Basic OpenGL renderer

Uses shaders and OpenGL to do all rendering from depth maps to virtual view. It is inefficient and slower than CUDA currently, but can be enhanced in the future. CUDA remains default renderer.

components/renderers/cpp/include/ftl/render/GLRender.hpp

@@ -5,9 +5,13 @@
 #include <ftl/rgbd/frameset.hpp>
 #include <ftl/render/render_params.hpp>
 #include <ftl/codecs/channels.hpp>
-#include <nanogui/glutil.h>
 #include <ftl/utility/gltexture.hpp>
 
+// Forward declare
+namespace nanogui {
+class GLShader;
+}
+
 namespace ftl {
 namespace render {
 
@@ -51,13 +55,13 @@ class GLRender : public ftl::render::FSRenderer {
 
 	std::vector<SubmitState> sets_;
 
-	nanogui::GLShader shader_;
+	nanogui::GLShader *shader_;
 	std::vector<float> vertices_;
 	std::vector<int> indices_;
-	GLuint outTex_=0;
-	GLuint outPBO_=0;
-	GLuint fbuf_=0;
-	GLuint depthbuf_=0;
+	unsigned int outTex_=0;
+	unsigned int outPBO_=0;
+	unsigned int fbuf_=0;
+	unsigned int depthbuf_=0;
 	cudaGraphicsResource *cuda_res_=nullptr;
 
 	//std::unordered_map<unsigned int, ftl::utility::GLTexture> textures_;