TexturedTrianglesRenderer.h

Go to the documentation of this file.

/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TRACKING_MAPTEXTURING_TEXTURED_TRIANGLES_RENDERER_H
#define META_OCEAN_TRACKING_MAPTEXTURING_TEXTURED_TRIANGLES_RENDERER_H
 
#include "ocean/tracking/maptexturing/MapTexturing.h"
#include "ocean/tracking/maptexturing/HashableTriangle.h"
#include "ocean/tracking/maptexturing/TextureAtlas.h"
 
#include "ocean/base/Frame.h"
 
#include "ocean/math/HomogenousMatrix4.h"
 
#include "ocean/rendering/FrameTexture2D.h"
#include "ocean/rendering/Engine.h"
#include "ocean/rendering/ShaderProgram.h"
#include "ocean/rendering/TextureFramebuffer.h"
#include "ocean/rendering/TriangleFace.h"
#include "ocean/rendering/Triangles.h"
#include "ocean/rendering/VertexSet.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace MapTexturing
{
 
/**
 * This class implements a renderer rendering textured triangles into a texture atlas using a geometry shader.
 * @ingroup trackingmaptexturing
 */
class OCEAN_TRACKING_MAPTEXTURING_EXPORT TexturedTrianglesRenderer
{
    protected:
 
        /**
         * Definition of an unordered map mapping mesh ids to texture framebuffers.
         */
        typedef std::unordered_map<Index32, Rendering::TextureFramebufferRef> TextureFramebufferMap;
 
    public:
 
        /**
         * Destructs this renderer and releases all resources.
         */
        ~TexturedTrianglesRenderer();
 
        /**
         * Updates this renderer with a new live frame which will be used as source texture.
         * @param engine The rendering engine to be used
         * @param rgbFrame The frame to be used as source texture, must be valid
         * @return True, if succeeded
         */
        bool update(const Rendering::Engine& engine, Frame&& rgbFrame);
 
        /**
         * Renders textured triangles into a texture atlas.
         * @param engine The rendering engine to be used
         * @param numberTriangles The number of triangles to render, with range [0, infinity)
         * @param projectionMatrix The projection matrix to be used, must be valid
         * @param world_T_camera The transformation between camera and world, must be valid
         * @param vertexSet The vertex set containing all triangle vertices, must be valid
         * @param triangles The triangles to render, must be valid
         * @param visibleTrianglesFramebuffer The texture framebuffer containing all visible triangles, must be valid
         * @param textureAtlas The texture atlas defining the layout
         * @return True, if succeeded
         */
        bool render(const Rendering::Engine& engine, const unsigned int numberTriangles, const SquareMatrix4& projectionMatrix, const HomogenousMatrix4& world_T_camera, const Rendering::VertexSetRef& vertexSet, const Rendering::TrianglesRef& triangles, const Rendering::TextureFramebufferRef& visibleTrianglesFramebuffer, const TextureAtlas& textureAtlas);
 
        /**
         * Returns the map mapping mesh ids to texture framebuffers.
         * @return The map of texture framebuffers
         */
        inline const TextureFramebufferMap& textureFramebufferMap() const;
 
        /**
         * Returns the latest texture atlas image for a specified mesh.
         * @param meshId The id of the mesh for which the latest atlas image will be returned, must be valid
         * @param textureFrame The resulting atlas image
         * @return True, if succeeded
         */
        bool latestTexture(const Index32 meshId, Frame& textureFrame) const;
 
        /**
         * Returns the ids of all textured meshes.
         * @return The ids of all meshes
         */
        Indices32 meshIds() const;
 
        /**
         * Explicitly releases this renderer and releases all resources.
         */
        void release();
 
        /**
         * Returns whether this renderer has been initialized successfully.
         * @return True, if succeeded
         */
        inline bool isValid() const;
 
    protected:
 
        /**
         * Renders textured triangles into a texture atlas.
         * @param engine The rendering engine to be used
         * @param meshId The id of the mesh for which the textured triangles will be rendered, must be valid
         * @param trianglesInMesh The number of triangles in the mesh, with range [1, infinity)
         * @param projectionMatrix The projection matrix to be used, must be valid
         * @param world_T_camera The transformation between camera and world, must be valid
         * @param vertexSet The vertex set containing all triangle vertices, must be valid
         * @param triangles The triangles to render, must be valid
         * @param visibleTrianglesFramebuffer The texture framebuffer containing all visible triangles, must be valid
         * @param textureAtlas The texture atlas defining the layout
         * @return True, if succeeded
         */
        bool renderMesh(const Rendering::Engine& engine, const Index32 meshId, const unsigned int trianglesInMesh, const SquareMatrix4& projectionMatrix, const HomogenousMatrix4& world_T_camera, const Rendering::VertexSetRef& vertexSet, const Rendering::TrianglesRef& triangles, const Rendering::TextureFramebufferRef& visibleTrianglesFramebuffer, const TextureAtlas& textureAtlas);
 
    protected:
 
        /// The shader program rendering individual triangles with individual color ids.
        Rendering::ShaderProgramRef shaderProgram_;
 
        /// The map of texture framebuffers, one for each mesh id.
        TextureFramebufferMap textureFramebufferMap_;
 
        /// The frame texture holding the texture information for the triangles.
        Rendering::FrameTexture2DRef texture_;
 
        /// The platform-specific shader part.
        static const char* partPlatform_;
 
        /// The shader part for the texture atlas.
        static const char* partTextureAtlas_;
 
        /// The geometry shader part.
        static const char* programGeometryShader_;
 
        /// The vertex shader part.
        static const char* programVertexShader_;
 
        /// The fragment shader part.
        static const char* programFragmentShader_;
};
 
inline const TexturedTrianglesRenderer::TextureFramebufferMap& TexturedTrianglesRenderer::textureFramebufferMap() const
{
    return textureFramebufferMap_;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_MAPTEXTURING_TEXTURED_TRIANGLES_RENDERER_H