Using different shader extensions.

Added rasterizer and depth simulator

.vscode/c_cpp_properties.json

@@ -4,15 +4,14 @@
             "name": "Linux",
             "includePath": [
                 "${workspaceFolder}/include",
-                "/home/tim/.conan/data/gl3w/0.2/tuebel/testing/package/1a651c5b4129ad794b88522bece2281a7453aee4/include",
-                "/home/tim/.conan/data/glm/0.9.9.1/g-truc/stable/package/5ab84d6acfe1f23c4fae0ab88f26e3a396351ac9/include"
-            ],
-            "defines": [],
-            "cStandard": "c11",
-            "cppStandard": "c++11",
-            "configurationProvider": "vector-of-bool.cmake-tools",
-            "compileCommands": "${workspaceFolder}/build/compile_commands.json"
-        }
-    ],
-    "version": 4
+                "~/.conan/data/"
+        ],
+        "defines": [],
+        "cStandard": "c11",
+        "cppStandard": "c++11",
+        "configurationProvider": "vector-of-bool.cmake-tools",
+        "compileCommands": "${workspaceFolder}/build/compile_commands.json"
+    }
+],
+"version": 4
 }
\ No newline at end of file

.vscode/settings.json

@@ -61,7 +61,8 @@
     "optional": "cpp",
     "string_view": "cpp",
     "*.fs": "cpp",
-    "*.vs": "cpp"
+    "*.vs": "cpp",
+    "*.vert": "cpp"
   },
   "python.autoComplete.extraPaths": [
     "/opt/ros/kinetic/lib/python2.7/dist-packages"

CMakeLists.txt

@@ -22,12 +22,13 @@ endif()
 set(OpenGL_GL_PREFERENCE "GLVND")
 
 # library  
-add_library(scigl_render)
-target_sources(scigl_render PRIVATE
+add_library(scigl_render
   src/gl_context.cpp
+  src/render/depth_simulator.cpp
   src/render/frame_buffer.cpp
   src/render/offscreen_render.cpp
   src/render/onscreen_render.cpp
+  src/render/rasterizer.cpp
   src/render/texture_fullscreen_render.cpp
   src/scene/cv_camera.cpp
   src/scene/diffuse_light.cpp
@@ -41,13 +42,12 @@ target_link_libraries(scigl_render ${CONAN_LIBS})
 
 # example apps
 add_executable(scigl_viewer
-  src/example/scigl_viewer.cpp
-  src/example/example_render.cpp)
+  src/example/scigl_viewer.cpp)
 target_link_libraries(scigl_viewer
   scigl_render)
 
 add_executable(scigl_depth_viewer
   src/example/scigl_depth_viewer.cpp
-  src/example/example_render.cpp)
+  src/example/depth_offscreen_render.cpp)
 target_link_libraries(scigl_depth_viewer
   scigl_render)

conanfile.py

@@ -30,12 +30,12 @@ class SciglRenderConan(ConanFile):
         cmake.build()
 
     def package(self):
-        self.copy("*.cs", dst="include", src="include", keep_path=True)
-        self.copy("*.fs", dst="include", src="include", keep_path=True)
-        self.copy("*.gs", dst="include", src="include", keep_path=True)
-        self.copy("*.tcs", dst="include", src="include", keep_path=True)
-        self.copy("*.tes", dst="include", src="include", keep_path=True)
-        self.copy("*.vs", dst="include", src="include", keep_path=True)
+        self.copy("*.comp", dst="include", src="include", keep_path=True)
+        self.copy("*.frag", dst="include", src="include", keep_path=True)
+        self.copy("*.geom", dst="include", src="include", keep_path=True)
+        self.copy("*.tesc", dst="include", src="include", keep_path=True)
+        self.copy("*.tese", dst="include", src="include", keep_path=True)
+        self.copy("*.vert", dst="include", src="include", keep_path=True)
         self.copy("*.h", dst="include", src="include", keep_path=True)
         self.copy("*.hpp", dst="include", src="include", keep_path=True)
         self.copy("*.lib", dst="lib", keep_path=False)

include/scigl_render/example/example_render.hpp → include/scigl_render/example/depth_offscreen_render.hpp

 #pragma once
 #include <scigl_render/gl_context.hpp>
+#include <scigl_render/render/depth_simulator.hpp>
 #include <scigl_render/render/offscreen_render.hpp>
 #include <scigl_render/render/texture_fullscreen_render.hpp>
-#include <scigl_render/scene/cv_camera.hpp>
-#include <scigl_render/scene/diffuse_light.hpp>
-#include <scigl_render/scene/model.hpp>
-#include <scigl_render/shader/shader.hpp>
 #include <memory>
 #include <vector>
 
@@ -14,11 +11,11 @@ namespace scigl_render
 /*!
 Demonstrates how to render a scene with this library. Frankly this is quite
 the unnecessary complicated case, since I test rendering offscreen to a FBO,
-transfer the texture to a PBO and reading this into CPU memory.Then I push it
+transfer the texture to a PBO and reading this into CPU memory. Then I push it
 back to the GPU as anoter texture generated from the CPU memory and it will is
 be displayed on screen.
 */
-class ExampleRender
+class DepthOffscreenRender
 {
 public:
   /*!
@@ -31,16 +28,16 @@ public:
   \param pixel_size the size of one pixel. Must match the internal format:
   number_of_channels * sizeof(type)
   */
-  ExampleRender(std::shared_ptr<GLContext> context,
-                Shader shader,
-                GLenum tex_format, GLenum tex_type, GLint tex_internal_format,
-                size_t pixel_size);
+  DepthOffscreenRender(
+      std::shared_ptr<GLContext> context, GLenum tex_format, GLenum tex_type,
+      GLint tex_internal_format, size_t pixel_size);
 
   /*!
   Continues to render the next frame.
   */
-  void next_frame(const CvCamera &camera, const Model &model,
-                  const DiffuseLight &light);
+  void next_frame(std::shared_ptr<DepthSimulator> depth_simulator,
+                  const CartesianPose &model_pose,
+                  const CartesianPose &camera_pose);
 
   /*!
   Resizes the buffers to the screen size of the GLContext.

include/scigl_render/render/depth_simulator.hpp

+#pragma once
+#include <scigl_render/scene/cv_camera.hpp>
+#include <scigl_render/scene/model.hpp>
+
+namespace scigl_render
+{
+class DepthSimulator
+{
+public:
+  /**
+   * Create a simulator for this camera and model.
+  */
+  DepthSimulator(scigl_render::CvCamera camera,
+                 scigl_render::Model model);
+
+  /**
+   * Renders the simulated depth image of the model.
+   * \param state the current pose of the object
+   */
+  void render_pose(const QuaternionPose &object_pose,
+                   const QuaternionPose &camera_pose);
+
+  /** width of the simulated images */
+  int get_width();
+  /** height of the simulated images */
+  int get_height();
+
+  // the OpenGL texture needed to render depth values
+  static const GLenum FORMAT = GL_RED;
+  static const GLenum TYPE = GL_FLOAT;
+  static const GLint INTERNAL_FORMAT = GL_R32F;
+  static const size_t PIXEL_SIZE = sizeof(GLfloat);
+
+private:
+  // where and how to render
+  scigl_render::CvCamera camera;
+  scigl_render::Shader depth_shader;
+  scigl_render::Model model;
+};
+} // namespace scigl_render
\ No newline at end of file

include/scigl_render/render/rasterizer.hpp

+#pragma once
+#include <cstddef>
+#include <utility>
+
+namespace scigl_render
+{
+/** 
+ * Render different views to a rasterized texture. This class is double buffer
+ * enabled.
+ */
+class Rasterizer
+{
+public:
+  /**
+   * Defines a header that is compatible to the OpenCV Mat_<float> constructor.
+   */
+  struct ImageHeader
+  {
+    /** height of the image */
+    size_t rows;
+    /** width of the image */
+    size_t columns;
+    /** points to the first pixel of the image in the texture */
+    void *data;
+    /** size in bytes of one row in the image */
+    size_t step;
+  };
+
+  /**
+   * Initialize the rasterizer with 2D dimensions. Use calc_min_raster to
+   * determine the minimal dimensions for a given number of views.
+   * \param width the width of one view
+   * \param height the height of one view
+   * \param views_per_row the number of views in one row
+   * \param views_per_column the number of views in one column
+   * \param internal_format internal OpenGl texture format
+   */
+  Rasterizer(size_t width, size_t height, size_t views_per_row,
+             size_t views_per_column);
+
+  /** activate a view by its 2D coordinates */
+  void activate_view(size_t row, size_t column);
+
+  /** as if the rows were concatenated */
+  void activate_view(size_t view);
+
+  /** activate the whole texture view, for example when clearing it */
+  void activate_all();
+
+  /** 
+   * Minimal raster size for the given number of views
+   * \param n_views total number of views to render, must be greater than 0
+   * \param width of the observation image
+   * \param height of the observation image
+   * \param max_buffer_size the maximum dimensions of the buffer (e.g. RBO)
+   * \retuns views per row, views per column. Both 0 if the views do not fit
+   * into the buffer.
+   */
+  static std::pair<size_t, size_t> calc_min_raster(
+      size_t n_views, size_t width, size_t height, size_t max_buffer_size);
+
+  /**
+   * Create metadata to read one view as image from the texture of all views.
+   * \param row of the view
+   * \param column of the view
+   * \param data pointer to the full texture
+   * \param pixel_size size of one pixel in bytes (sizeof(type) * n_channels)
+   */
+  ImageHeader get_view_image(size_t row, size_t column, void *data,
+                             size_t pixel_size) const;
+
+  /**
+   * Create metadata to read one view as image from the texture of all views.
+   * \param view get the image for this view
+   * \param data pointer to the full texture
+   * \param pixel_size size of one pixel in bytes (sizeof(type) * n_channels)
+   */
+  ImageHeader get_view_image(size_t view, void *data,
+                             size_t pixel_size) const;
+
+  size_t get_views_per_row() const;
+  size_t get_views_per_column() const;
+
+private:
+  // dimensions of the observation
+  size_t width, height;
+  // for the whole texture precalculated
+  size_t views_per_row, views_per_column;
+  size_t texture_width, texture_height;
+
+  /**
+   * Calculates row and column of the view
+   */
+  std::pair<size_t, size_t> view_position(size_t view) const;
+
+  /**
+   * Calculates x and y coordinates of the row and column
+   * \returns x,y
+   */
+  std::pair<size_t, size_t> view_xy(size_t row, size_t column) const;
+};
+} // namespace scigl_render

src/example/example_render.cpp → src/example/depth_offscreen_render.cpp

 #include <scigl_render/check_gl_error.hpp>
-#include <scigl_render/example/example_render.hpp>
+#include <scigl_render/example/depth_offscreen_render.hpp>
 #include <scigl_render/render/offscreen_render.hpp>
 
 namespace scigl_render
 {
 // I know there is a lot of configuration but it is intendet to be flexible
-ExampleRender::ExampleRender(
+DepthOffscreenRender::DepthOffscreenRender(
     std::shared_ptr<GLContext> context,
-    Shader shader,
     GLenum tex_format, GLenum tex_type, GLint tex_internal_format,
     size_t pixel_size)
     : texture_format(tex_format),
@@ -23,16 +22,15 @@ ExampleRender::ExampleRender(
                      gl_context->get_height(),
                      tex_internal_format),
       image_buffer(gl_context->get_width() * gl_context->get_height() *
-                   pixel_size),
-      scene_shader(std::move(shader))
+                   pixel_size)
 {
-  // Configure the global rendering settings
-  glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
   check_gl_error("example render created");
 }
 
-void ExampleRender::next_frame(const CvCamera &camera, const Model &model,
-                               const DiffuseLight &light)
+void DepthOffscreenRender::next_frame(
+    std::shared_ptr<DepthSimulator> depth_simulator,
+    const CartesianPose &model_pose,
+    const CartesianPose &camera_pose)
 {
   using namespace std::placeholders;
   check_gl_error("next frame begin");
@@ -40,10 +38,8 @@ void ExampleRender::next_frame(const CvCamera &camera, const Model &model,
   offscreen_render.clear_fbo();
   offscreen_render.activate_fbo();
   check_gl_error("activated fbo");
-  glEnable(GL_DEPTH_TEST);
-  camera.set_in_shader(scene_shader);
-  light.set_in_shader(scene_shader);
-  model.draw(scene_shader);
+  depth_simulator->render_pose(model_pose.to_quaternion_pose(),
+                               camera_pose.to_quaternion_pose());
   offscreen_render.deactivate_fbo();
   // read asynchronously using the pbos
   offscreen_render.start_read(texture_format, texture_type);
@@ -56,7 +52,7 @@ void ExampleRender::next_frame(const CvCamera &camera, const Model &model,
   check_gl_error("end synchronous reading");
 }
 
-void ExampleRender::display_data(const void *data)
+void DepthOffscreenRender::display_data(const void *data)
 {
   // Test copying the data, buffer_size is in bytes
   memcpy(image_buffer.data(), data, image_buffer.size());
@@ -69,7 +65,7 @@ void ExampleRender::display_data(const void *data)
   glfwSwapBuffers(gl_context->get_window());
 }
 
-void ExampleRender::resize_buffers()
+void DepthOffscreenRender::resize_buffers()
 {
   offscreen_render = scigl_render::OffscreenRender(
       gl_context->get_width(),

src/example/scigl_depth_viewer.cpp

@@ -3,15 +3,15 @@
 #include <iostream>
 #include <scigl_render/check_gl_error.hpp>
 #include <scigl_render/gl_context.hpp>
-#include <scigl_render/example/example_render.hpp>
+#include <scigl_render/example/depth_offscreen_render.hpp>
+#include <scigl_render/render/depth_simulator.hpp>
 #include <scigl_render/scene/cv_camera.hpp>
 #include <scigl_render/scene/diffuse_light.hpp>
-#include <scigl_render/shader/shader_builder.hpp>
 
 // forward declare callbacks
 // get mouse and keyboard inputs
-void process_input(GLFWwindow *window, scigl_render::CartesianPose &camera_pose,
-                   const scigl_render::CvCamera &camera);
+void process_input(GLFWwindow *window,
+                   scigl_render::CartesianPose &camera_pose);
 
 // Debug printing
 std::ostream &operator<<(std::ostream &out, const glm::mat4 &mat)
@@ -42,20 +42,8 @@ int main(int argc, char *argv[])
   std::shared_ptr<GLContext> context =
       std::make_shared<GLContext>(true, false, WIDTH, HEIGHT);
   check_gl_error("Context created");
-  // build the shader program
-  const std::string vs_source =
-#include <scigl_render/shader/simple.vs>
-      "";
-  const std::string fs_source =
-#include <scigl_render/shader/depth.fs>
-      "";
-  ShaderBuilder shader_builder;
-  shader_builder.attach_vertex_shader(vs_source);
-  shader_builder.attach_fragment_shader(fs_source);
-  auto shader = shader_builder.build();
-  check_gl_error("Built depth shader");
-  ExampleRender render(context, shader,
-                       GL_RED, GL_FLOAT, GL_R32F, sizeof(float));
+  DepthOffscreenRender render(context, GL_RED, GL_FLOAT, GL_R32F,
+                              sizeof(float));
   // Intrinsics of my shitty webcam
   CameraIntrinsics camera_intrinsics;
   camera_intrinsics.width = 640;
@@ -73,19 +61,18 @@ int main(int argc, char *argv[])
       0, 0, 0};
   std::copy(std::begin(dist_coeffs), std::end(dist_coeffs),
             std::begin(camera_intrinsics.dist_coeffs));
-  CvCamera camera(camera_intrinsics);
+  // create the depth simulator
+  auto depth_simulator = std::make_shared<DepthSimulator>(
+      CvCamera(camera_intrinsics), Model(argv[1]));
+  check_gl_error("Built depth shader");
   // Test if Cartesian -> Quaternion works
-  CartesianPose camera_pose = {glm::vec3(0, 0, 0), glm::vec3(0, 0, 0)};
-  camera.pose = camera_pose.to_quaternion_pose();
-  Model model(argv[1]);
-  model.pose.position = glm::vec3(0, 0, 1);
-  DiffuseLight light;
+  CartesianPose camera_pose(glm::vec3(0, 0, 0), glm::vec3(0, 0, 0));
+  CartesianPose model_pose(glm::vec3(0, 0, 1), glm::vec3(0, 0, 0));
   // main loop
   while (!glfwWindowShouldClose(context->get_window()))
   {
-    process_input(context->get_window(), camera_pose, camera);
-    camera.pose = camera_pose.to_quaternion_pose();
-    render.next_frame(camera, model, light);
+    process_input(context->get_window(), camera_pose);
+    render.next_frame(depth_simulator, model_pose, camera_pose);
     glfwPollEvents();
   }
   // Finally release the context
@@ -94,8 +81,7 @@ int main(int argc, char *argv[])
 }
 
 void process_input(GLFWwindow *window,
-                   scigl_render::CartesianPose &camera_pose,
-                   const scigl_render::CvCamera &camera)
+                   scigl_render::CartesianPose &camera_pose)
 {
   // exit
   if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS)
@@ -103,7 +89,7 @@ void process_input(GLFWwindow *window,
     glfwSetWindowShouldClose(window, true);
   }
   // movement
-  float cameraSpeed = 0.01;
+  float cameraSpeed = 0.001;
   if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS)
   {
     camera_pose.position.y += cameraSpeed;
@@ -152,10 +138,4 @@ void process_input(GLFWwindow *window,
   {
     camera_pose.orientation.z += cameraSpeed;
   }
-  if (glfwGetKey(window, GLFW_KEY_SPACE) == GLFW_PRESS)
-  {
-    std::cout << "camera info\n\n";
-    std::cout << camera.get_projection_matrix() << "\n\n";
-    std::cout << camera.get_view_matrix() << "\n\n";
-  }
 }

src/example/scigl_viewer.cpp

@@ -2,7 +2,6 @@
 #include <stdexcept>
 #include <iostream>
 #include <scigl_render/gl_context.hpp>
-#include <scigl_render/example/example_render.hpp>
 #include <scigl_render/render/onscreen_render.hpp>
 #include <scigl_render/scene/cv_camera.hpp>
 #include <scigl_render/scene/diffuse_light.hpp>
@@ -46,10 +45,10 @@ int main(int argc, char *argv[])
       std::make_shared<GLContext>(true, false, WIDTH, HEIGHT);
   // build the shader program
   const std::string vs_source =
-#include <scigl_render/shader/distort.vs>
+#include <scigl_render/shader/distort.vert>
       "";
   const std::string fs_source =
-#include <scigl_render/shader/texture.fs>
+#include <scigl_render/shader/texture.frag>
       "";
   ShaderBuilder shader_builder;
   shader_builder.attach_vertex_shader(vs_source);
@@ -122,7 +121,7 @@ void process_input(std::shared_ptr<scigl_render::GLContext> context,
     glfwSetWindowShouldClose(window, true);
   }
   // movement
-  float cameraSpeed = 0.01;
+  float cameraSpeed = 0.001;
   if (glfwGetKey(window, GLFW_KEY_W) == GLFW_PRESS)
   {
     camera_pose.position.y += cameraSpeed;

src/render/depth_simulator.cpp

+#include <scigl_render/render/depth_simulator.hpp>
+#include <scigl_render/check_gl_error.hpp>
+#include <scigl_render/shader/shader_builder.hpp>
+
+namespace scigl_render
+{
+DepthSimulator::DepthSimulator(scigl_render::CvCamera camera,
+                               scigl_render::Model model)
+    : camera(std::move(camera)),
+      model(std::move(model))
+{
+  const std::string vs_source =
+#include <scigl_render/shader/simple.vert>
+      "";
+  const std::string fs_source =
+#include <scigl_render/shader/depth.frag>
+      "";
+  scigl_render::ShaderBuilder shader_builder;
+  shader_builder.attach_vertex_shader(vs_source);
+  shader_builder.attach_fragment_shader(fs_source);
+  depth_shader = shader_builder.build();
+  scigl_render::check_gl_error("depth simulator created");
+}
+
+int DepthSimulator::get_width()
+{
+  return camera.get_intrinsics().width;
+}
+
+int DepthSimulator::get_height()
+{
+  return camera.get_intrinsics().height;
+}
+
+void DepthSimulator::render_pose(const QuaternionPose &object_pose,
+                                 const QuaternionPose &camera_pose)
+{
+  glColorMask(GL_TRUE, GL_FALSE, GL_FALSE, GL_FALSE);
+  glEnable(GL_DEPTH_TEST);
+  camera.pose = camera_pose;
+  camera.set_in_shader(depth_shader);
+  model.pose = object_pose;
+  model.draw(depth_shader);
+}
+} // namespace scigl_render
\ No newline at end of file

src/render/rasterizer.cpp

+#include <GL/gl3w.h>
+#include <scigl_render/render/rasterizer.hpp>
+#include <sstream>
+
+namespace scigl_render
+{
+Rasterizer::Rasterizer(size_t width, size_t height, size_t views_per_row,
+                       size_t views_per_column)
+    : width(width), height(height),
+      views_per_row(views_per_row), views_per_column(views_per_column)
+{
+  // create the offscreen render object
+  texture_width = width * views_per_row;
+  texture_height = width * views_per_column;
+}
+
+void Rasterizer::activate_view(size_t row, size_t column)
+{
+  auto xy = view_xy(row, column);
+  glScissor(xy.first, xy.second, width, height);
+  glViewport(xy.first, xy.second, width, height);
+}
+
+void Rasterizer::activate_view(size_t view)
+{
+  auto position = view_position(view);
+  size_t row = position.first;
+  size_t column = position.second;
+  activate_view(position.first, position.second);
+}
+
+void Rasterizer::activate_all()
+{
+  glScissor(0, 0, texture_width, texture_height);
+  glViewport(0, 0, texture_width, texture_height);
+}
+
+std::pair<size_t, size_t> Rasterizer::calc_min_raster(
+    size_t n_views, size_t width, size_t height, size_t max_buffer_size)
+{
+  // determine maximum number of views
+  size_t max_per_row = max_buffer_size / width;
+  size_t max_per_column = max_buffer_size / height;
+  if (n_views <= 0 || n_views > max_per_row * max_per_column)
+  {
+    return std::pair<size_t, size_t>(0, 0);
+  }
+  // minimum needed views per column and row (ceil int division)
+  // https://stackoverflow.com/questions/2745074/fast-ceiling-of-an-integer-division-in-c-c
+  size_t min_per_column = 1 + ((n_views - 1) / max_per_row);
+  size_t min_per_row = 1 + ((n_views - 1) / min_per_column);
+  return std::pair<size_t, size_t>(min_per_row, min_per_column);
+}
+
+size_t Rasterizer::get_views_per_row() const
+{
+  return views_per_row;
+}
+size_t Rasterizer::get_views_per_column() const
+{
+  return views_per_column;
+}
+
+Rasterizer::ImageHeader Rasterizer::get_view_image(
+    size_t row, size_t column, void *data, size_t pixel_size) const
+{
+  auto xy = view_xy(row, column);
+  // all the rows above and the columns in front
+  ImageHeader header;