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fix InitDebugCloud for PointCloud and GaussianCloud
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@hyperlogic
hyperlogic committed Jun 27, 2024
1 parent 6c049c2 commit 6d61c2a
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Showing 4 changed files with 79 additions and 70 deletions.
129 changes: 65 additions & 64 deletions src/gaussiancloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,26 +162,9 @@ bool GaussianCloud::ImportPly(const std::string& plyFilename)

numGaussians = ply.GetVertexCount();
gaussianSize = sizeof(GaussianData);
InitAttribs(gaussianSize);
gd = new GaussianData[numGaussians];
data.reset(gd);

// GL_FLOAT = 0x1406
posWithAlphaAttrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, posWithAlpha)};
r_sh0Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, r_sh0)};
r_sh1Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, r_sh1)};
r_sh2Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, r_sh2)};
r_sh3Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, r_sh3)};
g_sh0Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, g_sh0)};
g_sh1Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, g_sh1)};
g_sh2Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, g_sh2)};
g_sh3Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, g_sh3)};
b_sh0Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, b_sh0)};
b_sh1Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, b_sh1)};
b_sh2Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, b_sh2)};
b_sh3Attrib = {4, 0x1406, (int)gaussianSize, offsetof(GaussianData, b_sh3)};
cov3_col0Attrib = {3, 0x1406, (int)gaussianSize, offsetof(GaussianData, cov3_col0)};
cov3_col1Attrib = {3, 0x1406, (int)gaussianSize, offsetof(GaussianData, cov3_col1)};
cov3_col2Attrib = {3, 0x1406, (int)gaussianSize, offsetof(GaussianData, cov3_col2)};
}

{
Expand Down Expand Up @@ -374,80 +357,77 @@ bool GaussianCloud::ExportPly(const std::string& plyFilename) const

void GaussianCloud::InitDebugCloud()
{
// AJT: TODO fix me
const int NUM_SPLATS = 5;

#if 0
gaussianVec.clear();
numGaussians = NUM_SPLATS * 3 + 1;
gaussianSize = sizeof(GaussianData);
InitAttribs(gaussianSize);
GaussianData* gd = new GaussianData[numGaussians];
data.reset(gd);

//
// make an debug GaussianClound, that contain red, green and blue axes.
//
const float AXIS_LENGTH = 1.0f;
const int NUM_SPLATS = 5;
const float DELTA = (AXIS_LENGTH / (float)NUM_SPLATS);
const float S = logf(0.05f);
const float COV_DIAG = 0.005f;
const float SH_C0 = 0.28209479177387814f;
const float SH_ONE = 1.0f / (2.0f * SH_C0);
const float SH_ZERO = -1.0f / (2.0f * SH_C0);

// x axis
for (int i = 0; i < NUM_SPLATS; i++)
{
GaussianCloud::Gaussian g;
memset(&g, 0, sizeof(GaussianCloud::Gaussian));
g.position[0] = i * DELTA + DELTA;
g.position[1] = 0.0f;
g.position[2] = 0.0f;
GaussianData g;
memset(&g, 0, sizeof(GaussianData));
g.posWithAlpha[0] = i * DELTA + DELTA;
g.posWithAlpha[1] = 0.0f;
g.posWithAlpha[2] = 0.0f;
g.posWithAlpha[3] = 1.0f;
// red
g.f_dc[0] = SH_ONE; g.f_dc[1] = SH_ZERO; g.f_dc[2] = SH_ZERO;
g.opacity = 100.0f;
g.scale[0] = S; g.scale[1] = S; g.scale[2] = S;
g.rot[0] = 1.0f; g.rot[1] = 0.0f; g.rot[2] = 0.0f; g.rot[3] = 0.0f;
gaussianVec.push_back(g);
g.r_sh0[0] = SH_ONE; g.g_sh0[0] = SH_ZERO; g.b_sh0[0] = SH_ZERO;
g.cov3_col0[0] = COV_DIAG; g.cov3_col1[1] = COV_DIAG; g.cov3_col2[2] = COV_DIAG;
gd[i] = g;
}
// y axis
for (int i = 0; i < NUM_SPLATS; i++)
{
GaussianCloud::Gaussian g;
memset(&g, 0, sizeof(GaussianCloud::Gaussian));
g.position[0] = 0.0f;
g.position[1] = i * DELTA + DELTA;
g.position[2] = 0.0f;
GaussianData g;
memset(&g, 0, sizeof(GaussianData));
g.posWithAlpha[0] = 0.0f;
g.posWithAlpha[1] = i * DELTA + DELTA;
g.posWithAlpha[2] = 0.0f;
g.posWithAlpha[3] = 1.0f;
// green
g.f_dc[0] = SH_ZERO; g.f_dc[1] = SH_ONE; g.f_dc[2] = SH_ZERO;
g.opacity = 100.0f;
g.scale[0] = S; g.scale[1] = S; g.scale[2] = S;
g.rot[0] = 1.0f; g.rot[1] = 0.0f; g.rot[2] = 0.0f; g.rot[3] = 0.0f;
gaussianVec.push_back(g);
g.r_sh0[0] = SH_ZERO; g.g_sh0[0] = SH_ONE; g.b_sh0[0] = SH_ZERO;
g.cov3_col0[0] = COV_DIAG; g.cov3_col1[1] = COV_DIAG; g.cov3_col2[2] = COV_DIAG;
gd[NUM_SPLATS + i] = g;
}
// z axis
for (int i = 0; i < NUM_SPLATS; i++)
{
GaussianCloud::Gaussian g;
memset(&g, 0, sizeof(GaussianCloud::Gaussian));
g.position[0] = 0.0f;
g.position[1] = 0.0f;
g.position[2] = i * DELTA + DELTA + 0.0001f; // AJT: HACK prevent div by zero for debug-shaders
GaussianData g;
memset(&g, 0, sizeof(GaussianData));
g.posWithAlpha[0] = 0.0f;
g.posWithAlpha[1] = 0.0f;
g.posWithAlpha[2] = i * DELTA + DELTA + 0.0001f; // AJT: HACK prevent div by zero for debug-shaders
g.posWithAlpha[3] = 1.0f;
// blue
g.f_dc[0] = SH_ZERO; g.f_dc[1] = SH_ZERO; g.f_dc[2] = SH_ONE;
g.opacity = 100.0f;
g.scale[0] = S; g.scale[1] = S; g.scale[2] = S;
g.rot[0] = 1.0f; g.rot[1] = 0.0f; g.rot[2] = 0.0f; g.rot[3] = 0.0f;
gaussianVec.push_back(g);
g.r_sh0[0] = SH_ZERO; g.g_sh0[0] = SH_ZERO; g.b_sh0[0] = SH_ONE;
g.cov3_col0[0] = COV_DIAG; g.cov3_col1[1] = COV_DIAG; g.cov3_col2[2] = COV_DIAG;
gd[(NUM_SPLATS * 2) + i] = g;
}

GaussianCloud::Gaussian g;
memset(&g, 0, sizeof(GaussianCloud::Gaussian));
g.position[0] = 0.0f;
g.position[1] = 0.0f;
g.position[2] = 0.0f;
GaussianData g;
memset(&g, 0, sizeof(GaussianData));
g.posWithAlpha[0] = 0.0f;
g.posWithAlpha[1] = 0.0f;
g.posWithAlpha[2] = 0.0f;
g.posWithAlpha[3] = 1.0f;
// white
g.f_dc[0] = SH_ONE; g.f_dc[1] = SH_ONE; g.f_dc[2] = SH_ONE;
g.opacity = 100.0f;
g.scale[0] = S; g.scale[1] = S; g.scale[2] = S;
g.rot[0] = 1.0f; g.rot[1] = 0.0f; g.rot[2] = 0.0f; g.rot[3] = 0.0f;
gaussianVec.push_back(g);
#endif
g.r_sh0[0] = SH_ONE; g.g_sh0[0] = SH_ONE; g.b_sh0[0] = SH_ONE;
g.cov3_col0[0] = COV_DIAG; g.cov3_col1[1] = COV_DIAG; g.cov3_col2[2] = COV_DIAG;
gd[(NUM_SPLATS * 3)] = g;
}

// only keep the nearest splats
Expand Down Expand Up @@ -493,3 +473,24 @@ void GaussianCloud::ForEachAttrib(const AttribData& attribData, const AttribCall
bytePtr += attribData.stride;
}
}

void GaussianCloud::InitAttribs(size_t size)
{
// GL_FLOAT = 0x1406
posWithAlphaAttrib = {4, 0x1406, (int)size, offsetof(GaussianData, posWithAlpha)};
r_sh0Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, r_sh0)};
r_sh1Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, r_sh1)};
r_sh2Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, r_sh2)};
r_sh3Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, r_sh3)};
g_sh0Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, g_sh0)};
g_sh1Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, g_sh1)};
g_sh2Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, g_sh2)};
g_sh3Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, g_sh3)};
b_sh0Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, b_sh0)};
b_sh1Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, b_sh1)};
b_sh2Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, b_sh2)};
b_sh3Attrib = {4, 0x1406, (int)size, offsetof(GaussianData, b_sh3)};
cov3_col0Attrib = {3, 0x1406, (int)size, offsetof(GaussianData, cov3_col0)};
cov3_col1Attrib = {3, 0x1406, (int)size, offsetof(GaussianData, cov3_col1)};
cov3_col2Attrib = {3, 0x1406, (int)size, offsetof(GaussianData, cov3_col2)};
}
1 change: 1 addition & 0 deletions src/gaussiancloud.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@ class GaussianCloud
void ForEachAttrib(const AttribData& attribData, const AttribCallback& cb) const;

protected:
void InitAttribs(size_t size);

std::shared_ptr<void> data;

Expand Down
17 changes: 11 additions & 6 deletions src/pointcloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,13 +70,10 @@ bool PointCloud::ImportPly(const std::string& plyFilename)

numPoints = ply.GetVertexCount();
pointSize = sizeof(PointData);
InitAttribs(pointSize);
PointData* pd = new PointData[numPoints];
data.reset(pd);

// GL_FLOAT = 0x1406
positionAttrib = {4, 0x1406, (int)pointSize, offsetof(PointData, position)};
colorAttrib = {4, 0x1406, (int)pointSize, offsetof(PointData, color)};

if (useDoubles)
{
int i = 0;
Expand Down Expand Up @@ -175,6 +172,7 @@ void PointCloud::InitDebugCloud()

numPoints = NUM_POINTS * 3;
pointSize = sizeof(PointData);
InitAttribs(pointSize);
PointData* pd = new PointData[numPoints];
data.reset(pd);

Expand Down Expand Up @@ -212,15 +210,15 @@ void PointCloud::InitDebugCloud()
// z axis
for (int i = 0; i < NUM_POINTS; i++)
{
PointData& p = pd[i + 2 * NUM_POINTS];
PointData& p = pd[(2 * NUM_POINTS) + i];
p.position[0] = 0.0f;
p.position[1] = 0.0f;
p.position[2] = i * DELTA;
p.position[3] = 1.0f;
p.color[0] = 0.0f;
p.color[1] = 0.0f;
p.color[2] = 1.0f;
p.color[3] = 0.0f;
p.color[3] = 1.0f;
}
}

Expand All @@ -234,3 +232,10 @@ void PointCloud::ForEachAttrib(const AttribData& attribData, const AttribCallbac
bytePtr += attribData.stride;
}
}

void PointCloud::InitAttribs(size_t size)
{
// GL_FLOAT = 0x1406
positionAttrib = {4, 0x1406, (int)size, offsetof(PointData, position)};
colorAttrib = {4, 0x1406, (int)size, offsetof(PointData, color)};
}
2 changes: 2 additions & 0 deletions src/pointcloud.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,8 @@ class PointCloud
void ForEachAttrib(const AttribData& attribData, const AttribCallback& cb) const;

protected:
void InitAttribs(size_t size);

std::shared_ptr<void> data;

AttribData positionAttrib;
Expand Down

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