invole transformation to triangle primitives.

CMakeLists.txt

@@ -3,7 +3,7 @@ PROJECT(minus_renderer)
 
 set(CMAKE_CXX_STANDARD 17)
 
-find_package(OpenCV REQUIRED core imgproc)
+find_package(OpenCV REQUIRED core imgproc highgui)
 
 set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
 

src/CMakeLists.txt

@@ -4,4 +4,5 @@ PROJECT(renderer)
 aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} CPP_FILES)
 
 add_executable(${CMAKE_PROJECT_NAME} ${CPP_FILES})
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${OpenCV_INCLUDE_DIRS})
 target_link_libraries(${CMAKE_PROJECT_NAME} LINK_PUBLIC spdlog eigen ${OpenCV_LIBS})

src/main.cc

@@ -0,0 +1,44 @@
+// Copyright 2024 Bytedance Inc. All Rights Reserved.
+// Author: tianlei.richard@bytedance.com (tianlei.richard)
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include "spdlog/spdlog.h"
+
+#include "common.h"
+#include "minus_renderer.h"
+#include "triangle.h"
+
+int main(int argc, char *argv[]) {
+  spdlog::set_level(spdlog::level::trace);
+
+  const int resolution_width = 320;
+  const int resolution_height = 180;
+  const int far = -1000;
+  const int near = -10;
+  const float fov = 120. / 360. * M_PI;
+  const float aspect_ratio = static_cast<float>(resolution_width) /
+                             static_cast<float>(resolution_height);
+
+  std::vector<Triangle> primitives{
+      {Point3d{90, 45, -2}, Point3d{180, 135, -2}, Point3d{270, 45, -2}}};
+
+  cv::namedWindow("MinusRenderer", cv::WINDOW_AUTOSIZE);
+  const auto start = std::chrono::steady_clock::now();
+  MinusRenderer renderer{near, far, fov, aspect_ratio, std::move(primitives)};
+  do {
+    const auto elapse = std::chrono::duration_cast<std::chrono::milliseconds>(
+                            std::chrono::steady_clock::now() - start)
+                            .count();
+    renderer.model_transform(
+        Eigen::AngleAxisd(0.125 * M_PI, Eigen::Vector3d::UnitY())
+            .toRotationMatrix());
+    const auto &color_image =
+        renderer.render(resolution_width, resolution_height);
+    cv::imshow("MinusRenderer", color_image);
+  } while (cv::waitKey(50) == -1);
+  cv::destroyWindow("MinusRenderer");
+
+  return 0;
+}

src/minus_renderer.cc

@@ -1,29 +1,51 @@
 // Copyright 2024 Bytedance Inc. All Rights Reserved.
 // Author: tianlei.richard@qq.com (tianlei.richard)
 
-#include <Eigen/Dense>
+#include "minus_renderer.h"
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-
-#include "spdlog/spdlog.h"
-#include "spdlog/fmt/ostr.h" // github.com/gabime/spdlog/issues/1638
-
-#include "common.h"
 #include "rasterizer.h"
-#include "triangle.h"
+#include "spdlog/spdlog.h"
+#include <cmath>
 
-using namespace Eigen;
+MinusRenderer::MinusRenderer(float near, float far, float fov,
+                             float aspect_ratio,
+                             std::vector<Triangle> &&primitives)
+    : near_(near), far_(far), fov_(fov), aspect_ratio_(aspect_ratio),
+      height_(calculate_height(fov, near)),
+      width_(calculate_width(height_, aspect_ratio)), primitives_(primitives) {}
 
-int main(int argc, char *argv[]) {
+int MinusRenderer::calculate_height(const float fov, const float near) {
-
+  return std::fabs(near) * std::tan(fov * 0.5) * 2;
-  const int width = 1280;
+}
-  const int height = 720;
+
-
+int MinusRenderer::calculate_width(const float height, const float ratio) {
-  Triangle t{Point3d{1, 1, -2}, Point3d{3, 1, -2}, Point3d{2, 4, -2}};
+  return height * ratio;
-
+}
-  Rasterizer rasterizer{width, height};
+
-  rasterizer.rasterize(t);
+void MinusRenderer::model_transform(const Triangle::AffineTransformType &m) {
-
+  for (auto &t : primitives_) {
-  return 0;
+    t.affine_transform(m);
+  }
+}
+
+cv::Mat MinusRenderer::render(const int resolution_width,
+                              const int resolution_height) {
+  Rasterizer rasterizer{resolution_width, resolution_height};
+  const auto &pixels = rasterizer.rasterize(primitives_);
+  assert(!pixels.empty());
+  cv::Mat color_image(pixels.size(), (pixels[0]).size(), CV_8UC3);
+
+  for (int i = 0; i < pixels.size(); ++i) {
+    const auto &row = pixels[i];
+    for (int j = 0; j < row.size(); ++j) {
+      auto &pixel_color = color_image.at<cv::Vec3b>(pixels.size() - i - 1, j);
+      pixel_color =
+          cv::Vec3b{static_cast<unsigned char>(
+                        row[j].x() * std::numeric_limits<char>::max()),
+                    static_cast<unsigned char>(
+                        row[j].y() * std::numeric_limits<char>::max()),
+                    static_cast<unsigned char>(
+                        row[j].z() * std::numeric_limits<char>::max())};
+    }
+  }
+  return color_image;
 }

src/minus_renderer.h

@@ -0,0 +1,34 @@
+// Copyright 2024 Bytedance Inc. All Rights Reserved.
+// Author: tianlei.richard@bytedance.com (tianlei.richard)
+
+#pragma once
+
+#include "triangle.h"
+#include <opencv2/core/core.hpp>
+
+class MinusRenderer {
+public:
+  MinusRenderer(float near, float far, float fov, float aspect_ratio,
+                std::vector<Triangle> &&primitives);
+
+public:
+  cv::Mat render(const int resolution_width, const int resolution_height);
+
+public:
+  void model_transform(const Triangle::AffineTransformType &m);
+
+private:
+  static int calculate_height(const float fov, const float near);
+  static int calculate_width(const float height, const float ratio);
+
+private:
+  float near_;
+  float far_;
+  float fov_; // In radian
+  float aspect_ratio_;
+
+  int height_;
+  int width_;
+
+  std::vector<Triangle> primitives_;
+};

src/rasterizer.cc

@@ -2,36 +2,45 @@
 // Author: tianlei.richard@qq.com (tianlei.richard)
 
 #include "rasterizer.h"
+#include "spdlog/fmt/ostr.h" // github.com/gabime/spdlog/issues/1638
+#include "spdlog/spdlog.h"
 #include <limits>
 
 Rasterizer::Rasterizer(const int width, const int height)
     : width_(width), height_(height),
       pixels_(std::vector<std::vector<PixelProperty>>(
-          height,
+          height, std::vector<PixelProperty>(
-          std::vector<PixelProperty>(
+                      width, PixelProperty{
-              width, PixelProperty{0., 0., 0.,
+                                 0., 0., 0.,
-                                   std::numeric_limits<double>::infinity()}))) {
+                                 -std::numeric_limits<double>::infinity()}))) {}
-}
 
-void Rasterizer::rasterize(const Triangle &t) {
+std::vector<std::vector<PixelProperty>>
+Rasterizer::rasterize(const std::vector<Triangle> &primitives) {
+  for (const auto &t : primitives) {
     const auto &aabb = t.axis_align_bbox();
-  const int x_min = aabb.x;
+    const int x_min = std::min(std::max(0, aabb.x), width_);
-  const int x_max = aabb.x + aabb.width;
+    const int x_max = std::min(std::max(0, aabb.x + aabb.width), width_);
-  const int y_min = aabb.y;
+    const int y_min = std::min(std::max(0, aabb.y), height_);
-  const int y_max = aabb.y + aabb.height;
+    const int y_max = std::min(std::max(0, aabb.y + aabb.height), height_);
 
-  for (int i = x_min; i < x_max; ++i) {
+    spdlog::info("Triangle range, ({},{},{},{})", x_min, x_max, y_min, y_max);
-    for (int j = y_min; j < y_max; ++j) {
+    for (int i = y_min; i < y_max; ++i) {
-      auto &property = pixels_[j][i];
+      for (int j = x_min; j < x_max; ++j) {
-      const auto &[is_inside, z_screen] = inside(Point2d{i + 0.5, j + 0.5}, t);
+        auto &property = pixels_[i][j];
+        const auto &[is_inside, z_screen] =
+            inside(Point2d{j + 0.5, i + 0.5}, t);
+        // spdlog::debug("is_inside: {}, current depth: {}, closest depth: {}",
+        //               is_inside, z_screen, property[3]);
         if (is_inside && z_screen > property[3]) {
-        property[0] = 1;
+          property[0] = 0;
-        property[1] = 0;
+          property[1] = 1;
           property[2] = 0;
           property[3] = z_screen;
         }
       }
     }
+  }
+  return pixels_;
 }
 
 std::pair<bool, double> Rasterizer::inside(const Point2d &p_screen,
@@ -39,6 +48,9 @@ std::pair<bool, double> Rasterizer::inside(const Point2d &p_screen,
   const auto points = t.get_points<3>();
 
   const auto plane_normal = t.normal_vector();
+  // spdlog::debug("normal vector: ({},{},{})", plane_normal.x(),
+  // plane_normal.y(),
+  //               plane_normal.z());
   const auto plane_point = points[0];
   const auto z_screen =
       plane_point.z() - (plane_normal.x() * (p_screen.x() - plane_point.x()) +
@@ -58,5 +70,6 @@ std::pair<bool, double> Rasterizer::inside(const Point2d &p_screen,
   const auto r2 = c1.dot(c3);
   const auto r3 = c2.dot(c3);
 
+  // spdlog::debug("r1: {}, r2: {}, r3: {}", r1, r2, r3);
   return {r1 > 0 && r2 > 0 && r3 > 0, z_screen};
 }

src/rasterizer.h

@@ -18,7 +18,8 @@ public:
   Rasterizer(const int width, const int height);
 
 public:
-  void rasterize(const Triangle &t);
+  std::vector<std::vector<PixelProperty>>
+  rasterize(const std::vector<Triangle> &primitives);
 
 private:
   static std::pair<bool, double> inside(const Point2d &p_screen,

src/triangle.cc

@@ -21,12 +21,15 @@ BBox Triangle::axis_align_bbox() const {
 }
 
 Vector3d Triangle::normal_vector() const {
-  return points_[0].cross(points_[1]).normalized();
+  const auto v1 = points_[1] - points_[0];
+  const auto v2 = points_[2] - points_[1];
+  return v1.cross(v2).normalized();
 }
 
 void Triangle::affine_transform(const AffineTransformType &m) {
+  Eigen::Transform<double, 3, Eigen::Affine> affine_matrix(m);
   for (auto &p : points_) {
-    p = (m * Eigen::Vector4d(p.x(), p.y(), p.z(), 1)).head(3);
+    p = (affine_matrix * Eigen::Vector4d(p.x(), p.y(), p.z(), 1)).head(3);
   }
 }
 

src/triangle.h

@@ -9,7 +9,7 @@
 
 class Triangle {
 public:
-  using AffineTransformType = Eigen::Transform<double, 3, Eigen::Affine>;
+  using AffineTransformType = Eigen::Matrix<double, 3, 3>;
   using ProjectiveTransformType =
       Eigen::Transform<double, 3, Eigen::Projective>;