putting pos in coordinate space from -1,-1,-1 to 1,1,1

Assets/RT3script.cs

@@ -104,7 +104,8 @@ public class RT3script : MonoBehaviour
                 //encode into pixels this camera's coordinates
                 // var tr = cameraList[i].transform.localToWorldMatrix;
                 int rowOffset = 2;
-                // UnityEngine.Debug.Log("Encoding Camera "+i+":\n" +cameraList[i].cameraToWorldMatrix.ToString());
+                // UnityEngine.Debug.Log("Encoding cameraToWorldMatrix for camera "+i+":\n" +cameraList[i].cameraToWorldMatrix.ToString());
+                // UnityEngine.Debug.Log("Encoding projectionMatrix for camera "+i+":\n" +cameraList[i].projectionMatrix.ToString());
 
                 rowOffset = encodeMatrix(cameraList[i].cameraToWorldMatrix, i, rowOffset);
                 rowOffset = encodeMatrix(cameraList[i].projectionMatrix, i, rowOffset);

Assets/Website~/index.html

@@ -173,7 +173,8 @@
                 pointSize: { value: pointSize },
                 cameraIndex: { value: i },
                 numCameras: { value: numCameras },
-                c2wm: { value: new THREE.Matrix4() }
+                c2wm: { value: new THREE.Matrix4() },
+                prjm: { value: new THREE.Matrix4() }
               },
               vertexShader:   projection_vert_shader_source,
               fragmentShader: projection_frag_shader_source,
@@ -221,14 +222,22 @@
 
             // this next line needs to obtain the region of the video texture with
             // the appropriate pixel encoded floats for the camera matrix.
-            let d = context.getImageData((256*i),1,canvas.width,16); //should get data from the second line to the 17th, or 16 rows of pixels
+            let d = context.getImageData((256*i),1,canvas.width,32); //should get data from the second line to the 17th, or 16 rows of pixels
             
             const c2wm_array = [0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0];
+            const prjm_array = [0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0];
             for(let rowNr = 0; rowNr < 16; rowNr++) {
               // cameraFloats[i][rowNr] = decodeUint32ToFloat(pixelArrayToUint32(d.data, c.width, rowNr))
               c2wm_array[rowNr] = decodeUint32ToFloat(pixelArrayToUint32(d.data, canvas.width, rowNr))
+              prjm_array[rowNr] = decodeUint32ToFloat(pixelArrayToUint32(d.data, canvas.width, rowNr+16))
+
             }
             materialList[i].uniforms.c2wm.value.fromArray(c2wm_array);
+            materialList[i].uniforms.prjm.value.fromArray(prjm_array);
+            
+            if (i==0) document.prjm0 = prjm_array; //these two lines make the projection array visible in console, for debugging
+            if (i==1) document.prjm1 = prjm_array;
+            // columns = document.prjm1; a = []; for (let row=0; row < 4; ++row) a.push([columns[0+row], columns[4+row], columns[8+row], columns[12+row]]); a 
           }
           renderer.render(scene, camera);
         }

Assets/Website~/projection.frag.glsl

@@ -2,6 +2,7 @@ uniform sampler2D map;
 uniform float cameraIndex;
 uniform float numCameras;
 uniform mat4 c2wm;
+uniform mat4 prjm;
 
 varying vec2 vUv;
 varying float paintfordiscard;

Assets/Website~/projection.vert.glsl

@@ -12,7 +12,7 @@ uniform float cameraIndex;
 uniform float numCameras;
 
 uniform mat4 c2wm;
-
+uniform mat4 prjm;
 
 varying vec2 vUv;
 varying vec2 vUv1pxOffset;
@@ -21,7 +21,7 @@ varying float paintfordiscard;
 
 void main() {
 
-    vUv = vec2( position.x / width, position.y / height );  // -> vec2(0, 0)
+    vUv = vec2( position.x / width, position.y / height );  
     vUv1pxOffset = vec2( 1.0 / width, 1.0 / height ) * 2.0;
 
     int skipctr = 0;
@@ -29,7 +29,7 @@ void main() {
 
     for (float xoff = -1.0; xoff < 2.0; xoff++) {
         for (float yoff = -1.0; yoff < 2.0; yoff++) {
-            vec2 thisUv = vUv + (vec2 (xoff, yoff) * vUv1pxOffset);
+            vec2 thisUv = vUv + (vec2(xoff, yoff) * vUv1pxOffset);
             vec4 color = texture2D(map, thisUv*vec2(1.0/numCameras,(1.0/3.0))+vec2(cameraIndex/numCameras,(1.0/3.0)));
             float depth = ( color.r + color.g + color.b ) / 3.0;
             if (depth < 0.01) {
@@ -50,15 +50,26 @@ void main() {
     // guess the projection.
     // Undoes the perspective division
     //float z = depth * (farClipping-nearClipping) + nearClipping;
-    float z = depth;
+    // float z = depth;
     
+    // vec4 pos = vec4(
+    //     ( position.x / width - 0.5 )*boxSize,
+    //     ( position.y / height - 0.5 )*boxSize,
+    //     z*boxSize*0.5, // we had applied a (-1.0) multiplier to try to flip element [2,2] 
+    //     1.0);
+
     vec4 pos = vec4(
-        ( position.x / width - 0.5 )*boxSize,
+        2.*(position.x / float(width))  - 1., 
-        ( position.y / height - 0.5 )*boxSize,
+        2.*(position.y / float(height)) - 1., 
-        z*boxSize*0.5, // we had applied a (-1.0) multiplier to try to flip element [2,2] 
+        2.*depth                       - 1., 
-        1.0);
+        1.0
+    );
     //vec4 pos2 = pos;
-    vec4 pos2 = c2wm * pos;
+    // vec4 pos2 =  c2wm * prjm * pos; // order matters here! First undo projection, then undo view, then below model is undone
+    vec4 pos2 =  c2wm * inverse(prjm) * pos; // order matters here! First undo projection, then undo view, then below model is undone
+    pos2.xyz *= boxSize;
+    // pos2 = pos2 * vec4(20000., 20000., 20000., 20000.); // bad idea! the last point needs to be 1 for translation to work
+    // pos2 = pos2 * boxSize;
     //vec4 pos2 = inverse(c2wm) * pos;
 // float(cameraIndex)
     gl_PointSize = pointSize;