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Fix issues and warnings reported by cdash #1474

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merged 6 commits into from
Oct 2, 2024
Merged

Fix issues and warnings reported by cdash #1474

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c195481
Remove pthread_cross.c from build when WIN32 and not MINGW
fspindle Oct 2, 2024
aecbb0f
Mute warning due to stb_truetype.h 3rd party
fspindle Oct 2, 2024
9c447b1
Fix warning: missing terminating " character
fspindle Oct 2, 2024
4f49821
Introduce missing header
fspindle Oct 2, 2024
201d1fd
Fix apriltag 3rdparty build on windows with msvc
fspindle Oct 2, 2024
99fa4ee
Fix condition to remove pthreads_cross.c from build
fspindle Oct 2, 2024
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29 changes: 18 additions & 11 deletions 3rdparty/apriltag/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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")
Expand Down Expand Up @@ -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)
Expand Down
2 changes: 2 additions & 0 deletions example/kalman/ukf-linear-example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,8 @@
* not perfect.
*/

#include <iostream>

// UKF includes
#include <visp3/core/vpUKSigmaDrawerMerwe.h>
#include <visp3/core/vpUnscentedKalman.h>
Expand Down
289 changes: 128 additions & 161 deletions modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down
1 change: 1 addition & 0 deletions modules/core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
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