void
OrganSegmentationController::postRender3D()
{
if( mOverlay ) {
render3D();
}
}
void CTextContextUser::render3D(const CMatrix &mat, const char *format, ...)
{
NL3D_HAUTO_RENDER_3D_TEXTCONTEXT;
char *str;
NLMISC_CONVERT_VARGS (str, format, NLMISC::MaxCStringSize);
render3D(mat, ucstring(str));
_DriverUser->restoreMatrixContext();
}
void cCore::render(cApplication* application)
{
{
PROFILE(_T("render 3D"));
render3D(application);
}
{
PROFILE(_T("render 2D"));
render2D(application);
}
renderProfile();
present();
}
void Halo_Render() {
if(HALOCUR[0] == 0 && HALOCUR[1] == 0)
return;
GRenderer->ResetTexture(0);
RenderState baseState = render3D().depthWrite(false);
if(HALOCUR[0] > 0) {
UseRenderState state(baseState.blend(BlendZero, BlendInvSrcColor));
EERIEDRAWPRIM(Renderer::TriangleList, LATERDRAWHALO[0], HALOCUR[0] * 6);
HALOCUR[0] = 0;
}
if(HALOCUR[1] > 0) {
UseRenderState state(baseState.blend(BlendSrcColor, BlendOne));
EERIEDRAWPRIM(Renderer::TriangleList, LATERDRAWHALO[1], HALOCUR[1] * 6);
HALOCUR[1] = 0;
}
}
void renderLightFlares() {
ARX_PROFILE_FUNC();
if(g_debugToggles[6]) {
RaycastDebugDraw();
}
GRenderer->SetFogColor(Color::none);
UseRenderState state(render3D().blend(BlendOne, BlendOne).depthWrite(false).depthTest(false));
for(size_t i = 0; i < g_culledDynamicLightsCount; i++) {
const EERIE_LIGHT & el = *g_culledDynamicLights[i];
if(!el.m_exists || !el.m_isVisible || !(el.extras & EXTRAS_FLARE) || el.m_flareFader <= 0.f) {
continue;
}
float v = el.m_flareFader;
if(FADEDIR) {
v *= 1.f - LAST_FADEVALUE;
}
float size = -el.ex_flaresize;
if(el.extras & EXTRAS_FIXFLARESIZE) {
// This is only used for one light in the whole game and makes it's flare gigantic when up close
// TODO Is this part of some puzze or a bug / obsolete workaround?
size = el.ex_flaresize;
}
EERIEDrawSprite(el.pos, size, tflare, Color(el.rgb * v), EE_RT(el.pos).z);
}
}
int main(int argc, char* argv[])
{
try
{
nvxio::Application &app = nvxio::Application::get();
//
// Parse command line arguments
//
// std::string sourceUri = app.findSampleFilePath("file:///dev/video0");
// "/home/ubuntu/VisionWorks-SFM-0.82-Samples/data/sfm/parking_sfm.mp4";
std::string sourceUri = "/home/px4/test.mp4";
std::string configFile = app.findSampleFilePath("sfm/sfm_config.ini");
bool fullPipeline = false;
std::string maskFile;
bool noLoop = false;
app.setDescription("This sample demonstrates Structure from Motion (SfM) algorithm");
app.addOption(0, "mask", "Optional mask", nvxio::OptionHandler::string(&maskFile));
app.addBooleanOption('f', "fullPipeline", "Run full SfM pipeline without using IMU data", &fullPipeline);
app.addBooleanOption('n', "noLoop", "Run sample without loop", &noLoop);
app.init(argc, argv);
nvx_module_version_t sfmVersion;
nvxSfmGetVersion(&sfmVersion);
std::cout << "VisionWorks SFM version: " << sfmVersion.major << "." << sfmVersion.minor
<< "." << sfmVersion.patch << sfmVersion.suffix << std::endl;
std::string imuDataFile;
std::string frameDataFile;
if (!fullPipeline)
{
imuDataFile = app.findSampleFilePath("sfm/imu_data.txt");
frameDataFile = app.findSampleFilePath("sfm/images_timestamps.txt");
}
if (app.getPreferredRenderName() != "default")
{
std::cerr << "The sample uses custom Render for GUI. --nvxio_render option is not supported!" << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_RENDER;
}
//
// Read SfMParams
//
nvx::SfM::SfMParams params;
std::string msg;
if (!read(configFile, params, msg))
{
std::cout << msg << std::endl;
return nvxio::Application::APP_EXIT_CODE_INVALID_VALUE;
}
//
// Create OpenVX context
//
nvxio::ContextGuard context;
//
// Messages generated by the OpenVX framework will be processed by nvxio::stdoutLogCallback
//
vxRegisterLogCallback(context, &nvxio::stdoutLogCallback, vx_false_e);
//
// Add SfM kernels
//
NVXIO_SAFE_CALL(nvxSfmRegisterKernels(context));
//
// Create a Frame Source
//
std::unique_ptr<nvxio::FrameSource> source(
nvxio::createDefaultFrameSource(context, sourceUri));
if (!source || !source->open())
{
std::cout << "Can't open source file: " << sourceUri << std::endl;
// int haha=3;
// fprintf(stderr, "errno = %d \n", haha);
return nvxio::Application::APP_EXIT_CODE_NO_RESOURCE;
}
nvxio::FrameSource::Parameters sourceParams = source->getConfiguration();
//
// Create OpenVX Image to hold frames from video source
//
vx_image frame = vxCreateImage(context,
sourceParams.frameWidth, sourceParams.frameHeight, sourceParams.format);
NVXIO_CHECK_REFERENCE(frame);
//
// Load mask image if needed
//
vx_image mask = NULL;
if (!maskFile.empty())
{
mask = nvxio::loadImageFromFile(context, maskFile, VX_DF_IMAGE_U8);
vx_uint32 mask_width = 0, mask_height = 0;
vxQueryImage(mask, VX_IMAGE_ATTRIBUTE_WIDTH, &mask_width, sizeof(mask_width));
vxQueryImage(mask, VX_IMAGE_ATTRIBUTE_HEIGHT, &mask_height, sizeof(mask_height));
if (mask_width != sourceParams.frameWidth || mask_height != sourceParams.frameHeight)
{
std::cerr << "The mask must have the same size as the input source." << std::endl;
return nvxio::Application::APP_EXIT_CODE_INVALID_DIMENSIONS;
}
}
//
// Create 3D Render instance
//
std::unique_ptr<nvxio::Render3D> render3D(nvxio::createDefaultRender3D(context, 0, 0,
"SfM Point Cloud", sourceParams.frameWidth, sourceParams.frameHeight));
nvxio::Render::TextBoxStyle style = {{255, 255, 255, 255}, {0, 0, 0, 255}, {10, 10}};
if (!render3D)
{
std::cerr << "Can't create a renderer" << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_RENDER;
}
float fovYinRad = 2.f * atanf(sourceParams.frameHeight / 2.f / params.pFy);
render3D->setDefaultFOV(180.f / nvxio::PI_F * fovYinRad);
EventData eventData;
render3D->setOnKeyboardEventCallback(eventCallback, &eventData);
//
// Create SfM class instance
//
std::unique_ptr<nvx::SfM> sfm(nvx::SfM::createSfM(context, params));
//
// Create FenceDetectorWithKF class instance
//
FenceDetectorWithKF fenceDetector;
nvxio::FrameSource::FrameStatus frameStatus;
do
{
frameStatus = source->fetch(frame);
}
while (frameStatus == nvxio::FrameSource::TIMEOUT);
if (frameStatus == nvxio::FrameSource::CLOSED)
{
std::cerr << "Source has no frames" << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_FRAMESOURCE;
}
vx_status status = sfm->init(frame, mask, imuDataFile, frameDataFile);
if (status != VX_SUCCESS)
{
std::cerr << "Failed to initialize the algorithm" << std::endl;
return nvxio::Application::APP_EXIT_CODE_ERROR;
}
const vx_size maxNumOfPoints = 2000;
const vx_size maxNumOfPlanesVertices = 2000;
vx_array filteredPoints = vxCreateArray(context, NVX_TYPE_POINT3F, maxNumOfPoints);
vx_array planesVertices = vxCreateArray(context, NVX_TYPE_POINT3F, maxNumOfPlanesVertices);
//
// Run processing loop
//
vx_matrix model = vxCreateMatrix(context, VX_TYPE_FLOAT32, 4, 4);
float eye_data[4*4] = {1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1};
vxWriteMatrix(model, eye_data);
nvxio::Render3D::PointCloudStyle pcStyle = {0, 12};
nvxio::Render3D::PlaneStyle fStyle = {0, 10};
GroundPlaneSmoother groundPlaneSmoother(7);
nvx::Timer totalTimer;
totalTimer.tic();
double proc_ms = 0;
float yGroundPlane = 0;
while (!eventData.shouldStop)
{
if (!eventData.pause)
{
frameStatus = source->fetch(frame);
if (frameStatus == nvxio::FrameSource::TIMEOUT)
{
continue;
}
if (frameStatus == nvxio::FrameSource::CLOSED)
{
if(noLoop) break;
if (!source->open())
{
std::cerr << "Failed to reopen the source" << std::endl;
break;
}
do
{
frameStatus = source->fetch(frame);
}
while (frameStatus == nvxio::FrameSource::TIMEOUT);
sfm->init(frame, mask, imuDataFile, frameDataFile);
fenceDetector.reset();
continue;
}
// Process
nvx::Timer procTimer;
procTimer.tic();
sfm->track(frame, mask);
proc_ms = procTimer.toc();
}
// Print performance results
sfm->printPerfs();
if (!eventData.showPointCloud)
{
render3D->disableDefaultKeyboardEventCallback();
render3D->putImage(frame);
}
else
{
render3D->enableDefaultKeyboardEventCallback();
}
filterPoints(sfm->getPointCloud(), filteredPoints);
render3D->putPointCloud(filteredPoints, model, pcStyle);
if (eventData.showFences)
{
fenceDetector.getFencePlaneVertices(filteredPoints, planesVertices);
render3D->putPlanes(planesVertices, model, fStyle);
}
if (fullPipeline && eventData.showGP)
{
const float x1(-1.5), x2(1.5), z1(1), z2(4);
vx_matrix gp = sfm->getGroundPlane();
yGroundPlane = groundPlaneSmoother.getSmoothedY(gp, x1, z1);
nvx_point3f_t pt[4] = {{x1, yGroundPlane, z1},
{x1, yGroundPlane, z2},
{x2, yGroundPlane, z2},
{x2, yGroundPlane, z1}};
vx_array gpPoints = vxCreateArray(context, NVX_TYPE_POINT3F, 4);
vxAddArrayItems(gpPoints, 4, pt, sizeof(pt[0]));
render3D->putPlanes(gpPoints, model, fStyle);
vxReleaseArray(&gpPoints);
}
double total_ms = totalTimer.toc();
// Add a delay to limit frame rate
app.sleepToLimitFPS(total_ms);
total_ms = totalTimer.toc();
totalTimer.tic();
std::string state = createInfo(fullPipeline, proc_ms, total_ms, eventData);
render3D->putText(state.c_str(), style);
if (!render3D->flush())
{
eventData.shouldStop = true;
}
}
//
// Release all objects
//
vxReleaseImage(&frame);
vxReleaseImage(&mask);
vxReleaseMatrix(&model);
vxReleaseArray(&filteredPoints);
vxReleaseArray(&planesVertices);
}
catch (const std::exception& e)
{
std::cerr << "Error: " << e.what() << std::endl;
return nvxio::Application::APP_EXIT_CODE_ERROR;
}
return nvxio::Application::APP_EXIT_CODE_SUCCESS;
}
void ARX_INTERFACE_ManageOpenedBook_Finish(const Vec2f & mousePos, Rectf rect, float scale)
{
RenderState baseState = render3D().depthTest(false).fog(false);
Vec3f pos = Vec3f(0.f, 0.f, 2100.f);
EERIE_LIGHT * light = lightHandleGet(torchLightHandle);
EERIE_LIGHT tl = *light;
light->pos = Vec3f(500.f, -1960.f, 1590.f);
light->m_exists = true;
light->rgb = Color3f(0.6f, 0.7f, 0.9f);
light->intensity = 1.8f;
light->fallstart = 4520.f;
light->fallend = light->fallstart + 600.f;
RecalcLight(light);
Camera * oldcam = g_camera;
g_culledDynamicLights[0] = light;
g_culledDynamicLightsCount = 1;
Vec2i tmpPos(0);
GRenderer->SetAntialiasing(true);
float wave = timeWaveSin(g_platformTime.frameStart(), PlatformDurationMsf(1256.6370614f));
float ptDelta = toMs(g_platformTime.lastFrameDuration());
Camera bookcam;
bookcam.angle = Anglef();
bookcam.m_pos = Vec3f(0.f);
bookcam.focal = 500.f;
bookcam.cdepth = 2200.f;
for(size_t i = 0; i < RUNE_COUNT; i++) {
if(!gui::necklace.runes[i])
continue;
EERIE_3DOBJ * rune = gui::necklace.runes[i];
Vec2i projectionCenter = Vec2i(rect.topLeft() + (Vec2f(285, 36) + Vec2f(tmpPos) * Vec2f(45, 64)) * scale);
PrepareCamera(&bookcam, Rect(rect), projectionCenter);
if(player.hasRune((Rune)i)) {
Anglef angle;
if(rune->angle.getYaw() != 0.f) {
if(rune->angle.getYaw() > 300.f) {
rune->angle.setYaw(300.f);
}
angle.setYaw(wave * rune->angle.getYaw() * (1.0f / 40));
}
rune->angle.setYaw(rune->angle.getYaw() - ptDelta * 0.2f);
if(rune->angle.getYaw() < 0.f)
rune->angle.setYaw(0.f);
// Now draw the rune
TransformInfo t2(pos, glm::quat_cast(toRotationMatrix(angle)));
DrawEERIEInter(rune, t2, NULL, false, 0.f);
Rectf runeBox = UpdateBbox2d(*rune).toRect();
PopAllTriangleListOpaque(baseState);
tmpPos.x++;
if(tmpPos.x > 4) {
tmpPos.x = 0;
tmpPos.y++;
}
// TODO this is a workaround for vertexClipPositions being relative to viewport
Vec2f mousePosInViewport = mousePos - rect.topLeft();
// Checks for Mouse floating over a rune...
if(runeBox.contains(mousePosInViewport)) {
bool r = false;
for(size_t j = 0; j < rune->facelist.size(); j++) {
float n = PtIn2DPolyProj(rune->vertexClipPositions, &rune->facelist[j], mousePosInViewport.x, mousePosInViewport.y);
if(n != 0.f) {
r = true;
break;
}
}
if(r) {
TransformInfo t(pos, glm::quat_cast(toRotationMatrix(angle)));
DrawEERIEInter(rune, t, NULL, false, 0.f);
rune->angle.setYaw(rune->angle.getYaw() + ptDelta * 2.f);
PopAllTriangleListOpaque(baseState.blendAdditive());
cursorSetInteraction();
if(eeMouseDown1()) {
PlayerBookDrawRune((Rune)i);
}
}
}
TransformInfo t1(pos, quat_identity());
DrawEERIEInter(gui::necklace.lacet, t1, NULL, false, 0.f);
PopAllTriangleListOpaque(baseState);
}
}
*light = tl;
PrepareCamera(oldcam, g_size);
GRenderer->SetAntialiasing(false);
}
