void initRemap(const array<double, 6> & params1, const array<double, 3> & params2,
Mat32f & mapX, Mat32f & mapY, const array<double, 3> & rot)
{
EnhancedCamera cam1(params1.data());
Pinhole cam2(params2[0], params2[1], params2[2]);
Vector2dVec imagePoints;
mapX.create(params2[1]*2, params2[0]*2);
mapY.create(params2[1]*2, params2[0]*2);
for (unsigned int i = 0; i < mapX.rows; i++)
{
for (unsigned int j = 0; j < mapX.cols; j++)
{
imagePoints.push_back(Vector2d(j, i));
}
}
Vector3dVec pointCloud;
cam2.reconstructPointCloud(imagePoints, pointCloud);
Transformation<double> T(0, 0, 0, rot[0], rot[1], rot[2]);
T.transform(pointCloud, pointCloud);
cam1.projectPointCloud(pointCloud, imagePoints);
auto pointIter = imagePoints.begin();
for (unsigned int i = 0; i < mapX.rows; i++)
{
for (unsigned int j = 0; j < mapX.cols; j++)
{
mapX(i, j) = (*pointIter)[0];
mapY(i, j) = (*pointIter)[1];
++pointIter;
}
}
}
void setupCasadiVars(const std::vector<Matrix<X_DIM> >& X, const std::vector<Matrix<U_DIM> >& U, double* XU_arr, double* Sigma0_arr, double* params_arr, double* cam0_arr, double* cam1_arr)
{
int index = 0;
for(int t = 0; t < T-1; ++t) {
for(int i=0; i < X_DIM; ++i) {
XU_arr[index++] = X[t][i];
}
for(int i=0; i < U_DIM; ++i) {
XU_arr[index++] = U[t][i];
}
}
for(int i=0; i < X_DIM; ++i) {
XU_arr[index++] = X[T-1][i];
}
Matrix<X_DIM,X_DIM> Sigma0 = SqrtSigma0*SqrtSigma0;
index = 0;
for(int i=0; i < X_DIM; ++i) {
for(int j=0; j < X_DIM; ++j) {
Sigma0_arr[index++] = Sigma0(i,j);
}
}
params_arr[0] = alpha_belief;
params_arr[1] = alpha_control;
params_arr[2] = alpha_final_belief;
cam0_arr[0] = cam0(0,0);
cam0_arr[1] = cam0(1,0);
cam0_arr[2] = cam0(2,0);
cam1_arr[0] = cam1(0,0);
cam1_arr[1] = cam1(1,0);
cam1_arr[2] = cam1(2,0);
}
int main()
{
auto devices = aa::camera::get_devices();
auto camera1_device = *devices.begin();
auto camera2_device = *(++devices.begin());
auto camera_format = *aa::camera::get_supported_formats(camera1_device).begin();
aa::camera cam1(camera1_device, camera_format);
aa::camera cam2(camera2_device, camera_format);
auto texture1 = std::shared_ptr<aa::texture>(new aa::texture(aa::egl::get_instance()->create_texture(camera_format.width, camera_format.height)));
auto texture2 = std::shared_ptr<aa::texture>(new aa::texture(aa::egl::get_instance()->create_texture(camera_format.width, camera_format.height)));
aa::texture_window wnd1(texture1, "aa1", 0, 0, 400, 400);
aa::texture_window wnd2(texture2, "aa2", 0, 0, 400, 400);
aa::application::get_instance()->set_file_descriptor(wnd1);
aa::application::get_instance()->set_file_descriptor(wnd2);
aa::application::get_instance()->set_file_descriptor(cam1);
aa::application::get_instance()->set_file_descriptor(cam2);
cam1.connect_process_frame([&](const void *data, unsigned int size)
{
texture1->bind();
texture1->set(data);
wnd1.expose();
});
cam2.connect_process_frame([&](const void *data, unsigned int size)
{
texture2->bind();
texture2->set(data);
wnd2.expose();
});
wnd1.connect_delete_window([&]()
{
cam1.stop_capturing();
});
wnd2.connect_delete_window([&]()
{
cam2.stop_capturing();
});
cam1.start_capturing();
cam2.start_capturing();
aa::application::get_instance()->run();
}
int main(int argc, char** argv)
{
ifstream paramFile(argv[1]);
if (not paramFile.is_open())
{
cout << argv[1] << " : ERROR, file is not found" << endl;
return 0;
}
array<double, 6> params1;
array<double, 6> params2;
cout << "First EU Camera model parameters :" << endl;
for (auto & p: params1)
{
paramFile >> p;
cout << setw(10) << p;
}
cout << endl;
paramFile.ignore();
cout << "Second EU Camera model parameters :" << endl;
for (auto & p: params2)
{
paramFile >> p;
cout << setw(10) << p;
}
cout << endl;
paramFile.ignore();
array<double, 6> cameraPose;
cout << "Camera pose wrt the robot :" << endl;
for (auto & e: cameraPose)
{
paramFile >> e;
cout << setw(10) << e;
}
cout << endl;
paramFile.ignore();
Transformation<double> TbaseCamera(cameraPose.data());
array<double, 6> robotPose1, robotPose2;
cout << "First robot's pose :" << endl;
for (auto & e: robotPose1)
{
paramFile >> e;
cout << setw(10) << e;
}
cout << endl;
cout << "Second robot's pose :" << endl;
for (auto & e: robotPose2)
{
paramFile >> e;
cout << setw(10) << e;
}
cout << endl;
paramFile.ignore();
Transformation<double> T01(robotPose1.data()), T02(robotPose2.data());
Transformation<double> TleftRight = T01.compose(TbaseCamera).inverseCompose(T02.compose(TbaseCamera));
EnhancedCamera cam1(params1.data()), cam2(params2.data());
EnhancedEpipolar epipolar(&cam1, &cam2, TleftRight, 2000);
string fileName1, fileName2;
getline(paramFile, fileName1); //to SGM parameters
const int LENGTH = 5;
//TODO fix the constructor to avoid NULL
EpipolarDescriptor epipolarDescriptor(LENGTH, 3, {1, 2, 3, 5, 7, 9});
StereoEpipoles epipoles(&cam1, &cam2, TleftRight);
while(getline(paramFile, fileName1))
{
getline(paramFile, fileName2);
img1 = imread(fileName1, 0);
img2 = imread(fileName2, 0);
Mat8u descStepMat(img1.size());
for (int v = 0; v < img1.rows; v++)
{
for (int u = 0; u < img1.cols; u++)
{
Vector3d X;
cam1.reconstructPoint(Vector2d(u, v), X);
CurveRasterizer<int, Polynomial2> raster(Vector2i(u, v), epipoles.getFirstPx(),
epipolar.getFirst(X));
if (epipoles.firstIsInverted()) raster.setStep(-1);
vector<uint8_t> descriptor;
const int step = epipolarDescriptor.compute(img1, raster, descriptor);
if (step > 0) descStepMat(v, u) = (10 - step) * 25;
else descStepMat(v, u) = 0;
}
}
imshow("out1", img1);
imshow("out2", img2);
imshow("descStep", descStepMat);
waitKey();
}
return 0;
}
void assigment4_1_and_2()
{
Image img(800, 600);
img.addRef();
//Set up the scene
GeometryGroup scene;
LWObject cow;
cow.read("models/cow.obj", true);
cow.addReferencesToScene(scene.primitives);
scene.rebuildIndex();
BumpMirrorPhongShader sh4;
sh4.diffuseCoef = float4(0.2f, 0.2f, 0, 0);
sh4.ambientCoef = sh4.diffuseCoef;
sh4.specularCoef = float4::rep(0.8f);
sh4.specularExponent = 10000.f;
sh4.reflCoef = 0.4f;
sh4.addRef();
cow.materials[cow.materialMap["Floor"]].shader = &sh4;
//Enable bi-linear filtering on the walls
((TexturedPhongShader*)cow.materials[cow.materialMap["Stones"]].shader.data())->diffTexture->filterMode = Texture::TFM_Bilinear;
((TexturedPhongShader*)cow.materials[cow.materialMap["Stones"]].shader.data())->amibientTexture->filterMode = Texture::TFM_Bilinear;
//Set up the cameras
PerspectiveCamera cam1(Point(-9.398149f, -6.266083f, 5.348377f), Point(-6.324413f, -2.961229f, 4.203216f), Vector(0, 0, 1), 30,
std::make_pair(img.width(), img.height()));
PerspectiveCamera cam2(Point(2.699700f, 6.437226f, 0.878297f), Point(4.337114f, 8.457443f,- 0.019007f), Vector(0, 0, 1), 30,
std::make_pair(img.width(), img.height()));
cam1.addRef();
cam2.addRef();
//Set up the integrator
IntegratorImpl integrator;
integrator.addRef();
integrator.scene = &scene;
PointLightSource pls;
pls.falloff = float4(0, 0, 1, 0);
pls.intensity = float4::rep(0.9f);
pls.position = Point(-2.473637f, 3.119330f, 9.571486f);
integrator.lightSources.push_back(pls);
integrator.ambientLight = float4::rep(0.1f);
DefaultSampler samp;
samp.addRef();
//Render
Renderer r;
r.integrator = &integrator;
r.target = &img;
r.sampler = &samp;
r.camera = &cam1;
r.render();
img.writePNG("result_cam1.png");
//For seeing the difference in texture filtering
r.camera = &cam2;
r.render();
img.writePNG("result_cam2.png");
}
void setup_and_render()
{
Image img(WIDTH, HEIGHT);
img.addRef();
//Set up the scene
GeometryGroup scene;
// load scene
LWObject objects;
objects.read("models/cube.obj", true);
objects.addReferencesToScene(scene.primitives);
scene.rebuildIndex();
//apply custom shaders
BumpTexturePhongShader as;
as.addRef();
Image grass;
grass.addRef();
grass.readPNG("models/mat.png");
Texture textureGrass;
textureGrass.addRef();
textureGrass.image = &grass;
as.diffTexture = &textureGrass;
as.amibientTexture = &textureGrass;
as.specularCoef = float4::rep(0);
as.specularExponent = 10000.f;
as.transparency = float4::rep(0.9);
FractalLandscape f(Point(-4419,-8000,-569), Point(3581,0, -569),9, 0.1, &as, 5.0f);
f.addReferencesToScene(scene.primitives);
scene.rebuildIndex();
// my phong
RRPhongShader glass;
glass.n1 = 1.0f;
glass.n2 = 1.5f;
glass.diffuseCoef = float4(0.1, 0.1, 0.1, 0);
glass.ambientCoef = glass.diffuseCoef;
glass.specularCoef = float4::rep(0.9);
glass.specularExponent = 10000;
glass.transparency = float4::rep(0.9);
glass.addRef();
Sphere sphere(Point(-78,1318,40), 25, &glass);;
scene.primitives.push_back(&sphere);
scene.rebuildIndex();
objects.materials[objects.materialMap["Glass"]].shader = &glass;
//sample shader for noise
ProceduralPhongShader skyShader;
skyShader.addRef();
CloudTexture nt;
nt.addRef();
skyShader.amibientNoiseTexture = &nt;
skyShader.diffuseCoef = float4::rep(0.0f);
skyShader.specularCoef = float4::rep(0.0f);
// float w = skyShader.amibientNoiseTexture->perlin->width;
objects.materials[objects.materialMap["Sky"]].shader = &skyShader;
//Set up the cameras
PerspectiveCamera cam1(Point(-23, 1483, 30 ), forwardForCamera((0.0)*PI/180.0), Vector(0, 0, 1), 45,
std::make_pair(img.width(), img.height()));
cam1.addRef();
//Set up the integrator
IntegratorImpl integrator;
integrator.addRef();
integrator.scene = &scene;
PointLightSource pls3;
pls3.falloff = float4(0, 0, 1, 0);
pls3.intensity = float4::rep(0.9f);
pls3.position = Point(299.5, 99, 518);
integrator.lightSources.push_back(pls3);
// PointLightSource pls4;
//
// pls4.falloff = float4(0, 0, 1, 0);
//
// pls4.intensity = float4::rep(0.9f);
// pls4.position = Point(1289.5, 99, 518);
// integrator.lightSources.push_back(pls4);
areaLightSource(integrator, 0.9, 2, Point(-1180, -3860, -1718), 1000);
integrator.ambientLight = float4::rep(0.1f);
StratifiedSampler samp;
samp.addRef();
samp.samplesX = 3;
samp.samplesY = 3;
//Render
Renderer r;
r.integrator = &integrator;
r.target = &img;
r.sampler = &samp;
r.camera = &cam1;
r.render();
img.writePNG("result.png");
}
void TutorialLevel::setup(){
INFO("Generating Tutorial Level...");
readFile();
initalizeGrid();
createRenders();
createLevel();
waterSurfaceManager = WaterSurfaceManagerPtr(new WaterSurfaceManager());
addGameObject(waterSurfaceManager);
INFO("Removal String so less of make");
INFO("Setting up the cameras for the Test Level...");
CameraPtr cam3(new Camera(glm::vec3(25, 30, 0), glm::vec3(10, 20, 6),
glm::vec3(0, 1, 0)));
cam3->setProjectionMatrix(
glm::perspective(glm::radians(90.0f),
(float) Global::ScreenWidth/Global::ScreenHeight,
0.1f, 100.f));
addCamera("CinematicCamera", cam3);
setMainCamera("CinematicCamera");
setCullingCamera("CinematicCamera");
CameraPtr cam1(new Camera(glm::vec3(4, 10, -5), glm::vec3(4, 4, -10),
glm::vec3(0, 1, 0)));
cam1->setProjectionMatrix(
glm::perspective(glm::radians(90.0f),
(float) Global::ScreenWidth/Global::ScreenHeight,
0.1f, 100.f));
addCamera("Camera1", cam1);
CameraPtr cam2(new Camera(glm::vec3(0, 1, 0), glm::vec3(-6, -3, 6),
glm::vec3(0, 1, 0)));
cam2->setProjectionMatrix(
glm::perspective(glm::radians(90.0f),
(float) Global::ScreenWidth/Global::ScreenHeight,
0.1f, 100.f));
l1 = LightPtr(new Light(glm::vec3(1), 30.0f, glm::vec3(0, 30, 0)));
l1->setPosition(l1->getDirection());
Uniform3DGridPtr<int> typeGrid = getTypeGrid();
gridCenter = glm::vec3((typeGrid->getMaxX() - typeGrid->getMinX())/2.0f,
(typeGrid->getMaxY() - typeGrid->getMinY())/2.0f,
(typeGrid->getMinZ() - typeGrid->getMaxZ())/2.0f);
l1->setViewMatrix(glm::lookAt(
l1->getPosition(),
gridCenter, glm::vec3(0, 1, 0)));
l1->setProjectionMatrix(glm::ortho<float>(-30,30,-30,30,-70,70));
addLight("Sun", l1);
INFO("Setting up the player for the Test Level...");
cinematicPlayer = CinematicPlayerPtr(new CinematicPlayer(cam3));
cinematicPlayer->setup();
addGameObject("cinematicPlayer", cinematicPlayer);
player = PlayerPtr(new Player(cam1, 2));
player->setup();
addGameObject("player" , player);
CollisionManager::addCollisionObjectToList(player);
debugPlayer = DebugPlayerPtr(new DebugPlayer(cam2));
debugPlayer->setup();
addGameObject("debugPlayer" , debugPlayer);
//Text
addCamera("DebugCamera", cam2);
sky = ObjectPtr(new Object(
LoadManager::getMesh("sphere.obj"),
MaterialManager::getMaterial("None")));
sky->applyTexture(LoadManager::getTexture("Sky"));
sky->enableTexture();
sky->scale(glm::vec3(-90.0f,-90.0f,-90.0f));
sky->translate(Director::getScene()->getCamera()->getEye());
RenderEngine::getRenderElement("textured")->addObject(sky);
ExclamationPtr exclamation = ExclamationPtr(new Exclamation(glm::vec3(30, 26, -48)));
exclamation->setup();
addGameObject("exclamation", exclamation);
}
void TunnelLevel::setup(){
INFO("Generating Test Level...");
readFile();
initalizeGrid();
createRenders();
createLevel();
INFO("Removal String so less of make");
waterSurfaceManager = WaterSurfaceManagerPtr(new WaterSurfaceManager());
addGameObject(waterSurfaceManager);
CameraPtr cam3(new Camera(glm::vec3(30, 45, 0), glm::vec3(30, 15, 6),
glm::vec3(0, 1, 0)));
cam3->setProjectionMatrix(
glm::perspective(glm::radians(90.0f),
(float) Global::ScreenWidth/Global::ScreenHeight,
0.1f, 100.f));
addCamera("CinematicCamera", cam3);
setMainCamera("CinematicCamera");
setCullingCamera("CinematicCamera");
INFO("Setting up the cameras for the Test Level...");
CameraPtr cam1(new Camera(glm::vec3(32.0f, 12.0f, -24.0f), glm::vec3(4, 4, -10),
glm::vec3(0, 1, 0)));
cam1->setProjectionMatrix(
glm::perspective(glm::radians(90.0f),
(float) Global::ScreenWidth/Global::ScreenHeight,
0.1f, 100.f));
addCamera("Camera1", cam1);
setMainCamera("Camera1");
setCullingCamera("Camera1");
CameraPtr cam2(new Camera(glm::vec3(0, 1, 0), glm::vec3(-6, -3, 6),
glm::vec3(0, 1, 0)));
cam2->setProjectionMatrix(
glm::perspective(glm::radians(90.0f),
(float) Global::ScreenWidth/Global::ScreenHeight,
0.1f, 100.f));
l1 = LightPtr(new Light(glm::vec3(1), 30.0f, glm::vec3(32, 30, -20)));
l1->setPosition(l1->getDirection());
Uniform3DGridPtr<int> typeGrid = getTypeGrid();
gridCenter = glm::vec3((typeGrid->getMaxX() - typeGrid->getMinX())/2.0f,
(typeGrid->getMaxY() - typeGrid->getMinY())/2.0f,
(typeGrid->getMinZ() - typeGrid->getMaxZ())/2.0f);
l1->setViewMatrix(glm::lookAt(
l1->getPosition(),
gridCenter, glm::vec3(0, 1, 0)));
l1->setProjectionMatrix(glm::ortho<float>(-30,30,-30,30,-70,70));
addLight("Sun", l1);
cinematicPlayer = CinematicPlayerPtr(new CinematicPlayer(cam3));
cinematicPlayer->setup();
addGameObject("cinematicPlayer", cinematicPlayer);
INFO("Setting up the player for the Test Level...");
player = PlayerPtr(new Player(cam1, 2));
player->setup();
addGameObject("player" , player);
CollisionManager::addCollisionObjectToList(player);
debugPlayer = DebugPlayerPtr(new DebugPlayer(cam2));
debugPlayer->setup();
addGameObject("debugPlayer" , debugPlayer);
addCamera("DebugCamera", cam2);
INFO("Creating Switch for the Test Level...");
SwitchPtr s1(new Switch(glm::vec3(0.9f, 0.1f, 0.1f), glm::vec3(33.7f, 11.0f, -27.0f),
glm::vec3(0,0,1), -20.0f, 1));
s1->setup();
addGameObject("s1", s1);
CollisionManager::addCollisionObjectToGrid(s1);
std::list<SolidCubePtr> solidCubes;
// INFO("Creating Active Terrain for the Test Level...");
for(int i = 11; i < 36; i+=2) {
for(int j = -27; j < -20; j+=2) {
SolidCubePtr at1(new SolidCube(glm::vec3(29, i, j)));
at1->setup();
RenderEngine::getRenderGrid()->removeObject(at1->getObject());
solidCubes.push_back(at1);
}
}
ActiveTerrainPtr a1(new ActiveTerrain(s1, glm::vec3(), glm::vec3(), 50.0f));
a1->setup();
a1->setCubes(solidCubes);
addGameObject("a1", a1);
sky = ObjectPtr(new Object(
LoadManager::getMesh("sphere.obj"),
MaterialManager::getMaterial("None")));
sky->applyTexture(LoadManager::getTexture("Sky"));
sky->enableTexture();
sky->scale(glm::vec3(-50.0f,-50.0f,-50.0f));
sky->translate(Director::getScene()->getCamera()->getEye());
RenderEngine::getRenderElement("textured")->addObject(sky);
ExclamationPtr exclamation = ExclamationPtr(new Exclamation(glm::vec3(60, 5, -23)));
exclamation->setup();
addGameObject("exclamation", exclamation);
PTR_CAST(SolidCube, (*grid)(7, 20, 11))->getObject()->applyTextureIndex(LoadManager::getTexture("DrainTexture"), 0);
PTR_CAST(SolidCube, (*grid)(7, 20, 12))->getObject()->applyTextureIndex(LoadManager::getTexture("DrainTexture"), 0);
PTR_CAST(SolidCube, (*grid)(7, 20, 11))->getObject()->applyNormalMapIndex(LoadManager::getTexture("RegularNormalMap"), 0);
PTR_CAST(SolidCube, (*grid)(7, 20, 12))->getObject()->applyNormalMapIndex(LoadManager::getTexture("RegularNormalMap"), 0);
shearRegion(8, 10, 21, 21, 11, 12, 1, 0, 0.0f);
shearRegion(11, 13, 20, 20, 11, 12, 1, 0, 0.5f);
PTR_CAST(SolidCube, (*grid)(16, 12, 0))->getObject()->applyTextureIndex(LoadManager::getTexture("DrainTexture"), 0);
PTR_CAST(SolidCube, (*grid)(17, 12, 0))->getObject()->applyTextureIndex(LoadManager::getTexture("DrainTexture"), 0);
PTR_CAST(SolidCube, (*grid)(16, 12, 0))->getObject()->applyNormalMapIndex(LoadManager::getTexture("RegularNormalMap"), 0);
PTR_CAST(SolidCube, (*grid)(17, 12, 0))->getObject()->applyNormalMapIndex(LoadManager::getTexture("RegularNormalMap"), 0);
shearRegion(16, 17, 13, 13, 1, 4, 0, 1, 0.0f);
shearRegion(16, 17, 12, 12, 5, 8, 0, 1, 0.5f);
PTR_CAST(SolidCube, (*grid)(16, 12, 23))->getObject()->applyTextureIndex(LoadManager::getTexture("DrainTexture"), 0);
PTR_CAST(SolidCube, (*grid)(17, 12, 23))->getObject()->applyTextureIndex(LoadManager::getTexture("DrainTexture"), 0);
PTR_CAST(SolidCube, (*grid)(16, 12, 23))->getObject()->applyNormalMapIndex(LoadManager::getTexture("RegularNormalMap"), 0);
PTR_CAST(SolidCube, (*grid)(17, 12, 23))->getObject()->applyNormalMapIndex(LoadManager::getTexture("RegularNormalMap"), 0);
shearRegion(16, 17, 13, 13, 19, 22, 0, -1, 0.0f);
shearRegion(16, 17, 12, 12, 15, 18, 0, -1, 0.5f);
PTR_CAST(SolidCube, (*grid)(26, 12, 15))->getObject()->applyTextureIndex(LoadManager::getTexture("DrainTexture"), 0);
PTR_CAST(SolidCube, (*grid)(26, 12, 8))->getObject()->applyTextureIndex(LoadManager::getTexture("DrainTexture"), 0);
PTR_CAST(SolidCube, (*grid)(26, 12, 15))->getObject()->applyNormalMapIndex(LoadManager::getTexture("RegularNormalMap"), 0);
PTR_CAST(SolidCube, (*grid)(26, 12, 8))->getObject()->applyNormalMapIndex(LoadManager::getTexture("RegularNormalMap"), 0);
}
void doit()
{
//Image img(600, 400);
Image img(1280, 960);
img.addRef();
//Set up the scene
GeometryGroup scene(ACC_STRUCT);
LWObject cow;
//cow.read("models/cow.obj", true);
cow.read("models/untitled.obj", true);
//cow.read("models/house_obj.obj", true);
//cow.read("models/3spheretest.obj", true);
//cow.read("models/TheDragon.obj", true);
cow.addReferencesToScene(scene.primitives);
/*
((TexturedPhongShader*)cow.materials[cow.materialMap["Material.001"]].shader.data())->diffTexture->filterMode = Texture::TFM_Bilinear;
((TexturedPhongShader*)cow.materials[cow.materialMap["Material.001"]].shader.data())->ambientTexture->filterMode = Texture::TFM_Bilinear;
((TexturedBumpPhongShader*)cow.materials[cow.materialMap["Material.001"]].shader.data())->bumpTexture->filterMode = Texture::TFM_Bilinear;
*/
/*
SmartPtr<Image> imag;
imag->readPNG("models/tiles.png");
SmartPtr<Texture> tiles;
tiles->image = imag;
((TexturedBumpPhongShader*)cow.materials[cow.materialMap["Material.001"]].shader.data())->diffTexture = tiles;
*/
MirrorPhongShader sh77;
sh77.diffuseCoef = float4(220.f/255, 193.f/255, 42.f/255, 0);
sh77.ambientCoef = sh77.diffuseCoef;
sh77.specularCoef = float4::rep(0.0f);
sh77.specularExponent = 10000.f;
sh77.reflCoef = 0.6f;
sh77.addRef();
CheckBoard3DShader check;
check.scale = float4::rep(1);
check.addRef();
float4 woodenBrownDark = float4(103.f/255,53.f/255,3.f/255,0);
float4 woodenBrownLight = float4(167.f/255,86.f/255,7.f/255,0);
float4 kBraun = float4(181.f/255,58.f/255,4.f/255,0);
float4 dBraun = float4(119.f/255,15.f/255,0.f/255,0);
float4 marmorDunkel = float4(0.6,0.6,0.6,0);
float4 marmorHell = float4(0.4,0.4,0.4,0);
SmartPtr<ProceduralTexture> woodTex = new ProceduralWoodTexture(woodenBrownDark, woodenBrownLight, 0.1f, 0.8f);
SmartPtr<ProceduralTexture> marbleTex = new ProceduralMarbleTexture(kBraun,dBraun, 0.8f, 0.8f);
SmartPtr<ProceduralTexture> planetTex = new ProceduralPlanetTexture();
SmartPtr<ProceduralTexture> waterTex = new ProceduralWaterTexture(0.5f, 0.9f);
SmartPtr<ProceduralTexture> floorMarbleTex = new ProceduralMarbleTexture(marmorHell,marmorDunkel, 0.4f, 0.3f);
RefractivePhongShader shader;
shader.refractionIndex = 1.6f;
shader.diffuseCoef = float4(0.2f, 0.2f, 0, 0);
shader.ambientCoef = shader.diffuseCoef;
shader.specularCoef = float4::rep(0.8f);
shader.specularExponent = 10000.f;
shader.transparency = float4::rep(0.7f);
shader.addRef();
cow.materials[cow.materialMap["glass"]].shader = &shader;
RefractivePhongShader diamondShader;
diamondShader.refractionIndex = 2.6f;
diamondShader.diffuseCoef = float4(0.2f, 0.2f, 0, 0);
diamondShader.ambientCoef = diamondShader.diffuseCoef;
diamondShader.specularCoef = float4::rep(0.8f);
diamondShader.specularExponent = 10000.f;
diamondShader.transparency = float4::rep(0.7f);
diamondShader.addRef();
cow.materials[cow.materialMap["diamant"]].shader = &diamondShader;
ProceduralBumpShader procBumpShader(marbleTex);
procBumpShader.diffuseCoef = float4(110.f/255,54.f/255,9.f/255,0.f);
procBumpShader.ambientCoef = procBumpShader.diffuseCoef;
procBumpShader.specularCoef = float4::rep(0.3f);
procBumpShader.specularExponent = 10000.f;
ProceduralBumpShader floor(floorMarbleTex);
floor.diffuseCoef = float4(0.5,0.5,0.5,0);
floor.ambientCoef = floor.diffuseCoef;
floor.specularCoef = float4::rep(0.3f);
floor.specularExponent = 10000.f;
ProceduralBumpShader planet(planetTex);
planet.diffuseCoef = float4(110.f/255,54.f/255,9.f/255,0.f);
planet.ambientCoef = planet.diffuseCoef;
planet.specularCoef = float4::rep(0.3f);
planet.specularExponent = 10000.f;
ProceduralBumpShader procBumpShader2(woodTex);
procBumpShader2.diffuseCoef = float4(110.f/255,54.f/255,9.f/255,0.f);
procBumpShader2.ambientCoef = procBumpShader2.diffuseCoef;
procBumpShader2.specularCoef = float4::rep(0.3f);
procBumpShader2.specularExponent = 10000.f;
ProceduralRefractiveBumpShader water(waterTex);
water.refractionIndex = 1.4f;
water.diffuseCoef = float4(0.6,0.6,0.8,0.f);
water.ambientCoef = water.diffuseCoef;
water.specularCoef = float4::rep(0.3f);
water.transparency = float4::rep(0.7f);
water.specularExponent = 10000.f;
water.addRef();
cow.materials[cow.materialMap["water"]].shader = &water;
cow.materials[cow.materialMap["dragonskin"]].shader = &procBumpShader;
cow.materials[cow.materialMap["podest"]].shader = &procBumpShader2;
cow.materials[cow.materialMap["Material.001_stones_diffuse.png"]].shader = &floor;
DefaultPhongShader defaultPhong;
defaultPhong.diffuseCoef = float4(0.3f,0.3f,0.3f, 0);
defaultPhong.ambientCoef = defaultPhong.diffuseCoef;
defaultPhong.specularCoef = float4::rep(0.0f);
defaultPhong.specularExponent = 10000.f;
defaultPhong.addRef();
//cow.materials[cow.materialMap["Gold"]].shader = &sh77;
//cow.materials[cow.materialMap["glass"]].shader = &procBumpShader;
InfinitePlane p2(Point(-5.f, 0.f, 0.f), Vector(1, 0, 0), &defaultPhong);
InfinitePlane p1(Point(0, -2.f, 0), Vector(0, 1, 0), &defaultPhong);
//scene.primitives.push_back(&p1);
//scene.primitives.push_back(&p2);
// sphere test purpose
Sphere s2(Point(0.1, 2.0f, 11), 2.0f, &planet);
Sphere s3(Point(6.1, 1.0f, 10), 1.0f, &shader);
Sphere s4(Point(1.1, 1.5f, 14.5f), 1.5f, &shader);
scene.primitives.push_back(&s2);
scene.primitives.push_back(&s3);
scene.primitives.push_back(&s4);
//InfinitePlane plane(Point(0,0.f,0),Vector(0,1,0), &check);
PerspectiveCamera cam1(Point(-10.398149f, -7.266083f, 6.348377f), Point(-6.324413f, -2.961229f, 4.203216f), Vector(0, 0, 1), 30,
std::make_pair(img.width(), img.height()));
//cam1.addRef();
//PerspectiveLensCamera cam3(Point(-10.398149f, -7.266083f, 6.348377f), Point(-6.324413f, -2.961229f, 4.203216f), Vector(0, 0, 1), 30,
// std::make_pair(img.width(), img.height()),0.9f,0.0f,1.f,4,false);
PerspectiveLensCamera cam4(Point(30.f, 6.f, 0), Point(4,2.f,0), Vector(0, 1, 0), 50,
std::make_pair(img.width(), img.height()),0.9f,0.3f,1.f,16,true);
//PerspectiveLensCamera cam1(Point(30.f, 0.f, 0.f), Point(0, 0, 0), Vector(0, 1, 0), 60,
// std::make_pair(img.width(), img.height()),0.9f,0.0f,1.f,4,true);
//cam1.addRef();
PerspectiveCamera cam2(Point(6.f, 1.f, 0.f), Point(0, -1, 0), Vector(0, 1, 0), 60,
std::make_pair(img.width(), img.height()));
//cam2.addRef();
// index scene
scene.rebuildIndex();
//Set up the integrator
PhotonMap_Integrator integrator;
//IntegratorImpl integrator;
integrator.addRef();
integrator.scene = &scene;
PointLightSource pls;
pls.falloff = float4(0, 0, 1, 0);
pls.intensity = float4::rep(0.6f);
pls.position = Point(7.f, 3.f, 0.f);
integrator.lightSources.push_back(pls);
PointLightSource pls2;
pls2.falloff = float4(0, 0, 1, 0);
pls2.intensity = float4::rep(0.7f);
pls2.position = Point(30.f, 6.f, 0.f);
integrator.lightSources.push_back(pls2);
PointLightSource pls3;
pls3.falloff = float4(0, 0, 1, 0);
pls3.intensity = float4(0.3f,0.1f,0.1f,0);
pls3.position = Point(7.f, 3.f, -8.f);
integrator.lightSources.push_back(pls3);
integrator.ambientLight = float4::rep(0.1f);
integrator.start_photonmapping();
DefaultSampler samp;
samp.addRef();
HaltonSampleGenerator halton;
halton.sampleCount = 4;
//Render
Renderer r;
r.integrator = &integrator;
r.target = &img;
r.sampler = &halton;
r.camera = &cam4;
r.render(32,23);
img.writePNG("frey_leonhardt_rc.png");
}
