mirror of
https://github.com/karma-riuk/hdr_esim.git
synced 2025-06-18 10:27:50 +02:00
initial commit
This commit is contained in:
Henri Rebecq
@ -0,0 +1,45 @@
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cmake_minimum_required(VERSION 3.0)
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project(imp_opengl_renderer)
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find_package(catkin_simple REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(glfw3 REQUIRED)
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include_directories(${OpenCV_INCLUDE_DIRS})
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catkin_simple()
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set(INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include)
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set(LIB_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libraries)
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configure_file(configuration/root_directory.h.in configuration/root_directory.h)
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include_directories(${CMAKE_BINARY_DIR}/configuration)
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# glad
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set(GLAD_DIR ${LIB_DIR}/glad)
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add_library(glad ${GLAD_DIR}/src/glad.c)
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target_include_directories(glad PRIVATE ${GLAD_DIR}/include)
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set(SOURCES
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src/opengl_renderer.cpp)
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set(SHADERS
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src/shader.vert
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src/shader.frag
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src/optic_flow_shader.frag)
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set(HEADERS
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include/esim/imp_opengl_renderer/opengl_renderer.hpp
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)
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# make the executable
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cs_add_library(${PROJECT_NAME} ${SOURCES} ${HEADERS} ${SHADERS})
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# link the executable to the necessary libs
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target_include_directories(${PROJECT_NAME} PRIVATE ${INCLUDE_DIR})
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target_include_directories(${PROJECT_NAME} PRIVATE ${GLAD_DIR}/include)
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${CMAKE_DL_LIBS} glfw glad)
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cs_install()
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cs_export()
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@ -0,0 +1 @@
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const char * logl_root = "${CMAKE_SOURCE_DIR}";
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@ -0,0 +1,133 @@
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#pragma once
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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 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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ZE_POINTER_TYPEDEFS(Renderer);
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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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//! 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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//! 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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//! Sets the camera
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virtual void setCamera(const ze::Camera::Ptr& camera);
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protected:
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void init();
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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(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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// 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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// 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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double skew = 0.0;
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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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// 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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// 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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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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bool is_initialized_;
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unsigned int width_;
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unsigned int height_;
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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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} // namespace event_camera_simulator
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@ -0,0 +1,131 @@
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#ifndef CAMERA_H
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#define CAMERA_H
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#include <glad/glad.h>
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#include <glm/glm.hpp>
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#include <glm/gtc/matrix_transform.hpp>
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#include <vector>
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// Defines several possible options for camera movement. Used as abstraction to stay away from window-system specific input methods
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enum Camera_Movement {
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FORWARD,
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BACKWARD,
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LEFT,
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RIGHT
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};
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// Default camera values
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const float YAW = -90.0f;
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const float PITCH = 0.0f;
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const float SPEED = 2.5f;
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const float SENSITIVITY = 0.1f;
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const float ZOOM = 45.0f;
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// An abstract camera class that processes input and calculates the corresponding Euler Angles, Vectors and Matrices for use in OpenGL
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class Camera
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{
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public:
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// Camera Attributes
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glm::vec3 Position;
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glm::vec3 Front;
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glm::vec3 Up;
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glm::vec3 Right;
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glm::vec3 WorldUp;
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// Euler Angles
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float Yaw;
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float Pitch;
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// Camera options
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float MovementSpeed;
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float MouseSensitivity;
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float Zoom;
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// Constructor with vectors
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Camera(glm::vec3 position = glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3 up = glm::vec3(0.0f, 1.0f, 0.0f), float yaw = YAW, float pitch = PITCH) : Front(glm::vec3(0.0f, 0.0f, -1.0f)), MovementSpeed(SPEED), MouseSensitivity(SENSITIVITY), Zoom(ZOOM)
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{
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Position = position;
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WorldUp = up;
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Yaw = yaw;
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Pitch = pitch;
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updateCameraVectors();
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}
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// Constructor with scalar values
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Camera(float posX, float posY, float posZ, float upX, float upY, float upZ, float yaw, float pitch) : Front(glm::vec3(0.0f, 0.0f, -1.0f)), MovementSpeed(SPEED), MouseSensitivity(SENSITIVITY), Zoom(ZOOM)
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{
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Position = glm::vec3(posX, posY, posZ);
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WorldUp = glm::vec3(upX, upY, upZ);
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Yaw = yaw;
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Pitch = pitch;
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updateCameraVectors();
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}
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// Returns the view matrix calculated using Euler Angles and the LookAt Matrix
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glm::mat4 GetViewMatrix()
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{
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return glm::lookAt(Position, Position + Front, Up);
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}
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// Processes input received from any keyboard-like input system. Accepts input parameter in the form of camera defined ENUM (to abstract it from windowing systems)
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void ProcessKeyboard(Camera_Movement direction, float deltaTime)
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{
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float velocity = MovementSpeed * deltaTime;
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if (direction == FORWARD)
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Position += Front * velocity;
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if (direction == BACKWARD)
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Position -= Front * velocity;
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if (direction == LEFT)
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Position -= Right * velocity;
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if (direction == RIGHT)
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Position += Right * velocity;
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}
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// Processes input received from a mouse input system. Expects the offset value in both the x and y direction.
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void ProcessMouseMovement(float xoffset, float yoffset, GLboolean constrainPitch = true)
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{
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xoffset *= MouseSensitivity;
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yoffset *= MouseSensitivity;
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Yaw += xoffset;
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Pitch += yoffset;
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// Make sure that when pitch is out of bounds, screen doesn't get flipped
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if (constrainPitch)
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{
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if (Pitch > 89.0f)
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Pitch = 89.0f;
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if (Pitch < -89.0f)
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Pitch = -89.0f;
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}
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// Update Front, Right and Up Vectors using the updated Euler angles
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updateCameraVectors();
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}
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|
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// Processes input received from a mouse scroll-wheel event. Only requires input on the vertical wheel-axis
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void ProcessMouseScroll(float yoffset)
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{
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if (Zoom >= 1.0f && Zoom <= 45.0f)
|
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Zoom -= yoffset;
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if (Zoom <= 1.0f)
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Zoom = 1.0f;
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if (Zoom >= 45.0f)
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Zoom = 45.0f;
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}
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private:
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// Calculates the front vector from the Camera's (updated) Euler Angles
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void updateCameraVectors()
|
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{
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// Calculate the new Front vector
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glm::vec3 front;
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front.x = cos(glm::radians(Yaw)) * cos(glm::radians(Pitch));
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front.y = sin(glm::radians(Pitch));
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front.z = sin(glm::radians(Yaw)) * cos(glm::radians(Pitch));
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Front = glm::normalize(front);
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// Also re-calculate the Right and Up vector
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Right = glm::normalize(glm::cross(Front, WorldUp)); // Normalize the vectors, because their length gets closer to 0 the more you look up or down which results in slower movement.
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Up = glm::normalize(glm::cross(Right, Front));
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}
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};
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#endif
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@ -0,0 +1,52 @@
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#ifndef FILESYSTEM_H
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#define FILESYSTEM_H
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#include <string>
|
||||
#include <cstdlib>
|
||||
#include "root_directory.h" // This is a configuration file generated by CMake.
|
||||
|
||||
class FileSystem
|
||||
{
|
||||
private:
|
||||
typedef std::string (*Builder) (const std::string& path);
|
||||
|
||||
public:
|
||||
static std::string getPath(const std::string& path)
|
||||
{
|
||||
static std::string(*pathBuilder)(std::string const &) = getPathBuilder();
|
||||
return (*pathBuilder)(path);
|
||||
}
|
||||
|
||||
private:
|
||||
static std::string const & getRoot()
|
||||
{
|
||||
static char const * envRoot = getenv("LOGL_ROOT_PATH");
|
||||
static char const * givenRoot = (envRoot != nullptr ? envRoot : logl_root);
|
||||
static std::string root = (givenRoot != nullptr ? givenRoot : "");
|
||||
return root;
|
||||
}
|
||||
|
||||
//static std::string(*foo (std::string const &)) getPathBuilder()
|
||||
static Builder getPathBuilder()
|
||||
{
|
||||
if (getRoot() != "")
|
||||
return &FileSystem::getPathRelativeRoot;
|
||||
else
|
||||
return &FileSystem::getPathRelativeBinary;
|
||||
}
|
||||
|
||||
static std::string getPathRelativeRoot(const std::string& path)
|
||||
{
|
||||
return getRoot() + std::string("/") + path;
|
||||
}
|
||||
|
||||
static std::string getPathRelativeBinary(const std::string& path)
|
||||
{
|
||||
return "../../../" + path;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
// FILESYSTEM_H
|
||||
#endif
|
||||
@ -0,0 +1,139 @@
|
||||
#ifndef MESH_H
|
||||
#define MESH_H
|
||||
|
||||
#include <glad/glad.h> // holds all OpenGL type declarations
|
||||
|
||||
#include <glm/glm.hpp>
|
||||
#include <glm/gtc/matrix_transform.hpp>
|
||||
|
||||
#include <learnopengl/shader.h>
|
||||
|
||||
#include <string>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <iostream>
|
||||
#include <vector>
|
||||
using namespace std;
|
||||
|
||||
struct Vertex {
|
||||
// position
|
||||
glm::vec3 Position;
|
||||
// normal
|
||||
glm::vec3 Normal;
|
||||
// texCoords
|
||||
glm::vec2 TexCoords;
|
||||
// tangent
|
||||
glm::vec3 Tangent;
|
||||
// bitangent
|
||||
glm::vec3 Bitangent;
|
||||
};
|
||||
|
||||
struct Texture {
|
||||
unsigned int id;
|
||||
string type;
|
||||
string path;
|
||||
};
|
||||
|
||||
class Mesh {
|
||||
public:
|
||||
/* Mesh Data */
|
||||
vector<Vertex> vertices;
|
||||
vector<unsigned int> indices;
|
||||
vector<Texture> textures;
|
||||
unsigned int VAO;
|
||||
|
||||
/* Functions */
|
||||
// constructor
|
||||
Mesh(vector<Vertex> vertices, vector<unsigned int> indices, vector<Texture> textures)
|
||||
{
|
||||
this->vertices = vertices;
|
||||
this->indices = indices;
|
||||
this->textures = textures;
|
||||
|
||||
// now that we have all the required data, set the vertex buffers and its attribute pointers.
|
||||
setupMesh();
|
||||
}
|
||||
|
||||
// render the mesh
|
||||
void Draw(Shader shader)
|
||||
{
|
||||
// bind appropriate textures
|
||||
unsigned int diffuseNr = 1;
|
||||
unsigned int specularNr = 1;
|
||||
unsigned int normalNr = 1;
|
||||
unsigned int heightNr = 1;
|
||||
for(unsigned int i = 0; i < textures.size(); i++)
|
||||
{
|
||||
glActiveTexture(GL_TEXTURE0 + i); // active proper texture unit before binding
|
||||
// retrieve texture number (the N in diffuse_textureN)
|
||||
string number;
|
||||
string name = textures[i].type;
|
||||
if(name == "texture_diffuse")
|
||||
number = std::to_string(diffuseNr++);
|
||||
else if(name == "texture_specular")
|
||||
number = std::to_string(specularNr++); // transfer unsigned int to stream
|
||||
else if(name == "texture_normal")
|
||||
number = std::to_string(normalNr++); // transfer unsigned int to stream
|
||||
else if(name == "texture_height")
|
||||
number = std::to_string(heightNr++); // transfer unsigned int to stream
|
||||
|
||||
// now set the sampler to the correct texture unit
|
||||
glUniform1i(glGetUniformLocation(shader.ID, (name + number).c_str()), i);
|
||||
// and finally bind the texture
|
||||
glBindTexture(GL_TEXTURE_2D, textures[i].id);
|
||||
}
|
||||
|
||||
// draw mesh
|
||||
glBindVertexArray(VAO);
|
||||
glDrawElements(GL_TRIANGLES, indices.size(), GL_UNSIGNED_INT, 0);
|
||||
glBindVertexArray(0);
|
||||
|
||||
// always good practice to set everything back to defaults once configured.
|
||||
glActiveTexture(GL_TEXTURE0);
|
||||
}
|
||||
|
||||
private:
|
||||
/* Render data */
|
||||
unsigned int VBO, EBO;
|
||||
|
||||
/* Functions */
|
||||
// initializes all the buffer objects/arrays
|
||||
void setupMesh()
|
||||
{
|
||||
// create buffers/arrays
|
||||
glGenVertexArrays(1, &VAO);
|
||||
glGenBuffers(1, &VBO);
|
||||
glGenBuffers(1, &EBO);
|
||||
|
||||
glBindVertexArray(VAO);
|
||||
// load data into vertex buffers
|
||||
glBindBuffer(GL_ARRAY_BUFFER, VBO);
|
||||
// A great thing about structs is that their memory layout is sequential for all its items.
|
||||
// The effect is that we can simply pass a pointer to the struct and it translates perfectly to a glm::vec3/2 array which
|
||||
// again translates to 3/2 floats which translates to a byte array.
|
||||
glBufferData(GL_ARRAY_BUFFER, vertices.size() * sizeof(Vertex), &vertices[0], GL_STATIC_DRAW);
|
||||
|
||||
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, EBO);
|
||||
glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.size() * sizeof(unsigned int), &indices[0], GL_STATIC_DRAW);
|
||||
|
||||
// set the vertex attribute pointers
|
||||
// vertex Positions
|
||||
glEnableVertexAttribArray(0);
|
||||
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(Vertex), (void*)0);
|
||||
// vertex normals
|
||||
glEnableVertexAttribArray(1);
|
||||
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, sizeof(Vertex), (void*)offsetof(Vertex, Normal));
|
||||
// vertex texture coords
|
||||
glEnableVertexAttribArray(2);
|
||||
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (void*)offsetof(Vertex, TexCoords));
|
||||
// vertex tangent
|
||||
glEnableVertexAttribArray(3);
|
||||
glVertexAttribPointer(3, 3, GL_FLOAT, GL_FALSE, sizeof(Vertex), (void*)offsetof(Vertex, Tangent));
|
||||
// vertex bitangent
|
||||
glEnableVertexAttribArray(4);
|
||||
glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, sizeof(Vertex), (void*)offsetof(Vertex, Bitangent));
|
||||
|
||||
glBindVertexArray(0);
|
||||
}
|
||||
};
|
||||
#endif
|
||||
@ -0,0 +1,294 @@
|
||||
#ifndef MODEL_H
|
||||
#define MODEL_H
|
||||
|
||||
#include <glad/glad.h>
|
||||
|
||||
#include <glm/glm.hpp>
|
||||
#include <glm/gtc/matrix_transform.hpp>
|
||||
#include <opencv2/imgcodecs/imgcodecs.hpp>
|
||||
#include <assimp/Importer.hpp>
|
||||
#include <assimp/scene.h>
|
||||
#include <assimp/postprocess.h>
|
||||
|
||||
#include <learnopengl/mesh.h>
|
||||
#include <learnopengl/shader.h>
|
||||
#include <glog/logging.h>
|
||||
|
||||
#include <string>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <map>
|
||||
#include <vector>
|
||||
using namespace std;
|
||||
|
||||
unsigned int TextureFromFile(const char *path, const string &directory, bool gamma = false);
|
||||
|
||||
class Model
|
||||
{
|
||||
public:
|
||||
/* Model Data */
|
||||
vector<Texture> textures_loaded; // stores all the textures loaded so far, optimization to make sure textures aren't loaded more than once.
|
||||
vector<Mesh> meshes;
|
||||
string directory;
|
||||
bool gammaCorrection;
|
||||
|
||||
/* Functions */
|
||||
// constructor, expects a filepath to a 3D model.
|
||||
Model(string const &path, bool gamma = false) : gammaCorrection(gamma)
|
||||
{
|
||||
loadModel(path);
|
||||
}
|
||||
|
||||
// draws the model, and thus all its meshes
|
||||
void Draw(Shader shader)
|
||||
{
|
||||
for(unsigned int i = 0; i < meshes.size(); i++)
|
||||
meshes[i].Draw(shader);
|
||||
}
|
||||
|
||||
private:
|
||||
/* Functions */
|
||||
// loads a model with supported ASSIMP extensions from file and stores the resulting meshes in the meshes vector.
|
||||
void loadModel(string const &path)
|
||||
{
|
||||
LOG(INFO) << "will load model at: " << path;
|
||||
// read file via ASSIMP
|
||||
Assimp::Importer importer;
|
||||
const aiScene* scene = importer.ReadFile(path, aiProcess_Triangulate | aiProcess_FlipUVs | aiProcess_CalcTangentSpace);
|
||||
// check for errors
|
||||
if(!scene || scene->mFlags & AI_SCENE_FLAGS_INCOMPLETE || !scene->mRootNode) // if is Not Zero
|
||||
{
|
||||
LOG(FATAL) << "ERROR::ASSIMP:: " << importer.GetErrorString();
|
||||
return;
|
||||
}
|
||||
// retrieve the directory path of the filepath
|
||||
directory = path.substr(0, path.find_last_of('/'));
|
||||
|
||||
// process ASSIMP's root node recursively
|
||||
processNode(scene->mRootNode, scene);
|
||||
}
|
||||
|
||||
// processes a node in a recursive fashion. Processes each individual mesh located at the node and repeats this process on its children nodes (if any).
|
||||
void processNode(aiNode *node, const aiScene *scene)
|
||||
{
|
||||
VLOG(2) << "num nodes: " << node->mNumMeshes;
|
||||
VLOG(2) << "num children: " << node->mNumChildren;
|
||||
// process each mesh located at the current node
|
||||
for(unsigned int i = 0; i < node->mNumMeshes; i++)
|
||||
{
|
||||
// the node object only contains indices to index the actual objects in the scene.
|
||||
// the scene contains all the data, node is just to keep stuff organized (like relations between nodes).
|
||||
aiMesh* mesh = scene->mMeshes[node->mMeshes[i]];
|
||||
meshes.push_back(processMesh(mesh, scene));
|
||||
}
|
||||
// after we've processed all of the meshes (if any) we then recursively process each of the children nodes
|
||||
for(unsigned int i = 0; i < node->mNumChildren; i++)
|
||||
{
|
||||
processNode(node->mChildren[i], scene);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
Mesh processMesh(aiMesh *mesh, const aiScene *scene)
|
||||
{
|
||||
// data to fill
|
||||
vector<Vertex> vertices;
|
||||
vector<unsigned int> indices;
|
||||
vector<Texture> textures;
|
||||
|
||||
VLOG(2) << "num vertices: " << mesh->mNumVertices;
|
||||
|
||||
// Walk through each of the mesh's vertices
|
||||
for(unsigned int i = 0; i < mesh->mNumVertices; i++)
|
||||
{
|
||||
Vertex vertex;
|
||||
glm::vec3 vector; // we declare a placeholder vector since assimp uses its own vector class that doesn't directly convert to glm's vec3 class so we transfer the data to this placeholder glm::vec3 first.
|
||||
// positions
|
||||
VLOG(2) << "positions";
|
||||
vector.x = mesh->mVertices[i].x;
|
||||
vector.y = mesh->mVertices[i].y;
|
||||
vector.z = mesh->mVertices[i].z;
|
||||
VLOG(3) << "xyz = " << vector.x << " " << vector.y << " " << vector.z;
|
||||
vertex.Position = vector;
|
||||
// normals
|
||||
VLOG(2) << "normals: " << mesh->mNormals;
|
||||
if (mesh->mNormals) {
|
||||
// TODO: also check for NaN values
|
||||
vector.x = mesh->mNormals[i].x;
|
||||
vector.y = mesh->mNormals[i].y;
|
||||
vector.z = mesh->mNormals[i].z;
|
||||
} else {
|
||||
VLOG(3) << "mesh does not contain normals!";
|
||||
vector.x = 0;
|
||||
vector.y = 0;
|
||||
vector.z = 0;
|
||||
}
|
||||
vertex.Normal = vector;
|
||||
// texture coordinates
|
||||
VLOG(2) << "texture coordinates";
|
||||
if(mesh->mTextureCoords[0]) // does the mesh contain texture coordinates?
|
||||
{
|
||||
VLOG(1) << "mesh contains vertex coordinates!";
|
||||
glm::vec2 vec;
|
||||
// a vertex can contain up to 8 different texture coordinates. We thus make the assumption that we won't
|
||||
// use models where a vertex can have multiple texture coordinates so we always take the first set (0).
|
||||
vec.x = mesh->mTextureCoords[0][i].x;
|
||||
vec.y = mesh->mTextureCoords[0][i].y;
|
||||
VLOG(3) << "uv = " << vec.x << " " << vec.y;
|
||||
vertex.TexCoords = vec;
|
||||
}
|
||||
else
|
||||
{
|
||||
VLOG(1) << "mesh does not contain vertex coordinates";
|
||||
vertex.TexCoords = glm::vec2(0.0f, 0.0f);
|
||||
}
|
||||
// tangent
|
||||
VLOG(2) << "tangent";
|
||||
if (mesh->mTangents) {
|
||||
vector.x = mesh->mTangents[i].x;
|
||||
vector.y = mesh->mTangents[i].y;
|
||||
vector.z = mesh->mTangents[i].z;
|
||||
} else {
|
||||
VLOG(3) << "mesh does not contain tangents!";
|
||||
vector.x = 0;
|
||||
vector.y = 0;
|
||||
vector.z = 0;
|
||||
}
|
||||
vertex.Tangent = vector;
|
||||
// bitangent
|
||||
VLOG(2) << "bitangent";
|
||||
if (mesh->mBitangents) {
|
||||
vector.x = mesh->mBitangents[i].x;
|
||||
vector.y = mesh->mBitangents[i].y;
|
||||
vector.z = mesh->mBitangents[i].z;
|
||||
} else {
|
||||
VLOG(3) << "mesh does not contain bitangents!";
|
||||
vector.x = 0;
|
||||
vector.y = 0;
|
||||
vector.z = 0;
|
||||
}
|
||||
vertex.Bitangent = vector;
|
||||
vertices.push_back(vertex);
|
||||
}
|
||||
|
||||
VLOG(2) << "num faces: " << mesh->mNumFaces;
|
||||
// now wak through each of the mesh's faces (a face is a mesh its triangle) and retrieve the corresponding vertex indices.
|
||||
for(unsigned int i = 0; i < mesh->mNumFaces; i++)
|
||||
{
|
||||
aiFace face = mesh->mFaces[i];
|
||||
// retrieve all indices of the face and store them in the indices vector
|
||||
for(unsigned int j = 0; j < face.mNumIndices; j++)
|
||||
indices.push_back(face.mIndices[j]);
|
||||
}
|
||||
// process materials
|
||||
aiMaterial* material = scene->mMaterials[mesh->mMaterialIndex];
|
||||
// we assume a convention for sampler names in the shaders. Each diffuse texture should be named
|
||||
// as 'texture_diffuseN' where N is a sequential number ranging from 1 to MAX_SAMPLER_NUMBER.
|
||||
// Same applies to other texture as the following list summarizes:
|
||||
// diffuse: texture_diffuseN
|
||||
// specular: texture_specularN
|
||||
// normal: texture_normalN
|
||||
|
||||
// 1. diffuse maps
|
||||
vector<Texture> diffuseMaps = loadMaterialTextures(material, aiTextureType_DIFFUSE, "texture_diffuse");
|
||||
textures.insert(textures.end(), diffuseMaps.begin(), diffuseMaps.end());
|
||||
// 2. specular maps
|
||||
vector<Texture> specularMaps = loadMaterialTextures(material, aiTextureType_SPECULAR, "texture_specular");
|
||||
textures.insert(textures.end(), specularMaps.begin(), specularMaps.end());
|
||||
// 3. normal maps
|
||||
std::vector<Texture> normalMaps = loadMaterialTextures(material, aiTextureType_HEIGHT, "texture_normal");
|
||||
textures.insert(textures.end(), normalMaps.begin(), normalMaps.end());
|
||||
// 4. height maps
|
||||
std::vector<Texture> heightMaps = loadMaterialTextures(material, aiTextureType_AMBIENT, "texture_height");
|
||||
textures.insert(textures.end(), heightMaps.begin(), heightMaps.end());
|
||||
|
||||
// return a mesh object created from the extracted mesh data
|
||||
return Mesh(vertices, indices, textures);
|
||||
}
|
||||
|
||||
// checks all material textures of a given type and loads the textures if they're not loaded yet.
|
||||
// the required info is returned as a Texture struct.
|
||||
vector<Texture> loadMaterialTextures(aiMaterial *mat, aiTextureType type, string typeName)
|
||||
{
|
||||
vector<Texture> textures;
|
||||
for(unsigned int i = 0; i < mat->GetTextureCount(type); i++)
|
||||
{
|
||||
VLOG(3) << "texture type: " << typeName;
|
||||
aiString str;
|
||||
mat->GetTexture(type, i, &str);
|
||||
// check if texture was loaded before and if so, continue to next iteration: skip loading a new texture
|
||||
bool skip = false;
|
||||
for(unsigned int j = 0; j < textures_loaded.size(); j++)
|
||||
{
|
||||
if(std::strcmp(textures_loaded[j].path.data(), str.C_Str()) == 0)
|
||||
{
|
||||
textures.push_back(textures_loaded[j]);
|
||||
skip = true; // a texture with the same filepath has already been loaded, continue to next one. (optimization)
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(!skip)
|
||||
{ // if texture hasn't been loaded already, load it
|
||||
VLOG(1) << "Loading texture from file: " << str.C_Str();
|
||||
Texture texture;
|
||||
texture.id = TextureFromFile(str.C_Str(), this->directory);
|
||||
VLOG(3) << "texture ID: " << texture.id;
|
||||
texture.type = typeName;
|
||||
texture.path = str.C_Str();
|
||||
textures.push_back(texture);
|
||||
textures_loaded.push_back(texture); // store it as texture loaded for entire model, to ensure we won't unnecesery load duplicate textures.
|
||||
}
|
||||
}
|
||||
return textures;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
unsigned int TextureFromFile(const char *path, const string &directory, bool gamma)
|
||||
{
|
||||
string filename = string(path);
|
||||
filename = directory + '/' + filename;
|
||||
|
||||
unsigned int textureID;
|
||||
glGenTextures(1, &textureID);
|
||||
|
||||
cv::Mat texture_mat = cv::imread(filename);
|
||||
int width = texture_mat.cols;
|
||||
int height = texture_mat.rows;
|
||||
int nrComponents = texture_mat.channels();
|
||||
VLOG(5) << "height: " << height;
|
||||
VLOG(5) << "width: " << width;
|
||||
VLOG(5) << "num components: " << nrComponents;
|
||||
unsigned char *data = texture_mat.data;
|
||||
if (data)
|
||||
{
|
||||
GLenum format;
|
||||
if (nrComponents == 1)
|
||||
format = GL_RED;
|
||||
else if (nrComponents == 3)
|
||||
format = GL_RGB;
|
||||
else if (nrComponents == 4)
|
||||
format = GL_RGBA;
|
||||
|
||||
//use fast 4-byte alignment (default anyway) if possible
|
||||
glPixelStorei(GL_UNPACK_ALIGNMENT, (texture_mat.step & 3) ? 1 : 4);
|
||||
//set length of one complete row in data (doesn't need to equal image.cols)
|
||||
glPixelStorei(GL_UNPACK_ROW_LENGTH, texture_mat.step/texture_mat.elemSize());
|
||||
|
||||
glBindTexture(GL_TEXTURE_2D, textureID);
|
||||
glTexImage2D(GL_TEXTURE_2D, 0, format, width, height, 0, format, GL_UNSIGNED_BYTE, data);
|
||||
glGenerateMipmap(GL_TEXTURE_2D);
|
||||
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << "Texture failed to load at path: " << path << std::endl;
|
||||
}
|
||||
|
||||
return textureID;
|
||||
}
|
||||
#endif
|
||||
@ -0,0 +1,193 @@
|
||||
#ifndef SHADER_H
|
||||
#define SHADER_H
|
||||
|
||||
#include <glad/glad.h>
|
||||
#include <glm/glm.hpp>
|
||||
|
||||
#include <string>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <iostream>
|
||||
|
||||
class Shader
|
||||
{
|
||||
public:
|
||||
unsigned int ID;
|
||||
// constructor generates the shader on the fly
|
||||
// ------------------------------------------------------------------------
|
||||
Shader(const char* vertexPath, const char* fragmentPath, const char* geometryPath = nullptr)
|
||||
{
|
||||
// 1. retrieve the vertex/fragment source code from filePath
|
||||
std::string vertexCode;
|
||||
std::string fragmentCode;
|
||||
std::string geometryCode;
|
||||
std::ifstream vShaderFile;
|
||||
std::ifstream fShaderFile;
|
||||
std::ifstream gShaderFile;
|
||||
// ensure ifstream objects can throw exceptions:
|
||||
vShaderFile.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
fShaderFile.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
gShaderFile.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
try
|
||||
{
|
||||
// open files
|
||||
vShaderFile.open(vertexPath);
|
||||
fShaderFile.open(fragmentPath);
|
||||
std::stringstream vShaderStream, fShaderStream;
|
||||
// read file's buffer contents into streams
|
||||
vShaderStream << vShaderFile.rdbuf();
|
||||
fShaderStream << fShaderFile.rdbuf();
|
||||
// close file handlers
|
||||
vShaderFile.close();
|
||||
fShaderFile.close();
|
||||
// convert stream into string
|
||||
vertexCode = vShaderStream.str();
|
||||
fragmentCode = fShaderStream.str();
|
||||
// if geometry shader path is present, also load a geometry shader
|
||||
if(geometryPath != nullptr)
|
||||
{
|
||||
gShaderFile.open(geometryPath);
|
||||
std::stringstream gShaderStream;
|
||||
gShaderStream << gShaderFile.rdbuf();
|
||||
gShaderFile.close();
|
||||
geometryCode = gShaderStream.str();
|
||||
}
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "ERROR::SHADER::FILE_NOT_SUCCESFULLY_READ" << std::endl;
|
||||
}
|
||||
const char* vShaderCode = vertexCode.c_str();
|
||||
const char * fShaderCode = fragmentCode.c_str();
|
||||
// 2. compile shaders
|
||||
unsigned int vertex, fragment;
|
||||
int success;
|
||||
char infoLog[512];
|
||||
// vertex shader
|
||||
vertex = glCreateShader(GL_VERTEX_SHADER);
|
||||
glShaderSource(vertex, 1, &vShaderCode, NULL);
|
||||
glCompileShader(vertex);
|
||||
checkCompileErrors(vertex, "VERTEX");
|
||||
// fragment Shader
|
||||
fragment = glCreateShader(GL_FRAGMENT_SHADER);
|
||||
glShaderSource(fragment, 1, &fShaderCode, NULL);
|
||||
glCompileShader(fragment);
|
||||
checkCompileErrors(fragment, "FRAGMENT");
|
||||
// if geometry shader is given, compile geometry shader
|
||||
unsigned int geometry;
|
||||
if(geometryPath != nullptr)
|
||||
{
|
||||
const char * gShaderCode = geometryCode.c_str();
|
||||
geometry = glCreateShader(GL_GEOMETRY_SHADER);
|
||||
glShaderSource(geometry, 1, &gShaderCode, NULL);
|
||||
glCompileShader(geometry);
|
||||
checkCompileErrors(geometry, "GEOMETRY");
|
||||
}
|
||||
// shader Program
|
||||
ID = glCreateProgram();
|
||||
glAttachShader(ID, vertex);
|
||||
glAttachShader(ID, fragment);
|
||||
if(geometryPath != nullptr)
|
||||
glAttachShader(ID, geometry);
|
||||
glLinkProgram(ID);
|
||||
checkCompileErrors(ID, "PROGRAM");
|
||||
// delete the shaders as they're linked into our program now and no longer necessery
|
||||
glDeleteShader(vertex);
|
||||
glDeleteShader(fragment);
|
||||
if(geometryPath != nullptr)
|
||||
glDeleteShader(geometry);
|
||||
|
||||
}
|
||||
// activate the shader
|
||||
// ------------------------------------------------------------------------
|
||||
void use()
|
||||
{
|
||||
glUseProgram(ID);
|
||||
}
|
||||
// utility uniform functions
|
||||
// ------------------------------------------------------------------------
|
||||
void setBool(const std::string &name, bool value) const
|
||||
{
|
||||
glUniform1i(glGetUniformLocation(ID, name.c_str()), (int)value);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setInt(const std::string &name, int value) const
|
||||
{
|
||||
glUniform1i(glGetUniformLocation(ID, name.c_str()), value);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setFloat(const std::string &name, float value) const
|
||||
{
|
||||
glUniform1f(glGetUniformLocation(ID, name.c_str()), value);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setVec2(const std::string &name, const glm::vec2 &value) const
|
||||
{
|
||||
glUniform2fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
|
||||
}
|
||||
void setVec2(const std::string &name, float x, float y) const
|
||||
{
|
||||
glUniform2f(glGetUniformLocation(ID, name.c_str()), x, y);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setVec3(const std::string &name, const glm::vec3 &value) const
|
||||
{
|
||||
glUniform3fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
|
||||
}
|
||||
void setVec3(const std::string &name, float x, float y, float z) const
|
||||
{
|
||||
glUniform3f(glGetUniformLocation(ID, name.c_str()), x, y, z);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setVec4(const std::string &name, const glm::vec4 &value) const
|
||||
{
|
||||
glUniform4fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
|
||||
}
|
||||
void setVec4(const std::string &name, float x, float y, float z, float w)
|
||||
{
|
||||
glUniform4f(glGetUniformLocation(ID, name.c_str()), x, y, z, w);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setMat2(const std::string &name, const glm::mat2 &mat) const
|
||||
{
|
||||
glUniformMatrix2fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setMat3(const std::string &name, const glm::mat3 &mat) const
|
||||
{
|
||||
glUniformMatrix3fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setMat4(const std::string &name, const glm::mat4 &mat) const
|
||||
{
|
||||
glUniformMatrix4fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
|
||||
}
|
||||
|
||||
private:
|
||||
// utility function for checking shader compilation/linking errors.
|
||||
// ------------------------------------------------------------------------
|
||||
void checkCompileErrors(GLuint shader, std::string type)
|
||||
{
|
||||
GLint success;
|
||||
GLchar infoLog[1024];
|
||||
if(type != "PROGRAM")
|
||||
{
|
||||
glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
|
||||
if(!success)
|
||||
{
|
||||
glGetShaderInfoLog(shader, 1024, NULL, infoLog);
|
||||
std::cout << "ERROR::SHADER_COMPILATION_ERROR of type: " << type << "\n" << infoLog << "\n -- --------------------------------------------------- -- " << std::endl;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
glGetProgramiv(shader, GL_LINK_STATUS, &success);
|
||||
if(!success)
|
||||
{
|
||||
glGetProgramInfoLog(shader, 1024, NULL, infoLog);
|
||||
std::cout << "ERROR::PROGRAM_LINKING_ERROR of type: " << type << "\n" << infoLog << "\n -- --------------------------------------------------- -- " << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
#endif
|
||||
@ -0,0 +1,167 @@
|
||||
#ifndef SHADER_H
|
||||
#define SHADER_H
|
||||
|
||||
#include <glad/glad.h>
|
||||
#include <glm/glm.hpp>
|
||||
|
||||
#include <string>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <iostream>
|
||||
|
||||
class Shader
|
||||
{
|
||||
public:
|
||||
unsigned int ID;
|
||||
// constructor generates the shader on the fly
|
||||
// ------------------------------------------------------------------------
|
||||
Shader(const char* vertexPath, const char* fragmentPath)
|
||||
{
|
||||
// 1. retrieve the vertex/fragment source code from filePath
|
||||
std::string vertexCode;
|
||||
std::string fragmentCode;
|
||||
std::ifstream vShaderFile;
|
||||
std::ifstream fShaderFile;
|
||||
// ensure ifstream objects can throw exceptions:
|
||||
vShaderFile.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
fShaderFile.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
try
|
||||
{
|
||||
// open files
|
||||
vShaderFile.open(vertexPath);
|
||||
fShaderFile.open(fragmentPath);
|
||||
std::stringstream vShaderStream, fShaderStream;
|
||||
// read file's buffer contents into streams
|
||||
vShaderStream << vShaderFile.rdbuf();
|
||||
fShaderStream << fShaderFile.rdbuf();
|
||||
// close file handlers
|
||||
vShaderFile.close();
|
||||
fShaderFile.close();
|
||||
// convert stream into string
|
||||
vertexCode = vShaderStream.str();
|
||||
fragmentCode = fShaderStream.str();
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "ERROR::SHADER::FILE_NOT_SUCCESFULLY_READ" << std::endl;
|
||||
}
|
||||
const char* vShaderCode = vertexCode.c_str();
|
||||
const char * fShaderCode = fragmentCode.c_str();
|
||||
// 2. compile shaders
|
||||
unsigned int vertex, fragment;
|
||||
int success;
|
||||
char infoLog[512];
|
||||
// vertex shader
|
||||
vertex = glCreateShader(GL_VERTEX_SHADER);
|
||||
glShaderSource(vertex, 1, &vShaderCode, NULL);
|
||||
glCompileShader(vertex);
|
||||
checkCompileErrors(vertex, "VERTEX");
|
||||
// fragment Shader
|
||||
fragment = glCreateShader(GL_FRAGMENT_SHADER);
|
||||
glShaderSource(fragment, 1, &fShaderCode, NULL);
|
||||
glCompileShader(fragment);
|
||||
checkCompileErrors(fragment, "FRAGMENT");
|
||||
// shader Program
|
||||
ID = glCreateProgram();
|
||||
glAttachShader(ID, vertex);
|
||||
glAttachShader(ID, fragment);
|
||||
glLinkProgram(ID);
|
||||
checkCompileErrors(ID, "PROGRAM");
|
||||
// delete the shaders as they're linked into our program now and no longer necessery
|
||||
glDeleteShader(vertex);
|
||||
glDeleteShader(fragment);
|
||||
|
||||
}
|
||||
// activate the shader
|
||||
// ------------------------------------------------------------------------
|
||||
void use() const
|
||||
{
|
||||
glUseProgram(ID);
|
||||
}
|
||||
// utility uniform functions
|
||||
// ------------------------------------------------------------------------
|
||||
void setBool(const std::string &name, bool value) const
|
||||
{
|
||||
glUniform1i(glGetUniformLocation(ID, name.c_str()), (int)value);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setInt(const std::string &name, int value) const
|
||||
{
|
||||
glUniform1i(glGetUniformLocation(ID, name.c_str()), value);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setFloat(const std::string &name, float value) const
|
||||
{
|
||||
glUniform1f(glGetUniformLocation(ID, name.c_str()), value);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setVec2(const std::string &name, const glm::vec2 &value) const
|
||||
{
|
||||
glUniform2fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
|
||||
}
|
||||
void setVec2(const std::string &name, float x, float y) const
|
||||
{
|
||||
glUniform2f(glGetUniformLocation(ID, name.c_str()), x, y);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setVec3(const std::string &name, const glm::vec3 &value) const
|
||||
{
|
||||
glUniform3fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
|
||||
}
|
||||
void setVec3(const std::string &name, float x, float y, float z) const
|
||||
{
|
||||
glUniform3f(glGetUniformLocation(ID, name.c_str()), x, y, z);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setVec4(const std::string &name, const glm::vec4 &value) const
|
||||
{
|
||||
glUniform4fv(glGetUniformLocation(ID, name.c_str()), 1, &value[0]);
|
||||
}
|
||||
void setVec4(const std::string &name, float x, float y, float z, float w) const
|
||||
{
|
||||
glUniform4f(glGetUniformLocation(ID, name.c_str()), x, y, z, w);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setMat2(const std::string &name, const glm::mat2 &mat) const
|
||||
{
|
||||
glUniformMatrix2fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setMat3(const std::string &name, const glm::mat3 &mat) const
|
||||
{
|
||||
glUniformMatrix3fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setMat4(const std::string &name, const glm::mat4 &mat) const
|
||||
{
|
||||
glUniformMatrix4fv(glGetUniformLocation(ID, name.c_str()), 1, GL_FALSE, &mat[0][0]);
|
||||
}
|
||||
|
||||
private:
|
||||
// utility function for checking shader compilation/linking errors.
|
||||
// ------------------------------------------------------------------------
|
||||
void checkCompileErrors(GLuint shader, std::string type)
|
||||
{
|
||||
GLint success;
|
||||
GLchar infoLog[1024];
|
||||
if (type != "PROGRAM")
|
||||
{
|
||||
glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
|
||||
if (!success)
|
||||
{
|
||||
glGetShaderInfoLog(shader, 1024, NULL, infoLog);
|
||||
std::cout << "ERROR::SHADER_COMPILATION_ERROR of type: " << type << "\n" << infoLog << "\n -- --------------------------------------------------- -- " << std::endl;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
glGetProgramiv(shader, GL_LINK_STATUS, &success);
|
||||
if (!success)
|
||||
{
|
||||
glGetProgramInfoLog(shader, 1024, NULL, infoLog);
|
||||
std::cout << "ERROR::PROGRAM_LINKING_ERROR of type: " << type << "\n" << infoLog << "\n -- --------------------------------------------------- -- " << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
#endif
|
||||
@ -0,0 +1,123 @@
|
||||
#ifndef SHADER_H
|
||||
#define SHADER_H
|
||||
|
||||
#include <glad/glad.h>
|
||||
|
||||
#include <string>
|
||||
#include <fstream>
|
||||
#include <sstream>
|
||||
#include <iostream>
|
||||
|
||||
class Shader
|
||||
{
|
||||
public:
|
||||
unsigned int ID;
|
||||
// constructor generates the shader on the fly
|
||||
// ------------------------------------------------------------------------
|
||||
Shader(const char* vertexPath, const char* fragmentPath)
|
||||
{
|
||||
// 1. retrieve the vertex/fragment source code from filePath
|
||||
std::string vertexCode;
|
||||
std::string fragmentCode;
|
||||
std::ifstream vShaderFile;
|
||||
std::ifstream fShaderFile;
|
||||
// ensure ifstream objects can throw exceptions:
|
||||
vShaderFile.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
fShaderFile.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
try
|
||||
{
|
||||
// open files
|
||||
vShaderFile.open(vertexPath);
|
||||
fShaderFile.open(fragmentPath);
|
||||
std::stringstream vShaderStream, fShaderStream;
|
||||
// read file's buffer contents into streams
|
||||
vShaderStream << vShaderFile.rdbuf();
|
||||
fShaderStream << fShaderFile.rdbuf();
|
||||
// close file handlers
|
||||
vShaderFile.close();
|
||||
fShaderFile.close();
|
||||
// convert stream into string
|
||||
vertexCode = vShaderStream.str();
|
||||
fragmentCode = fShaderStream.str();
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "ERROR::SHADER::FILE_NOT_SUCCESFULLY_READ" << std::endl;
|
||||
}
|
||||
const char* vShaderCode = vertexCode.c_str();
|
||||
const char * fShaderCode = fragmentCode.c_str();
|
||||
// 2. compile shaders
|
||||
unsigned int vertex, fragment;
|
||||
int success;
|
||||
char infoLog[512];
|
||||
// vertex shader
|
||||
vertex = glCreateShader(GL_VERTEX_SHADER);
|
||||
glShaderSource(vertex, 1, &vShaderCode, NULL);
|
||||
glCompileShader(vertex);
|
||||
checkCompileErrors(vertex, "VERTEX");
|
||||
// fragment Shader
|
||||
fragment = glCreateShader(GL_FRAGMENT_SHADER);
|
||||
glShaderSource(fragment, 1, &fShaderCode, NULL);
|
||||
glCompileShader(fragment);
|
||||
checkCompileErrors(fragment, "FRAGMENT");
|
||||
// shader Program
|
||||
ID = glCreateProgram();
|
||||
glAttachShader(ID, vertex);
|
||||
glAttachShader(ID, fragment);
|
||||
glLinkProgram(ID);
|
||||
checkCompileErrors(ID, "PROGRAM");
|
||||
// delete the shaders as they're linked into our program now and no longer necessary
|
||||
glDeleteShader(vertex);
|
||||
glDeleteShader(fragment);
|
||||
}
|
||||
// activate the shader
|
||||
// ------------------------------------------------------------------------
|
||||
void use()
|
||||
{
|
||||
glUseProgram(ID);
|
||||
}
|
||||
// utility uniform functions
|
||||
// ------------------------------------------------------------------------
|
||||
void setBool(const std::string &name, bool value) const
|
||||
{
|
||||
glUniform1i(glGetUniformLocation(ID, name.c_str()), (int)value);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setInt(const std::string &name, int value) const
|
||||
{
|
||||
glUniform1i(glGetUniformLocation(ID, name.c_str()), value);
|
||||
}
|
||||
// ------------------------------------------------------------------------
|
||||
void setFloat(const std::string &name, float value) const
|
||||
{
|
||||
glUniform1f(glGetUniformLocation(ID, name.c_str()), value);
|
||||
}
|
||||
|
||||
private:
|
||||
// utility function for checking shader compilation/linking errors.
|
||||
// ------------------------------------------------------------------------
|
||||
void checkCompileErrors(unsigned int shader, std::string type)
|
||||
{
|
||||
int success;
|
||||
char infoLog[1024];
|
||||
if (type != "PROGRAM")
|
||||
{
|
||||
glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
|
||||
if (!success)
|
||||
{
|
||||
glGetShaderInfoLog(shader, 1024, NULL, infoLog);
|
||||
std::cout << "ERROR::SHADER_COMPILATION_ERROR of type: " << type << "\n" << infoLog << "\n -- --------------------------------------------------- -- " << std::endl;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
glGetProgramiv(shader, GL_LINK_STATUS, &success);
|
||||
if (!success)
|
||||
{
|
||||
glGetProgramInfoLog(shader, 1024, NULL, infoLog);
|
||||
std::cout << "ERROR::PROGRAM_LINKING_ERROR of type: " << type << "\n" << infoLog << "\n -- --------------------------------------------------- -- " << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
#endif
|
||||
@ -0,0 +1,282 @@
|
||||
#ifndef __khrplatform_h_
|
||||
#define __khrplatform_h_
|
||||
|
||||
/*
|
||||
** Copyright (c) 2008-2018 The Khronos Group Inc.
|
||||
**
|
||||
** Permission is hereby granted, free of charge, to any person obtaining a
|
||||
** copy of this software and/or associated documentation files (the
|
||||
** "Materials"), to deal in the Materials without restriction, including
|
||||
** without limitation the rights to use, copy, modify, merge, publish,
|
||||
** distribute, sublicense, and/or sell copies of the Materials, and to
|
||||
** permit persons to whom the Materials are furnished to do so, subject to
|
||||
** the following conditions:
|
||||
**
|
||||
** The above copyright notice and this permission notice shall be included
|
||||
** in all copies or substantial portions of the Materials.
|
||||
**
|
||||
** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
|
||||
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
|
||||
** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
|
||||
** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
|
||||
** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
|
||||
*/
|
||||
|
||||
/* Khronos platform-specific types and definitions.
|
||||
*
|
||||
* The master copy of khrplatform.h is maintained in the Khronos EGL
|
||||
* Registry repository at https://github.com/KhronosGroup/EGL-Registry
|
||||
* The last semantic modification to khrplatform.h was at commit ID:
|
||||
* 67a3e0864c2d75ea5287b9f3d2eb74a745936692
|
||||
*
|
||||
* Adopters may modify this file to suit their platform. Adopters are
|
||||
* encouraged to submit platform specific modifications to the Khronos
|
||||
* group so that they can be included in future versions of this file.
|
||||
* Please submit changes by filing pull requests or issues on
|
||||
* the EGL Registry repository linked above.
|
||||
*
|
||||
*
|
||||
* See the Implementer's Guidelines for information about where this file
|
||||
* should be located on your system and for more details of its use:
|
||||
* http://www.khronos.org/registry/implementers_guide.pdf
|
||||
*
|
||||
* This file should be included as
|
||||
* #include <KHR/khrplatform.h>
|
||||
* by Khronos client API header files that use its types and defines.
|
||||
*
|
||||
* The types in khrplatform.h should only be used to define API-specific types.
|
||||
*
|
||||
* Types defined in khrplatform.h:
|
||||
* khronos_int8_t signed 8 bit
|
||||
* khronos_uint8_t unsigned 8 bit
|
||||
* khronos_int16_t signed 16 bit
|
||||
* khronos_uint16_t unsigned 16 bit
|
||||
* khronos_int32_t signed 32 bit
|
||||
* khronos_uint32_t unsigned 32 bit
|
||||
* khronos_int64_t signed 64 bit
|
||||
* khronos_uint64_t unsigned 64 bit
|
||||
* khronos_intptr_t signed same number of bits as a pointer
|
||||
* khronos_uintptr_t unsigned same number of bits as a pointer
|
||||
* khronos_ssize_t signed size
|
||||
* khronos_usize_t unsigned size
|
||||
* khronos_float_t signed 32 bit floating point
|
||||
* khronos_time_ns_t unsigned 64 bit time in nanoseconds
|
||||
* khronos_utime_nanoseconds_t unsigned time interval or absolute time in
|
||||
* nanoseconds
|
||||
* khronos_stime_nanoseconds_t signed time interval in nanoseconds
|
||||
* khronos_boolean_enum_t enumerated boolean type. This should
|
||||
* only be used as a base type when a client API's boolean type is
|
||||
* an enum. Client APIs which use an integer or other type for
|
||||
* booleans cannot use this as the base type for their boolean.
|
||||
*
|
||||
* Tokens defined in khrplatform.h:
|
||||
*
|
||||
* KHRONOS_FALSE, KHRONOS_TRUE Enumerated boolean false/true values.
|
||||
*
|
||||
* KHRONOS_SUPPORT_INT64 is 1 if 64 bit integers are supported; otherwise 0.
|
||||
* KHRONOS_SUPPORT_FLOAT is 1 if floats are supported; otherwise 0.
|
||||
*
|
||||
* Calling convention macros defined in this file:
|
||||
* KHRONOS_APICALL
|
||||
* KHRONOS_APIENTRY
|
||||
* KHRONOS_APIATTRIBUTES
|
||||
*
|
||||
* These may be used in function prototypes as:
|
||||
*
|
||||
* KHRONOS_APICALL void KHRONOS_APIENTRY funcname(
|
||||
* int arg1,
|
||||
* int arg2) KHRONOS_APIATTRIBUTES;
|
||||
*/
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
* Definition of KHRONOS_APICALL
|
||||
*-------------------------------------------------------------------------
|
||||
* This precedes the return type of the function in the function prototype.
|
||||
*/
|
||||
#if defined(_WIN32) && !defined(__SCITECH_SNAP__)
|
||||
# define KHRONOS_APICALL __declspec(dllimport)
|
||||
#elif defined (__SYMBIAN32__)
|
||||
# define KHRONOS_APICALL IMPORT_C
|
||||
#elif defined(__ANDROID__)
|
||||
# define KHRONOS_APICALL __attribute__((visibility("default")))
|
||||
#else
|
||||
# define KHRONOS_APICALL
|
||||
#endif
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
* Definition of KHRONOS_APIENTRY
|
||||
*-------------------------------------------------------------------------
|
||||
* This follows the return type of the function and precedes the function
|
||||
* name in the function prototype.
|
||||
*/
|
||||
#if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__)
|
||||
/* Win32 but not WinCE */
|
||||
# define KHRONOS_APIENTRY __stdcall
|
||||
#else
|
||||
# define KHRONOS_APIENTRY
|
||||
#endif
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
* Definition of KHRONOS_APIATTRIBUTES
|
||||
*-------------------------------------------------------------------------
|
||||
* This follows the closing parenthesis of the function prototype arguments.
|
||||
*/
|
||||
#if defined (__ARMCC_2__)
|
||||
#define KHRONOS_APIATTRIBUTES __softfp
|
||||
#else
|
||||
#define KHRONOS_APIATTRIBUTES
|
||||
#endif
|
||||
|
||||
/*-------------------------------------------------------------------------
|
||||
* basic type definitions
|
||||
*-----------------------------------------------------------------------*/
|
||||
#if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__)
|
||||
|
||||
|
||||
/*
|
||||
* Using <stdint.h>
|
||||
*/
|
||||
#include <stdint.h>
|
||||
typedef int32_t khronos_int32_t;
|
||||
typedef uint32_t khronos_uint32_t;
|
||||
typedef int64_t khronos_int64_t;
|
||||
typedef uint64_t khronos_uint64_t;
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#elif defined(__VMS ) || defined(__sgi)
|
||||
|
||||
/*
|
||||
* Using <inttypes.h>
|
||||
*/
|
||||
#include <inttypes.h>
|
||||
typedef int32_t khronos_int32_t;
|
||||
typedef uint32_t khronos_uint32_t;
|
||||
typedef int64_t khronos_int64_t;
|
||||
typedef uint64_t khronos_uint64_t;
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#elif defined(_WIN32) && !defined(__SCITECH_SNAP__)
|
||||
|
||||
/*
|
||||
* Win32
|
||||
*/
|
||||
typedef __int32 khronos_int32_t;
|
||||
typedef unsigned __int32 khronos_uint32_t;
|
||||
typedef __int64 khronos_int64_t;
|
||||
typedef unsigned __int64 khronos_uint64_t;
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#elif defined(__sun__) || defined(__digital__)
|
||||
|
||||
/*
|
||||
* Sun or Digital
|
||||
*/
|
||||
typedef int khronos_int32_t;
|
||||
typedef unsigned int khronos_uint32_t;
|
||||
#if defined(__arch64__) || defined(_LP64)
|
||||
typedef long int khronos_int64_t;
|
||||
typedef unsigned long int khronos_uint64_t;
|
||||
#else
|
||||
typedef long long int khronos_int64_t;
|
||||
typedef unsigned long long int khronos_uint64_t;
|
||||
#endif /* __arch64__ */
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#elif 0
|
||||
|
||||
/*
|
||||
* Hypothetical platform with no float or int64 support
|
||||
*/
|
||||
typedef int khronos_int32_t;
|
||||
typedef unsigned int khronos_uint32_t;
|
||||
#define KHRONOS_SUPPORT_INT64 0
|
||||
#define KHRONOS_SUPPORT_FLOAT 0
|
||||
|
||||
#else
|
||||
|
||||
/*
|
||||
* Generic fallback
|
||||
*/
|
||||
#include <stdint.h>
|
||||
typedef int32_t khronos_int32_t;
|
||||
typedef uint32_t khronos_uint32_t;
|
||||
typedef int64_t khronos_int64_t;
|
||||
typedef uint64_t khronos_uint64_t;
|
||||
#define KHRONOS_SUPPORT_INT64 1
|
||||
#define KHRONOS_SUPPORT_FLOAT 1
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* Types that are (so far) the same on all platforms
|
||||
*/
|
||||
typedef signed char khronos_int8_t;
|
||||
typedef unsigned char khronos_uint8_t;
|
||||
typedef signed short int khronos_int16_t;
|
||||
typedef unsigned short int khronos_uint16_t;
|
||||
|
||||
/*
|
||||
* Types that differ between LLP64 and LP64 architectures - in LLP64,
|
||||
* pointers are 64 bits, but 'long' is still 32 bits. Win64 appears
|
||||
* to be the only LLP64 architecture in current use.
|
||||
*/
|
||||
#ifdef _WIN64
|
||||
typedef signed long long int khronos_intptr_t;
|
||||
typedef unsigned long long int khronos_uintptr_t;
|
||||
typedef signed long long int khronos_ssize_t;
|
||||
typedef unsigned long long int khronos_usize_t;
|
||||
#else
|
||||
typedef signed long int khronos_intptr_t;
|
||||
typedef unsigned long int khronos_uintptr_t;
|
||||
typedef signed long int khronos_ssize_t;
|
||||
typedef unsigned long int khronos_usize_t;
|
||||
#endif
|
||||
|
||||
#if KHRONOS_SUPPORT_FLOAT
|
||||
/*
|
||||
* Float type
|
||||
*/
|
||||
typedef float khronos_float_t;
|
||||
#endif
|
||||
|
||||
#if KHRONOS_SUPPORT_INT64
|
||||
/* Time types
|
||||
*
|
||||
* These types can be used to represent a time interval in nanoseconds or
|
||||
* an absolute Unadjusted System Time. Unadjusted System Time is the number
|
||||
* of nanoseconds since some arbitrary system event (e.g. since the last
|
||||
* time the system booted). The Unadjusted System Time is an unsigned
|
||||
* 64 bit value that wraps back to 0 every 584 years. Time intervals
|
||||
* may be either signed or unsigned.
|
||||
*/
|
||||
typedef khronos_uint64_t khronos_utime_nanoseconds_t;
|
||||
typedef khronos_int64_t khronos_stime_nanoseconds_t;
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Dummy value used to pad enum types to 32 bits.
|
||||
*/
|
||||
#ifndef KHRONOS_MAX_ENUM
|
||||
#define KHRONOS_MAX_ENUM 0x7FFFFFFF
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Enumerated boolean type
|
||||
*
|
||||
* Values other than zero should be considered to be true. Therefore
|
||||
* comparisons should not be made against KHRONOS_TRUE.
|
||||
*/
|
||||
typedef enum {
|
||||
KHRONOS_FALSE = 0,
|
||||
KHRONOS_TRUE = 1,
|
||||
KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM
|
||||
} khronos_boolean_enum_t;
|
||||
|
||||
#endif /* __khrplatform_h_ */
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
22
event_camera_simulator/imp/imp_opengl_renderer/package.xml
Normal file
22
event_camera_simulator/imp/imp_opengl_renderer/package.xml
Normal file
@ -0,0 +1,22 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>imp_opengl_renderer</name>
|
||||
<version>0.0.0</version>
|
||||
<description>OpenGL based rendering engine.</description>
|
||||
|
||||
<maintainer email="rebecq@ifi.uzh.ch">Henri Rebecq</maintainer>
|
||||
|
||||
<license>GPLv3</license>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<buildtool_depend>catkin_simple</buildtool_depend>
|
||||
|
||||
<depend>esim_common</depend>
|
||||
<depend>esim_rendering</depend>
|
||||
<depend>ze_common</depend>
|
||||
<depend>ze_cameras</depend>
|
||||
<depend>gflags_catkin</depend>
|
||||
<depend>glog_catkin</depend>
|
||||
<depend>assimp_catkin</depend>
|
||||
|
||||
</package>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 512 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 769 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 81 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 638 KiB |
@ -0,0 +1,102 @@
|
||||
# timestamp, x, y, z, qx, qy, qz, qw
|
||||
0.000000, -2.000000, -1.000000, -1.500000, 0.000000, 0.000000, 0.000000, 1.000000
|
||||
10000000.000000, -1.970000, -0.950000, -1.450490, 0.000000, 0.062791, 0.000000, 0.998027
|
||||
20000000.000000, -1.940000, -0.900000, -1.401962, 0.000000, 0.125333, 0.000000, 0.992115
|
||||
30000000.000000, -1.910000, -0.850000, -1.354415, 0.000000, 0.187381, 0.000000, 0.982287
|
||||
40000000.000000, -1.880000, -0.800000, -1.307848, 0.000000, 0.248690, 0.000000, 0.968583
|
||||
50000000.000000, -1.850000, -0.750000, -1.262263, 0.000000, 0.309017, 0.000000, 0.951057
|
||||
60000000.000000, -1.820000, -0.700000, -1.217658, 0.000000, 0.368125, 0.000000, 0.929776
|
||||
70000000.000000, -1.790000, -0.650000, -1.174034, 0.000000, 0.425779, 0.000000, 0.904827
|
||||
80000000.000000, -1.760000, -0.600000, -1.131392, 0.000000, 0.481754, 0.000000, 0.876307
|
||||
90000000.000000, -1.730000, -0.550000, -1.089730, 0.000000, 0.535827, 0.000000, 0.844328
|
||||
100000000.000000, -1.700000, -0.500000, -1.049050, 0.000000, 0.587785, 0.000000, 0.809017
|
||||
110000000.000000, -1.670000, -0.450000, -1.009351, 0.000000, 0.637424, 0.000000, 0.770513
|
||||
120000000.000000, -1.640000, -0.400000, -0.970632, 0.000000, 0.684547, 0.000000, 0.728969
|
||||
130000000.000000, -1.610000, -0.350000, -0.932894, 0.000000, 0.728969, 0.000000, 0.684547
|
||||
140000000.000000, -1.580000, -0.300000, -0.896138, 0.000000, 0.770513, 0.000000, 0.637424
|
||||
150000000.000000, -1.550000, -0.250000, -0.860363, 0.000000, 0.809017, 0.000000, 0.587785
|
||||
160000000.000000, -1.520000, -0.200000, -0.825568, 0.000000, 0.844328, 0.000000, 0.535827
|
||||
170000000.000000, -1.490000, -0.150000, -0.791754, 0.000000, 0.876307, 0.000000, 0.481754
|
||||
180000000.000000, -1.460000, -0.100000, -0.758922, 0.000000, 0.904827, 0.000000, 0.425779
|
||||
190000000.000000, -1.430000, -0.050000, -0.727071, 0.000000, 0.929776, 0.000000, 0.368125
|
||||
200000000.000000, -1.400000, 0.000000, -0.696200, 0.000000, 0.951057, 0.000000, 0.309017
|
||||
210000000.000000, -1.370000, 0.050000, -0.666310, 0.000000, 0.968583, 0.000000, 0.248690
|
||||
220000000.000000, -1.340000, 0.100000, -0.637402, 0.000000, 0.982287, 0.000000, 0.187381
|
||||
230000000.000000, -1.310000, 0.150000, -0.609474, 0.000000, 0.992115, 0.000000, 0.125333
|
||||
240000000.000000, -1.280000, 0.200000, -0.582528, 0.000000, 0.998027, 0.000000, 0.062791
|
||||
250000000.000000, -1.250000, 0.250000, -0.556563, 0.000000, 1.000000, 0.000000, 0.000000
|
||||
260000000.000000, -1.220000, 0.300000, -0.531578, 0.000000, 0.998027, 0.000000, -0.062791
|
||||
270000000.000000, -1.190000, 0.350000, -0.507575, 0.000000, 0.992115, 0.000000, -0.125333
|
||||
280000000.000000, -1.160000, 0.400000, -0.484552, 0.000000, 0.982287, 0.000000, -0.187381
|
||||
290000000.000000, -1.130000, 0.450000, -0.462511, 0.000000, 0.968583, 0.000000, -0.248690
|
||||
300000000.000000, -1.100000, 0.500000, -0.441450, 0.000000, 0.951057, 0.000000, -0.309017
|
||||
310000000.000000, -1.070000, 0.550000, -0.421370, 0.000000, 0.929776, 0.000000, -0.368125
|
||||
320000000.000000, -1.040000, 0.600000, -0.402272, 0.000000, 0.904827, 0.000000, -0.425779
|
||||
330000000.000000, -1.010000, 0.650000, -0.384154, 0.000000, 0.876307, 0.000000, -0.481754
|
||||
340000000.000000, -0.980000, 0.700000, -0.367018, 0.000000, 0.844328, 0.000000, -0.535827
|
||||
350000000.000000, -0.950000, 0.750000, -0.350862, 0.000000, 0.809017, 0.000000, -0.587785
|
||||
360000000.000000, -0.920000, 0.800000, -0.335688, 0.000000, 0.770513, 0.000000, -0.637424
|
||||
370000000.000000, -0.890000, 0.850000, -0.321494, 0.000000, 0.728969, 0.000000, -0.684547
|
||||
380000000.000000, -0.860000, 0.900000, -0.308282, 0.000000, 0.684547, 0.000000, -0.728969
|
||||
390000000.000000, -0.830000, 0.950000, -0.296050, 0.000000, 0.637424, 0.000000, -0.770513
|
||||
400000000.000000, -0.800000, 1.000000, -0.284800, 0.000000, 0.587785, 0.000000, -0.809017
|
||||
410000000.000000, -0.770000, 1.050000, -0.274530, 0.000000, 0.535827, 0.000000, -0.844328
|
||||
420000000.000000, -0.740000, 1.100000, -0.265242, 0.000000, 0.481754, 0.000000, -0.876307
|
||||
430000000.000000, -0.710000, 1.150000, -0.256935, 0.000000, 0.425779, 0.000000, -0.904827
|
||||
440000000.000000, -0.680000, 1.200000, -0.249608, 0.000000, 0.368125, 0.000000, -0.929776
|
||||
450000000.000000, -0.650000, 1.250000, -0.243263, 0.000000, 0.309017, 0.000000, -0.951057
|
||||
460000000.000000, -0.620000, 1.300000, -0.237898, 0.000000, 0.248690, 0.000000, -0.968583
|
||||
470000000.000000, -0.590000, 1.350000, -0.233515, 0.000000, 0.187381, 0.000000, -0.982287
|
||||
480000000.000000, -0.560000, 1.400000, -0.230112, 0.000000, 0.125333, 0.000000, -0.992115
|
||||
490000000.000000, -0.530000, 1.450000, -0.227690, 0.000000, 0.062791, 0.000000, -0.998027
|
||||
500000000.000000, -0.500000, 1.500000, -0.226250, 0.000000, 0.000000, 0.000000, -1.000000
|
||||
510000000.000000, -0.470000, 1.550000, -0.225791, 0.000000, -0.062791, 0.000000, -0.998027
|
||||
520000000.000000, -0.440000, 1.600000, -0.226312, 0.000000, -0.125333, 0.000000, -0.992115
|
||||
530000000.000000, -0.410000, 1.650000, -0.227814, 0.000000, -0.187381, 0.000000, -0.982287
|
||||
540000000.000000, -0.380000, 1.700000, -0.230298, 0.000000, -0.248690, 0.000000, -0.968583
|
||||
550000000.000000, -0.350000, 1.750000, -0.233763, 0.000000, -0.309017, 0.000000, -0.951057
|
||||
560000000.000000, -0.320000, 1.800000, -0.238208, 0.000000, -0.368125, 0.000000, -0.929776
|
||||
570000000.000000, -0.290000, 1.850000, -0.243634, 0.000000, -0.425779, 0.000000, -0.904827
|
||||
580000000.000000, -0.260000, 1.900000, -0.250042, 0.000000, -0.481754, 0.000000, -0.876307
|
||||
590000000.000000, -0.230000, 1.950000, -0.257431, 0.000000, -0.535827, 0.000000, -0.844328
|
||||
600000000.000000, -0.200000, 2.000000, -0.265800, 0.000000, -0.587785, 0.000000, -0.809017
|
||||
610000000.000000, -0.170000, 2.050000, -0.275151, 0.000000, -0.637424, 0.000000, -0.770513
|
||||
620000000.000000, -0.140000, 2.100000, -0.285482, 0.000000, -0.684547, 0.000000, -0.728969
|
||||
630000000.000000, -0.110000, 2.150000, -0.296795, 0.000000, -0.728969, 0.000000, -0.684547
|
||||
640000000.000000, -0.080000, 2.200000, -0.309088, 0.000000, -0.770513, 0.000000, -0.637424
|
||||
650000000.000000, -0.050000, 2.250000, -0.322363, 0.000000, -0.809017, 0.000000, -0.587785
|
||||
660000000.000000, -0.020000, 2.300000, -0.336618, 0.000000, -0.844328, 0.000000, -0.535827
|
||||
670000000.000000, 0.010000, 2.350000, -0.351854, 0.000000, -0.876307, 0.000000, -0.481754
|
||||
680000000.000000, 0.040000, 2.400000, -0.368072, 0.000000, -0.904827, 0.000000, -0.425779
|
||||
690000000.000000, 0.070000, 2.450000, -0.385270, 0.000000, -0.929776, 0.000000, -0.368125
|
||||
700000000.000000, 0.100000, 2.500000, -0.403450, 0.000000, -0.951057, 0.000000, -0.309017
|
||||
710000000.000000, 0.130000, 2.550000, -0.422611, 0.000000, -0.968583, 0.000000, -0.248690
|
||||
720000000.000000, 0.160000, 2.600000, -0.442752, 0.000000, -0.982287, 0.000000, -0.187381
|
||||
730000000.000000, 0.190000, 2.650000, -0.463874, 0.000000, -0.992115, 0.000000, -0.125333
|
||||
740000000.000000, 0.220000, 2.700000, -0.485978, 0.000000, -0.998027, 0.000000, -0.062791
|
||||
750000000.000000, 0.250000, 2.750000, -0.509063, 0.000000, -1.000000, 0.000000, -0.000000
|
||||
760000000.000000, 0.280000, 2.800000, -0.533128, 0.000000, -0.998027, 0.000000, 0.062791
|
||||
770000000.000000, 0.310000, 2.850000, -0.558174, 0.000000, -0.992115, 0.000000, 0.125333
|
||||
780000000.000000, 0.340000, 2.900000, -0.584202, 0.000000, -0.982287, 0.000000, 0.187381
|
||||
790000000.000000, 0.370000, 2.950000, -0.611211, 0.000000, -0.968583, 0.000000, 0.248690
|
||||
800000000.000000, 0.400000, 3.000000, -0.639200, 0.000000, -0.951057, 0.000000, 0.309017
|
||||
810000000.000000, 0.430000, 3.050000, -0.668171, 0.000000, -0.929776, 0.000000, 0.368125
|
||||
820000000.000000, 0.460000, 3.100000, -0.698122, 0.000000, -0.904827, 0.000000, 0.425779
|
||||
830000000.000000, 0.490000, 3.150000, -0.729055, 0.000000, -0.876307, 0.000000, 0.481754
|
||||
840000000.000000, 0.520000, 3.200000, -0.760968, 0.000000, -0.844328, 0.000000, 0.535827
|
||||
850000000.000000, 0.550000, 3.250000, -0.793862, 0.000000, -0.809017, 0.000000, 0.587785
|
||||
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||||
870000000.000000, 0.610000, 3.350000, -0.862595, 0.000000, -0.728969, 0.000000, 0.684547
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||||
880000000.000000, 0.640000, 3.400000, -0.898432, 0.000000, -0.684547, 0.000000, 0.728969
|
||||
890000000.000000, 0.670000, 3.450000, -0.935250, 0.000000, -0.637424, 0.000000, 0.770513
|
||||
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|
||||
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|
||||
920000000.000000, 0.760000, 3.600000, -1.051592, 0.000000, -0.481754, 0.000000, 0.876307
|
||||
930000000.000000, 0.790000, 3.650000, -1.092335, 0.000000, -0.425779, 0.000000, 0.904827
|
||||
940000000.000000, 0.820000, 3.700000, -1.134058, 0.000000, -0.368125, 0.000000, 0.929776
|
||||
950000000.000000, 0.850000, 3.750000, -1.176762, 0.000000, -0.309017, 0.000000, 0.951057
|
||||
960000000.000000, 0.880000, 3.800000, -1.220448, 0.000000, -0.248690, 0.000000, 0.968583
|
||||
970000000.000000, 0.910000, 3.850000, -1.265115, 0.000000, -0.187381, 0.000000, 0.982287
|
||||
980000000.000000, 0.940000, 3.900000, -1.310762, 0.000000, -0.125333, 0.000000, 0.992115
|
||||
990000000.000000, 0.970000, 3.950000, -1.357391, 0.000000, -0.062791, 0.000000, 0.998027
|
||||
1000000000.000000, 1.000000, 4.000000, -1.405000, 0.000000, -0.000000, 0.000000, 1.000000
|
||||
|
@ -0,0 +1,56 @@
|
||||
# Blender MTL File: 'American_Football_edited.blend'
|
||||
# Material Count: 5
|
||||
|
||||
newmtl FbBrown
|
||||
Ns 96.078431
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.463830 0.193594 0.054864
|
||||
Ks 0.300000 0.300000 0.300000
|
||||
Ke 0.008000 0.003339 0.000946
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd ColorMap.png
|
||||
map_Bump NormalMap.png
|
||||
|
||||
newmtl FbBrown_FB_UV
|
||||
Ns 96.078431
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.463830 0.193594 0.054864
|
||||
Ks 0.300000 0.300000 0.300000
|
||||
Ke 0.008000 0.003339 0.000946
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Bump NormalMap.png
|
||||
map_Kd ColorMap.png
|
||||
|
||||
newmtl FbWhite
|
||||
Ns 96.078431
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Ka 1.000000 1.000000 1.000000
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Kd 0.793498 0.766269 0.800000
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Ks 0.300000 0.300000 0.300000
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Ke 0.009919 0.009578 0.010000
|
||||
Ni 1.000000
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d 1.000000
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illum 2
|
||||
map_Kd ColorMap.png
|
||||
map_Bump NormalMap.png
|
||||
|
||||
newmtl Material.003
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Ns 96.078431
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Ka 1.000000 1.000000 1.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.145390 0.145390 0.145390
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
|
||||
|
||||
newmtl None
|
||||
Ns 0
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||||
Ka 0.000000 0.000000 0.000000
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||||
Kd 0.8 0.8 0.8
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Ks 0.8 0.8 0.8
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d 1
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illum 2
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File diff suppressed because it is too large
Load Diff
@ -0,0 +1,24 @@
|
||||
# Blender MTL File: 'soccerball.blend'
|
||||
# Material Count: 2
|
||||
|
||||
newmtl BLACK
|
||||
Ns 37.254902
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Kd 0.000000 0.000000 0.000000
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Ks 0.800000 0.800000 0.800000
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
|
||||
map_Bump LEATHBUMP.jpg
|
||||
|
||||
newmtl WHITE
|
||||
Ns 0.000000
|
||||
Ka 1.000000 1.000000 1.000000
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||||
Kd 0.650000 0.650000 0.650000
|
||||
Ks 0.105344 0.105344 0.105344
|
||||
Ke 0.050000 0.050000 0.050000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
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illum 2
|
||||
map_Bump LEATHBUMP.jpg
|
||||
File diff suppressed because it is too large
Load Diff
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680000000.000000, -2.500000, 2.640000, -0.010000, 0.441593, -0.485286, -0.558151, 0.507898
|
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690000000.000000, -2.500000, 2.620000, -0.017500, 0.447764, -0.478361, -0.551518, 0.516242
|
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|
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|
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|
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850000000.000000, -2.500000, 2.300000, -0.137500, 0.508987, -0.374569, -0.459354, 0.624199
|
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|
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|
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|
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|
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|
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|
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920000000.000000, -2.500000, 2.160000, -0.190000, 0.518199, -0.337604, -0.428948, 0.658405
|
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930000000.000000, -2.500000, 2.140000, -0.197500, 0.518908, -0.332790, -0.425071, 0.662797
|
||||
940000000.000000, -2.500000, 2.120000, -0.205000, 0.519487, -0.328089, -0.421303, 0.667079
|
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|
||||
960000000.000000, -2.500000, 2.080000, -0.220000, 0.520282, -0.319014, -0.414083, 0.675331
|
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970000000.000000, -2.500000, 2.060000, -0.227500, 0.520511, -0.314636, -0.410625, 0.679308
|
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980000000.000000, -2.500000, 2.040000, -0.235000, 0.520634, -0.310360, -0.407265, 0.683192
|
||||
990000000.000000, -2.500000, 2.020000, -0.242500, 0.520658, -0.306186, -0.403999, 0.686986
|
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1000000000.000000, -2.500000, 2.000000, -0.250000, 0.520588, -0.302109, -0.400825, 0.690694
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|
Binary file not shown.
|
After Width: | Height: | Size: 5.1 MiB |
Binary file not shown.
|
After Width: | Height: | Size: 715 KiB |
@ -0,0 +1,57 @@
|
||||
# Blender MTL File: 'flying_room.blend'
|
||||
# Material Count: 5
|
||||
|
||||
newmtl Material
|
||||
Ns 96.078431
|
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|
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Kd 0.800000 0.800000 0.800000
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Ks 0.000000 0.000000 0.000000
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Ke 0.000000 0.000000 0.000000
|
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Ni 1.000000
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d 1.000000
|
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illum 1
|
||||
map_Kd grass.jpg
|
||||
|
||||
newmtl Material.001
|
||||
Ns 96.078431
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Kd 0.800000 0.800000 0.800000
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Ks 0.000000 0.000000 0.000000
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
|
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illum 1
|
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map_Kd concrete3.jpg
|
||||
|
||||
newmtl carpet
|
||||
Ns 96.078431
|
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|
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Kd 0.800000 0.800000 0.800000
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Ks 0.000000 0.000000 0.000000
|
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Ke 0.000000 0.000000 0.000000
|
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Ni 1.000000
|
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d 1.000000
|
||||
illum 1
|
||||
map_Kd carpet.jpg
|
||||
|
||||
newmtl cube1_rocks
|
||||
Ns 96.078431
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 1
|
||||
map_Kd rocks.jpg
|
||||
|
||||
newmtl cube_leaves
|
||||
Ns 96.078431
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
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||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 1
|
||||
map_Kd leaves.jpg
|
||||
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||||
focal length,focal length mm,image width,image height,sensor width mm,sensor height mm,clip start,clip end,color depth,depth depth
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1050.0,35.0,960.0,540.0,32.0,18.0,0.10000000149011612,100.0,255,255
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||||
|
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|
||||
# timestamp, x, y, z, qx, qy, qz, qw
|
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200000000.0,-5.000000953674316,-12.37393569946289,2.030616044998169,0.7019084095954895,-0.14193297922611237,-0.13833852112293243,0.6841360330581665
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240000000.0,-5.000000953674316,-12.169336318969727,2.038764715194702,0.7014273405075073,-0.14283622801303864,-0.13933533430099487,0.6842391490936279
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280000000.0,-5.000000953674316,-11.964752197265625,2.0473248958587646,0.7009315490722656,-0.14370745420455933,-0.14031033217906952,0.6843655705451965
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320000000.0,-5.000000953674316,-11.76016902923584,2.0558853149414062,0.7004286050796509,-0.14458753168582916,-0.14129705727100372,0.6844920516014099
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360000000.0,-5.000000953674316,-11.555583000183105,2.064373016357422,0.699920654296875,-0.14547698199748993,-0.14229533076286316,0.6846164464950562
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400000000.0,-5.000000953674316,-11.350959777832031,2.071916103363037,0.6994358897209167,-0.14632371068000793,-0.1432470828294754,0.6847329139709473
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440000000.0,-5.000000953674316,-11.146337509155273,2.0794591903686523,0.6989464163780212,-0.14715451002120972,-0.14418749511241913,0.6848572492599487
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480000000.0,-5.000000953674316,-10.9417085647583,2.086818218231201,0.6984549760818481,-0.1479952335357666,-0.14513856172561646,0.6849765777587891
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560000000.0,-5.000000953674316,-10.532341957092285,2.0980420112609863,0.6975494623184204,-0.1497012823820114,-0.14703398942947388,0.6851242780685425
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640000000.0,-5.000000953674316,-10.122913360595703,2.1061322689056396,0.6967113018035889,-0.15139999985694885,-0.14889806509017944,0.6852012872695923
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720000000.0,-5.000000476837158,-9.713434219360352,2.1112163066864014,0.6959349513053894,-0.15313975512981415,-0.15077531337738037,0.6851931810379028
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760000000.0,-5.000000476837158,-9.508681297302246,2.1102542877197266,0.6956420540809631,-0.1540134847164154,-0.15167780220508575,0.6850955486297607
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840000000.0,-5.000000476837158,-9.099189758300781,2.1074962615966797,0.6950656771659851,-0.15579771995544434,-0.15351137518882751,0.6848686933517456
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880000000.0,-5.000000476837158,-8.894523620605469,2.101529121398926,0.6949037909507751,-0.1567314863204956,-0.15441077947616577,0.6846176385879517
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920000000.0,-5.000000476837158,-8.689857482910156,2.095561981201172,0.6947406530380249,-0.15766645967960358,-0.15531103312969208,0.6843648552894592
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960000000.0,-5.000000476837158,-8.485251426696777,2.088304281234741,0.6946119666099548,-0.15862111747264862,-0.1562129259109497,0.6840695142745972
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1240000000.0,-4.892324447631836,-7.0799479484558105,1.9607391357421875,0.6968091130256653,-0.16271443665027618,-0.1588483601808548,0.6802560687065125
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1280000000.0,-4.822073936462402,-6.892427444458008,1.9399958848953247,0.6976358294487,-0.16159389913082123,-0.15750540792942047,0.6799880266189575
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1320000000.0,-4.733088493347168,-6.715956211090088,1.9221041202545166,0.698542594909668,-0.15973959863185883,-0.15548934042453766,0.6799592971801758
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1720000000.0,-3.077617883682251,-5.541566371917725,1.9064830541610718,0.7078908681869507,-0.1060977429151535,-0.10350463539361954,0.6905944347381592
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1760000000.0,-2.9028496742248535,-5.435142517089844,1.911694884300232,0.7084603309631348,-0.09993335604667664,-0.09758134186267853,0.6917913556098938
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1800000000.0,-2.7314724922180176,-5.323799133300781,1.9173935651779175,0.7089425921440125,-0.09388077259063721,-0.09176100045442581,0.6929407119750977
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1840000000.0,-2.5662014484405518,-5.203601837158203,1.9239684343338013,0.7093143463134766,-0.08806206285953522,-0.08616520464420319,0.6940416693687439
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1880000000.0,-2.400930166244507,-5.083405017852783,1.9305431842803955,0.7096407413482666,-0.08219388872385025,-0.08050967752933502,0.6951060891151428
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||||
1920000000.0,-2.2427377700805664,-4.955009460449219,1.9372637271881104,0.7098889350891113,-0.07657703012228012,-0.07508886605501175,0.696100115776062
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1960000000.0,-2.0960500240325928,-4.813292503356934,1.9442211389541626,0.7100421190261841,-0.07140401005744934,-0.07009312510490417,0.6970140933990479
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||||
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||||
2040000000.0,-1.8147120475769043,-4.519791603088379,1.957872748374939,0.7102077603340149,-0.0613914392888546,-0.060396358370780945,0.698704719543457
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||||
2080000000.0,-1.697767734527588,-4.353207588195801,1.9641798734664917,0.7102009654045105,-0.057239778339862823,-0.05636853724718094,0.6994003057479858
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||||
2120000000.0,-1.5808234214782715,-4.1866230964660645,1.9704869985580444,0.7101684808731079,-0.053037501871585846,-0.05228344723582268,0.7000817060470581
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||||
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2240000000.0,-1.323548674583435,-3.635896682739258,1.985611081123352,0.7098692655563354,-0.043731506913900375,-0.04322407767176628,0.7016444206237793
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2280000000.0,-1.2625828981399536,-3.442868232727051,1.9894771575927734,0.7097417712211609,-0.04147551208734512,-0.041024837642908096,0.7020423412322998
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2320000000.0,-1.222746729850769,-3.2432379722595215,1.992281198501587,0.7096002101898193,-0.03999582678079605,-0.03958665207028389,0.702353835105896
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2440000000.0,-1.147076964378357,-2.6371917724609375,1.9984685182571411,0.7092470526695251,-0.03699125722050667,-0.03666643425822258,0.7030333280563354
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2880000000.0,-1.1808483600616455,-0.38891786336898804,2.097944498062134,0.7096914649009705,-0.023172875866293907,-0.022978344932198524,0.7037563920021057
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3040000000.0,-1.186020851135254,0.42669254541397095,2.172626256942749,0.709347128868103,-0.01463786605745554,-0.014538289047777653,0.7045573592185974
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7640000000.0,1.6187199354171753,9.406312942504883,4.617739677429199,-0.14879314601421356,-0.7437897324562073,-0.6389816999435425,-0.1278272569179535
|
||||
7680000000.0,1.6367181539535522,9.221975326538086,4.7044572830200195,-0.1492171287536621,-0.7401247620582581,-0.6427720785140991,-0.12959031760692596
|
||||
7720000000.0,1.654715895652771,9.037637710571289,4.79117488861084,-0.14932066202163696,-0.7362237572669983,-0.6468878388404846,-0.13120223581790924
|
||||
7760000000.0,1.6601165533065796,8.854641914367676,4.881677627563477,-0.14886914193630219,-0.7322096228599548,-0.6512855291366577,-0.13241690397262573
|
||||
7800000000.0,1.6551097631454468,8.672767639160156,4.975299835205078,-0.14795099198818207,-0.7280746102333069,-0.6559352278709412,-0.1332923322916031
|
||||
7840000000.0,1.6501034498214722,8.490886688232422,5.068924903869629,-0.14701037108898163,-0.7238298654556274,-0.6606470942497253,-0.13417859375476837
|
||||
7880000000.0,1.6399081945419312,8.310317039489746,5.1646623611450195,-0.14544695615768433,-0.7192196249961853,-0.6659079194068909,-0.13466645777225494
|
||||
7920000000.0,1.6258209943771362,8.130736351013184,5.26198148727417,-0.14365091919898987,-0.7144327759742737,-0.6713625192642212,-0.13499142229557037
|
||||
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|
||||
8000000000.0,1.5954755544662476,7.7707929611206055,5.45477819442749,-0.1399015188217163,-0.704516589641571,-0.6824361681938171,-0.13551756739616394
|
||||
8039999999.999999,1.5777395963668823,7.589907646179199,5.548998832702637,-0.13764263689517975,-0.6992273926734924,-0.6883144974708557,-0.13549509644508362
|
||||
8080000000.0,1.5600045919418335,7.409021377563477,5.643219947814941,-0.13527585566043854,-0.6937086582183838,-0.6943592429161072,-0.13540327548980713
|
||||
8119999999.999999,1.5411494970321655,7.2265424728393555,5.734096050262451,-0.13287533819675446,-0.6881591081619263,-0.700352668762207,-0.13523037731647491
|
||||
8160000000.0,1.5216063261032104,7.043085098266602,5.822913646697998,-0.13043658435344696,-0.682520866394043,-0.7063490152359009,-0.13499124348163605
|
||||
8200000000.0,1.502062201499939,6.859626770019531,5.911731719970703,-0.12785017490386963,-0.6765838861465454,-0.7125712037086487,-0.13465100526809692
|
||||
8240000000.0,1.4821202754974365,6.672977447509766,5.99329137802124,-0.1252557337284088,-0.670708417892456,-0.7186439633369446,-0.13420869410037994
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||||
8280000000.0,1.4619576930999756,6.484561920166016,6.070816516876221,-0.12266574800014496,-0.6648150086402893,-0.7246360182762146,-0.13370423018932343
|
||||
8320000000.0,1.4417951107025146,6.296146392822266,6.148341178894043,-0.12002605944871902,-0.6587201952934265,-0.7307212352752686,-0.13314609229564667
|
||||
8360000000.0,1.421842336654663,6.105660438537598,6.220249652862549,-0.11735496670007706,-0.6525870561599731,-0.736752450466156,-0.13249105215072632
|
||||
8400000000.0,1.401993989944458,5.914139747619629,6.289350509643555,-0.11460351943969727,-0.6462773084640503,-0.7428584694862366,-0.13173092901706696
|
||||
8440000000.0,1.3821461200714111,5.722617149353027,6.358449935913086,-0.11179789900779724,-0.6397466659545898,-0.7490596771240234,-0.13090123236179352
|
||||
8480000000.0,1.3625915050506592,5.52883243560791,6.421302318572998,-0.10903742164373398,-0.6332910060882568,-0.7550836205482483,-0.13000796735286713
|
||||
8520000000.0,1.3431689739227295,5.334039688110352,6.481351852416992,-0.10622067749500275,-0.6266623139381409,-0.7611607313156128,-0.1290193498134613
|
||||
8560000000.0,1.3237464427947998,5.139246940612793,6.541400909423828,-0.10325952619314194,-0.6196359395980835,-0.7674834132194519,-0.12789852917194366
|
||||
8600000000.0,1.305654764175415,4.940967559814453,6.587978363037109,-0.10046394914388657,-0.6130492687225342,-0.773315966129303,-0.1267285794019699
|
||||
8640000000.0,1.2880942821502686,4.741288185119629,6.629167079925537,-0.09769747406244278,-0.6065040826797485,-0.7790129780769348,-0.12548638880252838
|
||||
8680000000.0,1.2705357074737549,4.541619300842285,6.670353889465332,-0.09486360102891922,-0.5996984243392944,-0.7848247289657593,-0.12414879351854324
|
||||
8720000000.0,1.2537100315093994,4.340876579284668,6.705455780029297,-0.09204725176095963,-0.5928822755813599,-0.7905402779579163,-0.12273537367582321
|
||||
8760000000.0,1.2371456623077393,4.139760971069336,6.738397598266602,-0.08920354396104813,-0.5859382748603821,-0.7962562441825867,-0.12122282385826111
|
||||
8800000000.0,1.2205816507339478,3.938645362854004,6.771339416503906,-0.08629560470581055,-0.5787433981895447,-0.8020637631416321,-0.11959536373615265
|
||||
8840000000.0,1.206067681312561,3.7353954315185547,6.788599014282227,-0.08358341455459595,-0.5721915364265442,-0.8072820901870728,-0.11792565137147903
|
||||
8880000000.0,1.192196011543274,3.531473159790039,6.800959587097168,-0.08089350908994675,-0.565608024597168,-0.8124300241470337,-0.11619484424591064
|
||||
8920000000.0,1.1783238649368286,3.327556610107422,6.813319206237793,-0.0781368613243103,-0.5587813258171082,-0.8176702857017517,-0.11433935910463333
|
||||
8960000000.0,1.1661616563796997,3.123692512512207,6.814587593078613,-0.07549351453781128,-0.5524110794067383,-0.8225009441375732,-0.11240538209676743
|
||||
9000000000.0,1.1544662714004517,2.919841766357422,6.812831401824951,-0.07283184677362442,-0.5459996461868286,-0.8272858262062073,-0.11035380512475967
|
||||
9040000000.0,1.1427708864212036,2.715991973876953,6.811075210571289,-0.0701528936624527,-0.5393174290657043,-0.8321647047996521,-0.10824654996395111
|
||||
9080000000.0,1.1330853700637817,2.5121984481811523,6.79628324508667,-0.0676240399479866,-0.5332549214363098,-0.8365475535392761,-0.1060866117477417
|
||||
9120000000.0,1.1238728761672974,2.3084259033203125,6.778424263000488,-0.06507635861635208,-0.5271713137626648,-0.8408807516098022,-0.10380278527736664
|
||||
9160000000.0,1.1146599054336548,2.1046524047851562,6.760565280914307,-0.062458720058202744,-0.5208564400672913,-0.8453003168106079,-0.10136537253856659
|
||||
9200000000.0,1.1083341836929321,1.9035959243774414,6.7260942459106445,-0.06019996851682663,-0.5156725645065308,-0.8489031195640564,-0.09910233318805695
|
||||
9240000000.0,1.1025854349136353,1.703078269958496,6.688299655914307,-0.057985108345746994,-0.5105872750282288,-0.8523893356323242,-0.09680253267288208
|
||||
9280000000.0,1.0968371629714966,1.5025691986083984,6.650506973266602,-0.05570468306541443,-0.5053092241287231,-0.8559530377388,-0.09436098486185074
|
||||
9320000000.0,1.092930793762207,1.3037843704223633,6.602114677429199,-0.05352894589304924,-0.5006722211837769,-0.8590843081474304,-0.09184925258159637
|
||||
9360000000.0,1.0893311500549316,1.1052942276000977,6.551956653594971,-0.05149800702929497,-0.4961771070957184,-0.8620618581771851,-0.08947345614433289
|
||||
9400000000.0,1.0857319831848145,0.9068025946617126,6.5017991065979,-0.04952826350927353,-0.4916316270828247,-0.8650151491165161,-0.08714499324560165
|
||||
9440000000.0,1.0854973793029785,0.7142853140830994,6.434123516082764,-0.047780681401491165,-0.4885219633579254,-0.8671047687530518,-0.08480929583311081
|
||||
9480000000.0,1.0857176780700684,0.5225705504417419,6.364079475402832,-0.04601220786571503,-0.48551246523857117,-0.8691238164901733,-0.08236782252788544
|
||||
9520000000.0,1.0859379768371582,0.33086055517196655,6.294037342071533,-0.04440058395266533,-0.48261183500289917,-0.8710296750068665,-0.0801360085606575
|
||||
9560000000.0,1.0881996154785156,0.1427740603685379,6.21337366104126,-0.043182000517845154,-0.48091641068458557,-0.8721933364868164,-0.07831641286611557
|
||||
9600000000.0,1.090674877166748,-0.044930506497621536,6.131592273712158,-0.04193756356835365,-0.4792652726173401,-0.8733304142951965,-0.07642051577568054
|
||||
9640000000.0,1.0931506156921387,-0.23263554275035858,6.049810886383057,-0.0406457893550396,-0.4775477349758148,-0.8745031356811523,-0.0744330957531929
|
||||
9680000000.0,1.098097324371338,-0.4140186905860901,5.956303119659424,-0.039734628051519394,-0.4773397147655487,-0.8747943639755249,-0.07282069325447083
|
||||
9720000000.0,1.103233814239502,-0.594919741153717,5.86189079284668,-0.03934527188539505,-0.4777984321117401,-0.874627411365509,-0.07202431559562683
|
||||
9760000000.0,1.1083698272705078,-0.7758169770240784,5.767480850219727,-0.038939718157052994,-0.47827622294425964,-0.8744522333145142,-0.07119573652744293
|
||||
9800000000.0,1.1166496276855469,-0.9486714005470276,5.658151626586914,-0.038789037615060806,-0.48058366775512695,-0.8732507824897766,-0.0704830139875412
|
||||
9840000000.0,1.1250872611999512,-1.1211280822753906,5.548074722290039,-0.03881427273154259,-0.4832499921321869,-0.8718138933181763,-0.07002486288547516
|
||||
9880000000.0,1.1335234642028809,-1.293576717376709,5.438002586364746,-0.03982655331492424,-0.4870099723339081,-0.8695849776268005,-0.0711139515042305
|
||||
9920000000.0,1.1419600248336792,-1.466029167175293,5.32792854309082,-0.04088592901825905,-0.4909251928329468,-0.8672392964363098,-0.07222741842269897
|
||||
9960000000.0,1.150396704673767,-1.6384859085083008,5.217851161956787,-0.041995491832494736,-0.4950045347213745,-0.8647682666778564,-0.07336746156215668
|
||||
10000000000.0,1.1588338613510132,-1.8109383583068848,5.107776641845703,-0.043159469962120056,-0.49925753474235535,-0.8621624708175659,-0.07453283667564392
|
||||
|
Binary file not shown.
|
After Width: | Height: | Size: 39 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 18 KiB |
Binary file not shown.
@ -0,0 +1,258 @@
|
||||
# Blender MTL File: 'sponza.blend'
|
||||
# Material Count: 20
|
||||
|
||||
newmtl sp_00_luk_mal1
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.745098 0.709804 0.674510
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd 01_ST_KP.JPG
|
||||
map_Bump 01_St_kp-bump.jpg
|
||||
map_Ka 01_ST_KP.JPG
|
||||
|
||||
newmtl sp_00_luk_mali
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.745098 0.709804 0.674510
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd SP_LUK.JPG
|
||||
map_Bump sp_luk-bump.JPG
|
||||
map_Ka SP_LUK.JPG
|
||||
|
||||
newmtl sp_00_pod
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.627451 0.572549 0.560784
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd KAMEN.JPG
|
||||
map_Bump KAMEN-bump.jpg
|
||||
map_Ka KAMEN.JPG
|
||||
|
||||
newmtl sp_00_prozor
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd PROZOR1.JPG
|
||||
map_Bump PROZOR1.JPG
|
||||
map_Ka PROZOR1.JPG
|
||||
|
||||
newmtl sp_00_stup
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.737255 0.709804 0.670588
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd 01_STUB.JPG
|
||||
map_Bump 01_STUB-bump.jpg
|
||||
map_Ka 01_STUB.JPG
|
||||
|
||||
newmtl sp_00_svod
|
||||
Ns 0.000000
|
||||
Ka 0.145098 0.145098 0.145098
|
||||
Kd 0.941177 0.866667 0.737255
|
||||
Ks 0.034039 0.032314 0.029333
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd KAMEN-stup.JPG
|
||||
map_Bump KAMEN-stup.JPG
|
||||
map_Ka KAMEN-stup.JPG
|
||||
|
||||
newmtl sp_00_vrata_kock
|
||||
Ns 19.607843
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.784314 0.784314 0.784314
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd VRATA_KO.JPG
|
||||
map_Bump VRATA_KO.JPG
|
||||
map_Ka VRATA_KO.JPG
|
||||
|
||||
newmtl sp_00_vrata_krug
|
||||
Ns 19.607843
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.784314 0.784314 0.784314
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd VRATA_KR.JPG
|
||||
map_Bump VRATA_KR.JPG
|
||||
map_Ka VRATA_KR.JPG
|
||||
|
||||
newmtl sp_00_zid
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.627451 0.572549 0.560784
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd KAMEN.JPG
|
||||
map_Bump KAMEN-bump.jpg
|
||||
map_Ka KAMEN.JPG
|
||||
|
||||
newmtl sp_01_luk_a
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.745098 0.709804 0.674510
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd SP_LUK.JPG
|
||||
map_Bump sp_luk-bump.JPG
|
||||
map_Ka SP_LUK.JPG
|
||||
|
||||
newmtl sp_01_stub
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.737255 0.709804 0.670588
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd 01_STUB.JPG
|
||||
map_Bump 01_STUB-bump.jpg
|
||||
map_Ka 01_STUB.JPG
|
||||
|
||||
newmtl sp_01_stub_baza
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.784314 0.749020
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd 01_S_BA.JPG
|
||||
map_Bump 01_S_BA.JPG
|
||||
map_Ka 01_S_BA.JPG
|
||||
|
||||
newmtl sp_01_stub_baza_
|
||||
Ns 19.607843
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.784314 0.784314 0.784314
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl sp_01_stub_kut
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.737255 0.709804 0.670588
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd 01_STUB.JPG
|
||||
map_Bump 01_STUB-bump.jpg
|
||||
map_Ka 01_STUB.JPG
|
||||
|
||||
newmtl sp_01_stup
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.827451 0.800000 0.768628
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd X01_ST.JPG
|
||||
map_Ka X01_ST.JPG
|
||||
|
||||
newmtl sp_01_stup_baza
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.784314 0.749020
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd 01_S_BA.JPG
|
||||
map_Bump 01_S_BA.JPG
|
||||
map_Ka 01_S_BA.JPG
|
||||
|
||||
newmtl sp_02_reljef
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.529412 0.498039 0.490196
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd RELJEF.JPG
|
||||
map_Bump reljef-bump.jpg
|
||||
map_Ka RELJEF.JPG
|
||||
|
||||
newmtl sp_svod_kapitel
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.713726 0.705882 0.658824
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd 00_SKAP.JPG
|
||||
map_Bump 00_SKAP.JPG
|
||||
map_Ka 00_SKAP.JPG
|
||||
|
||||
newmtl sp_vijenac
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.713726 0.705882 0.658824
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd 00_SKAP.JPG
|
||||
map_Bump 00_SKAP.JPG
|
||||
map_Ka 00_SKAP.JPG
|
||||
|
||||
newmtl sp_zid_vani
|
||||
Ns 49.019608
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.627451 0.572549 0.560784
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.500000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd KAMEN.JPG
|
||||
map_Bump KAMEN-bump.jpg
|
||||
map_Ka KAMEN.JPG
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,453 @@
|
||||
#include <esim/imp_opengl_renderer/opengl_renderer.hpp>
|
||||
|
||||
#include <glad/glad.h>
|
||||
#include <learnopengl/shader.h>
|
||||
#include <learnopengl/model.h>
|
||||
#include <GLFW/glfw3.h>
|
||||
|
||||
#include <glm/glm.hpp>
|
||||
#include <glm/gtc/type_ptr.hpp>
|
||||
#include <glm/gtc/matrix_transform.hpp>
|
||||
|
||||
#include <learnopengl/filesystem.h>
|
||||
#include <opencv2/core/core.hpp>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
|
||||
namespace event_camera_simulator {
|
||||
|
||||
DEFINE_string(renderer_scene, "",
|
||||
"Path to scene file (.obj) which will be used as simulation environment");
|
||||
|
||||
DEFINE_double(renderer_zmin, 0.1, "Near clipping distance.");
|
||||
|
||||
DEFINE_double(renderer_zmax, 10, "Far clipping distance.");
|
||||
|
||||
DEFINE_string(renderer_dynamic_objects_dir, "", "Path to directory that contains files of objects (.obj) that will be simulated");
|
||||
DEFINE_string(renderer_dynamic_objects, "", "Files to be included as dynamic objects (.obj), separated by ;");
|
||||
|
||||
OpenGLRenderer::OpenGLRenderer()
|
||||
: is_initialized_(false),
|
||||
zmin(FLAGS_renderer_zmin),
|
||||
zmax(FLAGS_renderer_zmax)
|
||||
{
|
||||
}
|
||||
|
||||
void OpenGLRenderer::init()
|
||||
{
|
||||
CHECK_GT(width_, 0);
|
||||
CHECK_GT(height_, 0);
|
||||
|
||||
// glfw: initialize and configure
|
||||
// ------------------------------
|
||||
glfwInit();
|
||||
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
|
||||
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
|
||||
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
|
||||
|
||||
#ifdef __APPLE__
|
||||
glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // uncomment this statement to fix compilation on OS X
|
||||
#endif
|
||||
|
||||
// glfw window creation
|
||||
// --------------------
|
||||
window = glfwCreateWindow(width_, height_, "OpenGLRenderer", NULL, NULL);
|
||||
if (window == NULL)
|
||||
{
|
||||
LOG(FATAL) << "Failed to create GLFW window";
|
||||
glfwTerminate();
|
||||
return;
|
||||
}
|
||||
glfwMakeContextCurrent(window);
|
||||
glfwSwapInterval(0);
|
||||
|
||||
// glad: load all OpenGL function pointers
|
||||
// ---------------------------------------
|
||||
if (!gladLoadGLLoader((GLADloadproc)glfwGetProcAddress))
|
||||
{
|
||||
LOG(FATAL) << "Failed to initialize GLAD";
|
||||
return;
|
||||
}
|
||||
|
||||
// load models
|
||||
// -----------
|
||||
our_model.reset(new Model(FLAGS_renderer_scene));
|
||||
|
||||
|
||||
// load dynamics objects
|
||||
// ---------------------
|
||||
if (!FLAGS_renderer_dynamic_objects_dir.empty() && !FLAGS_renderer_dynamic_objects.empty())
|
||||
{
|
||||
size_t p_start, p_end;
|
||||
p_start = 0;
|
||||
while ((p_end = FLAGS_renderer_dynamic_objects.find(";",p_start)) != std::string::npos)
|
||||
{
|
||||
dynamic_objects_model.push_back(std::unique_ptr<Model>
|
||||
(new Model(FLAGS_renderer_dynamic_objects_dir + "/" + FLAGS_renderer_dynamic_objects.substr(p_start, p_end - p_start))));
|
||||
|
||||
p_start = p_end + 1;
|
||||
}
|
||||
dynamic_objects_model.push_back(std::unique_ptr<Model>
|
||||
(new Model(FLAGS_renderer_dynamic_objects_dir + "/" + FLAGS_renderer_dynamic_objects.substr(p_start, p_end - p_start))));
|
||||
}
|
||||
|
||||
|
||||
// create multisampled framebuffer object
|
||||
static const int num_samples = 16;
|
||||
glGenFramebuffers(1, &multisampled_fbo);
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, multisampled_fbo);
|
||||
|
||||
// create and attach a multisampled color buffer
|
||||
glGenRenderbuffers(1, &multisampled_color_buf);
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, multisampled_color_buf);
|
||||
glRenderbufferStorageMultisample(GL_RENDERBUFFER, num_samples, GL_RGBA8, width_, height_); // set format
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_RENDERBUFFER, multisampled_color_buf); // attach color buffer to FBO
|
||||
|
||||
// create and attach a multisampled depth buffer
|
||||
glGenRenderbuffers(1, &multisampled_depth_buf);
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, multisampled_depth_buf);
|
||||
glRenderbufferStorageMultisample(GL_RENDERBUFFER, num_samples, GL_DEPTH_COMPONENT24, width_, height_); // set format
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, multisampled_depth_buf); // attach depth buffer to FBO
|
||||
|
||||
GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
|
||||
if(status != GL_FRAMEBUFFER_COMPLETE)
|
||||
{
|
||||
LOG(FATAL) << "ERROR: failed to set up multisampled framebuffer";
|
||||
}
|
||||
LOG(INFO) << "Successfully set up multisampled color and depth framebuffers";
|
||||
|
||||
// create framebuffer object
|
||||
glGenFramebuffers(1, &fbo);
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, fbo);
|
||||
|
||||
// create and attach a color buffer
|
||||
glGenRenderbuffers(1, &color_buf);
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, color_buf);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, width_, height_); // set format
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_RENDERBUFFER, color_buf); // attach color buffer to FBO
|
||||
|
||||
// create and attach a depth buffer
|
||||
glGenRenderbuffers(1, &depth_buf);
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, depth_buf);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT24, width_, height_); // set format
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, depth_buf); // attach depth buffer to FBO
|
||||
|
||||
status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
|
||||
if(status != GL_FRAMEBUFFER_COMPLETE)
|
||||
{
|
||||
LOG(FATAL) << "ERROR: failed to set up framebuffer";
|
||||
}
|
||||
LOG(INFO) << "Successfully set up color and depth framebuffers";
|
||||
|
||||
// create framebuffer object for optic flow
|
||||
glGenFramebuffers(1, &fbo_of);
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, fbo_of);
|
||||
|
||||
// create and attach a color buffer for optic flow
|
||||
glGenRenderbuffers(1, &of_buf);
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, of_buf);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA32F, width_, height_); // set format
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_RENDERBUFFER, of_buf); // attach optic flow buffer to frame buffer object
|
||||
|
||||
// create and attach a depth buffer for optic flow
|
||||
glGenRenderbuffers(1, &depth_buf_of);
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, depth_buf_of);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT24, width_, height_); // set format
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, depth_buf_of); // attach depth buffer to FBO
|
||||
|
||||
GLenum status_of = glCheckFramebufferStatus(GL_FRAMEBUFFER);
|
||||
if(status_of != GL_FRAMEBUFFER_COMPLETE)
|
||||
{
|
||||
LOG(FATAL) << "ERROR: failed to set up framebuffer for optic flow";
|
||||
}
|
||||
LOG(INFO) << "Successfully set up optic flow framebuffer";
|
||||
|
||||
// create shader program
|
||||
shader.reset(new Shader(FileSystem::getPath("src/shader.vert").c_str(),
|
||||
FileSystem::getPath("src/shader.frag").c_str()));
|
||||
|
||||
optic_flow_shader.reset(new Shader(FileSystem::getPath("src/shader.vert").c_str(),
|
||||
FileSystem::getPath("src/optic_flow_shader.frag").c_str()));
|
||||
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
glEnable(GL_MULTISAMPLE);
|
||||
|
||||
is_initialized_ = true;
|
||||
}
|
||||
|
||||
OpenGLRenderer::~OpenGLRenderer()
|
||||
{
|
||||
// cleanup
|
||||
glDeleteFramebuffers(1, &multisampled_fbo);
|
||||
glDeleteFramebuffers(1, &fbo);
|
||||
glDeleteFramebuffers(1, &fbo_of);
|
||||
|
||||
glDeleteRenderbuffers(1, &multisampled_color_buf);
|
||||
glDeleteRenderbuffers(1, &multisampled_depth_buf);
|
||||
glDeleteRenderbuffers(1, &color_buf);
|
||||
glDeleteRenderbuffers(1, &depth_buf);
|
||||
glDeleteRenderbuffers(1, &of_buf);
|
||||
glDeleteRenderbuffers(1, &depth_buf_of);
|
||||
|
||||
// glfw: terminate, clearing all previously allocated GLFW resources.
|
||||
// ------------------------------------------------------------------
|
||||
glfwTerminate();
|
||||
}
|
||||
|
||||
void OpenGLRenderer::setCamera(const ze::Camera::Ptr& camera)
|
||||
{
|
||||
CHECK(!is_initialized_) << "setCamera() was called but the OpenGL renderer was already setup before";
|
||||
CHECK(camera);
|
||||
camera_ = camera;
|
||||
width_ = camera_->width();
|
||||
height_ = camera_->height();
|
||||
|
||||
if(camera->type() != ze::CameraType::Pinhole)
|
||||
{
|
||||
LOG(WARNING) << "The OpenGL rendering engine does not support camera distortion. The distortion parameters will be ignored.";
|
||||
// TODO: actually remove distortion from the camera so
|
||||
// that they do not get published on the camera_info topic
|
||||
}
|
||||
|
||||
init();
|
||||
}
|
||||
|
||||
void OpenGLRenderer::render(const Transformation& T_W_C,
|
||||
const std::vector<Transformation>& T_W_OBJ,
|
||||
const ImagePtr& out_image,
|
||||
const DepthmapPtr& out_depthmap) const
|
||||
{
|
||||
CHECK(is_initialized_) << "Called render() but the renderer was not initialized yet. Have you first called setCamera()?";
|
||||
CHECK(out_image);
|
||||
CHECK(out_depthmap);
|
||||
CHECK_EQ(out_image->cols, width_);
|
||||
CHECK_EQ(out_image->rows, height_);
|
||||
CHECK_EQ(out_depthmap->cols, width_);
|
||||
CHECK_EQ(out_depthmap->rows, height_);
|
||||
CHECK_EQ(out_image->type(), CV_32F);
|
||||
CHECK_EQ(out_depthmap->type(), CV_32F);
|
||||
|
||||
// draw to our framebuffer instead of screen
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, multisampled_fbo);
|
||||
|
||||
glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
shader->use();
|
||||
|
||||
glm::mat4 model = glm::mat4(1.0f);
|
||||
|
||||
ze::Matrix4 T_C_W = T_W_C.inverse().getTransformationMatrix();
|
||||
// We invert the Z axis here because NDC coordinates
|
||||
// are left-handed by default in OpenGL
|
||||
// (see https://stackoverflow.com/a/12336360)
|
||||
T_C_W.block<1,4>(2,0) *= -1.0;
|
||||
|
||||
// view = transformation from point in world to point in camera
|
||||
glm::mat4 view =
|
||||
glm::make_mat4(T_C_W.data());
|
||||
|
||||
ze::Matrix4 frustum;
|
||||
ze::VectorX intrinsics = camera_->projectionParameters();
|
||||
const double fx = intrinsics(0);
|
||||
const double fy = intrinsics(1);
|
||||
const double cx = intrinsics(2);
|
||||
const double cy = intrinsics(3);
|
||||
build_opengl_projection_for_intrinsics(frustum, fx, fy, cx, cy, width_, height_, zmin, zmax);
|
||||
glm::mat4 projection = glm::make_mat4(frustum.data());
|
||||
|
||||
unsigned int modelLoc = glGetUniformLocation(shader->ID, "model");
|
||||
glUniformMatrix4fv(modelLoc, 1, GL_FALSE, glm::value_ptr(model));
|
||||
|
||||
unsigned int viewLoc = glGetUniformLocation(shader->ID, "view");
|
||||
glUniformMatrix4fv(viewLoc, 1, GL_FALSE, glm::value_ptr(view));
|
||||
|
||||
unsigned int projectionLoc = glGetUniformLocation(shader->ID, "projection");
|
||||
glUniformMatrix4fv(projectionLoc, 1, GL_FALSE, glm::value_ptr(projection)); // TODO outside of main loop
|
||||
|
||||
our_model->Draw(*shader);
|
||||
|
||||
// draw dynamic objects
|
||||
for (size_t i = 0; i < dynamic_objects_model.size(); i++)
|
||||
{
|
||||
ze::Matrix4 T_W_OBJ_OPENGL = T_W_OBJ[i].getTransformationMatrix();
|
||||
model = glm::make_mat4(T_W_OBJ_OPENGL.data());
|
||||
|
||||
shader->setMat4("model", model);
|
||||
dynamic_objects_model[i]->Draw(*shader);
|
||||
}
|
||||
|
||||
// now resolve multisampled buffer into the normal fbo
|
||||
glBindFramebuffer(GL_READ_FRAMEBUFFER, multisampled_fbo);
|
||||
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, fbo);
|
||||
glBlitFramebuffer(0, 0, width_, height_, 0, 0, width_, height_, GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT, GL_NEAREST);
|
||||
|
||||
// bind fbo back so that we read from it
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, fbo);
|
||||
|
||||
// read out what we just rendered
|
||||
cv::Mat img_color(height_, width_, CV_8UC3);
|
||||
glPixelStorei(GL_PACK_ALIGNMENT, (img_color.step & 3)?1:4);
|
||||
glPixelStorei(GL_PACK_ROW_LENGTH, img_color.step/img_color.elemSize());
|
||||
|
||||
glReadPixels(0, 0, img_color.cols, img_color.rows, GL_BGR, GL_UNSIGNED_BYTE, img_color.data);
|
||||
|
||||
GLenum err = glGetError();
|
||||
if (err) {
|
||||
printf("something went wrong while reading pixels: %x\n", err);
|
||||
return;
|
||||
}
|
||||
|
||||
// read out depth data
|
||||
cv::Mat img_depth(height_, width_, CV_32FC1);
|
||||
glPixelStorei(GL_PACK_ALIGNMENT, (img_depth.step & 3)?1:4);
|
||||
glPixelStorei(GL_PACK_ROW_LENGTH, img_depth.step/img_depth.elemSize());
|
||||
|
||||
glReadPixels(0, 0, img_depth.cols, img_depth.rows, GL_DEPTH_COMPONENT, GL_FLOAT, img_depth.data);
|
||||
|
||||
err = glGetError();
|
||||
if (err) {
|
||||
printf("something went wrong while reading depth data: %x\n", err);
|
||||
return;
|
||||
}
|
||||
|
||||
// convert inverse depth buffer to linear depth between zmin and zmax
|
||||
// see the "Learn OpenGL book, page 177
|
||||
cv::Mat linear_depth = (2.0 * zmin * zmax) / (zmax + zmin - (2 * img_depth - 1.f) * (zmax - zmin));
|
||||
|
||||
cv::Mat img_grayscale;
|
||||
cv::cvtColor(img_color, img_grayscale, cv::COLOR_BGR2GRAY);
|
||||
img_grayscale.convertTo(*out_image, CV_32F, 1.f/255.f);
|
||||
|
||||
linear_depth.copyTo(*out_depthmap);
|
||||
}
|
||||
|
||||
|
||||
void OpenGLRenderer::renderWithFlow(const Transformation& T_W_C,
|
||||
const LinearVelocity& v_WC,
|
||||
const AngularVelocity& w_WC,
|
||||
const std::vector<Transformation>& T_W_OBJ,
|
||||
const std::vector<LinearVelocity>& linear_velocity_obj,
|
||||
const std::vector<AngularVelocity>& angular_velocity_obj,
|
||||
const ImagePtr& out_image,
|
||||
const DepthmapPtr& out_depthmap,
|
||||
const OpticFlowPtr& optic_flow_map) const
|
||||
{
|
||||
render(T_W_C, T_W_OBJ, out_image, out_depthmap);
|
||||
|
||||
// draw to our optic flow framebuffer instead of screen
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, fbo_of);
|
||||
|
||||
glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
optic_flow_shader->use();
|
||||
|
||||
//@TODO: the vertex shaders should be shared
|
||||
// set projection matrices for vertex shader
|
||||
glm::mat4 model = glm::mat4(1.0f);
|
||||
|
||||
Transformation T_C_W = T_W_C.inverse();
|
||||
ze::Matrix4 T_C_W_tilde = T_C_W.getTransformationMatrix();
|
||||
// We invert the Z axis here because NDC coordinates
|
||||
// are left-handed by default in OpenGL
|
||||
// (see https://stackoverflow.com/a/12336360)
|
||||
T_C_W_tilde.block<1,4>(2,0) *= -1.0;
|
||||
|
||||
// view = transformation from point in world to point in camera
|
||||
glm::mat4 view =
|
||||
glm::make_mat4(T_C_W_tilde.data());
|
||||
|
||||
ze::Matrix4 frustum;
|
||||
ze::VectorX intrinsics = camera_->projectionParameters();
|
||||
const double fx = intrinsics(0);
|
||||
const double fy = intrinsics(1);
|
||||
const double cx = intrinsics(2);
|
||||
const double cy = intrinsics(3);
|
||||
build_opengl_projection_for_intrinsics(frustum, fx, fy, cx, cy, width_, height_, zmin, zmax);
|
||||
glm::mat4 projection = glm::make_mat4(frustum.data());
|
||||
|
||||
unsigned int modelLoc = glGetUniformLocation(optic_flow_shader->ID, "model");
|
||||
glUniformMatrix4fv(modelLoc, 1, GL_FALSE, glm::value_ptr(model));
|
||||
|
||||
unsigned int viewLoc = glGetUniformLocation(optic_flow_shader->ID, "view");
|
||||
glUniformMatrix4fv(viewLoc, 1, GL_FALSE, glm::value_ptr(view));
|
||||
|
||||
unsigned int projectionLoc = glGetUniformLocation(optic_flow_shader->ID, "projection");
|
||||
glUniformMatrix4fv(projectionLoc, 1, GL_FALSE, glm::value_ptr(projection)); // TODO, remove from main loop
|
||||
|
||||
// compute optic flow and draw it to the screen buffer
|
||||
glm::vec3 w = glm::make_vec3(w_WC.data());
|
||||
glm::vec3 v = glm::make_vec3(v_WC.data());
|
||||
|
||||
optic_flow_shader->setVec3("w_WC", w);
|
||||
optic_flow_shader->setVec3("v_WC", v);
|
||||
|
||||
optic_flow_shader->setBool("dynamic_object", false);
|
||||
|
||||
optic_flow_shader->setFloat("fx", (float) fx);
|
||||
optic_flow_shader->setFloat("fy", (float) fy);
|
||||
optic_flow_shader->setFloat("cx", (float) cx);
|
||||
optic_flow_shader->setFloat("cy", (float) cy);
|
||||
optic_flow_shader->setFloat("width", (float) width_);
|
||||
optic_flow_shader->setFloat("height", (float) height_);
|
||||
|
||||
optic_flow_shader->setFloat("near", (float) zmin);
|
||||
optic_flow_shader->setFloat("far", (float) zmax);
|
||||
|
||||
our_model->Draw(*optic_flow_shader);
|
||||
|
||||
// draw optical flow for dynamic objects
|
||||
for (size_t i = 0; i < dynamic_objects_model.size(); i++)
|
||||
{
|
||||
optic_flow_shader->setBool("dynamic_object", true);
|
||||
|
||||
// relative position (in camera frame)
|
||||
ze::Vector3 C_r_C_OBJ = (T_C_W*T_W_OBJ[i]).getPosition();
|
||||
glm::vec3 r_C_OBJ = glm::make_vec3(C_r_C_OBJ.data());
|
||||
optic_flow_shader->setVec3("r_CB", r_C_OBJ);
|
||||
|
||||
// linear velocity (in camera frame)
|
||||
ze::Vector3 C_v_OBJ = T_C_W.getRotation().rotate(linear_velocity_obj[i]);
|
||||
glm::vec3 v_obj = glm::make_vec3(C_v_OBJ.data());
|
||||
optic_flow_shader->setVec3("v_WB", v_obj);
|
||||
|
||||
|
||||
// angular velocity (in camera frame)
|
||||
ze::Vector3 C_w_OBJ = T_C_W.getRotation().rotate(angular_velocity_obj[i]);
|
||||
glm::vec3 w_obj = glm::make_vec3(C_w_OBJ.data());
|
||||
optic_flow_shader->setVec3("w_WB", w_obj);
|
||||
|
||||
ze::Matrix4 T_W_OBJ_OPENGL = T_W_OBJ[i].getTransformationMatrix();
|
||||
model = glm::make_mat4(T_W_OBJ_OPENGL.data());
|
||||
optic_flow_shader->setMat4("model", model);
|
||||
|
||||
|
||||
dynamic_objects_model[i]->Draw(*optic_flow_shader);
|
||||
}
|
||||
|
||||
// read out the optic flow we just rendered
|
||||
cv::Mat flow(height_, width_, CV_32FC3);
|
||||
glPixelStorei(GL_PACK_ALIGNMENT, (flow.step & 3)?1:4);
|
||||
glPixelStorei(GL_PACK_ROW_LENGTH, flow.step/flow.elemSize());
|
||||
|
||||
glReadPixels(0, 0, flow.cols, flow.rows, GL_BGR, GL_FLOAT, flow.data);
|
||||
|
||||
GLenum err = glGetError();
|
||||
if (err) {
|
||||
LOG(ERROR) << "something went wrong while reading pixels: " << err;
|
||||
return;
|
||||
}
|
||||
|
||||
for(int y=0; y<height_; ++y)
|
||||
{
|
||||
for(int x=0; x<width_; ++x)
|
||||
{
|
||||
(*optic_flow_map)(y,x)
|
||||
= cv::Vec<ImageFloatType,2>(flow.at<cv::Vec<ImageFloatType,3>>(y,x)[2],
|
||||
flow.at<cv::Vec<ImageFloatType,3>>(y,x)[1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
} // namespace event_camera_simulator
|
||||
@ -0,0 +1,86 @@
|
||||
#version 330 core
|
||||
|
||||
#define M_PI 3.1415926535897932384626433832795
|
||||
|
||||
out vec4 FragColor;
|
||||
|
||||
// angular and linear camera velocity
|
||||
uniform vec3 w_WC;
|
||||
uniform vec3 v_WC;
|
||||
|
||||
// angular and linear object velocity
|
||||
uniform bool dynamic_object;
|
||||
uniform vec3 r_CB;
|
||||
uniform vec3 w_WB;
|
||||
uniform vec3 v_WB;
|
||||
|
||||
// camera intrinsics
|
||||
uniform float fx;
|
||||
uniform float fy;
|
||||
uniform float cx;
|
||||
uniform float cy;
|
||||
uniform float width;
|
||||
uniform float height;
|
||||
|
||||
// depth range used
|
||||
uniform float near;
|
||||
uniform float far;
|
||||
|
||||
// taken from: https://learnopengl.com/Advanced-OpenGL/Depth-testing
|
||||
float LinearizeDepth(float depth)
|
||||
{
|
||||
float z = depth * 2.0 - 1.0; // back to NDC
|
||||
return (2.0 * near * far) / (far + near - z * (far - near));
|
||||
}
|
||||
|
||||
void main()
|
||||
{
|
||||
float depth = LinearizeDepth(gl_FragCoord.z);
|
||||
float inv_z = 1.0f / depth;
|
||||
|
||||
// calibrated coordinates
|
||||
float u = (gl_FragCoord.x - cx) / fx;
|
||||
float v = (gl_FragCoord.y - cy) / fy;
|
||||
|
||||
// optic flow computation
|
||||
vec2 flow;
|
||||
if (dynamic_object)
|
||||
{
|
||||
float x = u*depth;
|
||||
float y = v*depth;
|
||||
float x_obj = x - r_CB.x;
|
||||
float y_obj = y - r_CB.y;
|
||||
float z_obj = depth - r_CB.z; // TODO, should not be done in loop, remains constant for object
|
||||
float vx = v_WB.x - v_WC.x - (w_WC.y * depth - w_WC.z * y) + (w_WB.y * z_obj - w_WB.z * y_obj);
|
||||
float vy = v_WB.y - v_WC.y - (w_WC.z * x - w_WC.x * depth) + (w_WB.z * x_obj - w_WB.x * z_obj);
|
||||
float vz = v_WB.z - v_WC.z - (w_WC.x * y - w_WC.y * x) + (w_WB.x * y_obj - w_WB.y * x_obj);
|
||||
|
||||
flow = vec2(fx*(inv_z*vx - u*inv_z*vz), fy*(inv_z*vy - v*inv_z*vz));
|
||||
}
|
||||
else
|
||||
{
|
||||
// Eq. (3) in https://arxiv.org/pdf/1510.01972.pdf
|
||||
float vx_trans = -inv_z * v_WC.x
|
||||
+ u * inv_z * v_WC.z;
|
||||
|
||||
float vx_rot = u * v * w_WC.x
|
||||
- (1.0 + u * u) * w_WC.y
|
||||
+ v * w_WC.z;
|
||||
|
||||
float vy_trans = -inv_z * v_WC.y
|
||||
+ v * inv_z * v_WC.z;
|
||||
|
||||
float vy_rot = (1.0 + v * v) * w_WC.x
|
||||
- u * v * w_WC.y
|
||||
- u * w_WC.z;
|
||||
|
||||
float vx = vx_trans + vx_rot;
|
||||
float vy = vy_trans + vy_rot;
|
||||
|
||||
flow = vec2(fx * vx, fy * vy);
|
||||
}
|
||||
|
||||
// red component: x component of the flow
|
||||
// green component: y component of the flow
|
||||
FragColor = vec4(flow.x, flow.y, 0.0f, 1.0f);
|
||||
}
|
||||
@ -0,0 +1,29 @@
|
||||
#version 330 core
|
||||
out vec4 FragColor;
|
||||
|
||||
in vec2 TexCoords;
|
||||
in vec3 Normal;
|
||||
|
||||
uniform sampler2D texture_diffuse1;
|
||||
|
||||
void main()
|
||||
{
|
||||
// global light (sun)
|
||||
vec3 LightDirection = vec3(0.8, -0.8, 1);
|
||||
|
||||
// material properties
|
||||
vec4 MaterialColor = texture(texture_diffuse1, TexCoords);
|
||||
|
||||
|
||||
// diffuse part
|
||||
float diffuse_frac = dot(normalize(Normal), normalize(LightDirection));
|
||||
|
||||
float diffuse =
|
||||
clamp(diffuse_frac, 0, 1) // front
|
||||
+ clamp(diffuse_frac * 0.3, -1, 0); // back
|
||||
|
||||
|
||||
FragColor =
|
||||
MaterialColor * 0.3 // ambient
|
||||
+ MaterialColor * 0.7 * diffuse;
|
||||
}
|
||||
@ -0,0 +1,20 @@
|
||||
#version 330 core
|
||||
|
||||
layout (location = 0) in vec3 aPos;
|
||||
layout (location = 1) in vec3 aNormal;
|
||||
layout (location = 2) in vec2 aTexCoords;
|
||||
|
||||
out vec2 TexCoords;
|
||||
out vec3 Normal;
|
||||
|
||||
uniform mat4 model;
|
||||
uniform mat4 view;
|
||||
uniform mat4 projection;
|
||||
|
||||
void main()
|
||||
{
|
||||
gl_Position = projection * view * model * vec4(aPos, 1.0);
|
||||
TexCoords = aTexCoords;
|
||||
|
||||
Normal = (model * vec4(aNormal, 1.0)).xyz;
|
||||
}
|
||||
Reference in New Issue
Block a user