Support Modern OpenGL

CMakeLists.txt

@@ -21,6 +21,8 @@ include(eigen)
 include(ceres)
 include(gtsam)
 include(pangolin)
+include(glad)
+include(glfw)
 include(utils)
 #include(...)
 
@@ -41,7 +43,6 @@ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_package(Threads REQUIRED)
 
-find_package (Eigen3 3.3 REQUIRED NO_MODULE)
 set(BIN_FILE solution)
 set(BIN_FOLDER_PATH bin/)
 set(3RDPARTY_PATH 3rdParty/)
@@ -50,7 +51,6 @@ include_directories(
     include/
     ${CMAKE_CURRENT_SOURCE_DIR}/src
     include/fast-cpp-csv-parser/
-    ${Eigen3_INCLUDE_DIRS}
 )
 
 add_executable(${BIN_FILE}
@@ -68,5 +68,8 @@ target_link_libraries(
 	${CERES_LIBS}
 	${GTSAM_LIBS}
 	${SPDLOG_LIBS}
-	${Pangolin_LIBRARIES}
+	${PANGOLIN_LIBS}
+	OpenGL::GL
+	${GLFW_LIBS}
+	glad
 )

cmake/glad.cmake

@@ -0,0 +1,11 @@
+# GLAD
+
+find_package(OpenGL)
+
+add_library(glad 
+    ${CMAKE_CURRENT_SOURCE_DIR}/third_party/glad/install/include/glad/glad.h 
+    ${CMAKE_CURRENT_SOURCE_DIR}/third_party/glad/install/src/glad.c
+    )
+include_directories(
+        glad PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/third_party/glad/install/include/
+    )

cmake/glfw.cmake

@@ -0,0 +1,19 @@
+# GLFW
+
+find_package(OpenGL)
+
+find_package(glfw3 PATHS ${CMAKE_SOURCE_DIR}/third_party/glfw/install)
+
+if (${GLFW_FOUND})
+	message(STATUS "Found GLFW")
+	add_definitions(-DGLFW_DEVELOP)
+
+    include_directories(
+        ${GLFW_INCLUDE_DIRS}
+    )
+
+    set(GLFW_LIBS glfw)
+
+else (${GLFW_FOUND})
+	message(STATUS "Could not support GLFW")
+endif (${GLFW_FOUND})

cmake/pangolin.cmake

@@ -9,6 +9,8 @@ if (${Pangolin_FOUND})
         ${PANGOLIN_INCLUDE_DIRS}
     )
 
+    set(PANGOLIN_LIBS ${Pangolin_LIBRARIES})
+
 else (${Pangolin_FOUND})
 	message(STATUS "Could not support Pangolin")
 endif (${Pangolin_FOUND})

scripts/third_party_clone/glad/install_glad.py

@@ -0,0 +1,47 @@
+import os
+import multiprocessing
+
+
+class install_glad:
+    def __init__(self, d, version_num, linux_password):
+        self.d = d
+        self.version_num = version_num
+        self.install_dir = "./third_party/glad"
+        self.pw = linux_password
+
+    def run(self):
+        self.pw.redeem()
+
+        # Remove any pre-installed GLAD
+        os.system("sudo rm -rf ./third_party/glad")
+
+        # Download GLAD source code
+        os.system("mkdir " + self.install_dir)
+        os.system("git clone https://github.com/Dav1dde/glad.git " + self.install_dir + "/glad")
+
+        # CMake configure
+        os.system("mkdir " + self.install_dir + "/build")
+        os.system("mkdir " + self.install_dir + "/install")
+        os.chdir(self.install_dir + "/build")
+
+        exec_string = "cmake ../glad -DCMAKE_INSTALL_PREFIX=../install"
+
+        if self.d:
+            exec_string += " -DCMAKE_BUILD_TYPE=Debug"
+
+        return_code = os.system(exec_string)
+        if return_code != 0:
+            print("Error occured in building GLAD!")
+            return
+
+        # Build
+        self.pw.redeem()
+        num_cpu_cores = multiprocessing.cpu_count()
+        os.system("make -j" + str(num_cpu_cores-1)) # No sudo make install here.
+
+        os.system("cp -r include ../install/include")
+        os.system("cp -r src ../install/src")
+        os.system("cp libglad.a ../install/libglad.a")
+
+        # Delete source files
+        os.chdir("../../../")

scripts/third_party_clone/glfw/install_glfw.py

@@ -0,0 +1,52 @@
+import os
+import multiprocessing
+
+
+class install_glfw:
+    def __init__(self, d, version_num, linux_password):
+        self.d = d
+        self.version_num = version_num
+        self.install_dir = "./third_party/glfw"
+        self.pw = linux_password
+
+    def run(self):
+        self.pw.redeem()
+
+        # Install dependency - pkg-config, libxrandr-dev, libxinerama-dev, libxcursor-dev libxi-dev
+        os.system("sudo apt install pkg-config libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev")
+
+        # Remove any pre-installed GLFW
+        os.system("sudo rm -rf ./third_party/glfw")
+
+        # Download GLFW source code
+        os.system("mkdir " + self.install_dir)
+        os.system("wget -O " + self.install_dir + "/glfw.zip https://github.com/glfw/glfw/archive/refs/tags/" + self.version_num + ".zip")
+        os.system("unzip " + self.install_dir + "/glfw.zip -d " + self.install_dir)
+
+        # CMake configure
+        os.system("mkdir " + self.install_dir + "/build")
+        os.system("mkdir " + self.install_dir + "/install")
+        os.chdir(self.install_dir + "/build")
+
+        exec_string = "cmake ../glfw-" + self.version_num + " -DCMAKE_INSTALL_PREFIX=../install"
+
+        if self.d:
+            exec_string += " -DCMAKE_BUILD_TYPE=Debug"
+
+        return_code = os.system(exec_string)
+        if return_code != 0:
+            print("Error occured in building GLFW!")
+            return
+
+        # Build
+        self.pw.redeem()
+        num_cpu_cores = multiprocessing.cpu_count()
+        os.system("make -j" + str(num_cpu_cores-1))
+        self.pw.redeem()
+        os.system("sudo make install -j" + str(num_cpu_cores-1))
+
+        # Delete source files
+        os.chdir("../")
+        os.system("rm -rf glfw.zip")
+
+        os.chdir("../../")

setup.py

@@ -11,6 +11,8 @@
 from scripts.third_party_clone.gtsam.install_gtsam import install_gtsam
 from scripts.third_party_clone.pcl.install_pcl import install_pcl
 from scripts.third_party_clone.pangolin.install_pangolin import install_pangolin
+from scripts.third_party_clone.glfw.install_glfw import install_glfw
+from scripts.third_party_clone.glad.install_glad import install_glad
 
 class Password:
     def __init__(self):
@@ -52,6 +54,8 @@ def __init__(self, file_path):
                 self.ceres = line["ceres"]
                 self.gtsam = line["gtsam"]
                 self.pangolin = line["pangolin"]
+                self.glfw = line["glfw"]
+                self.glad = line["glad"]
 
             if key_L1 == "library-python":
                 self.python3 = line["python3"]
@@ -139,6 +143,16 @@ def main():
         installer.run()
         status_str += "--pangolin, "
 
+    if cfg.glad != "":
+        installer = install_glad(cfg.build_debug, cfg.glad, pw)
+        installer.run()
+        status_str += "--glad, "
+
+    if cfg.glfw != "":
+        installer = install_glfw(cfg.build_debug, cfg.glfw, pw)
+        installer.run()
+        status_str += "--glfw, "
+
     if cfg.python3 or cfg.open3d or cfg.opencv_python:
         pw.redeem()
 
@@ -170,3 +184,4 @@ def main():
 
 if __name__ == '__main__':
     main()
+

setup_config.yaml

@@ -1,3 +1,4 @@
+
 # =================================================================
 # Compile options
 # =================================================================
@@ -17,6 +18,8 @@ library-cpp:
   ceres: "2.0.0"
   gtsam: "4.0.3"
   pangolin: "0.6"
+  glfw: "3.3.4"
+  glad: true
 
 # =================================================================
 # External Python Libraries
@@ -25,4 +28,4 @@ library-python:
   python3: true
   open3d: false
   opencv-python: false
-  opencv-contrib-python: false
+  opencv-contrib-python: false

src/main.cpp

@@ -1,5 +1,4 @@
 #include <iostream>
-#include <pangolin/config.h>
 
 #ifdef EIGEN_DEVELOP
 #include <Eigen/Dense>
@@ -33,6 +32,13 @@
 #include <pangolin/pangolin.h>
 #endif
 
+#ifdef GLFW_DEVELOP
+#ifndef PANGOLIN_DEVELOP
+#include <glad/glad.h>
+#endif
+#include <GLFW/glfw3.h>
+#endif
+
 int main()
 {
     std::cout << "Hello World!" << std::endl;
@@ -61,6 +67,10 @@ int main()
     std::cout << "Pangolin Version: " << PANGOLIN_VERSION_STRING << std::endl;
 #endif
 
+#ifdef GLFW_DEVELOP
+    std::cout << "GLFW Version: " << GLFW_VERSION_MAJOR << "." << GLFW_VERSION_MINOR << "." << GLFW_VERSION_REVISION << std::endl;
+#endif
+
 #ifdef SPDLOG_DEVELOP
     std::cout << "spdlog Version: " << SPDLOG_VER_MAJOR << "." << SPDLOG_VER_MINOR << "." << SPDLOG_VER_PATCH << std::endl;