MinusculeRender/src/minus_renderer.cc

// Copyright 2024 Bytedance Inc. All Rights Reserved.
// Author: tianlei.richard@qq.com (tianlei.richard)

#include <cmath>

#include "spdlog/spdlog.h"

#include "minus_renderer.h"
#include "rasterizer.h"

MinusRenderer::MinusRenderer(float near, float far, float fov,
                             float aspect_ratio)
    : near_(near), far_(far), fov_(fov), aspect_ratio_(aspect_ratio),
      projection_matrix_(orthographic_transform() * squish_transform()) {
  spdlog::info("near: {}, far: {}, fov: {}, aspect ratio: {}", near_, far_,
               fov_, aspect_ratio_);
}

float MinusRenderer::calculate_height(const float fov, const float near) {
  return std::fabs(near) * std::tan(fov * 0.5) * 2;
}

float MinusRenderer::calculate_width(const float height, const float ratio) {
  return height * ratio;
}

TransformMatrix MinusRenderer::squish_transform() {
  // Frustum to Cuboid
  return TransformMatrix{{near_, 0, 0, 0},
                         {0, near_, 0, 0},
                         {0, 0, near_ + far_, -near_ * far_},
                         {0, 0, 1, 0}};
}

TransformMatrix MinusRenderer::orthographic_transform() {
  const float height = calculate_height(fov_, near_);
  const float width = calculate_width(height, aspect_ratio_);
  const float right = width * 0.5;
  const float left = -right;
  const float top = height * 0.5;
  const float bottom = -top;

  TransformMatrix m{{1, 0, 0, -0.5 * (right - left)},
                    {0, 1, 0, -0.5 * (top - bottom)},
                    {0, 0, 1, -0.5 * (far_ - near_)},
                    {0, 0, 0, 1}};

  m = TransformMatrix{{2 / (right - left), 0, 0, 0},
                      {0, 2 / (top - bottom), 0, 0},
                      {0, 0, 2 / std::fabs(far_ - near_), 0},
                      {0, 0, 0, 1}} *
      m;

  return m;
}

TransformMatrix MinusRenderer::view_port_transform(const float width,
                                                   const float height) {
  return TransformMatrix{{width * 0.5, 0, 0, width * 0.5},
                         {0, height * 0.5, 0, height * 0.5},
                         {0, 0, 1, 0},
                         {0, 0, 0, 1}};
}

Point3d MinusRenderer::calculate_barycentric_coordinate(const Triangle &t,
                                                        const Point2d &p) {
  const auto &points = t.get_vertex_position();
  const auto &A = (points[0]).head(2);
  const auto &B = (points[1]).head(2);
  const auto &C = (points[2]).head(2);
  double alpha =
      ((p.x() - B.x()) * (C.y() - B.y()) + (p.y() - B.y()) * (C.x() - B.x())) /
      (-(A.x() - B.x()) * (C.y() - B.y()) + (A.y() - B.y()) * (C.x() - B.x()));
  double beta =
      (-(p.x() - C.x()) * (A.y() - C.y()) + (p.y() - C.y()) * (A.x() - C.x())) /
      (-(B.x() - C.x()) * (A.y() - C.y()) + (B.y() - C.y()) * (A.x() - C.x()));
  double gamma = 1. - alpha - beta;
  return Point3d{alpha, beta, gamma};
}

void MinusRenderer::model_transform(const TransformMatrix &mtx) {
  for (auto &m : meshes_) {
    for (auto &t : m.get_primitives()) {
      t.set_points(apply_transform(mtx, t.get_vertex_position()));
    }
  }
}

void MinusRenderer::view_transform(const TransformMatrix &mtx) {
  for (auto &m : meshes_) {
    for (auto &t : m.get_primitives()) {
      t.set_points(apply_transform(mtx, t.get_vertex_position()));
    }
  }
}

cv::Mat MinusRenderer::render(const int resolution_width,
                              const int resolution_height) {
  std::vector<Mesh> meshes = meshes_;
  Rasterizer rasterizer{resolution_width, resolution_height};
  for (auto &m : meshes) {
    auto &primitives = m.get_primitives();
    for (int i = 0; i < primitives.size(); ++i) {
      auto &t = primitives[i];
      const auto &triangle_vertices = t.get_vertex_position();
      auto tmp = apply_transform(projection_matrix_, triangle_vertices);

      const auto &triangle_indices = t.get_vertex_index();
      std::vector<Point3d> triangle_uv;
      for (int j = 0; j < triangle_indices.size(); ++j) {
        const auto &uv = m.get_texture_coordinate(triangle_indices[j]);
        triangle_uv.push_back(Point3d{uv.x(), uv.y(), 1});
      }
      apply_transform(projection_matrix_, triangle_uv);

      t.set_points(apply_transform(
          view_port_transform(resolution_width, resolution_height), tmp));
    }
    rasterizer.rasterize(primitives);
  }
  const auto &shading_points = rasterizer.get_picture();
  assert(!shading_points.empty());
  cv::Mat depth_image(shading_points.size(), (shading_points[0]).size(),
                      CV_8UC1);

  for (int i = 0; i < shading_points.size(); ++i) {
    const auto &row = shading_points[i];
    for (int j = 0; j < row.size(); ++j) {
      auto &pixel_depth =
          depth_image.at<unsigned char>(shading_points.size() - i - 1, j);
      if (std::isinf(std::fabs(row[j].depth))) {
        pixel_depth = 0;
      } else {
        const float k =
            static_cast<float>(std::numeric_limits<unsigned char>::max()) * 0.5;
        const float b = k;
        pixel_depth = static_cast<unsigned char>(k * row[j].depth + b);
      }
    }
  }
  return depth_image;
}

void MinusRenderer::load_mesh(const std::string &file_path) {
  meshes_ = Mesh::load_mesh(file_path);
  spdlog::info("Mesh size: {}, the primitives size of the first mesh: {}",
               meshes_.size(), meshes_.front().get_primitives().size());
}