CColor CShader::ShadeGloss(const CRay &ray, CIntersactionInfo &intersectionInfo)
{
CColor cLamber;
float fLightColor = 1.f;
for (int i = 0; i < GetLightScene().GetLightsNumber(); ++i)
{
const CVector3DF vNormal = intersectionInfo.GetFacingNormal(ray);
const CVector3DF& vIntersection = intersectionInfo.m_vIntersectionPoint;
const CVector3DF vLIghtDirection = GetRaytracer()->GetCamera().GetCameraPos() - vIntersection;
// const CVector3DF vLIghtDirection = GetLightScene().GetLight(i).GetPosition() - vIntersection;
const CVector3DF vLightDirNorm = vLIghtDirection.Normalized();
float fCos = vLightDirNorm.Dot(vNormal);
CColor colorForLight(1.0f, 1.0f, 1.0f);
if (fCos > 0.0f)
{
// const float fLength = vLIghtDirection.Length();
// fCos *= 500.0f / fLength;
const CVector3DF vFromLightNorm = -vLightDirNorm;
const CVector3DF vReflection = CUtils::Reflect(vFromLightNorm, vNormal);
float fCosRefl = vReflection.Dot(vNormal);
if (fCosRefl > 0.0f)
{
fCosRefl = qPow(fCosRefl, 3);
colorForLight *= fCosRefl;
fLightColor *= fCosRefl;
}
else
{
colorForLight *= 0.3f;
fLightColor *= 0.3f;
}
}
else
{
colorForLight *= 0.3f;
fLightColor *= 0.3f;
}
// intersectionInfo.color += colorForLight;
cLamber = colorForLight;// * fLightColor;
}
return cLamber;
}
CColor CShader::ShadeLambert(const CRay &ray, CIntersactionInfo &intersectionInfo)
{
CColor cLamber;
float fLightColor = 1.f;
for (int i = 0; i < GetLightScene().GetLightsNumber(); ++i)
{
const CVector3DF& vIntersection = intersectionInfo.m_vIntersectionPoint;
const CVector3DF vLIghtDirection = GetLightScene().GetLight(i).GetPosition() - vIntersection;
float fCos = vLIghtDirection.Normalized().Dot(intersectionInfo.GetFacingNormal(ray));
CColor colorForLight(1.0f, 1.0f, 1.0f);
colorForLight = intersectionInfo.color;
if (fCos > 0.0f)
{
// const float fLength = vLIghtDirection.Length();
// fCos /= fLength;
colorForLight *= fCos;
fLightColor *= fCos;
// colorForLight *= intersectionInfo.color;
// colorForLight *= fLightColor;
// colorForLight *= 1.f/GetLightScene().GetLightsNumber();
}
else
{
colorForLight = 0.0f;
fLightColor = 0.0f;
}
// intersectionInfo.color += colorForLight;
cLamber = colorForLight;// * fLightColor;
}
return cLamber;
}
//传入各灯组的状态，返回场景状态编号
int CTrafficLightImpl::TransitionScene(const LIGHT_TEAM_STATUS& ltsInfo, const int& iSceneCount, const int& iLastOkLightStatus, bool fFlag)
{
int iRet = -1;
if( !fFlag ) return GetSceneNumber(ltsInfo, iSceneCount);
if( ltsInfo.nTeamCount == 0 || ltsInfo.nTeamCount > MAX_TRAFFICLIGHT_COUNT ) return iRet;
//场景
TRAFFICLIGHT_SCENE* pts = new TRAFFICLIGHT_SCENE[ltsInfo.nTeamCount];
if( pts == NULL ) return iRet;
int* piUsed = new int[ltsInfo.nTeamCount * 4];
if( piUsed == NULL )
{
delete[] pts;
return iRet;
}
memset(piUsed, 0, sizeof(int) *(ltsInfo.nTeamCount * 4));
memset(pts, 0, sizeof(TRAFFICLIGHT_SCENE) * ltsInfo.nTeamCount);
TRAFFICLIGHT_TYPE lt;
int iCount = 0;
DWORD32 dwTmp = 0;
for( DWORD32 i = 0; i < ltsInfo.nTeamCount; ++i )
{
dwTmp = ltsInfo.pdwStatus[i];
iCount = ltsInfo.pnLightCount[i];
for(int k = iCount - 1; k >= 0; --k)
{
if( (dwTmp & 0x01) && GetTrafficLightType(i, k, <) )
{
LIGHT_STATUS tlsStatus = lt.tlsStatus;
//如果灯组是三色灯 zhaopy 不判断灯颜色，在灯不亮时会有问题，因绿灯域值太低。
//if (lt.tlsStatus == TLS_UNSURE)
//外接红绿灯信号时,不能进入此判断
if (m_tlpTrafficLightParam.iCheckType != 1)
{
switch (dwTmp & 0x0F)
{
case TS_RED:
tlsStatus = TLS_RED;
break;
case TS_YELLOW:
tlsStatus = TLS_YELLOW;
break;
case TS_GREEN:
tlsStatus = TLS_GREEN;
break;
default:
tlsStatus = TLS_UNSURE;
break;
}
}
switch(lt.tpPos)
{
case TP_LEFT:
pts[i].lsLeft = tlsStatus;
piUsed[i * 4 + 0] = 1;
break;
case TP_RIGHT:
pts[i].lsRight = tlsStatus;
piUsed[i * 4 + 1] = 1;
break;
case TP_FORWARD:
pts[i].lsForward = tlsStatus;
piUsed[i * 4 + 2] = 1;
break;
case TP_TURN:
pts[i].lsTurn = tlsStatus;
piUsed[i * 4 + 3] = 1;
break;
case TP_UNSURE:
{
//未定义只能用在黄灯
if( tlsStatus == TLS_YELLOW && iLastOkLightStatus != -1 )
{
int iNextStatus = (iLastOkLightStatus + 1) % iSceneCount;
TRAFFICLIGHT_SCENE tsLast, tsNext;
GetLightScene(iLastOkLightStatus, &tsLast);
GetLightScene(iNextStatus, &tsNext);
if( (tsLast.lsForward == TLS_GREEN && tsNext.lsForward == TLS_YELLOW)
|| tsLast.lsForward == TLS_YELLOW )
{
pts[i].lsForward = TLS_YELLOW;
piUsed[i * 4 + 2] = 1;
}
else if( (tsLast.lsLeft == TLS_GREEN && tsNext.lsLeft == TLS_YELLOW)
|| tsLast.lsLeft == TLS_YELLOW )
{
pts[i].lsLeft = TLS_YELLOW;
piUsed[i * 4 + 0] = 1;
}
else if( (tsLast.lsRight == TLS_GREEN && tsNext.lsRight == TLS_YELLOW)
|| tsLast.lsRight == TLS_YELLOW)
{
pts[i].lsRight = TLS_YELLOW;
piUsed[i * 4 + 1] = 1;
}
else if( (tsLast.lsTurn == TLS_GREEN && tsNext.lsTurn == TLS_YELLOW)
|| tsLast.lsTurn == TLS_YELLOW )
{
pts[i].lsTurn = TLS_YELLOW;
piUsed[i * 4 + 3] = 1;
}
}
}
break;
default:
break;
}
}
dwTmp >>= 4;
}
}
TRAFFICLIGHT_SCENE tsDest = {TLS_UNSURE, TLS_UNSURE, TLS_UNSURE, TLS_UNSURE};
bool fL, fR, fF, fT;
fL = fR = fF = fT = false;
for(DWORD32 i = 0; i < ltsInfo.nTeamCount; ++i)
{
if( !fL && pts[i].lsLeft != TLS_UNSURE && piUsed[i * 4 + 0] == 1)
{
tsDest.lsLeft = pts[i].lsLeft;
fL = true;
}
else if( fL && piUsed[i * 4 + 0] == 1 && pts[i].lsLeft != tsDest.lsLeft )
{
tsDest.lsLeft = TLS_UNSURE;
}
if( !fR && pts[i].lsRight != TLS_UNSURE && piUsed[i * 4 + 1] == 1)
{
tsDest.lsRight = pts[i].lsRight;
fR = true;
}
else if( fR && piUsed[i * 4 + 1] == 1 && pts[i].lsRight != tsDest.lsRight )
{
tsDest.lsRight = TLS_UNSURE;
}
if( !fF && pts[i].lsForward != TLS_UNSURE && piUsed[i * 4 + 2] == 1)
{
tsDest.lsForward = pts[i].lsForward;
fF = true;
}
else if( fF && piUsed[i * 4 + 2] == 1 && pts[i].lsForward != tsDest.lsForward )
{
tsDest.lsForward = TLS_UNSURE;
}
if( !fT && pts[i].lsTurn != TLS_UNSURE && piUsed[i * 4 + 3] == 1)
{
tsDest.lsTurn = pts[i].lsTurn;
fT = true;
}
else if( fT && piUsed[i * 4 + 3] == 1 && pts[i].lsTurn != tsDest.lsTurn )
{
tsDest.lsTurn = TLS_UNSURE;
}
}
TRAFFICLIGHT_SCENE tsTmp;
for(int i = 0; i < iSceneCount; ++i)
{
if( GetLightScene(i, &tsTmp) )
{
if( tsTmp.lsLeft == tsDest.lsLeft && tsTmp.lsRight == tsDest.lsRight
&& tsTmp.lsForward == tsDest.lsForward && tsTmp.lsTurn == tsDest.lsTurn )
{
iRet = i;
break;
}
}
}
delete[] pts;
delete[] piUsed;
return iRet;
}
HRESULT CTrafficLightImpl::RecognizeTrafficLight(HV_COMPONENT_IMAGE* pSceneImage, int* iCurrentStatus, int* iLastStatus, bool fNight)
{
if (m_tlpTrafficLightParam.iLightGroupCount <= 0) return S_FALSE;
HRESULT hResult = S_FALSE;
static int nSceneStatusPos= 0;
LIGHT_TEAM_STATUS ltsInfo;
ltsInfo.nTeamCount = m_tlpTrafficLightParam.iLightGroupCount;
bool fDynamic = false;
static int iSkipFrameNo = m_tlpTrafficLightParam.iSkipFrameNo;
for(int i = 0; i<m_tlpTrafficLightParam.iLightGroupCount; i++)
{
if (m_tlpTrafficLightParam.iCheckType == 0)
{
//红绿灯识别
if (iSkipFrameNo == 0 && m_tlpTrafficLightParam.iAutoScanLight == 1)
{
m_rgLightInfo[i].UpdateStatus3( pSceneImage , fNight);
m_rgLightRect[i] = m_rgLightInfo[i].GetRect();
m_rgLightStatus[i] = m_rgLightInfo[i].GetLastStatus();
fDynamic = true;
}
else
{
m_rgLightInfo[i].UpdateStatus( pSceneImage );
m_rgLightRect[i] = m_rgLightInfo[i].GetRect();
m_rgLightStatus[i] = m_rgLightInfo[i].GetLastStatus();
}
sv::utTrace("<123dsp light>status:%08x.", m_rgLightStatus[i]);
}
else
{
if (m_pCallback == NULL)
{
return E_FAIL;
}
m_rgLightRect[i] = m_rgLightInfo[i].GetRect();
BYTE8 bLevel = 0;
if (S_OK != m_pCallback->GetTrafficLightStatus(&bLevel))
{
return E_FAIL;
}
m_rgLightStatus[i] = GetIOStatus(i, bLevel);
}
m_rgLightInfo[i].m_iRedLightCountFinded = 0;
m_rgLightInfo[i].m_iGreenLightCountFinded = 0;
ltsInfo.pdwStatus[i] = m_rgLightStatus[i];
ltsInfo.pnLightCount[i] = m_rgLightInfo[i].GetPosCount();
//传检测到的灯传出去显示
if(m_pCallback)
{
m_pCallback->TrafficLightStatusEx(
i,
m_rgLightInfo[i].m_iRedLightCountFinded,
m_rgLightInfo[i].m_rcRedLightPosFinded,
m_rgLightInfo[i].m_iGreenLightCountFinded,
m_rgLightInfo[i].m_rcGreenLightPosFinded
);
}
}
if (iSkipFrameNo <= 0)
{
iSkipFrameNo = m_tlpTrafficLightParam.iSkipFrameNo;
}
else
{
iSkipFrameNo--;
}
//取得当前场景
bool fFlag = (m_tlpTrafficLightParam.iSceneCheckMode == 0);
int nCurScene = TransitionScene(ltsInfo, m_tlpTrafficLightParam.iSceneCount, m_iLastOkLightStatus, fFlag);
sv::utTrace("<123dsp light>CurScene:%08x.", nCurScene);
//调整发送出去的红灯的坐标
if (m_tlpTrafficLightParam.iAutoScanLight == 1 && fDynamic)
{
////更新最后可正常识别的灯组的位置
if (nCurScene != -1)
{
for (int i = 0; i < m_tlpTrafficLightParam.iLightGroupCount; i++)
{
m_rgLightInfo[i].UpdateLastSureLight(m_rgLightInfo[i].GetRect());
}
}
else
{
//处于中间状态时,则将灯红坐标还原回最后可识别出的状态
for (int i = 0; i < m_tlpTrafficLightParam.iLightGroupCount; i++)
{
m_rgLightInfo[i].SetRect(m_rgLightInfo[i].GetLastSureLight(), m_rgLightInfo[i].GetPosCount(), m_rgLightInfo[i].GetLightDirection());
}
}
//更新红灯的坐标
UpdateRedLightPos();
}
if( m_pCallback )
{
int nSceneStatus = -1;
if( m_pCallback != NULL)
{
//把红灯的位置传出去
m_pCallback->TrafficLightStatus(
m_tlpTrafficLightParam.iLightGroupCount,
m_rgLightStatus,
&nSceneStatus,
m_rgLightRect,
m_iRedLightCount,
m_rgRedLightRect,
pSceneImage
);
}
nSceneStatus = nCurScene;
#if 0
//新增输出红绿灯灯组信息 lixh 2011-09-19
static char pLightStatus[64] = "", pLastStatus[64] = "";
memset(pLightStatus, 0, 64);
PrintLightStatus(ltsInfo , pLightStatus , 64);
if(0 != strcmp(pLightStatus, pLastStatus))
{
strcpy(pLastStatus, pLightStatus);
sprintf(g_szDebugInfo, "rg status = %s", pLastStatus);
for(int i = 0; i < m_tlpTrafficLightParam.iLightGroupCount; i++)
{
CRect rc = m_rgLightInfo[i].GetRect();
sprintf(g_szDebugInfo + strlen(g_szDebugInfo), "(%d,%d,%d,%d)", rc.left, rc.top, rc.right, rc.bottom);
}
}
#endif
m_iCurLightStatus = nSceneStatus;
//如果用户设置了场景状态则加入场景状态队列
//if(hr == S_OK && nSceneStatus != -1)
if( nSceneStatus != -1 )
{
m_iErrorSceneCount = 0;
SetSceneStatus(nSceneStatusPos, nSceneStatus);
nSceneStatusPos++; //下一个存储位置,同时也是计数
int iRelayTimeMs = m_tlpTrafficLightParam.iValidSceneStatusCount * 100;
//加入场景状态后判断是否输出
if(m_tlpTrafficLightParam.iValidSceneStatusCount > 0 && nSceneStatusPos >= m_tlpTrafficLightParam.iValidSceneStatusCount)
{
int nLastPos = nSceneStatusPos - 1;
int nLastStatus = GetSceneStatus(nLastPos);
BOOL fValid = TRUE;
for( int i = nLastPos - 1; i > (nLastPos - m_tlpTrafficLightParam.iValidSceneStatusCount); i--)
{
if( GetSceneStatus(i) != nLastStatus)
{
fValid = FALSE;
break;
}
}
//如果是快速模式，则有一帧判断为下一场景就跳变.
if( m_fCheckSpeed && !fValid && m_iLastOkLightStatus != -1 && m_iLastOkLightStatus != nSceneStatus)
{
int iNextStatus = (m_iLastOkLightStatus + 1) % m_tlpTrafficLightParam.iSceneCount;
if( iNextStatus == nSceneStatus )
{
fValid = true;
iRelayTimeMs = 100;
nLastStatus = nSceneStatus;
}
}
if( fValid && nLastStatus != m_iLastLightStatus)
{
//如果有绿灯变成红灯且设有黄灯延迟
TRAFFICLIGHT_SCENE tsLast, tsRelay;
GetLightScene(m_iLastOkLightStatus, &tsLast);
GetLightScene(nLastStatus, &tsRelay);
DWORD32 dwTick = GetSystemTick();
bool fRelayTimeOut = true;
if( m_tlpTrafficLightParam.iRedLightDelay > 0 )
{
if( tsLast.lsLeft == TLS_GREEN && tsRelay.lsLeft == TLS_RED )
{
if( m_ltRedRelay.dwLeft == 0 ) m_ltRedRelay.dwLeft = dwTick;
if( int(dwTick - m_ltRedRelay.dwLeft) < (m_tlpTrafficLightParam.iRedLightDelay * 1000) )
{
fRelayTimeOut = false;
}
}
if( tsLast.lsForward == TLS_GREEN && tsRelay.lsForward == TLS_RED )
{
if( m_ltRedRelay.dwForward == 0 ) m_ltRedRelay.dwForward = dwTick;
if( int(dwTick - m_ltRedRelay.dwForward) < (m_tlpTrafficLightParam.iRedLightDelay * 1000) )
{
fRelayTimeOut = false;
}
}
if( tsLast.lsRight == TLS_GREEN && tsRelay.lsRight == TLS_RED )
{
if( m_ltRedRelay.dwRight == 0 ) m_ltRedRelay.dwRight = dwTick;
if( int(dwTick - m_ltRedRelay.dwRight) < (m_tlpTrafficLightParam.iRedLightDelay * 1000) )
{
fRelayTimeOut = false;
}
}
if( tsLast.lsTurn == TLS_GREEN && tsRelay.lsTurn == TLS_RED )
{
if( m_ltRedRelay.dwTurn == 0 ) m_ltRedRelay.dwTurn = dwTick;
if( int(dwTick - m_ltRedRelay.dwTurn) < (m_tlpTrafficLightParam.iRedLightDelay * 1000) )
{
fRelayTimeOut = false;
}
}
}
if( fRelayTimeOut )
{
m_ltRedRelay.Reset();
m_iLastLightStatus = nLastStatus;
TRAFFICLIGHT_SCENE tsSceneStatus, tsNow;
GetLightScene(m_iLastLightStatus, &tsSceneStatus);
GetLightScene(m_iLastLightStatus, &tsNow);
int iGreenRelayMs = 1000;
//新增输出红绿灯灯组信息 lixh 2011-09-19
char pLightStatus[64];
memset(pLightStatus, 0, 64);
PrintLightStatus(ltsInfo , pLightStatus , 64);
if( m_pCallback != NULL )
{
m_pCallback->TrafficSceneStatus(tsSceneStatus,pLightStatus);
}
//更新红灯开始时间
if( nLastStatus != -1 )
{
m_iLastOkLightStatus = nLastStatus;
}
//DWORD32 dwTimeLow, dwTimeHigh;
//ConvertTickToSystemTime((GetSystemTick() - iRelayTimeMs), dwTimeLow, dwTimeHigh);
//一体机代码，红绿灯时间只有L，没有H，在ARM端在通过ConvertTickToSystemTime进行转换,黄国超修改,2011-07-21
DWORD32 dwTimeLow = GetSystemTick() - iRelayTimeMs, dwTimeHigh = 0;
if( tsNow.lsLeft == TLS_RED && tsLast.lsLeft != TLS_RED )
{
m_redrealtime.dwLeftL = dwTimeLow;
m_redrealtime.dwLeftH = dwTimeHigh;
}
if( tsNow.lsLeft == TLS_GREEN && tsLast.lsLeft != TLS_GREEN )
{
m_greentick.dwLeft = GetSystemTick() - iRelayTimeMs - iGreenRelayMs;
}
else if( tsNow.lsLeft != TLS_GREEN )
{
m_greentick.dwLeft = 0;
}
if( tsNow.lsForward == TLS_RED && tsLast.lsForward != TLS_RED )
{
m_redrealtime.dwForwardL = dwTimeLow;
m_redrealtime.dwForwardH = dwTimeHigh;
}
if( tsNow.lsForward == TLS_GREEN && tsLast.lsForward != TLS_GREEN )
{
m_greentick.dwForward = GetSystemTick() - iRelayTimeMs - iGreenRelayMs;
}
else if( tsNow.lsForward != TLS_GREEN )
{
m_greentick.dwForward = 0;
}
if( tsNow.lsRight == TLS_RED && tsLast.lsRight != TLS_RED )
{
m_redrealtime.dwRightL = dwTimeLow;
m_redrealtime.dwRightH = dwTimeHigh;
}
if( tsNow.lsRight == TLS_GREEN && tsLast.lsRight != TLS_GREEN )
{
m_greentick.dwRight = GetSystemTick() - iRelayTimeMs - iGreenRelayMs;
}
else if( tsNow.lsRight != TLS_GREEN )
{
m_greentick.dwRight = 0;
}
if( tsNow.lsTurn == TLS_RED && tsLast.lsTurn != TLS_RED )
{
m_redrealtime.dwTurnL = dwTimeLow;
m_redrealtime.dwTurnH = dwTimeHigh;
}
if( tsNow.lsTurn == TLS_GREEN && tsLast.lsTurn != TLS_GREEN )
{
m_greentick.dwTurn = GetSystemTick() - iRelayTimeMs - iGreenRelayMs;
}
else if( tsNow.lsTurn != TLS_GREEN )
{
m_greentick.dwTurn = 0;
}
}
}
}
}
else
{
//如果无效场景数大于设定的值，则把当前的场景设成-1.
m_iErrorSceneCount++;
if( m_iErrorSceneCount >= (m_tlpTrafficLightParam.iValidSceneStatusCount * 2))
{
m_iLastLightStatus = -1;
TRAFFICLIGHT_SCENE tsSceneStatus;
GetLightScene(m_iLastLightStatus, &tsSceneStatus);
//新增输出红绿灯灯组信息 lixh 2011-09-19
char pLightStatus[64];
memset(pLightStatus, 0, 64);
PrintLightStatus(ltsInfo , pLightStatus , 64);
if( m_pCallback != NULL )
{
m_pCallback->TrafficSceneStatus(tsSceneStatus,pLightStatus);
}
//无效场景有可能是中间状态，红灯时间不能重置。
}
//如果无效场景帧数大过设定的值，则重置红绿灯框位置,红灯时间重置
if( m_iErrorSceneCount > MAX_ERROR_COUNT )
{
m_iErrorSceneCount = 0;
m_iLastOkLightStatus = -1;
for(int i = 0; i < 4; ++i)
{
m_redrealtime.Reset();
m_greentick.Reset();
}
if( m_tlpTrafficLightParam.iAutoScanLight == 1 )
{
for(int i = 0; i <m_tlpTrafficLightParam.iLightGroupCount; ++i)
{
if( S_OK == m_rgLightInfo[i].ReScan() )
{
HV_Trace(5, "TrafficLight ReScan ...\n");
}
}
}
}
}
}
*iCurrentStatus = m_iCurLightStatus;
*iLastStatus = m_iLastLightStatus;
return hResult;
}
