add projection transform.

src/common.h

@@ -12,3 +12,4 @@ using Point2d = Eigen::Vector2d;
 using Point3d = Eigen::Vector3d;
 using BBox = cv::Rect2i;
 using PixelProperty = Eigen::Vector4d;
+using TransformMatrix = Eigen::Matrix<double, 4, 4>;

src/main.cc

@@ -17,12 +17,12 @@ int main(int argc, char *argv[]) {
   const int resolution_height = 180;
   const int far = -1000;
   const int near = -10;
-  const float fov = 120. / 360. * M_PI;
+  const float fov = 120. / 180. * 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}}};
+      {Point3d{10, 5, -20}, Point3d{30, 25, -20}, Point3d{55, 5, -20}}};
 
   cv::namedWindow("MinusRenderer", cv::WINDOW_AUTOSIZE);
   const auto start = std::chrono::steady_clock::now();
@@ -31,13 +31,16 @@ int main(int argc, char *argv[]) {
     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());
+    TransformMatrix m{
+        Eigen::Transform<double, 3, Eigen::Affine>(
+            Eigen::AngleAxisd(0.125 * M_PI, Eigen::Vector3d::UnitZ())
+                .toRotationMatrix())
+            .matrix()};
+    renderer.model_transform(m);
     const auto &color_image =
         renderer.render(resolution_width, resolution_height);
     cv::imshow("MinusRenderer", color_image);
-  } while (cv::waitKey(50) == -1);
+  } while (cv::waitKey(25) == -1);
   cv::destroyWindow("MinusRenderer");
 
   return 0;

src/minus_renderer.cc

@@ -1,27 +1,72 @@
 // Copyright 2024 Bytedance Inc. All Rights Reserved.
 // Author: tianlei.richard@qq.com (tianlei.richard)
 
+#include <cmath>
+#include <iostream>
+
 #include "minus_renderer.h"
 #include "rasterizer.h"
+
 #include "spdlog/spdlog.h"
-#include <cmath>
 
 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) {}
+      width_(calculate_width(height_, aspect_ratio)), primitives_(primitives) {
+  spdlog::info("fov: {}, aspect ratio: {}, width: {}, height: {}", fov_,
+               aspect_ratio_, width_, height_);
+}
 
-int MinusRenderer::calculate_height(const float fov, const float near) {
+float MinusRenderer::calculate_height(const float fov, const float near) {
   return std::fabs(near) * std::tan(fov * 0.5) * 2;
 }
 
-int MinusRenderer::calculate_width(const float height, const float ratio) {
+float MinusRenderer::calculate_width(const float height, const float ratio) {
   return height * ratio;
 }
 
-void MinusRenderer::model_transform(const Triangle::AffineTransformType &m) {
+TransformMatrix MinusRenderer::squish_tranform() {
+  // 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_tranform() {
+
+  const auto right = width_ * 0.5;
+  const auto left = -right;
+  const auto top = height_ * 0.5;
+  const auto bottom = -top;
+  spdlog::info("near: {}, far: {}, top: {}, bottom: {}, left: {}, right: {}",
+               near_, far_, top, bottom, left, right);
+
+  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;
+
+  std::cout << m << '\n';
+  return m;
+}
+
+TransformMatrix MinusRenderer::view_port_transform() {
+  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}};
+}
+
+void MinusRenderer::model_transform(const TransformMatrix &m) {
   for (auto &t : primitives_) {
     t.affine_transform(m);
   }
@@ -29,8 +74,18 @@ void MinusRenderer::model_transform(const Triangle::AffineTransformType &m) {
 
 cv::Mat MinusRenderer::render(const int resolution_width,
                               const int resolution_height) {
+  std::vector<Triangle> primitives;
+  for (const auto &t : primitives_) {
+    primitives.push_back(t);
+  }
+  for (auto &t : primitives) {
+    t.projective_transform(squish_tranform());
+    t.affine_transform(orthographic_tranform());
+    t.affine_transform(view_port_transform());
+  }
+
   Rasterizer rasterizer{resolution_width, resolution_height};
-  const auto &pixels = rasterizer.rasterize(primitives_);
+  const auto &pixels = rasterizer.rasterize(primitives);
   assert(!pixels.empty());
   cv::Mat color_image(pixels.size(), (pixels[0]).size(), CV_8UC3);
 

src/minus_renderer.h

@@ -15,11 +15,16 @@ public:
   cv::Mat render(const int resolution_width, const int resolution_height);
 
 public:
-  void model_transform(const Triangle::AffineTransformType &m);
+  void model_transform(const TransformMatrix &m);
 
 private:
-  static int calculate_height(const float fov, const float near);
-  static int calculate_width(const float height, const float ratio);
+  static float calculate_height(const float fov, const float near);
+  static float calculate_width(const float height, const float ratio);
+
+private:
+  TransformMatrix squish_tranform();
+  TransformMatrix orthographic_tranform();
+  TransformMatrix view_port_transform();
 
 private:
   float near_;
@@ -27,8 +32,8 @@ private:
   float fov_; // In radian
   float aspect_ratio_;
 
-  int height_;
-  int width_;
+  float height_;
+  float width_;
 
   std::vector<Triangle> primitives_;
 };

src/rasterizer.cc

@@ -4,6 +4,7 @@
 #include "rasterizer.h"
 #include "spdlog/fmt/ostr.h" // github.com/gabime/spdlog/issues/1638
 #include "spdlog/spdlog.h"
+#include <iostream>
 #include <limits>
 
 Rasterizer::Rasterizer(const int width, const int height)
@@ -17,6 +18,10 @@ Rasterizer::Rasterizer(const int width, const int height)
 std::vector<std::vector<PixelProperty>>
 Rasterizer::rasterize(const std::vector<Triangle> &primitives) {
   for (const auto &t : primitives) {
+    const auto &triangle_points = t.get_points<3>();
+    std::cout << "triangle: " << triangle_points[0] << ", "
+              << triangle_points[1] << ", " << triangle_points[2] << '\n';
+
     const auto &aabb = t.axis_align_bbox();
     const int x_min = std::min(std::max(0, aabb.x), width_);
     const int x_max = std::min(std::max(0, aabb.x + aabb.width), width_);

src/triangle.cc

@@ -2,7 +2,9 @@
 // Author: tianlei.richard@qq.com (tianlei.richard)
 
 #include "triangle.h"
+#include "spdlog/spdlog.h"
 #include <algorithm>
+#include <iostream>
 
 Triangle::Triangle(const Point3d &a, const Point3d &b, const Point3d &c)
     : points_({a, b, c}) {}
@@ -26,15 +28,19 @@ Vector3d Triangle::normal_vector() const {
   return v1.cross(v2).normalized();
 }
 
-void Triangle::affine_transform(const AffineTransformType &m) {
-  Eigen::Transform<double, 3, Eigen::Affine> affine_matrix(m);
+void Triangle::affine_transform(const TransformMatrix &m) {
   for (auto &p : points_) {
-    p = (affine_matrix * Eigen::Vector4d(p.x(), p.y(), p.z(), 1)).head(3);
+    p = (m * Eigen::Vector4d(p.x(), p.y(), p.z(), 1.)).head<3>();
   }
 }
 
-void Triangle::projective_transform(const ProjectiveTransformType &m) {
+void Triangle::projective_transform(const TransformMatrix &m) {
+  // std::cout << "triangle: " << points_[0] << ", " << points_[1] << ", "
+  //           << points_[2] << '\n';
   for (auto &p : points_) {
-    p = (m * Eigen::Vector4d(p.x(), p.y(), p.z(), 1)).head(3);
+    auto p_homo = m * Eigen::Vector4d(p.x(), p.y(), p.z(), 1.);
+    // std::cout << "triangle: " << p_homo << '\n';
+    // spdlog::info("w: {}", p_homo.w());
+    p = (p_homo / p_homo.w()).head<3>();
   }
 }

src/triangle.h

@@ -8,11 +8,6 @@
 #include <array>
 
 class Triangle {
-public:
-  using AffineTransformType = Eigen::Matrix<double, 3, 3>;
-  using ProjectiveTransformType =
-      Eigen::Transform<double, 3, Eigen::Projective>;
-
 private:
   using HomoPointType = Eigen::Vector4d;
 
@@ -34,8 +29,8 @@ public:
   BBox axis_align_bbox() const;
   Vector3d normal_vector() const;
 
-  void affine_transform(const AffineTransformType &m);
-  void projective_transform(const ProjectiveTransformType &m);
+  void affine_transform(const TransformMatrix &m);
+  void projective_transform(const TransformMatrix &m);
 
 private:
   std::array<Point3d, 3> points_;