diff --git a/3rdparty/apriltag/CMakeLists.txt b/3rdparty/apriltag/CMakeLists.txt index b3308b4e83..5191919cc1 100644 --- a/3rdparty/apriltag/CMakeLists.txt +++ b/3rdparty/apriltag/CMakeLists.txt @@ -23,6 +23,10 @@ if(NOT WITH_APRILTAG_BIG_FAMILY) vp_list_filterout(lib_hdrs tagStandard52h13.h) endif() +if(NOT (WIN32 AND NOT MINGW)) + vp_list_filterout(lib_srcs pthreads_cross.c) +endif() + if(UNIX) if(CMAKE_COMPILER_IS_GNUCXX OR CV_ICC) set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -U__STRICT_ANSI__ -fPIC -std=c99") @@ -60,24 +64,27 @@ endif() if(MSVC) if(BUILD_SHARED_LIBS) vp_warnings_disable(CMAKE_CXX_FLAGS /wd4018 /wd4098 /wd4244 /wd4267 /wd4305 /wd4334 /wd4244 /wd4838 /wd4996 /wd6011 /wd6385 /wd6386 /wd6387 /wd6011 /wd26451) - vp_set_source_file_compile_flag(common/zmaxheap.c /wd4098 /wd4244) - vp_set_source_file_compile_flag(common/workerpool.c /wd4018 /wd4244) - vp_set_source_file_compile_flag(common/pam.c /wd4018) - vp_set_source_file_compile_flag(common/homography.c /wd4244) + vp_set_source_file_compile_flag(common/matd.c /wd4244) vp_set_source_file_compile_flag(common/g2d.c /wd4244) + vp_set_source_file_compile_flag(common/homography.c /wd4244) vp_set_source_file_compile_flag(common/image_u8.c /wd4244) vp_set_source_file_compile_flag(common/image_u8x3.c /wd4244) - vp_set_source_file_compile_flag(common/string_util.c /wd4018 /wd4267 /wd4996) + vp_set_source_file_compile_flag(common/pam.c /wd4018) vp_set_source_file_compile_flag(common/pthreads_cross.c /wd4068 /wd4244) + vp_set_source_file_compile_flag(common/string_util.c /wd4018 /wd4267 /wd4996) vp_set_source_file_compile_flag(common/time_util.c /wd4244) + vp_set_source_file_compile_flag(common/times.c /wd4244) + vp_set_source_file_compile_flag(common/workerpool.c /wd4018 /wd4244) + vp_set_source_file_compile_flag(common/zmaxheap.c /wd4098 /wd4244) vp_set_source_file_compile_flag(apriltag.c /wd4244) + vp_set_source_file_compile_flag(apriltag_pose.c /wd4244) vp_set_source_file_compile_flag(apriltag_quad_thresh.c /wd4244) - vp_set_source_file_compile_flag(tag16h5.c /wd4996) - vp_set_source_file_compile_flag(tag25h7.c /wd4996) - vp_set_source_file_compile_flag(tag25h9.c /wd4996) - vp_set_source_file_compile_flag(tag36h10.c /wd4996) - vp_set_source_file_compile_flag(tag36h11.c /wd4996) - vp_set_source_file_compile_flag(tagCircle21h7.c /wd4996) + vp_set_source_file_compile_flag(tag16h5.c /wd4996 /wd4244) + vp_set_source_file_compile_flag(tag25h7.c /wd4996 /wd4244) + vp_set_source_file_compile_flag(tag25h9.c /wd4996 /wd4244) + vp_set_source_file_compile_flag(tag36h10.c /wd4996 /wd42446) + vp_set_source_file_compile_flag(tag36h11.c /wd4996 /wd4244) + vp_set_source_file_compile_flag(tagCircle21h7.c /wd4996 /wd4244) # disable optimization foreach(f ${tag_srcs}) vp_set_source_file_compile_flag(${f} /O0) diff --git a/example/kalman/ukf-linear-example.cpp b/example/kalman/ukf-linear-example.cpp index 003e043552..5675972ae6 100644 --- a/example/kalman/ukf-linear-example.cpp +++ b/example/kalman/ukf-linear-example.cpp @@ -56,6 +56,8 @@ * not perfect. */ +#include + // UKF includes #include #include diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp index 93b441f14e..954a644ceb 100644 --- a/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp +++ b/modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp @@ -37,167 +37,134 @@ #include "texturePool.h" BEGIN_VISP_NAMESPACE -const char *vpPanda3DRGBRenderer::COOK_TORRANCE_VERT = R"shader( -#version 330 - -in vec3 p3d_Normal; -in vec4 p3d_Vertex; - -out vec3 oNormal; -out vec4 viewVertex; - -uniform mat3 p3d_NormalMatrix; -uniform mat4 p3d_ModelViewMatrix; -uniform mat4 p3d_ModelViewProjectionMatrix; - -in vec2 p3d_MultiTexCoord0; -out vec2 texcoords; -out vec3 F0; - -uniform struct p3d_MaterialParameters { - vec4 ambient; - vec4 diffuse; - vec4 emission; - vec3 specular; - float shininess; - - // These properties are new in 1.10. - vec4 baseColor; - float roughness; - float metallic; - float refractiveIndex; -} p3d_Material; - -vec3 computeF0(float ior, float metallic, vec3 baseColor) -{ - float F0f = pow(abs((1.0 - ior) / (1.0 + ior)), 2.0); - vec3 F0 = vec3(F0f, F0f, F0f); - return mix(F0, baseColor, metallic); -} - -void main() -{ - gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex; - oNormal = p3d_NormalMatrix * normalize(p3d_Normal); - viewVertex = p3d_ModelViewMatrix * p3d_Vertex; - texcoords = p3d_MultiTexCoord0; - F0 = computeF0(p3d_Material.refractiveIndex, p3d_Material.metallic, p3d_Material.baseColor.xyz); -} -)shader"; - -const char *vpPanda3DRGBRenderer::COOK_TORRANCE_FRAG = R"shader( -// Version 330, specified when generating shader -#define M_PI 3.1415926535897932384626433832795 - -in vec3 oNormal; -in vec4 viewVertex; -in vec3 F0; - -out vec4 p3d_FragData; - -uniform struct { - vec4 ambient; -} p3d_LightModel; - -uniform struct p3d_LightSourceParameters { - // Primary light color. - vec4 color; - - // View-space position. If w=0, this is a directional light, with the xyz - // being -direction. - vec4 position; - - // constant, linear, quadratic attenuation in one vector - vec3 attenuation; - -} p3d_LightSource[4]; - -uniform struct p3d_MaterialParameters { - vec4 ambient; - vec4 diffuse; - vec4 emission; - vec3 specular; - float shininess; - - // These properties are new in 1.10. - vec4 baseColor; - float roughness; - float metallic; - float refractiveIndex; -} p3d_Material; - -in vec2 texcoords; -#ifdef HAS_TEXTURE -uniform sampler2D p3d_Texture0; -#endif - -float D(float roughness2, float hn) -{ - return (1.f / (M_PI * roughness2)) * pow(hn, (2.f / roughness2) - 2.f); -} - -float G(float hn, float nv, float nl, float vh) -{ - return min(1.0, min((2.f * hn * nv) / vh, (2.f * hn * nl) / vh)); -} - -vec3 F(vec3 F0, float vh) -{ - return F0 + (vec3(1.f, 1.f, 1.f) - F0) * pow(1.f - vh, 5); -} - -void main() -{ - vec3 n = normalize(oNormal); // normalized normal vector - vec3 v = normalize(-viewVertex.xyz); // normalized view vector - float nv = max(0.f, dot(n, v)); - float roughness2 = clamp(pow(p3d_Material.roughness, 2), 0.01, 0.99); - - #ifdef HAS_TEXTURE - vec4 baseColor = texture(p3d_Texture0, texcoords); - vec4 ambientColor = baseColor; - #else - vec4 ambientColor = p3d_Material.ambient; - vec4 baseColor = p3d_Material.baseColor; - #endif - - p3d_FragData = p3d_LightModel.ambient * baseColor; - - - for(int i = 0; i < p3d_LightSource.length(); ++i) { - - vec3 lf = p3d_LightSource[i].position.xyz - (viewVertex.xyz * p3d_LightSource[i].position.w); - float lightDist = length(lf); - vec3 l = normalize(lf); // normalized light vector - vec3 h = normalize(l + v); // half way vector - float hn = dot(h, n); - float nl = max(0.f, dot(n, l)); - float vh = max(0.f, dot(v, h)); - - vec3 aFac = p3d_LightSource[i].attenuation; - float attenuation = 1.f / (aFac[0] + aFac[1] * lightDist + aFac[2] * lightDist * lightDist); - - vec3 FV = F(F0, vh); - vec3 kd = (1.f - p3d_Material.metallic) * (1.f - FV) * (1.f / M_PI); - - - #ifdef SPECULAR - vec3 specularColor = vec3(0.f, 0.f, 0.f); - if(nl > 0.f && nv > 0.f) { - float DV = D(roughness2, hn); - float GV = G(hn, nv, nl, vh); - vec3 rs = (DV * GV * FV) / (4.f * nl * nv); - specularColor = rs * p3d_Material.specular; - } - #else - vec3 specularColor = vec3(0.0, 0.0, 0.0); - #endif - - p3d_FragData += (p3d_LightSource[i].color * attenuation) * nl * (baseColor * vec4(kd, 1.f) + vec4(specularColor, 1.f)); - } - p3d_FragData.bgra = p3d_FragData; -} -)shader"; +const char *vpPanda3DRGBRenderer::COOK_TORRANCE_VERT = +"#version 330\n" +"in vec3 p3d_Normal;\n" +"in vec4 p3d_Vertex;\n" +"out vec3 oNormal;\n" +"out vec4 viewVertex;\n" +"uniform mat3 p3d_NormalMatrix;\n" +"uniform mat4 p3d_ModelViewMatrix;\n" +"uniform mat4 p3d_ModelViewProjectionMatrix;\n" +"in vec2 p3d_MultiTexCoord0;\n" +"out vec2 texcoords;\n" +"out vec3 F0;\n" +"uniform struct p3d_MaterialParameters {\n" +" vec4 ambient;\n" +" vec4 diffuse;\n" +" vec4 emission;\n" +" vec3 specular;\n" +" float shininess;\n" +" // These properties are new in 1.10.\n" +" vec4 baseColor;\n" +" float roughness;\n" +" float metallic;\n" +" float refractiveIndex;\n" +"} p3d_Material;\n" +"vec3 computeF0(float ior, float metallic, vec3 baseColor)\n" +"{\n" +" float F0f = pow(abs((1.0 - ior) / (1.0 + ior)), 2.0);\n" +" vec3 F0 = vec3(F0f, F0f, F0f);\n" +" return mix(F0, baseColor, metallic);\n" +"}\n" +"void main()\n" +"{\n" +" gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex;\n" +" oNormal = p3d_NormalMatrix * normalize(p3d_Normal);\n" +" viewVertex = p3d_ModelViewMatrix * p3d_Vertex;\n" +" texcoords = p3d_MultiTexCoord0;\n" +" F0 = computeF0(p3d_Material.refractiveIndex, p3d_Material.metallic, p3d_Material.baseColor.xyz);\n" +"}\n"; + +const char *vpPanda3DRGBRenderer::COOK_TORRANCE_FRAG = +"// Version 330, specified when generating shader\n" +"#define M_PI 3.1415926535897932384626433832795\n" +"in vec3 oNormal;\n" +"in vec4 viewVertex;\n" +"in vec3 F0;\n" +"out vec4 p3d_FragData;\n" +"uniform struct {\n" +" vec4 ambient;\n" +"} p3d_LightModel;\n" +"uniform struct p3d_LightSourceParameters {\n" +" // Primary light color.\n" +" vec4 color;\n" +" // View-space position. If w=0, this is a directional light, with the xyz\n" +" // being -direction.\n" +" vec4 position;\n" +" // constant, linear, quadratic attenuation in one vector\n" +" vec3 attenuation;\n" +"} p3d_LightSource[4];\n" +"uniform struct p3d_MaterialParameters {\n" +" vec4 ambient;\n" +" vec4 diffuse;\n" +" vec4 emission;\n" +" vec3 specular;\n" +" float shininess;\n" +" // These properties are new in 1.10.\n" +" vec4 baseColor;\n" +" float roughness;\n" +" float metallic;\n" +" float refractiveIndex;\n" +"} p3d_Material;\n" +"in vec2 texcoords;\n" +"#ifdef HAS_TEXTURE\n" +"uniform sampler2D p3d_Texture0;\n" +"#endif\n" +"float D(float roughness2, float hn)\n" +"{\n" +" return (1.f / (M_PI * roughness2)) * pow(hn, (2.f / roughness2) - 2.f);\n" +"}\n" +"float G(float hn, float nv, float nl, float vh)\n" +"{\n" +" return min(1.0, min((2.f * hn * nv) / vh, (2.f * hn * nl) / vh));\n" +"}\n" +"vec3 F(vec3 F0, float vh)\n" +"{\n" +" return F0 + (vec3(1.f, 1.f, 1.f) - F0) * pow(1.f - vh, 5);\n" +"}\n" +"void main()\n" +"{\n" +" vec3 n = normalize(oNormal); // normalized normal vector\n" +" vec3 v = normalize(-viewVertex.xyz); // normalized view vector\n" +" float nv = max(0.f, dot(n, v));\n" +" float roughness2 = clamp(pow(p3d_Material.roughness, 2), 0.01, 0.99);\n" + +" #ifdef HAS_TEXTURE\n" +" vec4 baseColor = texture(p3d_Texture0, texcoords);\n" +" vec4 ambientColor = baseColor;\n" +" #else\n" +" vec4 ambientColor = p3d_Material.ambient;\n" +" vec4 baseColor = p3d_Material.baseColor;\n" +" #endif\n" +" p3d_FragData = p3d_LightModel.ambient * baseColor;\n" +" for(int i = 0; i < p3d_LightSource.length(); ++i) {\n" +" vec3 lf = p3d_LightSource[i].position.xyz - (viewVertex.xyz * p3d_LightSource[i].position.w);\n" +" float lightDist = length(lf);\n" +" vec3 l = normalize(lf); // normalized light vector\n" +" vec3 h = normalize(l + v); // half way vector\n" +" float hn = dot(h, n);\n" +" float nl = max(0.f, dot(n, l));\n" +" float vh = max(0.f, dot(v, h));\n" +" vec3 aFac = p3d_LightSource[i].attenuation;\n" +" float attenuation = 1.f / (aFac[0] + aFac[1] * lightDist + aFac[2] * lightDist * lightDist);\n" +" vec3 FV = F(F0, vh);\n" +" vec3 kd = (1.f - p3d_Material.metallic) * (1.f - FV) * (1.f / M_PI);\n" +" #ifdef SPECULAR\n" +" vec3 specularColor = vec3(0.f, 0.f, 0.f);\n" +" if(nl > 0.f && nv > 0.f) {\n" +" float DV = D(roughness2, hn);\n" +" float GV = G(hn, nv, nl, vh);\n" +" vec3 rs = (DV * GV * FV) / (4.f * nl * nv);\n" +" specularColor = rs * p3d_Material.specular;\n" +" }\n" +" #else\n" +" vec3 specularColor = vec3(0.0, 0.0, 0.0);\n" +" #endif\n" +" p3d_FragData += (p3d_LightSource[i].color * attenuation) * nl * (baseColor * vec4(kd, 1.f) + vec4(specularColor, 1.f));\n" +" }\n" +" p3d_FragData.bgra = p3d_FragData;\n" +"}\n"; std::string vpPanda3DRGBRenderer::makeFragmentShader(bool hasTexture, bool specular) { diff --git a/modules/core/CMakeLists.txt b/modules/core/CMakeLists.txt index 7c0778d207..d8542d179a 100644 --- a/modules/core/CMakeLists.txt +++ b/modules/core/CMakeLists.txt @@ -332,6 +332,7 @@ vp_glob_module_copy_data("src/image/private/Rubik-Regular.ttf" "data/font") if(UNIX) vp_set_source_file_compile_flag(src/tools/file/vpIoTools_npy.cpp -Wno-misleading-indentation -Wno-strict-aliasing) + vp_set_source_file_compile_flag(src/image/vpFont.cpp -Wno-float-equal) else() vp_set_source_file_compile_flag(src/tools/file/vpIoTools_npy.cpp /wd4333) endif()