I found the answer. It is mandatory to use a perspective matrix and a shader, even for such a simple task. This answer helped me to do it.
Here is the code I used, with functions es*()
from this book:
// generate an orthographic matrix
esMatrixLoadIdentity( &projectionMatrix );
esOrtho(&projectionMatrix, -1.0, 1.0, -1.0, 1.0, -1.0, 1.0);
// generate a model view
esMatrixLoadIdentity(&modelviewMatrix);
// compute the final MVP
esMatrixMultiply(&modelviewProjectionMatrix, &modelviewMatrix, &projectionMatrix);
// setting up the viewport
glViewport(0, 0, width, height);
// binding
glBindFramebuffer(GL_FRAMEBUFFER, viewFramebuffer);
glViewport(0, 0, backingWidth, backingHeight);
glClearColor(0, 0, 0, 0);
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
glEnable(GL_TEXTURE_2D);
glActiveTexture(0);
glBindTexture(GL_TEXTURE_2D, videoTexture);
// setting up shader
useProgram(projectionProgram);
// updating uniform values
GLint uMVPIndex = indexUniform(projectionProgram, "mvpMatrix");
GLint uTextureIndex = indexUniform(projectionProgram, "textureImg");
glUniformMatrix4fv( uMVPIndex, 1, GL_FALSE, (GLfloat*) &modelviewProjectionMatrix.m[0][0] );
glUniform1i(uTextureIndex, 0);
// updating attribute values
GLint aPositionIndex = indexAttribute(projectionProgram, "position");
GLint aTextureIndex = indexAttribute(projectionProgram, "inputTextureCoordinate");
// drawing quad
static int strideVertex = 2*sizeof(GLfloat); // 2D position
static int strideTexture = 2*sizeof(GLfloat); // 2D texture coordinates
// beginning of arrays
const GLvoid* vertices = (const GLvoid*) &screenVertices[0];
const GLvoid* textures = (const GLvoid*) &texCoordsFullScreen [0];
// enabling vertex arrays
glVertexAttribPointer(aPositionIndex, 2, GL_FLOAT, GL_FALSE, strideVertex, vertices);
glEnableVertexAttribArray(aPositionIndex);
glVertexAttribPointer(aTextureIndex, 2, GL_FLOAT, GL_FALSE, strideTexture, textures);
glEnableVertexAttribArray(aTextureIndex);
// drawing
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
// resetting matrices
esMatrixLoadIdentity(&projectionMatrix);
esMatrixLoadIdentity(&modelviewMatrix);
esMatrixLoadIdentity(&modelviewProjectionMatrix);
// resetting shader
releaseProgram(projectionProgram);
// unbinding texture
glBindTexture(GL_TEXTURE_2D, 0);