Add a octomap rendering sample

.github/workflows/build.yml

@@ -24,6 +24,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: "recursive"
+      - name: Update submodules
+        run: git submodule update --init --recursive
       - if: ${{ matrix.platform == 'ubuntu' }}
         name: Install RandR headers
         run: |
@@ -68,6 +70,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: "recursive"
+      - name: Update submodules
+        run: git submodule update --init --recursive
 
       - if: ${{ matrix.platform == 'ubuntu' }}
         name: Install RandR headers
@@ -97,6 +101,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: "recursive"
+      - name: Update submodules
+        run: git submodule update --init --recursive
       - name: ccache
         uses: hendrikmuhs/ccache-action@v1.2.9
         with:
@@ -115,6 +121,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: "recursive"
+      - name: Update submodules
+        run: git submodule update --init --recursive
       - name: Install RandR headers
         run: |
           sudo apt-get update
@@ -139,6 +147,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: "recursive"
+      - name: Update submodules
+        run: git submodule update --init --recursive
 
       - name: set up JDK
         uses: actions/setup-java@v4
@@ -171,6 +181,8 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: "recursive"
+      - name: Update submodules
+        run: git submodule update --init --recursive
 
       - name: ccache
         uses: hendrikmuhs/ccache-action@v1.2.9

.github/workflows/check.yml

@@ -29,7 +29,7 @@ jobs:
         run: |
           git config --global --add safe.directory /__w/Vulkan-Samples/Vulkan-Samples
           git fetch origin $TARGET_BRANCH:$TARGET_BRANCH
-          echo all="$(git diff --name-only --diff-filter=ACMRT $TARGET_BRANCH | grep -v -e .github -e third_party -e .in$ | xargs)" >> $GITHUB_OUTPUT
+          echo all="$(git diff --name-only --diff-filter=ACMRT $TARGET_BRANCH | grep -v -e .github -e third_party -e 'samples/complex/render_octomap/octomap' -e .in$ | xargs)" >> $GITHUB_OUTPUT
 
   doxygen:
     name: Doxygen Syntax Check
@@ -101,7 +101,7 @@ jobs:
       - run: git config --global --add safe.directory /__w/Vulkan-Samples/Vulkan-Samples
       - run: cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DGLFW_BUILD_WAYLAND=OFF -Bbuild/clang
       - run: |
-          /usr/bin/run-clang-tidy -j $(($(nproc)/2+1)) -p build/clang -header-filter=framework,samples,app -checks=-*,google-*,-google-runtime-references -quiet ${{ needs.changed-files.outputs.all }}
+          /usr/bin/run-clang-tidy -j $(($(nproc)/2+1)) -p build/clang -header-filter=framework,samples,app -checks=-*,google-*,-google-runtime-references -quiet ${{ needs.changed-files.outputs.all }} 2>&1 | grep -v "third_party/glfw"
 
   pre-commit:
     name: Pre-Commit Checks

.gitmodules

@@ -50,3 +50,6 @@
 [submodule "third_party/tracy"]
 	path = third_party/tracy
 	url = https://github.com/wolfpld/tracy.git
+[submodule "samples/complex/render_octomap/octomap"]
+	path = samples/complex/render_octomap/octomap
+	url = https://github.com/OctoMap/octomap.git

framework/CMakeLists.txt

@@ -158,6 +158,7 @@ set(SCENE_GRAPH_COMPONENT_FILES
     scene_graph/components/pbr_material.h
     scene_graph/components/sampler.h
     scene_graph/components/sub_mesh.h
+    scene_graph/components/gaussian_splat.h
     scene_graph/components/texture.h
     scene_graph/components/transform.h
     scene_graph/components/image/astc.h
@@ -179,6 +180,7 @@ set(SCENE_GRAPH_COMPONENT_FILES
     scene_graph/components/mesh.cpp
     scene_graph/components/pbr_material.cpp
     scene_graph/components/sub_mesh.cpp
+    scene_graph/components/gaussian_splat.cpp
     scene_graph/components/texture.cpp
     scene_graph/components/transform.cpp
     scene_graph/components/image/astc.cpp

framework/gltf_loader.cpp

@@ -400,7 +400,8 @@ static inline bool texture_needs_srgb_colorspace(const std::string &name)
 }        // namespace
 
 std::unordered_map<std::string, bool> GLTFLoader::supported_extensions = {
-    {KHR_LIGHTS_PUNCTUAL_EXTENSION, false}};
+    {KHR_LIGHTS_PUNCTUAL_EXTENSION, false},
+    {KHR_GAUSSIAN_SPLATTING_EXTENSION, false}};
 
 GLTFLoader::GLTFLoader(vkb::core::DeviceC &device) :
     device{device}

framework/gltf_loader.h

@@ -34,6 +34,7 @@
 #include "vulkan/vulkan.h"
 
 #define KHR_LIGHTS_PUNCTUAL_EXTENSION "KHR_lights_punctual"
+#define KHR_GAUSSIAN_SPLATTING_EXTENSION "KHR_gaussian_splatting"
 
 namespace vkb
 {

framework/scene_graph/components/gaussian_splat.cpp

@@ -0,0 +1,68 @@
+/* Copyright (c) 2024-2025, Holochip Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 the "License";
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "gaussian_splat.h"
+
+namespace vkb
+{
+namespace sg
+{
+
+GaussianSplat::GaussianSplat(const std::string &name) :
+    Component{name}
+{
+}
+
+std::type_index GaussianSplat::get_type()
+{
+	return typeid(GaussianSplat);
+}
+
+size_t GaussianSplat::get_gpu_memory_size() const
+{
+	size_t total = 0;
+
+	if (position_buffer)
+	{
+		total += position_buffer->get_size();
+	}
+	if (rotation_buffer)
+	{
+		total += rotation_buffer->get_size();
+	}
+	if (scale_buffer)
+	{
+		total += scale_buffer->get_size();
+	}
+	if (opacity_buffer)
+	{
+		total += opacity_buffer->get_size();
+	}
+	if (color_buffer)
+	{
+		total += color_buffer->get_size();
+	}
+	if (sh_buffer)
+	{
+		total += sh_buffer->get_size();
+	}
+
+	return total;
+}
+
+}        // namespace sg
+}        // namespace vkb

framework/scene_graph/components/gaussian_splat.h

@@ -0,0 +1,113 @@
+/* Copyright (c) 2024-2025, Holochip Inc.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 the "License";
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <memory>
+#include <string>
+#include <typeinfo>
+#include <vector>
+
+#include "common/glm_common.h"
+#include "common/vk_common.h"
+#include "core/buffer.h"
+#include "scene_graph/component.h"
+
+namespace vkb
+{
+namespace sg
+{
+
+/**
+ * @brief Gaussian Splat rendering primitive data
+ *
+ * Stores data for rendering 3D Gaussian Splats as defined by the
+ * KHR_gaussian_splatting GLTF extension.
+ *
+ * Each splat is an oriented 3D Gaussian defined by:
+ * - Position (center point)
+ * - Rotation (quaternion orientation)
+ * - Scale (3D scale factors)
+ * - Opacity (alpha value)
+ * - Color (RGB or spherical harmonics coefficients)
+ */
+class GaussianSplat : public Component
+{
+  public:
+	/**
+	 * @brief Kernel type for splat rendering
+	 */
+	enum class KernelType
+	{
+		Ellipse,        // Default elliptical kernel
+		Sphere          // Spherical kernel (isotropic)
+	};
+
+	/**
+	 * @brief Color space for splat colors
+	 */
+	enum class ColorSpace
+	{
+		SRGB,         // BT.709-sRGB
+		Linear        // Linear RGB
+	};
+
+	GaussianSplat(const std::string &name = {});
+
+	virtual ~GaussianSplat() = default;
+
+	virtual std::type_index get_type() override;
+
+	// Number of splats
+	uint32_t splat_count = 0;
+
+	// Spherical harmonics degree (0-3)
+	uint32_t sh_degree = 0;
+
+	// Whether antialiasing is enabled
+	bool antialiased = false;
+
+	// Kernel type for rendering
+	KernelType kernel = KernelType::Ellipse;
+
+	// Color space
+	ColorSpace color_space = ColorSpace::SRGB;
+
+	// GPU buffers for splat data
+	std::unique_ptr<vkb::core::BufferC> position_buffer;        // VEC3 positions
+	std::unique_ptr<vkb::core::BufferC> rotation_buffer;        // VEC4 quaternions
+	std::unique_ptr<vkb::core::BufferC> scale_buffer;           // VEC3 scales
+	std::unique_ptr<vkb::core::BufferC> opacity_buffer;         // SCALAR opacities
+	std::unique_ptr<vkb::core::BufferC> color_buffer;           // VEC3 colors (or SH coefficients)
+	std::unique_ptr<vkb::core::BufferC> sh_buffer;              // MAT3 spherical harmonics (if sh_degree > 0)
+
+	/**
+	 * @brief Get the total GPU memory used by this splat primitive
+	 */
+	size_t get_gpu_memory_size() const;
+
+	/**
+	 * @brief Check if spherical harmonics data is available
+	 */
+	bool has_spherical_harmonics() const
+	{
+		return sh_degree > 0 && sh_buffer != nullptr;
+	}
+};
+
+}        // namespace sg
+}        // namespace vkb

samples/README.adoc

@@ -1,5 +1,5 @@
 ////
-- Copyright (c) 2020-2024, Arm Limited and Contributors
+- Copyright (c) 2020-2025, Arm Limited and Contributors
 -
 - SPDX-License-Identifier: Apache-2.0
 -
@@ -44,3 +44,6 @@ include::./extensions/README.adoc[]
 
 [[tooling-samples]]
 include::./tooling/README.adoc[]
+
+[[complex-samples]]
+include::../complex/README.adoc[]

samples/complex/README.adoc

@@ -0,0 +1,35 @@
+////
+- Copyright (c) 2021-2025, The Khronos Group
+-
+- SPDX-License-Identifier: Apache-2.0
+-
+- Licensed under the Apache License, Version 2.0 the "License";
+- you may not use this file except in compliance with the License.
+- You may obtain a copy of the License at
+-
+-     http://www.apache.org/licenses/LICENSE-2.0
+-
+- Unless required by applicable law or agreed to in writing, software
+- distributed under the License is distributed on an "AS IS" BASIS,
+- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+- See the License for the specific language governing permissions and
+- limitations under the License.
+-
+////
+ifndef::complex_samplespath[:complex_samplespath:]
+
+== Complex samples
+
+The goal of these samples is to demonstrate how to use Vulkan in a real world scenario.  These are meant to be demonstrations of how to use Vulkan as a whole instead of a singular item within Vulkan.
+
+This format for samples is to demonstrate how to work with other libraries or setup projects.  Some of the samples may or may not use the Framework as needed.
+
+While the Vulkan concepts found here aren't complex, the interaction and unique benefit with the real-world use cases they work with are meant to be.  Examples of what might eventually be found here include AI, OpenXR, GLTF, etc.  Topics which don't belong in the other sample categories by themselves yet are useful in many areas.
+
+=== xref:./{complex_samplespath}render_octmap/README.adoc[Render an Octo-Map]
+
+*Instancing*: https://docs.vulkan.org/spec/latest/chapters/drawing.html#vkCmdDrawIndexed[`vkCmdDrawIndexed`]
+
+Uses instancing to render octmaps generated in realtime by ARCore and ARKit then saved, and joined together using Point Cloud Registration into one shared map.
+
+These maps are commonly used by Robot Operating System (ROS) and this is a solution showing how to render the map created.  This is a topic of interest to SLAM and AI with OpenXR for map understanding and joining.