pi/ar_basalt
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

v01

Browse Source
This commit is contained in:
Ivan
2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
5565 changed files with 1200500 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

95
thirdparty/Pangolin/include/pangolin/geometry/geometry.h vendored Normal file
View File

@@ -0,0 +1,95 @@
/* This file is part of the Pangolin Project.
* http://github.com/stevenlovegrove/Pangolin
*
* Copyright (c) 2014 Steven Lovegrove
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use,
* copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the
* Software is 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 Software.
*
* THE SOFTWARE IS 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 SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef PANGOLIN_GEOMETRY_H
#define PANGOLIN_GEOMETRY_H
#include <map>
#include <unordered_map>
#include <vector>
#include <pangolin/image/typed_image.h>
#include <pangolin/compat/variant.h>
#ifdef HAVE_EIGEN
#include <Eigen/Geometry>
#endif
namespace pangolin
{
struct Geometry
{
struct Element : public ManagedImage<uint8_t> {
Element() = default;
Element(Element&&) = default;
Element& operator=(Element&&) = default;
Element(size_t stride_bytes, size_t num_elements)
: ManagedImage<uint8_t>(stride_bytes, num_elements)
{}
using Attribute = variant<Image<float>,Image<uint32_t>,Image<uint16_t>,Image<uint8_t>>;
// "vertex", "rgb", "normal", "uv", "tris", "quads", ...
std::map<std::string, Attribute> attributes;
};
// Store vertices and attributes
std::map<std::string, Element> buffers;
// Stores index buffers for each sub-object
std::multimap<std::string, Element> objects;
// Stores pixmaps
std::map<std::string, TypedImage> textures;
};
pangolin::Geometry::Element::Attribute MakeAttribute(uint32_t gldatatype, size_t num_items, size_t count_per_item, void* ptr, size_t pitch_bytes);
pangolin::Geometry LoadGeometry(const std::string& filename);
#ifdef HAVE_EIGEN
inline Eigen::AlignedBox3f GetAxisAlignedBox(const Geometry& geom)
{
Eigen::AlignedBox3f box;
box.setEmpty();
for(const auto& b : geom.buffers) {
const auto& it_vert = b.second.attributes.find("vertex");
if(it_vert != b.second.attributes.end()) {
const Image<float>& vs = get<Image<float>>(it_vert->second);
for(size_t i=0; i < vs.h; ++i) {
const Eigen::Map<const Eigen::Vector3f> v(vs.RowPtr(i));
box.extend(v);
}
}
}
return box;
}
#endif
}
#endif // PANGOLIN_GEOMETRY_H

34
thirdparty/Pangolin/include/pangolin/geometry/geometry_obj.h vendored Normal file
View File

@@ -0,0 +1,34 @@
/* This file is part of the Pangolin Project.
* http://github.com/stevenlovegrove/Pangolin
*
* Copyright (c) 2011 Steven Lovegrove
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use,
* copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the
* Software is 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 Software.
*
* THE SOFTWARE IS 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 SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*/
#include <pangolin/geometry/geometry.h>
namespace pangolin {
pangolin::Geometry LoadGeometryObj(const std::string& filename);
}

165
thirdparty/Pangolin/include/pangolin/geometry/geometry_ply.h vendored Normal file
View File

@@ -0,0 +1,165 @@
/* This file is part of the Pangolin Project.
* http://github.com/stevenlovegrove/Pangolin
*
* Copyright (c) 2014 Steven Lovegrove
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use,
* copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the
* Software is 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 Software.
*
* THE SOFTWARE IS 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 SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*/
#include <pangolin/platform.h>
#include <pangolin/compat/variant.h>
#include <pangolin/geometry/geometry.h>
#include <fstream>
#include <vector>
#include <algorithm>
namespace pangolin
{
#define PLY_GROUP_LIST(m) m(PlyHeader) m(PlyFormat) m(PlyType)
#define PLY_HEADER_LIST(m) m(ply) m(format) m(comment) m(property) m(element) m(end_header)
#define PLY_FORMAT_LIST(m) m(ascii) m(binary_big_endian) m(binary_little_endian)
#define PLY_TYPE_LIST(m) m(char) m(int8) m(uchar) m(uint8) m(short) m(int16) m(ushort) m(uint16) m(int) m(int32) m(uint) m(uint32) m(float) m(float32) m(double) m(float64) m(list)
// Define Enums / strings
enum PlyHeader {
#define FORMAT_ENUM(x) PlyHeader_##x,
PLY_HEADER_LIST(FORMAT_ENUM)
PlyHeaderSize
#undef FORMAT_ENUM
};
enum PlyFormat {
#define FORMAT_ENUM(x) PlyFormat_##x,
PLY_FORMAT_LIST(FORMAT_ENUM)
PlyFormatSize
#undef FORMAT_ENUM
};
enum PlyType {
#define FORMAT_ENUM(x) PlyType_##x,
PLY_TYPE_LIST(FORMAT_ENUM)
PlyTypeSize
#undef FORMAT_ENUM
};
const size_t PlyTypeGl[] = {
// char, int8 -> GL_BYTE
0x1400, 0x1400,
// uchar, uint8 -> GL_UNSIGNED_BYTE
0x1401, 0x1401,
// short, int16 -> GL_SHORT
0x1402, 0x1402,
// ushort, uint16 -> GL_UNSIGNED_SHORT
0x1403, 0x1403,
// int, int32 -> GL_INT
0x1404, 0x1404,
// uint, uint32 -> GL_UNSIGNED_INT
0x1405, 0x1405,
// float, float32 -> GL_FLOAT
0x1406, 0x1406,
// double, float64 -> GL_DOUBLE
0x140A, 0x140A,
// list -> GL_NONE
0
};
#undef FORMAT_ENUM
struct PlyPropertyDetails
{
std::string name;
// Type of property (GLenum)
size_t type;
// Type of list index if a list, or 0 otherwise. (GLenum)
size_t list_index_type;
// Offset from element start
size_t offset_bytes;
// Number of items in the list. 1 if not a list. -1 if unknown.
int num_items;
bool isList() const {
return list_index_type > 0;
}
};
struct PlyElementDetails
{
std::string name;
int num_items;
int stride_bytes;
std::vector<PlyPropertyDetails> properties;
inline std::vector<PlyPropertyDetails>::iterator FindProperty(const std::string& name)
{
return std::find_if(properties.begin(), properties.end(),
[&name](const PlyPropertyDetails& p){ return p.name == name;}
);
}
};
struct PlyHeaderDetails
{
PlyFormat format;
std::string version;
std::vector<PlyElementDetails> elements;
inline std::vector<PlyElementDetails>::iterator FindElement(const std::string& name)
{
return std::find_if(elements.begin(), elements.end(),
[&name](const PlyElementDetails& el){ return el.name == name;}
);
}
};
void ParsePlyHeader(PlyHeaderDetails& ply, std::istream& is);
struct PlyBuffer
{
size_t index_size_bytes;
size_t element_item_size_bytes;
std::vector<unsigned char> data;
};
void ParsePlyAscii(pangolin::Geometry& /*geom*/, const PlyHeaderDetails& /*ply*/, std::istream& /*is*/);
// Convert Seperate "x","y","z" attributes into a single "vertex" attribute
void StandardizeXyzToVertex(pangolin::Geometry& geom);
// The Artec scanner saves with these attributes, for example
void StandardizeMultiTextureFaceToXyzuv(pangolin::Geometry& geom);
void Standardize(pangolin::Geometry& geom);
void ParsePlyLE(pangolin::Geometry& geom, PlyHeaderDetails& ply, std::istream& is);
void ParsePlyBE(pangolin::Geometry& /*geom*/, const PlyHeaderDetails& /*ply*/, std::istream& /*is*/);
void AttachAssociatedTexturesPly(pangolin::Geometry& geom, const std::string& filename);
pangolin::Geometry LoadGeometryPly(const std::string& filename);
}

87
thirdparty/Pangolin/include/pangolin/geometry/glgeometry.h vendored Normal file
View File

@@ -0,0 +1,87 @@
/* This file is part of the Pangolin Project.
* http://github.com/stevenlovegrove/Pangolin
*
* Copyright (c) 2014 Steven Lovegrove
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use,
* copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the
* Software is 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 Software.
*
* THE SOFTWARE IS 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 SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <pangolin/geometry/geometry.h>
#include <pangolin/gl/gl.h>
#include <pangolin/gl/glsl.h>
namespace pangolin {
struct GlGeometry
{
GlGeometry() = default;
GlGeometry(GlGeometry&&) = default;
GlGeometry& operator=(GlGeometry&&) = default;
struct Element : public GlBufferData
{
Element() = default;
Element(Element&&) = default;
Element& operator=(Element&&) = default;
Element(GlBufferType buffer_type, size_t size_bytes, GLenum gluse, uint8_t* data)
: GlBufferData(buffer_type, size_bytes, gluse, data)
{}
inline bool HasAttribute(const std::string& name) const {
return attributes.find(name) != attributes.end();
}
struct Attribute {
// Stuff needed by glVertexAttribPointer
GLenum gltype;
size_t count_per_element;
size_t num_elements;
size_t offset;
size_t stride_bytes;
};
std::map<std::string, Attribute> attributes;
};
inline bool HasAttribute(const std::string& name) const
{
for(const auto& b : buffers) if(b.second.HasAttribute(name)) return true;
return false;
}
// Store vertices and attributes
std::map<std::string, Element> buffers;
// Stores index buffers for each sub-object
std::multimap<std::string, Element> objects;
// Stores pixmaps
std::map<std::string, GlTexture> textures;
};
GlGeometry::Element ToGlGeometry(const Geometry::Element& el, GlBufferType buffertype);
GlGeometry ToGlGeometry(const Geometry& geom);
void GlDraw(GlSlProgram& prog, const GlGeometry& geom, const GlTexture *matcap);
}