add glfw

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "gibson2/core/render/pybind11"]
 	path = gibson2/core/render/pybind11
 	url = https://github.com/pybind/pybind11.git
+[submodule "gibson2/core/render/glfw"]
+	path = gibson2/core/render/glfw
+	url = https://github.com/glfw/glfw

examples/demo/mesh_renderer_example.py

@@ -46,7 +46,7 @@ def change_dir(event, x, y, flags, param):
 
     while True:
         with Profiler('Render'):
-            frame = renderer.render(modes=('rgb', 'normal', '3d'))
+            frame = renderer.render(modes=('rgb', 'seg', 'normal', '3d'))
         cv2.imshow('test', cv2.cvtColor(np.concatenate(frame, axis=1), cv2.COLOR_RGB2BGR))
         q = cv2.waitKey(1)
         if q == ord('w'):

gibson2/core/render/CMakeLists.txt

@@ -12,25 +12,39 @@ endif()
 
 add_subdirectory(pybind11)
 
+# Find GLFW and OpenVR
+set(GLFW_DIR glfw)
+set(GLFW_BUILD_EXAMPLES OFF CACHE INTERNAL "Build the GLFW example programs")
+set(GLFW_BUILD_TESTS OFF CACHE INTERNAL "Build the GLFW test programs")
+set(GLFW_BUILD_DOCS OFF CACHE INTERNAL "Build the GLFW documentation")
+set(GLFW_INSTALL OFF CACHE INTERNAL "Generate installation target")
+add_subdirectory("${GLFW_DIR}")
+include_directories("${GLFW_DIR}/include")
+
 find_package(CUDA REQUIRED)
 set(CUDA_LIBRARIES PUBLIC ${CUDA_LIBRARIES})
 
 cuda_add_library(MeshRendererContext MODULE glad/egl.cpp glad/gl.cpp cpp/Mesh_renderer.cpp)
 add_library(CGLUtils MODULE glad/egl.cpp glad/gl.cpp cpp/cgl_utils.cpp)
 add_library(tinyobjloader MODULE cpp/tinyobjloader/tiny_obj_loader.cc cpp/tinyobjloader/bindings.cc)
+add_library(GLFWRendererContext MODULE glad/gl.cpp cpp/glfw_mesh_renderer.cpp)
 
 if (USE_GLAD)
   target_link_libraries(MeshRendererContext PRIVATE pybind11::module dl pthread)
   target_link_libraries(CGLUtils PRIVATE pybind11::module dl pthread)
+  target_link_libraries(GLFWRendererContext PRIVATE pybind11::module dl glfw ${GLFW_LIBRARIES})
 else ()
   target_link_libraries(MeshRendererContext PRIVATE pybind11::module dl pthread  EGL ${OPENGL_LIBRARIES})
-target_link_libraries(CGLUtils PRIVATE pybind11::module dl pthread  EGL ${OPENGL_LIBRARIES})
+  target_link_libraries(CGLUtils PRIVATE pybind11::module dl pthread  EGL ${OPENGL_LIBRARIES})
+  target_link_libraries(GLFWRendererContext PRIVATE pybind11::module dl glfw ${GLFW_LIBRARIES} ${OPENGL_LIBRARIES})
 endif()
 
 target_link_libraries(tinyobjloader PRIVATE pybind11::module)
 
 set_target_properties(MeshRendererContext PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}"
                                          SUFFIX "${PYTHON_MODULE_EXTENSION}")
+set_target_properties(GLFWRendererContext PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}"
+                                         SUFFIX "${PYTHON_MODULE_EXTENSION}")
 set_target_properties(CGLUtils PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}"
                                          SUFFIX "${PYTHON_MODULE_EXTENSION}")
 set_target_properties(tinyobjloader PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}"

gibson2/core/render/cpp/glfw_mesh_renderer.cpp

@@ -0,0 +1,76 @@
+#include <stdio.h>
+
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+#define GLFW_INCLUDE_NONE
+#include <GLFW/glfw3.h>
+#include <glad/gl.h>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/numpy.h>
+#include <pybind11/stl.h>
+
+namespace py = pybind11;
+
+class GLFWRendererContext {
+public:
+	GLFWRendererContext(int w, int h) :m_windowHeight(h), m_windowWidth(w) {};
+
+	int m_windowWidth;
+	int m_windowHeight;
+
+	int init() {
+		// Initialize GLFW context and window
+		if (!glfwInit()) {
+			fprintf(stderr, "Failed to initialize GLFW.\n");
+			exit(EXIT_FAILURE);
+		}
+
+		glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+		glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+		glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+
+		// Hide GLFW window by default
+		glfwWindowHint(GLFW_VISIBLE, GLFW_FALSE);
+
+		GLFWwindow* window = glfwCreateWindow(m_windowHeight, m_windowHeight, "Gibson VR Renderer", NULL, NULL);
+		if (window == NULL) {
+			fprintf(stderr, "Failed to create GLFW window.\n");
+			exit(EXIT_FAILURE);
+		}
+		glfwMakeContextCurrent(window);
+
+		// Load all OpenGL function pointers through GLAD
+		if (!gladLoadGL(glfwGetProcAddress))
+		{
+			fprintf(stderr, "Failed to load OpenGL function pointers through GLAD.\n");
+			exit(EXIT_FAILURE);
+		}
+
+		printf("Succesfully initialized GLFW context and window!\n");
+
+		return 0;
+	}
+
+	void release() {
+		glfwTerminate();
+	}
+};
+
+PYBIND11_MODULE(GLFWRendererContext, m) {
+	m.doc() = "C++ GLFW bindings";
+
+	py::class_<GLFWRendererContext>(m, "GLFWRendererContext")
+		.def(py::init<int, int>())
+		.def("init", &GLFWRendererContext::init)
+		.def("release", &GLFWRendererContext::release);
+
+#ifdef VERSION_INFO
+	m.attr("__version__") = VERSION_INFO;
+#else
+	m.attr("__version__") = "dev";
+#endif
+}

gibson2/core/render/mesh_renderer/mesh_renderer_cpu.py

@@ -11,7 +11,7 @@
 from gibson2.core.render.mesh_renderer.glutils.meshutil import perspective, lookat, xyz2mat, quat2rotmat, mat2xyz, safemat2quat
 from transforms3d.quaternions import axangle2quat, mat2quat
 from transforms3d.euler import quat2euler, mat2euler
-from gibson2.core.render.mesh_renderer import MeshRendererContext, CGLUtils
+from gibson2.core.render.mesh_renderer import MeshRendererContext, CGLUtils, GLFWRendererContext
 from gibson2.core.render.mesh_renderer.get_available_devices import get_available_devices
 from gibson2.core.render.mesh_renderer.glutils.utils import colormap, loadTexture
 import gibson2.core.render.mesh_renderer as mesh_renderer