Merge pull request #4 from hsp-iit/impl/sicad_devel

Use devel branch of superimpose-mesh-lib.

.github/workflows/ci.yml

@@ -53,9 +53,9 @@ jobs:
         cmake --build . --config ${{ matrix.build_type }} --target install
 
         cd ${GITHUB_WORKSPACE}
-        git clone https://github.com/xenvre/superimpose-mesh-lib
+        git clone https://github.com/robotology/superimpose-mesh-lib
         cd superimpose-mesh-lib
-        git checkout of-aided-tracking
+        git checkout devel
         mkdir build
         cd build
         cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE} ..

dockerfiles/Dockerfile

@@ -46,8 +46,8 @@ RUN git clone https://github.com/robotology/ycm && \
     cd ycm && mkdir build && cd build && \
     cmake .. && \
     make install
-RUN git clone https://github.com/xenvre/superimpose-mesh-lib && \
-    cd superimpose-mesh-lib && git checkout of-aided-tracking && mkdir build && cd build && \
+RUN git clone https://github.com/robotology/superimpose-mesh-lib && \
+    cd superimpose-mesh-lib && git checkout devel && mkdir build && cd build && \
     cmake .. && \
     make install
 

src/roft-lib/CMakeLists.txt

@@ -53,6 +53,9 @@ set(${LIBRARY_TARGET_NAME}_HDR
     include/ROFT/QuaternionModel.h
     include/ROFT/ROFTFilter.h
     include/ROFT/SpatialVelocityModel.h
+    include/ROFT/SICAD.h
+    include/ROFT/SICADModel.h
+    include/ROFT/SICADShader.h
     include/ROFT/SKFCorrection.h
     include/ROFT/UKFCorrection.h
 )
@@ -74,6 +77,9 @@ set(${LIBRARY_TARGET_NAME}_SRC
     src/QuaternionModel.cpp
     src/ROFTFilter.cpp
     src/SpatialVelocityModel.cpp
+    src/SICAD.cpp
+    src/SICADModel.cpp
+    src/SICADShader.cpp
     src/SKFCorrection.cpp
     src/UKFCorrection.cpp
 )
@@ -101,6 +107,13 @@ cmrc_add_resource_library(${LIBRARY_TARGET_NAME}_Resources
                           meshes/DOPE/009_gelatin_box.obj
                           meshes/DOPE/010_potted_meat_can.obj
                           meshes/DOPE/021_bleach_cleanser.obj
+                          shader/shader_background.frag
+                          shader/shader_background.vert
+                          shader/shader_frame.frag
+                          shader/shader_frame.vert
+                          shader/shader_model.frag
+                          shader/shader_model_texture.frag
+                          shader/shader_model.vert
 )
 
 # Add library

src/roft-lib/include/ROFT/ROFTFilter.h

@@ -21,14 +21,13 @@
 #include <ROFT/ImageSegmentationMeasurement.h>
 #include <ROFT/ImageSegmentationSource.h>
 #include <ROFT/ModelParameters.h>
+#include <ROFT/SICAD.h>
 
 #include <RobotsIO/Camera/Camera.h>
 #include <RobotsIO/Utils/ProbeContainer.h>
 #include <RobotsIO/Utils/SpatialVelocityBuffer.h>
 #include <RobotsIO/Utils/Transform.h>
 
-#include <SuperimposeMesh/SICAD.h>
-
 #include <opencv2/opencv.hpp>
 
 namespace ROFT {
@@ -151,7 +150,7 @@ class ROFT::ROFTFilter : public bfl::FilteringAlgorithm,
 
     RobotsIO::Camera::CameraParameters camera_parameters_;
 
-    std::unique_ptr<SICAD> renderer_;
+    std::unique_ptr<ROFT::SICAD> renderer_;
 
     const bool outlier_rejection_;
 

src/roft-lib/include/ROFT/SICADModel.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
+ *
+ * This software may be modified and distributed under the terms of the
+ * GPL-2+ license. See the accompanying LICENSE file for details.
+ *
+ *
+ * Part of this code is taken from https://github.com/robotology/superimpose-mesh-lib/commits/impl/depth
+ *
+ * This is the original BSD 3-Clause LICENSE the original code was provided with:
+ *
+ * Copyright (c) 2016-2019, Istituto Italiano di Tecnologia (IIT) All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the organization nor the names of its contributors may be used to endorse or promote products derived from this software without
+ *   specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLAUDIO FANTACCI BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROFT_SICAD_MODEL_H
+#define ROFT_SICAD_MODEL_H
+
+#include <SuperimposeMesh/Model.h>
+
+#include <ROFT/SICADShader.h>
+
+#include <istream>
+
+namespace ROFT {
+    class SICADModel;
+}
+
+
+class ROFT::SICADModel
+{
+public:
+    SICADModel(const GLchar* path);
+
+    SICADModel(const std::basic_istream<char>* model_stream);
+
+    void Draw(ROFT::SICADShader shader);
+
+    bool has_texture();
+
+protected:
+    void loadModel(std::string path);
+
+    void loadModel(const std::basic_istream<char>* model_stream);
+
+    void processNode(aiNode* node, const aiScene* scene);
+
+    Mesh processMesh(aiMesh* mesh, const aiScene* scene);
+
+    GLint TextureFromFile(const char* path, std::string directory);
+
+    std::vector<Mesh::Texture> loadMaterialTextures(aiMaterial* mat, aiTextureType type, std::string typeName);
+
+private:
+    std::vector<Mesh> meshes_;
+
+    std::string directory_;
+
+    std::vector<Mesh::Texture> textures_loaded_;
+};
+
+#endif /* ROFT_SICAD_MODEL_H */

src/roft-lib/include/ROFT/SICADShader.h

@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
+ *
+ * This software may be modified and distributed under the terms of the
+ * GPL-2+ license. See the accompanying LICENSE file for details.
+ *
+ *
+ * Part of this code is taken from https://github.com/robotology/superimpose-mesh-lib/commits/impl/depth
+ *
+ * This is the original BSD 3-Clause LICENSE the original code was provided with:
+ *
+ * Copyright (c) 2016-2019, Istituto Italiano di Tecnologia (IIT) All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the organization nor the names of its contributors may be used to endorse or promote products derived from this software without
+ *   specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLAUDIO FANTACCI BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROFT_SICAD_SHADER_H
+#define ROFT_SICAD_SHADER_H
+
+#include <exception>
+#include <string>
+
+#include <GL/glew.h>
+
+namespace ROFT {
+    class SICADShader;
+}
+
+
+class ROFT::SICADShader
+{
+public:
+    /**
+     * Create a shader program with given vertex and fragment shader paths.
+     */
+    SICADShader(const std::string& vertex_shader_path, const std::string& fragment_shader_path);
+
+    /**
+     * Activate the shader program.
+     */
+    void install();
+
+    /**
+     * Deactivate the shader program.
+     */
+    void uninstall();
+
+
+    inline const GLuint get_program()
+    {
+        return shader_program_id_;
+    }
+
+private:
+    /**
+     * The program ID.
+     */
+    GLuint shader_program_id_;
+};
+
+#endif /* ROFT_SICAD_SHADER_H */

src/roft-lib/shader/shader_background.frag

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
+ *
+ * This software may be modified and distributed under the terms of the
+ * GPL-2+ license. See the accompanying LICENSE file for details.
+ *
+ *
+ * Part of this code is taken from https://github.com/robotology/superimpose-mesh-lib/commits/impl/depth
+ *
+ * This is the original BSD 3-Clause LICENSE the original code was provided with:
+ *
+ * Copyright (c) 2016-2019, Istituto Italiano di Tecnologia (IIT) All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the organization nor the names of its contributors may be used to endorse or promote products derived from this software without
+ *   specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLAUDIO FANTACCI BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#version 330 core
+
+in vec3 ourColor;
+in vec2 TexCoord;
+
+out vec4 color;
+
+uniform sampler2D ourTexture;
+
+void main()
+{
+    color = texture(ourTexture, TexCoord);
+}

src/roft-lib/shader/shader_background.vert

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
+ *
+ * This software may be modified and distributed under the terms of the
+ * GPL-2+ license. See the accompanying LICENSE file for details.
+ *
+ *
+ * Part of this code is taken from https://github.com/robotology/superimpose-mesh-lib/commits/impl/depth
+ *
+ * This is the original BSD 3-Clause LICENSE the original code was provided with:
+ *
+ * Copyright (c) 2016-2019, Istituto Italiano di Tecnologia (IIT) All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the organization nor the names of its contributors may be used to endorse or promote products derived from this software without
+ *   specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLAUDIO FANTACCI BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#version 330 core
+
+layout (location = 0) in vec2 position;
+layout (location = 1) in vec3 color;
+layout (location = 2) in vec2 texCoord;
+
+out vec3 ourColor;
+out vec2 TexCoord;
+
+uniform mat4 projection;
+
+void main()
+{
+    gl_Position = projection * vec4(position, -99999.99, 1.0f);
+    ourColor = color;
+    TexCoord = vec2(texCoord.x, 1.0f - texCoord.y);
+}

src/roft-lib/shader/shader_frame.frag

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
+ *
+ * This software may be modified and distributed under the terms of the
+ * GPL-2+ license. See the accompanying LICENSE file for details.
+ *
+ *
+ * Part of this code is taken from https://github.com/robotology/superimpose-mesh-lib/commits/impl/depth
+ *
+ * This is the original BSD 3-Clause LICENSE the original code was provided with:
+ *
+ * Copyright (c) 2016-2019, Istituto Italiano di Tecnologia (IIT) All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the organization nor the names of its contributors may be used to endorse or promote products derived from this software without
+ *   specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLAUDIO FANTACCI BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#version 330 core
+
+in vec3 vert_color;
+
+out vec4 frag_color;
+
+void main()
+{
+    frag_color = vec4(vert_color, 1.0f);
+}

src/roft-lib/shader/shader_frame.vert

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
+ *
+ * This software may be modified and distributed under the terms of the
+ * GPL-2+ license. See the accompanying LICENSE file for details.
+ *
+ *
+ * Part of this code is taken from https://github.com/robotology/superimpose-mesh-lib/commits/impl/depth
+ *
+ * This is the original BSD 3-Clause LICENSE the original code was provided with:
+ *
+ * Copyright (c) 2016-2019, Istituto Italiano di Tecnologia (IIT) All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the organization nor the names of its contributors may be used to endorse or promote products derived from this software without
+ *   specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CLAUDIO FANTACCI BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#version 330 core
+
+layout (location = 0) in vec3 position;
+layout (location = 1) in vec3 color;
+
+out vec3 vert_color;
+
+uniform mat4 model;
+uniform mat4 view;
+uniform mat4 projection;
+
+void main()
+{
+    gl_Position = projection * view * model * vec4(position, 1.0f);
+    vert_color = color;
+}