This is a minimal implementation of OpenGL-based rendering engine for rendering edge map, object silhouette and depth map, which are useful for tasks like model-based tracking, surface normal and/or depth prediction, etc.

For example usage, see tools/render_depth.cpp which loads the json configuration and renders a depth map and object mask. To build, turn on the compilation flag in the main CMakeLists. Once build, go to project root and run:

bin/render_depth misc/render_depth.json

Note, based on the version of OpenGL used by your operating system, you might need to modify the major_version and minor_version values in render_depth.json accordingly. Typically, for relatively new machines, 4 for major_version and 3 for minor_version should be good. For old machines, 3 for major_version and 3 for minor_version might work. If you encounter segfault during executation due to OpenGL version, it's most likely due to OpenGL versioning. During initialization, the renderer also prints out the OpenGL version, which provides clues about the proper major/minor version number to set.

All the extra dependencies (in addition to the ones needed to build the main library) can be installed via the package manager (tested on Ubuntu 16.04).

• OpenGL
• GLUT
• GLEW
• glfw
• glm