Overview of a graphics system and programming

Jayanta Mukhopadhyay

Department of Computer Science & Engineering

Indian Institute of Technology Kharagpur
[email protected]

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 Graphics system
Hardware for I/P & O/P pictorial information.
Software routines for performing the basic graphics operations.

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 Display Devices
A hardware for displaying graphics primitives.

Display processor operates with a basic set of instructions.

Operates on discrete grids bounded by a rectangle with a predefined

coordinate convention.

Sets display attributes of operations, such as Color, Line style, Line

width, Brightness or Intensity, Font, Text height etc.
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 Two types of Display Devices

Vector graphics device: e.g. Plotter

Maintains the current position of a drawing pen.
Basic Commands: Move to a point, Draw a line to a point, Draw Text
(Character).

Raster graphics device: e.g. CRT Terminal

Maps the discrete grids to a 2-D array of pixels, called Frame Buffer.
Basic commands: Clear frame buffer, Set a pixel ON (OFF) for display
(no-display state).
Periodically displays the pixels of a frame buffer.
May use double buffering to update and display alternately.
Implements vector graphics operations by setting necessary pixels ON
or OFF.

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 Display of colors in a Raster Device

A device may have independent but coherent control of displaying

three primary colors, namely Red, Green and Blue.

Use three separate color planes (2-D arrays) for a frame buffer.

For gray level display only one plane is sufficient.

The number of bits (usually 8) used to represent a pixel of a plane

decides the number of levels.

Use of Look Up Table (LUT) enables to display colors with a single

plane frame buffer.

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 Display of colors in a Vector Device

Chooses a color for a single intensity / ink level.

Only a few colors are available for display.

Special computational algorithms exist to bring variation of ink /

brightness density over a region to produce gray / color shades.

Halftoning algorithms.

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 Graphics programming: broad steps

Initialize graphics environment: Devices, 2-D / 3-D graphics, Open a

canvas, Single / Double buffers, Z-buffer, Color scheme ..

Set viewport: Rectangular area of the canvas for display

Set coordinate convention
Otherwise uses default coordinate system.

Display and other commands including choice of attributes for display.

Close graphics environment.

Specialized environments
Client-server computing.
Event driven computing.

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 Different coordinate systems
Device coordinates

Normalized device
coordinates.

User defined coordinates

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 OpenGL

Outline

Basics, functionalities, data types

Input-Output

Projection

Viewing

Transformation

Camera metaphor

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 What is OpenGL?
A low level software interface to graphics hardware.

You can access graphics hardware directly

Independent to window system, cross platform

High level enough, so it’s independent to graphics hardware

Industry standard

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 What is OpenGL?

Hardware and Operating System independent.

No commands for performing windowing tasks

No commands for obtaining input

A State Machine

Put OpenGL into a state (or mode) & that state remains in effect until
you change it

Each OpenGL window has its own separate state

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 What is OpenGL?
An open standard

The OpenGL language is not controlled by a single company but rather

steered by the Architecture Review Board (ARB).

Extensible

OpenGL language has an extension mechanism defined in it.

Venders can expose non-standard OpenGL features this way

Courtesy: From this slide onwards, the rest are from Prof. Ayan Chaudhury, CSE, IIT Kharagpur.

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 What is OpenGL?

Is often called as API

Window based programming

Event driven programming

callback function

event loop

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 OpenGL rendering pipeline

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 OpenGL pipeline (simplified)

OpenGL API calls → OpenGL command buffer → Transform &

lighting → Rasterization → Frame buffer

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 What OpenGL provides?

Draw with points, lines, and polygons

Matrix Operations (Transformations)

Hidden Surface Removal (Z-Buffer)

Lighting (Phong model)

Shading

Texture mapping

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 What OpenGL provides?

Basic drawing

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 What OpenGL provides?
Transformations

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 What OpenGL provides?
Z-buffer

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 What OpenGL provides?

Lighting

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 What OpenGL provides?

Shading

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 What OpenGL provides?

Texture mapping
There are limitations of geometric modelling
Many natural phenomena and objects are hard to model
E.g. Cloud, grass, terrain, skin,..

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 OpenGL Texture mapping

Consider modelling of an orange

Start with an orange-colored sphere: too simple

Replace sphere with a more complex shape
Does not capture surface characteristics (small dimples)
Takes too many polygons to model all the dimples

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 Modelling of an orange (contd.)

Take a picture of a real orange, scan it, and “paste” onto simple
geometric model
This process is called texture mapping

Still might not be sufficient because resulting surface will be smooth

Need to change local shape
Bump mapping
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 3 types of mapping
1. Texture Mapping
Uses images to fill inside of polygons

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 3 types of mapping

2. Environment Mapping
Uses a picture of the environment for texture maps

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 3 types of mapping

3. Bump Mapping
Emulates altering normal vectors during the rendering process

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 Where does mapping take place?

Mapping techniques are implemented at the end of the rendering

pipeline
Very efficient because few polygons pass down the geometric pipeline

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 Texture mapping: is it simple?

Although the idea is simple - map an image to a surface - there are 3

or 4 coordinate systems involved

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 Texture mapping: is it simple?

(we will see these coordinate systems in the viewing lectures)

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 Libraries

Basic GL

Fundamental OpenGL library

OpenGL32 on Windows

GL on most UNIX/Linux systems

GLUT
GL utility toolkit

Open a window, get input, etc.

GLU
GL utility library

Provides high level routines

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 OpenGL data types

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 OpenGL primitives

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 OpenGL primitives

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 OpenGL function format

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 OpenGL syntax

All OpenGL commands are prefixed by the letters gl

Defined constants begin with GL

Commands may be postfixed by

A number {2, 3, 4} indicating the number of arguments (e.g.

glVertex2i())

A letter {i, f , d, ub} indicating the data type of the arguments (e.g.
glRectf())

A letter v indicating the argument is a vector (array) (e.g.

glVertex3fv())

Most constants are defined in the include files gl.h, glu.h and glut.h

# include<glut.h> should automatically include the others

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 Some syntax examples

Example: Setting the current color using glColor:

Colors may have 3 components: RGB, or 4 components: RGBA.

(Think of A as opacity)

Floating point - color component values range from 0 to 1

glColor3f(0.0,0.5,1.0);
(0% Red, 50% Green, 100% Blue)

glColor4f(0.0,0.5,1.0,0.3);
(0% Red, 50% Green, 100% Blue, 30% opacity)

GLfloat color[4] = {0.0,0.5,1.0,0.3};

glColor4fv(color);
(0% Red, 50% Green, 100% Blue, 30% opacity)

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 Some syntax examples

Unsigned byte: color component values range from 0 to 255:

glColor3ub(0,127,255);
(0% Red, 50% Green, 100% Blue)

glColor4f(0,127,255,76);
(0% Red, 50% Green, 100% Blue, 30% opacity)

GLubyte color[4] = {0,127,255,76};

glColor4ubv(color);
(0% Red, 50% Green, 100% Blue, 30% opacity)

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 OpenGL clear colour

The background is specified using glClearColor();

Set blue colour: glClearColor(0.0,0.0,1.0,1.0);

Notice that the colours are always floating point

Reset the colour buffer: glClear(GL COLOR BUFFER BIT); at the

top of display() function

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 Getting started

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 Inputs

Keyboard input: glutKeyboardFunc(keyboard)

Ex: keyboard(unsigned char key, int x, int y);

Mouse input: glutMouseFunc(mouse)

Ex: mouse(int button, int state, int mousex, int mousey);

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 OpenGL geometry

The fundamental primitive is the point. Points are also called

vertices, a single point is a vertex

Points are used to build more complex geometry

There are many ways to specify points:

2D: glVertex2f(1.0, 2.0);

2D: glVertex2i(4, -1);

3D: glVertex3f(10.5, 20.1, 30,7);

glVertex*() must be within glBegin(constant) and glEnd() commands

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 OpenGL geometry examples

glBegin(GL POINTS);
glVertex2i(0,0);
glVertex2i(1,0) ;
glVertex2i(1,1) ;
glVertex2i(0,1) ;
glEnd() ;

This code draws 4 points

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 OpenGL geometry examples

glBegin(GL LINES);
glVertex2i(0,0);
glVertex2i(1,0) ;
glVertex2i(1,1) ;
glVertex2i(0,1) ;
glEnd() ;

This code draws 2 lines: The first one from (0,0) to (1,0) and the second
one from (1,1) to (0,1)

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 OpenGL geometry examples

glBegin(GL LINE LOOP);

glVertex2i(0,0);
glVertex2i(1,0) ;
glVertex2i(1,1) ;
glVertex2i(0,1) ;
glEnd() ;

This code draws a square

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 OpenGL geometry examples

glBegin(GL QUADS);
glVertex2i(0,0);
glVertex2i(1,0) ;
glVertex2i(1,1) ;
glVertex2i(0,1) ;
glEnd() ;

This code draws a quadrilateral

So how will the display() function look like for drawing a black
quadrilateral?

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 OpenGL geometry

The order that vertices is important

Each glBegin(constant) expects a certain ordering of vertices in order

to produce the expected result

Polygon (e.g. triangle) vertices are usually specified counter

clockwise.

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 OpenGL camera

OpenGL places a camera at the origin in object space pointing in the

negative z direction

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 Orthographic projection

Representing 3D object into 2D

By default orthographic view, points are projected forward along the z

axis onto the plane z=0

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 Viewport
Viewport is a rectangular area of the window in which OpenGL
drawing takes place.

Syntax: glViewport(lowerx, lowery, width, height);

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 Viewport

Values in pixels (window coordinates)

Usually put in glutReshapeFunc();

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 OpenGL pipeline

Transformation: Vertices are rotated & translated into place

Projection: The projection of vertices onto the image plane is

calculated

Clipping: Vertices outside the image plane are clipped away

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 OpenGL: Drawing a rectangle

int main(int & argc, char** argv)

{
glutInit(argc, argv); //initialize toolkit
//set display mode: single bufferring, RGBA model
glutInitDisplayMode (GLUT SINGLE | GLUT RGB );
glutInitWindowSize(500, 500); //set window size on screen
glutInitWindowPosition( 100, 150 ); //set window position on screen
glutCreateWindow(argv[0]); //open screen window
init();
glutDisplayFunc (display); //points to display function
glutMainLoop(); //go into perpetual loop
return 0;
}
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 OpenGL: Drawing a rectangle

//initialization
void init( void )
{
glClearColor( 1.0, 1.0, 1.0, 0.0 ); //get white background color
glColor3f( 0.0f, 0.0f, 0.0f ); //set drawing color
glPointSize( 6.0 ); //a dot is 4x4
glMatrixMode( GL PROJECTION );
glLoadIdentity(); //replace current matrix with identity matrix
gluOrtho2D( 0.0, 500.0, 0.0, 500.0 );
}

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 OpenGL: Drawing a rectangle

void display( void )

{
glClear( GL COLOR BUFFER BIT ); //clear screen
glColor3f( 1.0, 0.0, 0.0 ); //red
glRecti( 250, 250, 350, 350 );
glFlush(); //send all output to screen
}

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 OpenGL camera metaphor

Imagine that OpenGL has a (virtual) camera which is taking a picture of

the (virtual) world

Must determine the part of the world that the camera will see.

Can’t fit the entire world inside the computer

Can’t fit the entire world on the screen

Must specify how the camera sees the world

Cameras can have different lenses

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 OpenGL camera metaphor

Must specify the position and orientation of the camera

Must also specify position and orientation of objects in the world

that the camera will be “photographing”

OpenGL projection transformation is concerned with:

determining the part of the world that the camera will see

How the camera sees the world

OpenGL modelview transformation is concerned with:

The position and orientation of the camera

The position and orientation of objects in the world

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 OpenGL projection transformation

Defines how a point, or vertex, is transformed from world space to the

2D plane of the screen, or screen space.

World space could be an 5x10 sheet of paper in a 2D drawing program,

or the solar system in a space flight simulator

World space is the two- or three-dimension space which you are

modelling in the computer

World coordinate numbers (vertices) are unitless.

glVertex2i(2,3) purposely does not say whether the 2 is in mm, cm,

inch, m, km, miles, or light years

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 OpenGL projection transformation
OpenGL represents the projection transform as a 4x4 matrix (we’ll see
details later in the course):
 
x11 x12 x13 x14
x
 21 x22 x23 x24 

x31 x32 x33 x34 
 

x41 x42 x43 x44

There is special support for two commonly used transformations

Orthographic

Perspective

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 OpenGL Orthographic transformation

An orthographic viewing volume:

void glOrtho(GLdouble left, GLdouble right,

GLdouble bottom, GLdouble top,
GLdouble zNear, GLdouble zFar ) ;

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 OpenGL Perspective transformation

An perspective viewing volume:

void gluPerspective(GLdouble fovy, GLdouble aspect,

GLdouble zNear, GLdouble zFar ) ;

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 OpenGL general transformation

An general viewing volume:

void glFrustum(GLdouble left, GLdouble right,

GLdouble bottom, GLdouble top
GLdouble zNear, GLdouble zFar ) ;

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 OpenGL projection transformation

What happens when glOrtho() gluPerspective() or glFrustum() is

executed?

A matrix which produces a projection transformation for the requested

viewing volume is generated

That matrix is multiplied into the current OpenGL state

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 OpenGL modelview transformation

Recall that the modelview transformation is concerned with:

The position and orientation of the camera

The position and orientation of objects in the world

Like the projection transformation, the modelview transformation is a 4x4

matrix

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 OpenGL modelview transformation

Why not use two separate transformation matrices, one for the camera (a
view transformation) and one for the objects in the world (a model
transformation) instead of one composite modelview transformation?

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 OpenGL modelview transformation

Try this thought experiment:

Suppose the camera, or eye, and the object the camera is to view are
in the same location, the origin.

In order to view the object either the camera or the object must be
moved

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 OpenGL modelview transformation

Moving the camera away from the origin:

Moving the object away from the origin:

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 OpenGL modelview transformation

No Difference !!!

The programmer can think of the modelview matrix as transforming

the view or the models that are being viewed

Hence the name modelview

OpenGL’s default state is modelview mode

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 gluLookAt()

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 gluLookAt()

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 gluLookAt()

Example 1: void gluLookAt( 0,0,-5, 0,0,0, 0,1,0 ) ;

Camera is at -5 on z-axis

looking at the origin

coincident with the positive y-axis

Example 2: void gluLookAt( 10,0,0, 0,0,0, 0,0,1 ) ;

Camera is at 10 on x-axis

looking at the origin

coincident with the positive z-axis

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 Specifying the view

In order to specify a view to OpenGL:

1 Set the viewport

2 Set the projection transformation

3 Set the modelview transformation

In order to do these tasks:

Set the transformation state for the projection mode and the
modelview mode back to a default ’no transformation’ state.

Change between the projection and modelview states

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 Specifying the view

glMatrixMode(GL PROJECTION) ;

Tells OpenGL we want to set the projection transformation

glMatrixMode(GL MODELVIEW) ;

Tells OpenGL we want to set the modelview transformation

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 Specifying the view

Return to the default state: glLoadIdentity() ;

 
1 0 0 0
0 1 0 0
 
0 0 1 0
 

0 0 0 1

Which sets the transformation to the identity matrix

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 Specifying the view

The default projection is

glMatrixMode(GL PROJECTION) ;
glLoadIdentity() ;

which is equivalent to:

glMatrixMode(GL PROJECTION) ;
glOrtho(-1,1, -1,1, 1,1) ;

A common example:

glMatrixMode(GL PROJECTION) ;
glLoadIdentity() ;
gluPerspective(45,1,5,100) ;

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 Specifying the view

The default modelview is

glMatrixMode(GL MODELVIEW) ;
glLoadIdentity() ;

which is equivalent to:

glMatrixMode(GL MODELVIEW) ;
gluLookAt(0,0,0, 0,0,-1, 0,1,0) ;

A common example:

glMatrixMode(GL MODELVIEW) ;
glLoadIdentity() ;
gluLookAt(0,0,0, 0,0,-1, 0,1,0) ;

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 Specifying the view

Putting everything together in a reshape callback example:

void reshape(int x, int y){

glViewPort(x,y) ;

glMatrixMode(GL PROJECTION) ;
glLoadIdentity() ;
gluPerspective(45,1,5,100) ;

glMatrixMode(GL MODELVIEW) ;
glLoadIdentity() ;
gluLookAt(0,0,10, 0,0,-1, 0,1,0) ;
}

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 Modelview Transformations

Transformations in OpenGL are not drawing commands. They are

retained as part of the graphics state

Transformation calls in OpenGL multiply a matrix which represents

the transformation into the current OpenGL state

This approach could easily get out of hand if there were no way to
save and restore the modelview matrix state. Fortunately, there is.

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 Modelview Transformations

Translation: moves the origin of the coordinate system:

x ′ = x + tx , y ′ = y + ty , z ′ = z + tz
glTranslatef(tx,ty,tz);

Rotation: rotates by angle θ (in degrees) about an axis direction

(x,y,z)
glRotatef(theta,x,y,z);
glRotatef(30.0, 0.0, 1.0, 0.0) rotates by 30 degree about y-axis

Scaling: multiply coordinates by scale factor s

x ′ = sx ∗ x , y ′ = sy ∗ y , z ′ = sz ∗ z
glScalef(sx,sy,sz);

The order of transform is important!

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 Modelview Transformations

glPushMatrix(): saves the modelview state

pushes the current matrix on to a stack, duplicating the current
matrix. That is, after a glPushMatrix call, the matrix on top of the
stack is identical to the one below it

glPopMatrix(): restores the modelview state

pops the current matrix stack, replacing the current matrix with the
one below it on the stack

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 Modelview Transformations
Example:

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 Modelview Transformations

Translation: glTranslatef(GLfloat x, GLfloat y, GLfloat z)

(using gluLookAt(0,0,7, 0,0,0, 0,1,0))

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 Modelview Transformations

Rotation: glRotatef(GLfloat angle, GLfloat x, GLfloat y, GLfloat z)

(using gluLookAt(0,0,7, 0,0,0, 0,1,0))

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 Modelview Transformations

Translation followed by Rotation:

(using gluLookAt(0,0,7, 0,0,0, 0,1,0))

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 Modelview Transformations

Rotation followed by Translation:

(using gluLookAt(0,0,7, 0,0,0, 0,1,0))

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 Modelview Transformations

Translation and Rotation are order dependent!

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 Summary

A graphics system provides a computing environment for visualization

of objects on a 2-D plane.

Two types of display devices: vector and raster display devices.

Three core agenda of computer graphics: object representation,

computation (for object manipulation and display) and modelling (of
physical and dynamic processes).

Flexible environment for defining the coordinate system: Device,

Normalized device and User defined coordinate systems.

Programming involves initialization, defining display zone, setting

coordinate convention, display commands, and closing.

OpenGL graphics programming paradigm briefly introduced.

Jayanta Mukhopadhyay (CSE, IIT Kharagpur)Overview of a graphics system and programming 87 / 87