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https://github.com/karma-riuk/hdr_esim.git
synced 2025-07-01 00:18:14 +02:00
Reformated the project to make it more readable (to me)
This commit is contained in:
Arnaud Fauconnet
@ -2,134 +2,164 @@
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#include <esim/rendering/renderer_base.hpp>
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class Shader; // fwd
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class Model; // fwd
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class Shader; // fwd
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class Model; // fwd
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class GLFWwindow; // fwd
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namespace event_camera_simulator {
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//! Rendering engine based on OpenGL
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class OpenGLRenderer : public Renderer
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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//! Rendering engine based on OpenGL
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class OpenGLRenderer : public Renderer {
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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ZE_POINTER_TYPEDEFS(Renderer);
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ZE_POINTER_TYPEDEFS(Renderer);
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OpenGLRenderer();
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OpenGLRenderer();
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~OpenGLRenderer();
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~OpenGLRenderer();
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//! Render an image at a given pose.
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virtual void render(const Transformation& T_W_C,
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const std::vector<Transformation>& T_W_OBJ,
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const ImagePtr& out_image,
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const DepthmapPtr& out_depthmap) const;
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//! Render an image at a given pose.
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virtual void render(
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const Transformation& T_W_C,
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const std::vector<Transformation>& T_W_OBJ,
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const ImagePtr& out_image,
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const DepthmapPtr& out_depthmap
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) const;
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//! Returns true if the rendering engine can compute optic flow, false otherwise
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virtual bool canComputeOpticFlow() const override { return true; }
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//! Returns true if the rendering engine can compute optic flow, false
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//! otherwise
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virtual bool canComputeOpticFlow() const override {
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return true;
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}
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//! Render an image + depth map + optic flow map at a given pose,
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//! given the camera linear and angular velocity
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virtual void renderWithFlow(const Transformation& T_W_C,
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const LinearVelocity& v_WC,
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const AngularVelocity& w_WC,
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const std::vector<Transformation>& T_W_OBJ,
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const std::vector<LinearVelocity>& linear_velocity_obj,
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const std::vector<AngularVelocity>& angular_velocity_obj,
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const ImagePtr& out_image,
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const DepthmapPtr& out_depthmap,
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const OpticFlowPtr& optic_flow_map) const override;
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//! Render an image + depth map + optic flow map at a given pose,
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//! given the camera linear and angular velocity
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virtual void renderWithFlow(
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const Transformation& T_W_C,
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const LinearVelocity& v_WC,
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const AngularVelocity& w_WC,
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const std::vector<Transformation>& T_W_OBJ,
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const std::vector<LinearVelocity>& linear_velocity_obj,
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const std::vector<AngularVelocity>& angular_velocity_obj,
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const ImagePtr& out_image,
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const DepthmapPtr& out_depthmap,
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const OpticFlowPtr& optic_flow_map
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) const override;
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//! Sets the camera
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virtual void setCamera(const ze::Camera::Ptr& camera);
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//! Sets the camera
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virtual void setCamera(const ze::Camera::Ptr& camera);
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protected:
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protected:
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void init();
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void init();
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/**
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@brief basic function to produce an OpenGL projection matrix and
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associated viewport parameters which match a given set of camera
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intrinsics. This is currently written for the Eigen linear algebra
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library, however it should be straightforward to port to any 4x4 matrix
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class.
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@param[out] frustum Eigen::Matrix4d projection matrix. Eigen stores
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these matrices in column-major (i.e. OpenGL) order.
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@param[in] alpha x-axis focal length, from camera intrinsic matrix
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@param[in] alpha y-axis focal length, from camera intrinsic matrix
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@param[in] skew x and y axis skew, from camera intrinsic matrix
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@param[in] u0 image origin x-coordinate, from camera intrinsic matrix
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@param[in] v0 image origin y-coordinate, from camera intrinsic matrix
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@param[in] img_width image width, in pixels
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@param[in] img_height image height, in pixels
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@param[in] near_clip near clipping plane z-location, can be set
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arbitrarily > 0, controls the mapping of z-coordinates for OpenGL
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@param[in] far_clip far clipping plane z-location, can be set
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arbitrarily > near_clip, controls the mapping of z-coordinate for
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OpenGL
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/**
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@brief basic function to produce an OpenGL projection matrix and associated viewport parameters
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which match a given set of camera intrinsics. This is currently written for the Eigen linear
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algebra library, however it should be straightforward to port to any 4x4 matrix class.
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@param[out] frustum Eigen::Matrix4d projection matrix. Eigen stores these matrices in column-major (i.e. OpenGL) order.
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@param[in] alpha x-axis focal length, from camera intrinsic matrix
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@param[in] alpha y-axis focal length, from camera intrinsic matrix
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@param[in] skew x and y axis skew, from camera intrinsic matrix
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@param[in] u0 image origin x-coordinate, from camera intrinsic matrix
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@param[in] v0 image origin y-coordinate, from camera intrinsic matrix
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@param[in] img_width image width, in pixels
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@param[in] img_height image height, in pixels
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@param[in] near_clip near clipping plane z-location, can be set arbitrarily > 0, controls the mapping of z-coordinates for OpenGL
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@param[in] far_clip far clipping plane z-location, can be set arbitrarily > near_clip, controls the mapping of z-coordinate for OpenGL
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Code adapted from:
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- http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/
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- https://pastebin.com/h8nYNWJY
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*/
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void build_opengl_projection_for_intrinsics(
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Eigen::Matrix4d& frustum,
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double alpha,
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double beta,
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double u0,
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double v0,
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int img_width,
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int img_height,
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double near_clip,
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double far_clip
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) const {
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// These parameters define the final viewport that is rendered into
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// by the camera.
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double L = 0;
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double R = img_width;
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double B = 0;
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double T = img_height;
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Code adapted from:
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- http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/
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- https://pastebin.com/h8nYNWJY
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*/
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void build_opengl_projection_for_intrinsics(Eigen::Matrix4d &frustum, double alpha, double beta, double u0, double v0, int img_width, int img_height, double near_clip, double far_clip) const {
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// near and far clipping planes, these only matter for the mapping
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// from world-space z-coordinate into the depth coordinate for
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// OpenGL
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double N = near_clip;
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double F = far_clip;
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// These parameters define the final viewport that is rendered into by
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// the camera.
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double L = 0;
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double R = img_width;
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double B = 0;
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double T = img_height;
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double skew = 0.0;
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// near and far clipping planes, these only matter for the mapping from
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// world-space z-coordinate into the depth coordinate for OpenGL
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double N = near_clip;
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double F = far_clip;
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// construct an orthographic matrix which maps from projected
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// coordinates to normalized device coordinates in the range
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// [-1, 1]. OpenGL then maps coordinates in NDC to the current
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// viewport
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Eigen::Matrix4d ortho = Eigen::Matrix4d::Zero();
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ortho(0, 0) = 2.0 / (R - L);
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ortho(0, 3) = -(R + L) / (R - L);
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ortho(1, 1) = 2.0 / (T - B);
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ortho(1, 3) = -(T + B) / (T - B);
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ortho(2, 2) = -2.0 / (F - N);
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ortho(2, 3) = -(F + N) / (F - N);
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ortho(3, 3) = 1.0;
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double skew = 0.0;
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// construct a projection matrix, this is identical to the
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// projection matrix computed for the intrinsicx, except an
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// additional row is inserted to map the z-coordinate to
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// OpenGL.
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Eigen::Matrix4d tproj = Eigen::Matrix4d::Zero();
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tproj(0, 0) = alpha;
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tproj(0, 1) = skew;
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tproj(0, 2) = -u0;
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tproj(1, 1) = beta;
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tproj(1, 2) = -v0;
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tproj(2, 2) = N + F;
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tproj(2, 3) = N * F;
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tproj(3, 2) = -1.0;
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// construct an orthographic matrix which maps from projected
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// coordinates to normalized device coordinates in the range
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// [-1, 1]. OpenGL then maps coordinates in NDC to the current
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// viewport
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Eigen::Matrix4d ortho = Eigen::Matrix4d::Zero();
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ortho(0,0) = 2.0/(R-L); ortho(0,3) = -(R+L)/(R-L);
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ortho(1,1) = 2.0/(T-B); ortho(1,3) = -(T+B)/(T-B);
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ortho(2,2) = -2.0/(F-N); ortho(2,3) = -(F+N)/(F-N);
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ortho(3,3) = 1.0;
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// resulting OpenGL frustum is the product of the orthographic
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// mapping to normalized device coordinates and the augmented
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// camera intrinsic matrix
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frustum = ortho * tproj;
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}
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// construct a projection matrix, this is identical to the
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// projection matrix computed for the intrinsicx, except an
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// additional row is inserted to map the z-coordinate to
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// OpenGL.
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Eigen::Matrix4d tproj = Eigen::Matrix4d::Zero();
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tproj(0,0) = alpha; tproj(0,1) = skew; tproj(0,2) = -u0;
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tproj(1,1) = beta; tproj(1,2) = -v0;
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tproj(2,2) = N+F; tproj(2,3) = N*F;
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tproj(3,2) = -1.0;
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GLFWwindow* window;
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std::unique_ptr<Shader> shader;
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std::unique_ptr<Shader> optic_flow_shader;
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std::unique_ptr<Model> our_model;
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std::vector<std::unique_ptr<Model>> dynamic_objects_model;
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// resulting OpenGL frustum is the product of the orthographic
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// mapping to normalized device coordinates and the augmented
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// camera intrinsic matrix
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frustum = ortho*tproj;
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}
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bool is_initialized_;
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GLFWwindow* window;
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std::unique_ptr<Shader> shader;
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std::unique_ptr<Shader> optic_flow_shader;
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std::unique_ptr<Model> our_model;
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std::vector<std::unique_ptr<Model>> dynamic_objects_model;
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unsigned int width_;
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unsigned int height_;
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bool is_initialized_;
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unsigned int texture1;
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unsigned int texture2;
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unsigned int width_;
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unsigned int height_;
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unsigned int VBO, VAO;
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unsigned int multisampled_fbo, multisampled_color_buf,
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multisampled_depth_buf;
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unsigned int fbo, color_buf, depth_buf,
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depth_buf_of; // framebuffer for color and depth images
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unsigned int fbo_of, of_buf; // framebuffer for optic flow
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unsigned int texture1;
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unsigned int texture2;
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unsigned int VBO, VAO;
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unsigned int multisampled_fbo, multisampled_color_buf, multisampled_depth_buf;
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unsigned int fbo, color_buf, depth_buf, depth_buf_of; // framebuffer for color and depth images
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unsigned int fbo_of, of_buf; // framebuffer for optic flow
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float zmin = 0.1f;
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float zmax = 10.0f;
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};
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float zmin = 0.1f;
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float zmax = 10.0f;
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};
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} // namespace event_camera_simulator
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