39 #pragma warning(disable : 4068 4146 4293 4305)
42 #include <filament/LightManager.h>
43 #include <filament/RenderableManager.h>
44 #include <utils/Entity.h>
50 #include <Eigen/Geometry>
51 #include <unordered_map>
69 class TransformManager;
75 namespace visualization {
79 class GeometryBuffersBuilder;
87 using Transform = Eigen::Transform<float, 3, Eigen::Affine>;
108 void AddCamera(
const std::string& camera_name,
109 std::shared_ptr<Camera> cam)
override;
110 void RemoveCamera(
const std::string& camera_name)
override;
117 const std::string& downsampled_name =
"",
118 size_t downsample_threshold = SIZE_MAX)
override;
122 const std::string& downsampled_name =
"",
123 size_t downsample_threshold = SIZE_MAX)
override;
126 bool HasGeometry(
const std::string& object_name)
const override;
131 void ShowGeometry(
const std::string& object_name,
bool show)
override;
137 const std::string& object_name)
override;
140 bool receive_shadows)
override;
142 bool enable)
override;
144 uint8_t priority)
override;
147 void QueryGeometry(std::vector<std::string>& geometry)
override;
150 bool shader_only =
true)
override;
154 const Eigen::Vector3f&
color,
158 bool cast_shadows)
override;
160 const Eigen::Vector3f&
color,
162 const Eigen::Vector3f& direction,
165 float inner_cone_angle,
166 float outer_cone_angle,
167 bool cast_shadows)
override;
169 const Eigen::Vector3f&
color,
170 const Eigen::Vector3f& direction,
172 bool cast_shadows)
override;
174 void RemoveLight(
const std::string& light_name)
override;
176 const Light& light)
override;
178 const Eigen::Vector3f&
color)
override;
180 const Eigen::Vector3f&
position)
override;
182 const Eigen::Vector3f& direction)
override;
184 float intensity)
override;
186 float falloff)
override;
188 float inner_cone_angle,
189 float outer_cone_angle)
override;
191 bool cast_shadows)
override;
194 const Eigen::Vector3f&
color,
195 float intensity)
override;
218 const Eigen::Vector4f&
color,
219 const std::shared_ptr<geometry::Image>
image =
nullptr)
override;
224 void RenderToImage(std::function<
void(std::shared_ptr<geometry::Image>)>
227 std::function<
void(std::shared_ptr<geometry::Image>)>
callback)
230 void Draw(filament::Renderer& renderer);
243 filament::RenderableManager::Builder& builder,
245 enum BufferReuse { kNo, kYes };
246 bool CreateAndAddFilamentEntity(
247 const std::string& object_name,
248 GeometryBuffersBuilder& buffer_builder,
252 const MaterialRecord& material,
253 BufferReuse reusing_vertex_buffer = BufferReuse::kNo);
255 filament::Engine& engine_;
256 FilamentResourceManager& resource_mgr_;
257 filament::Scene* scene_ =
nullptr;
278 struct GeometryMaterialInstance {
280 MaterialRecord properties;
284 struct RenderableGeometry {
287 bool was_hidden_before_picking =
false;
288 bool cast_shadows =
true;
289 bool receive_shadows =
true;
290 bool culling_enabled =
true;
293 GeometryMaterialInstance mat;
296 utils::Entity filament_entity;
297 filament::RenderableManager::PrimitiveType primitive_type;
300 void ReleaseResources(filament::Engine& engine,
301 FilamentResourceManager& manager);
306 utils::Entity filament_entity;
310 struct ViewContainer {
311 std::unique_ptr<FilamentView> view;
312 bool is_active =
true;
313 int render_count = -1;
315 std::unordered_map<REHandle_abstract, ViewContainer> views_;
317 std::vector<RenderableGeometry*> GetGeometry(
const std::string& object_name,
318 bool warn_if_not_found =
true);
319 bool GeometryIsModel(
const std::string& object_name)
const;
320 LightEntity* GetLightInternal(
const std::string& light_name,
321 bool warn_if_not_found =
true);
322 void OverrideMaterialInternal(RenderableGeometry* geom,
323 const MaterialRecord& material,
324 bool shader_only =
false);
325 void UpdateMaterialProperties(RenderableGeometry& geom);
326 void UpdateDefaultLit(GeometryMaterialInstance& geom_mi);
327 void UpdateDefaultLitSSR(GeometryMaterialInstance& geom_mi);
328 void UpdateDefaultUnlit(GeometryMaterialInstance& geom_mi);
329 void UpdateNormalShader(GeometryMaterialInstance& geom_mi);
330 void UpdateDepthShader(GeometryMaterialInstance& geom_mi);
331 void UpdateDepthValueShader(GeometryMaterialInstance& geom_mi);
332 void UpdateGradientShader(GeometryMaterialInstance& geom_mi);
333 void UpdateSolidColorShader(GeometryMaterialInstance& geom_mi);
334 void UpdateBackgroundShader(GeometryMaterialInstance& geom_mi);
335 void UpdateGroundPlaneShader(GeometryMaterialInstance& geom_mi);
336 void UpdateLineShader(GeometryMaterialInstance& geom_mi);
337 void UpdateUnlitPolygonOffsetShader(GeometryMaterialInstance& geom_mi);
338 utils::EntityInstance<filament::TransformManager>
339 GetGeometryTransformInstance(RenderableGeometry* geom);
340 void CreateSunDirectionalLight();
341 void CreateBackgroundGeometry();
342 void CreateGroundPlaneGeometry();
344 std::unordered_map<std::string, RenderableGeometry> geometries_;
345 std::unordered_map<std::string, LightEntity> lights_;
346 std::unordered_map<std::string, std::vector<std::string>> model_geometries_;
348 Eigen::Vector4f background_color_;
349 std::shared_ptr<geometry::Image> background_image_;
350 std::string ibl_name_;
351 bool ibl_enabled_ =
false;
352 bool skybox_enabled_ =
false;
353 std::weak_ptr<filament::IndirectLight> indirect_light_;
354 std::weak_ptr<filament::Skybox> skybox_;
std::shared_ptr< core::Tensor > image
Definition: FilamentRenderer.cpp:228
std::function< void(std::shared_ptr< core::Tensor >)> callback
Definition: FilamentRenderer.cpp:227
math::float4 color
Definition: LineSetBuffers.cpp:64
math::float3 position
Definition: LineSetBuffers.cpp:62
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:155
The base geometry class for 3D geometries.
Definition: Geometry3D.h:47
The base geometry class.
Definition: Geometry.h:38
A point cloud contains a list of 3D points.
Definition: PointCloud.h:95
Definition: FilamentResourceManager.h:69
static const TextureHandle kDefaultNormalMap
Definition: FilamentResourceManager.h:90
static const TextureHandle kDefaultTexture
Definition: FilamentResourceManager.h:88
Definition: FilamentScene.h:85
void UpdateLightDirection(const std::string &light_name, const Eigen::Vector3f &direction) override
Definition: FilamentScene.cpp:1397
Eigen::Vector3f GetSunLightColor() override
Definition: FilamentScene.cpp:1518
void UpdateLightIntensity(const std::string &light_name, float intensity) override
Definition: FilamentScene.cpp:1409
const std::string & GetIndirectLight() override
Definition: FilamentScene.cpp:1605
void EnableIndirectLight(bool enable) override
Definition: FilamentScene.cpp:1607
~FilamentScene()
Definition: FilamentScene.cpp:177
void SetActiveCamera(const std::string &camera_name) override
Definition: FilamentScene.cpp:307
void SetSunLightColor(const Eigen::Vector3f &color) override
Definition: FilamentScene.cpp:1511
void RenderToDepthImage(std::function< void(std::shared_ptr< geometry::Image >)> callback) override
Size of image is the size of the window.
Definition: FilamentScene.cpp:1838
void SetGeometryTransform(const std::string &object_name, const Transform &transform) override
Definition: FilamentScene.cpp:746
Eigen::Vector3f GetSunLightDirection() override
Definition: FilamentScene.cpp:1554
bool AddPointLight(const std::string &light_name, const Eigen::Vector3f &color, const Eigen::Vector3f &position, float intensity, float falloff, bool cast_shadows) override
Definition: FilamentScene.cpp:1239
void SetSunLightDirection(const Eigen::Vector3f &direction) override
Definition: FilamentScene.cpp:1526
void Draw(filament::Renderer &renderer)
Definition: FilamentScene.cpp:1916
void HideRefractedMaterials(bool hide=true)
Definition: FilamentScene.cpp:1932
void RenderToImage(std::function< void(std::shared_ptr< geometry::Image >)> callback) override
Size of image is the size of the window.
Definition: FilamentScene.cpp:1832
void EnableSunLight(bool enable) override
Definition: FilamentScene.cpp:1479
void SetBackground(const Eigen::Vector4f &color, const std::shared_ptr< geometry::Image > image=nullptr) override
Definition: FilamentScene.cpp:1698
void UpdateLightColor(const std::string &light_name, const Eigen::Vector3f &color) override
Definition: FilamentScene.cpp:1372
Transform GetIndirectLightRotation() override
Definition: FilamentScene.cpp:1640
void EnableLightShadow(const std::string &light_name, bool cast_shadows) override
Definition: FilamentScene.cpp:1437
bool AddDirectionalLight(const std::string &light_name, const Eigen::Vector3f &color, const Eigen::Vector3f &direction, float intensity, bool cast_shadows) override
Definition: FilamentScene.cpp:1317
void SetSunLightIntensity(float intensity) override
Definition: FilamentScene.cpp:1497
geometry::AxisAlignedBoundingBox GetGeometryBoundingBox(const std::string &object_name) override
Definition: FilamentScene.cpp:776
void UpdateLightPosition(const std::string &light_name, const Eigen::Vector3f &position) override
Definition: FilamentScene.cpp:1383
Transform GetGeometryTransform(const std::string &object_name) override
Definition: FilamentScene.cpp:761
void RemoveGeometry(const std::string &object_name) override
Definition: FilamentScene.cpp:691
bool SetIndirectLight(const std::string &ibl_name) override
Definition: FilamentScene.cpp:1562
void SetGroundPlaneColor(const Eigen::Vector4f &color) override
Definition: FilamentScene.cpp:1806
bool GeometryIsVisible(const std::string &object_name) override
Definition: FilamentScene.cpp:720
Light & GetLight(const std::string &light_name) override
Definition: FilamentScene.cpp:1352
void SetIndirectLightIntensity(float intensity) override
Definition: FilamentScene.cpp:1620
ViewHandle AddView(std::int32_t x, std::int32_t y, std::uint32_t w, std::uint32_t h) override
Definition: FilamentScene.cpp:254
void SetSunAngularRadius(float radius) override
Definition: FilamentScene.cpp:1533
float GetSunLightIntensity() override
Definition: FilamentScene.cpp:1504
void UpdateLightFalloff(const std::string &light_name, float falloff) override
Definition: FilamentScene.cpp:1420
void EnableSunLightShadows(bool enable) override
Definition: FilamentScene.cpp:1490
void RemoveView(const ViewHandle &view_id) override
Definition: FilamentScene.cpp:298
bool GetSkyboxVisible() const override
Definition: FilamentScene.cpp:1664
View * GetView(const ViewHandle &view_id) const override
Definition: FilamentScene.cpp:273
void OverrideMaterialAll(const MaterialRecord &material, bool shader_only=true) override
Definition: FilamentScene.cpp:1229
void SetRenderOnce(const ViewHandle &view_id) override
Definition: FilamentScene.cpp:290
Scene * Copy() override
Definition: FilamentScene.cpp:193
void AddCamera(const std::string &camera_name, std::shared_ptr< Camera > cam) override
Definition: FilamentScene.cpp:302
void SetGeometryCulling(const std::string &object_name, bool enable) override
Definition: FilamentScene.cpp:811
void EnableGroundPlane(bool enable, GroundPlane plane) override
Definition: FilamentScene.cpp:1787
void SetSunHaloSize(float size) override
Definition: FilamentScene.cpp:1540
filament::Scene * GetNativeScene() const
Definition: FilamentScene.h:239
void ShowSkybox(bool show) override
Definition: FilamentScene.cpp:1650
FilamentScene(filament::Engine &engine, FilamentResourceManager &resource_mgr, Renderer &renderer)
Definition: FilamentScene.cpp:166
bool AddGeometry(const std::string &object_name, const geometry::Geometry3D &geometry, const MaterialRecord &material, const std::string &downsampled_name="", size_t downsample_threshold=SIZE_MAX) override
Definition: FilamentScene.cpp:324
void UpdateGeometry(const std::string &object_name, const t::geometry::PointCloud &point_cloud, uint32_t update_flags) override
Definition: FilamentScene.cpp:556
void SetGeometryPriority(const std::string &object_name, uint8_t priority) override
Definition: FilamentScene.cpp:823
void SetViewActive(const ViewHandle &view_id, bool is_active) override
Definition: FilamentScene.cpp:282
void ShowGeometry(const std::string &object_name, bool show) override
Definition: FilamentScene.cpp:706
void RemoveLight(const std::string &light_name) override
Definition: FilamentScene.cpp:1363
void SetSunHaloFalloff(float falloff) override
Definition: FilamentScene.cpp:1547
void QueryGeometry(std::vector< std::string > &geometry) override
Definition: FilamentScene.cpp:1223
void SetSunLight(const Eigen::Vector3f &direction, const Eigen::Vector3f &color, float intensity) override
Definition: FilamentScene.cpp:1468
void SetIndirectLightRotation(const Transform &rotation) override
Definition: FilamentScene.cpp:1633
float GetIndirectLightIntensity() override
Definition: FilamentScene.cpp:1626
void GeometryShadows(const std::string &object_name, bool cast_shadows, bool receive_shadows) override
Definition: FilamentScene.cpp:798
Eigen::Transform< float, 3, Eigen::Affine > Transform
Definition: FilamentScene.h:87
void UpdateLightConeAngles(const std::string &light_name, float inner_cone_angle, float outer_cone_angle) override
Definition: FilamentScene.cpp:1431
void RemoveCamera(const std::string &camera_name) override
Definition: FilamentScene.cpp:305
bool HasGeometry(const std::string &object_name) const override
Definition: FilamentScene.cpp:548
void UpdateLight(const std::string &light_name, const Light &light) override
Definition: FilamentScene.cpp:1358
void OverrideMaterial(const std::string &object_name, const MaterialRecord &material) override
Definition: FilamentScene.cpp:1215
bool AddSpotLight(const std::string &light_name, const Eigen::Vector3f &color, const Eigen::Vector3f &position, const Eigen::Vector3f &direction, float intensity, float falloff, float inner_cone_angle, float outer_cone_angle, bool cast_shadows) override
Definition: FilamentScene.cpp:1275
Definition: Renderer.h:74
GroundPlane
Definition: Scene.h:200
Definition: FilamentEngine.h:31
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle uint32_t
Definition: K4aPlugin.cpp:567
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t int32_t
Definition: K4aPlugin.cpp:414
REHandle< EntityType::IndexBuffer > IndexBufferHandle
Definition: RendererHandle.h:158
REHandle< EntityType::VertexBuffer > VertexBufferHandle
Definition: RendererHandle.h:157
REHandle< EntityType::MaterialInstance > MaterialInstanceHandle
Definition: RendererHandle.h:154
REHandle< EntityType::Skybox > SkyboxHandle
Definition: RendererHandle.h:151
REHandle< EntityType::IndirectLight > IndirectLightHandle
Definition: RendererHandle.h:150
Definition: PinholeCameraIntrinsic.cpp:35
Definition: MaterialRecord.h:41