protonect/src/shader/filter2.fs
@@ -1,4 +1,4 @@
-#version 330
+#version 140
 
 struct Parameters
 {
@@ -39,12 +39,10 @@ uniform usampler2DRect MaxEdgeTest;
 
 uniform Parameters Params;
 
-in VertexData {
-    vec2 TexCoord;
-} FragmentIn;
+in vec2 TexCoord;
 
-layout(location = 0) out vec4 Debug;
-layout(location = 1) out float FilterDepth;
+/*layout(location = 0)*/ out vec4 Debug;
+/*layout(location = 1)*/ out float FilterDepth;
 
 void applyEdgeAwareFilter(ivec2 uv)
 {
@@ -126,7 +124,7 @@ void applyEdgeAwareFilter(ivec2 uv)
 
 void main(void)
 {
-  ivec2 uv = ivec2(FragmentIn.TexCoord.x, FragmentIn.TexCoord.y);
+  ivec2 uv = ivec2(TexCoord.x, TexCoord.y);
 
   applyEdgeAwareFilter(uv);