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Fixes for build on Windows and rendering bugs #1

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Fixes for build on Windows and rendering bugs #1

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d2833d5
Updates cmake and submodules for automatic installation
HanaeRateau Feb 26, 2026
642daaa
Fixes for windows and fixes splat rendering bug in transform use
HanaeRateau Feb 27, 2026
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6 changes: 6 additions & 0 deletions .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -4,3 +4,9 @@
[submodule "extlibs/liteviz-gs"]
path = extlibs/liteviz-gs
url = https://github.com/panxkun/liteviz-gs
[submodule "extlibs/tinyply"]
path = extlibs/tinyply
url = https://github.com/ddiakopoulos/tinyply
[submodule "extlibs/tbb"]
path = extlibs/tbb
url = https://github.com/uxlfoundation/oneTBB
34 changes: 27 additions & 7 deletions CMakeLists.txt
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Expand Up @@ -23,10 +23,11 @@ set(HEADER_FILES
${SOFA_POINTCLOUD_SRC}/components/PointCloudVisualModel.h
${SOFA_POINTCLOUD_SRC}/components/PointCloudInspector.h
${SOFA_POINTCLOUD_SRC}/components/liteviz-dataloader.h
extlibs/liteviz-gs/liteviz/dataloader.h
extlibs/liteviz-gs/liteviz/renderer.h
extlibs/liteviz-gs/liteviz/shader.h
extlibs/liteviz-gs/liteviz/utils.h
# extlibs/liteviz-gs/liteviz/dataloader.h
# extlibs/liteviz-gs/liteviz/renderer.h
# extlibs/liteviz-gs/liteviz/shader.h
# extlibs/liteviz-gs/liteviz/utils.h
extlibs/tinyply/source/tinyply.h
extlibs/diff-gaussian-rasterization/cuda_rasterizer/rasterizer.h
extlibs/diff-gaussian-rasterization/cuda_rasterizer/rasterizer_impl.h
extlibs/diff-gaussian-rasterization/cuda_rasterizer/forward.h
Expand All @@ -44,15 +45,34 @@ set(SOURCE_FILES
${SOFA_POINTCLOUD_SRC}/components/PointCloudRendererCUDA.cpp
)

# Tinyply and liteviz
include_directories("extlibs/tinyply/source")

# TBB
set(TBB_TEST OFF CACHE BOOL "" FORCE)
set(TBB_EXAMPLES OFF CACHE BOOL "" FORCE)
set(BUILD_SHARED_LIBS ON CACHE BOOL "" FORCE)
set(TBB_ENABLE_IPO OFF CACHE BOOL "" FORCE)
add_subdirectory("extlibs/tbb")
add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Core Sofa.Component.Visual Sofa.GL SofaPython3::Plugin tbb)
set_target_properties(${PROJECT_NAME} PROPERTIES CUDA_ARCHITECTURES "native")
if(TARGET TBB::tbb)
add_custom_command(
TARGET ${PROJECT_NAME}
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
$<TARGET_FILE:TBB::tbb>
$<TARGET_FILE_DIR:${PROJECT_NAME}>
)
endif()

target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Core Sofa.Component.Visual Sofa.GL SofaPython3::Plugin TBB::tbb)
set_target_properties(${PROJECT_NAME} PROPERTIES CUDA_ARCHITECTURES 89)

sofa_create_package_with_targets(
PACKAGE_NAME ${PROJECT_NAME}
PACKAGE_VERSION ${Sofa_VERSION}
TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
INCLUDE_SOURCE_DIR "src" "extlibs"
INCLUDE_SOURCE_DIR "src"
INCLUDE_INSTALL_DIR "${PROJECT_NAME}"
RELOCATABLE "plugins"
)
2 changes: 1 addition & 1 deletion src/sofa/pointcloud/components/PointCloudContainer.cpp
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Expand Up @@ -45,7 +45,7 @@ namespace sofa::core::objectmodel

/// Specialization for reading strings
template<>
bool Data<Eigen::MatrixXf>::read( const std::string& str ){}
bool Data<Eigen::MatrixXf>::read(const std::string& str) { return false; }

/// Specialization for reading strings
template<>
Expand Down
62 changes: 30 additions & 32 deletions src/sofa/pointcloud/components/PointCloudRenderer.cpp
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Expand Up @@ -96,7 +96,7 @@ void PointCloudRenderer::doInitVisual(const sofa::core::visual::VisualParams* vp
{
if (!sofa::gl::GLSLShader::InitGLSL())
{
msg_info() << "InitGLSL failed" ;
msg_warning() << "InitGLSL failed" ;
return;
}

Expand Down Expand Up @@ -197,7 +197,8 @@ void append(GaussianData& dest, const GaussianData& src)

std::vector<int> range(int maxSize)
{
std::vector<int> tmp {maxSize};
std::vector<int> tmp;
tmp.reserve(maxSize);
for(auto i=0;i<maxSize;++i) tmp.emplace_back(i);
return tmp;
}
Expand Down Expand Up @@ -350,6 +351,7 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
{
isFirstRun = false;
clear(renderingData);
clear(referenceData);
for(auto visual : visualModels)
{
visual->updateVisual(vparams);
Expand All @@ -361,26 +363,18 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
if(!visual->l_geometry->data){
continue;
}
int offset = renderingData.xyz.rows();

//if(isFirstRun)
//{
// visual->initTransform();
//}

//if(visual->d_isStaticModel.getValue())
// hasStaticData=true;
int modelBeginIndex = renderingData.xyz.rows();

// First build the reference geometry
int beginIndex = renderingData.size();
int size = visual->l_geometry->data->xyz.rows()*(3+4+3+1+visual->l_geometry->data->sh_dim());
dataCache[visual] = std::make_tuple(beginIndex, size);
dataCache[visual] = std::make_tuple(modelBeginIndex, size);

// only copy position, rotation and scale values
append(referenceData.xyz, visual->l_geometry->data->xyz);
append(referenceData.rot, visual->l_geometry->data->rot);
append(referenceData.scale, visual->l_geometry->data->scale);

append(renderingData.xyz, visual->l_geometry->data->xyz);
append(renderingData.sh, visual->l_geometry->data->sh);
append(renderingData.opacity, visual->l_geometry->data->opacity);
append(renderingData.scale, visual->l_geometry->data->scale);
append(renderingData.rot, visual->l_geometry->data->rot);
append(renderingData, *visual->l_geometry->data);

auto scale = visual->d_uniformScale.getValue();
auto initFrames = visual->initFrames;
Expand All @@ -390,17 +384,15 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
std::vector<std::vector<int>> frameMap{frames.size()};
for(size_t i=0;i<frameIndices.size();++i)
{
frameMap[frameIndices[i]].push_back(offset+i);
frameMap[frameIndices[i]].push_back(modelBeginIndex+i);
}

//visual->doUpdateVisual(sofa::core::visual::VisualParams::defaultInstance());

// Now we need to apply the transformation
this->transform(scale,
initFrames,
frames, frameMap, renderingData.xyz, renderingData.rot, renderingData.scale);
msg_warning() << "Batching a new data set " << visual->getPathName() << " with frames " << frames.size();
msg_warning() << " data set offset & size " << beginIndex << ", " << size;
msg_info() << "Batching a new data set " << visual->getPathName() << " with frames " << frames.size();
msg_info() << " data set modelBeginIndex & modelSize " << modelBeginIndex << ", " << size;
}
}else{
SCOPED_TIMER("PointCloud::doDrawVisual::sceneParsing");
Expand All @@ -417,7 +409,8 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
if(visual->d_isStaticModel.getValue())
continue;

auto [offset, size] = dataCache[visual];
auto [modelBeginIndex, modelSize] = dataCache[visual];
int modelSplatsCount = visual->l_geometry->data->xyz.rows();

auto scale = visual->d_uniformScale.getValue();
auto initFrames = visual->initFrames;
Expand All @@ -427,9 +420,14 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
std::vector<std::vector<int>> frameMap{frames.size()};
for(size_t i=0;i<frameIndices.size();++i)
{
frameMap[frameIndices[i]].push_back(offset+i);
frameMap[frameIndices[i]].push_back(modelBeginIndex+i);
}

// Reset to untransformed reference before applying new pose
renderingData.xyz.block(modelBeginIndex, 0, modelSplatsCount, 3) = referenceData.xyz.block(modelBeginIndex, 0, modelSplatsCount, 3);
renderingData.rot.block(modelBeginIndex, 0, modelSplatsCount, 4) = referenceData.rot.block(modelBeginIndex, 0, modelSplatsCount, 4);
renderingData.scale.block(modelBeginIndex, 0, modelSplatsCount, 3) = referenceData.scale.block(modelBeginIndex, 0, modelSplatsCount, 3);

{
SCOPED_TIMER("PointCloud::doDrawVisual::sceneTransform");
// Now we need to apply the transformation
Expand All @@ -438,11 +436,12 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
frames, frameMap, renderingData.xyz, renderingData.rot, renderingData.scale);

}
msg_warning() << "Updating a new data set " << visual->getPathName() << " with frames " << frames.size();
msg_warning() << " data set offset & size " << offset << ", " << size;
updatesBufferParts.push_back({offset,size});
msg_info() << "Updating a new data set " << visual->getPathName() << " with frames " << frames.size();
msg_info() << " data set modelBeginIndex & modelSize " << modelBeginIndex << ", " << modelSize;
updatesBufferParts.push_back({modelBeginIndex,modelSize});
}
}

msg_info() << " total number of splats to render: " << renderingData.size() << " splats ";

isFirstRun=false;
Expand All @@ -455,7 +454,7 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
// Here we have geometries to draw and a camera that look at it.
// We first send the camera parameters to the gl rendering backend, then the geometries.
auto c = l_camera->getPosition();
Eigen::Vector3f cam_pos {c[0],c[1],c[2]};
Eigen::Vector3f cam_pos {float(c[0]),float(c[1]), float(c[2])};

vparams->getModelViewMatrix(dviewmat.data());
vparams->getProjectionMatrix(dprojmat.data());
Expand Down Expand Up @@ -503,7 +502,6 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
static bool firstTime = true;
if(firstTime)
{
std::cout << "INTIIALIZE BUFFER " << std::endl;
firstTime = false;
glBindBuffer(GL_SHADER_STORAGE_BUFFER, _ssbo_splat[SplatProperty::SCALE]);
glBufferData(GL_SHADER_STORAGE_BUFFER, renderingData.scale.rows() * sizeof(float) * 3, renderingData.scale.data(), GL_DYNAMIC_DRAW);
Expand Down Expand Up @@ -531,7 +529,6 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
glBindBufferBase(GL_SHADER_STORAGE_BUFFER, 2, _ssbo_splat[SplatProperty::ROTATION]);
}

std::cout << "UPDATE BUFFER PARTS " << updatesBufferParts.size() << std::endl;
if(updatesBufferParts.size())
{
SCOPED_TIMER("PointCloud::doDrawVisual::bufferUpdate");
Expand All @@ -546,7 +543,6 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp
}

if(depths.size()!=indices.size()){
std::cout << "RESIZE DEPTH BUFFER" << std::endl;
depths.resize(indices.size());
glBindBuffer(GL_SHADER_STORAGE_BUFFER, _ssbo_splat[SplatProperty::DEPTHS]);
glBufferData(GL_SHADER_STORAGE_BUFFER, depths.size() * sizeof(float), depths.data(), GL_DYNAMIC_DRAW);
Expand All @@ -564,6 +560,8 @@ void PointCloudRenderer::doDrawVisual(const sofa::core::visual::VisualParams* vp

if(d_withCuda.getValue())
{
selectedIndices.resize(renderingData.size());
std::iota(selectedIndices.begin(), selectedIndices.end(), 0);
PointCloudRendererBackend::transform_and_sort_cuda(viewmat, interop_positions, interop_depths, interop_indices, renderingData.size());
}else
{
Expand Down
1 change: 1 addition & 0 deletions src/sofa/pointcloud/components/PointCloudRenderer.h
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Expand Up @@ -90,6 +90,7 @@ class PointCloudRenderer : public sofa::core::visual::VisualModel {
std::vector<float> depths;
gl::GLSLShader shader;
GaussianData renderingData;
GaussianData referenceData; // untransformed source data

BaseGLBuffer *interop_positions;
BaseGLBuffer *interop_depths;
Expand Down
2 changes: 1 addition & 1 deletion src/sofa/pointcloud/components/PointCloudRendererBackend.cu
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Expand Up @@ -110,7 +110,7 @@ public:

void reset(int N_)
{
std::cout << "RESET CUDA BUFFER " << std::endl;
//std::cout << "RESET CUDA BUFFER " << std::endl;
N = N_;

short* d_depths_out;
Expand Down
4 changes: 4 additions & 0 deletions src/sofa/pointcloud/components/PointCloudRendererBackend.h
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Expand Up @@ -20,6 +20,10 @@
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#ifdef _WIN32
#include <windows.h>
#endif

#include <GL/gl.h>
#include <Eigen/Dense>

Expand Down
2 changes: 1 addition & 1 deletion src/sofa/pointcloud/components/PointCloudRendererCUDA.cpp
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Expand Up @@ -110,7 +110,7 @@ void PointCloudRendererCUDA::doDrawVisual(const sofa::core::visual::VisualParams
// Here we have geometries to draw and a camera that look at it.
// We first send the camera parameters to the gl rendering backend, then the geometries.
auto c = l_camera->getPosition();
Eigen::Vector3f cam_pos {c[0],c[1],c[2]};
Eigen::Vector3f cam_pos { float(c[0]),float(c[1]), float(c[2]) };

float fov = l_camera->getFieldOfView();
float tanHalfFov = tan((fov / 180.0 * M_PI) / 2.0f);
Expand Down