[POC] Replace GLUT with Raylib

.github/workflows/cmake-linux-deb.yml

@@ -23,7 +23,7 @@ jobs:
     - name: Load repository cache
       run:  sudo apt-get update --allow-releaseinfo-change
     - name: Install Libs
-      run: sudo apt-get install -y --no-install-recommends libeigen3-dev libglew-dev freeglut3-dev libx11-dev libxi-dev libtbb-dev liblaszip-dev libopencv-dev libproj-dev
+      run: sudo apt-get install -y --no-install-recommends libeigen3-dev libglew-dev freeglut3-dev libx11-dev libxi-dev libxrandr-dev libxinerama-dev libxcursor-dev libxext-dev libtbb-dev liblaszip-dev libopencv-dev libproj-dev
 
     - uses: actions/checkout@v4
       with:

.github/workflows/cmake-linux.yml

@@ -23,7 +23,7 @@ jobs:
     - name: Load repository cache
       run:  sudo apt-get update --allow-releaseinfo-change
     - name: Install Libs
-      run: sudo apt-get install -y --no-install-recommends libx11-dev libxi-dev libtbb-dev libegl1-mesa-dev libglu1-mesa-dev libopencv-dev libproj-dev
+      run: sudo apt-get install -y --no-install-recommends libx11-dev libxi-dev libxrandr-dev libxinerama-dev libxcursor-dev libxext-dev libtbb-dev libegl1-mesa-dev libglu1-mesa-dev libopencv-dev libproj-dev
 
     - uses: actions/checkout@v4
       with:

.github/workflows/python-bindings-linux.yml

@@ -21,7 +21,7 @@ jobs:
         run: sudo apt-get update --allow-releaseinfo-change
 
       - name: Install system libraries
-        run: sudo apt-get install -y --no-install-recommends libx11-dev libxi-dev libtbb-dev libegl1-mesa-dev libglu1-mesa-dev libopencv-dev libproj-dev
+        run: sudo apt-get install -y --no-install-recommends libx11-dev libxi-dev libxrandr-dev libxinerama-dev libxcursor-dev libxext-dev libtbb-dev libegl1-mesa-dev libglu1-mesa-dev libopencv-dev libproj-dev
 
       - uses: actions/checkout@v4
         with:

CMakeLists.txt

@@ -90,6 +90,13 @@ include(cmake/implot.cmake)
 # ============================================================================
 include(cmake/dependencies.cmake)
 
+# raylib/imgui_raylib/rlimgui/imguizmo_raylib targets, needed before
+# add_subdirectory(core) below since core's own CMakeLists.txt defines a
+# core_raylib target (holding shared raylib rendering/camera/picking code,
+# e.g. core/include/Core/raylib_render.hpp) that links against them. Required
+# unconditionally: apps/multi_view_tls_registration (step2) is raylib-based.
+include(cmake/raylib.cmake)
+
 # ============================================================================
 # Core Library
 # ============================================================================
@@ -106,10 +113,11 @@ if(BUILD_WITH_HD_MAPPER_APPLICATION)
     add_subdirectory(apps/hd_mapper)
 endif()
 
-add_subdirectory(apps/lidar_odometry_step_1)    
+add_subdirectory(apps/lidar_odometry_step_1)
 add_subdirectory(apps/manual_color)
 add_subdirectory(apps/multi_session_registration)
 add_subdirectory(apps/multi_view_tls_registration)
+add_subdirectory(apps/multi_view_tls_registration_legacy)
 add_subdirectory(apps/split_multi_livox)
 add_subdirectory(apps/precision_forestry_tools)
 add_subdirectory(apps/mandeye_raw_data_viewer)

README.md

@@ -61,6 +61,18 @@ cmake -B build -S . -DCMAKE_BUILD_TYPE=Release
 cmake --build build --config Release -j
 ```
 
+**Laptops with hybrid NVIDIA/Intel graphics:** the raylib-based apps (e.g. `multi_view_tls_registration_step_2`) may default to the integrated GPU even with `prime-select nvidia` set, since PRIME's on-demand/offload mode is a per-launch choice, not a system default. Force the discrete NVIDIA GPU with:
+
+```bash
+__NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia ./build/bin/multi_view_tls_registration_step_2
+```
+
+If the `nvidia-prime` package is installed, `prime-run` wraps the same env vars:
+
+```bash
+prime-run ./build/bin/multi_view_tls_registration_step_2
+```
+
 ## Quick Start (macOS)
 
 **Prerequisites:**

apps/multi_view_tls_registration/CMakeLists.txt

@@ -3,11 +3,27 @@ cmake_minimum_required(VERSION 4.0.0)
 project(multi_view_tls_registration_step_2)
 
 # Source files
+#
+# multi_view_tls_registration_gui.cpp is raylib-based: the GLUT-window-and-
+# input-loop and point-cloud/loop-closure rendering code that used to go
+# through core's own legacy-GL PointCloud::render()/PointClouds::render()
+# now uses Core/raylib_render.hpp's ScanRenderer instead.
+#
+# rl_utils.cpp/rl_utils.h are this app's own raylib-based replacement for
+# the camera/picking/mini-compass/misc-ImGui-widget API it used to get from
+# core/src/utils.cpp (shared with the remaining GLUT apps, so it can't be
+# changed), using rlgl's rl*() legacy-GL-emulation API instead of real
+# gl*()/glu*()/glut*() calls -- see rl_utils.h's top comment.
+#
+# perform_experiment.cpp still #includes GLUT/glew/imgui-GLUT-backend headers,
+# but never calls anything from them (verified: no glut*/GL_*/ImGui_Impl*
+# symbols referenced in its body) -- those are dead includes left as-is, kept
+# resolvable via the include dirs below rather than editing that file.
 set(SOURCES
-    multi_view_tls_registration.cpp perform_experiment.cpp 
+    multi_view_tls_registration.cpp perform_experiment.cpp
     multi_view_tls_registration_gui.cpp multi_view_tls_registration.h
+    rl_utils.cpp rl_utils.h
     ../lidar_odometry_step_1/lidar_odometry_utils.cpp
-    "../../core/src/utils.cpp"
 )
 
 # Windows: add resource file
@@ -25,12 +41,14 @@ target_include_directories(
           multi_view_tls_registration_step_2
           PRIVATE include
           ${REPOSITORY_DIRECTORY}/core/include
-          ${THIRDPARTY_DIRECTORY}/glm
           ${EIGEN3_INCLUDE_DIR}
           ${THIRDPARTY_DIRECTORY}
+          ${THIRDPARTY_DIRECTORY}/glm
+          # For perform_experiment.cpp's unused-but-still-#included glm/GLUT/
+          # glew/imgui-GLUT-backend headers (see note above) -- not otherwise
+          # needed now that rendering goes through core_raylib.
           ${THIRDPARTY_DIRECTORY}/imgui
           ${THIRDPARTY_DIRECTORY}/imgui/backends
-          ${THIRDPARTY_DIRECTORY}/ImGuizmo
           ${THIRDPARTY_DIRECTORY}/glew-cmake/include
           ${FREEGLUT_INCLUDE_DIR}
           ${THIRDPARTY_DIRECTORY}/json/include
@@ -42,18 +60,23 @@ target_include_directories(
 
   target_link_libraries(
           multi_view_tls_registration_step_2
-          PRIVATE 
+          PRIVATE
+          # core_raylib brings in core + raylib transitively (PUBLIC link,
+          # see core/CMakeLists.txt) -- ScanRenderer (the GPU point-cloud
+          # renderer this app uses) lives there. FREEGLUT_LIBRARY is linked
+          # PUBLIC by core_raylib rather than here, so it lands correctly
+          # ordered relative to libcore.a on the final link line -- see the
+          # comment there for why.
+          core_raylib
+          imgui_raylib
+          rlimgui
+          imguizmo_raylib
           WGS84toCartesian
           wgs84_do_puwg92
           unordered_dense::unordered_dense
           spdlog::spdlog
-          OpenGL::GLU
-          ${FREEGLUT_LIBRARY}
-          ${OPENGL_gl_LIBRARY}
           ${PLATFORM_LASZIP_LIB}
           ${PLATFORM_MISCELLANEOUS_LIBS}
-          ${CORE_LIBRARIES}
-          ${GUI_LIBRARIES}
           PROJ::proj)
 
 if(WIN32)
@@ -71,4 +94,4 @@ if (MSVC)
     target_compile_options(multi_view_tls_registration_step_2 PRIVATE /bigobj)
 endif()
 
-install (TARGETS multi_view_tls_registration_step_2 DESTINATION bin)
+install (TARGETS multi_view_tls_registration_step_2 DESTINATION bin)