void Camera::Render(Scene scene)
{
// Compute upper left corner of frame
Point UpperLeftCorner(CameraRay.Location);
UpperLeftCorner = UpperLeftCorner.Translate(CameraRay.Direction.Normalize() * FrameDistance); // Currently in center of frame
Vector UpUnit = UprightDir.Normalize();
UpperLeftCorner = UpperLeftCorner.Translate(UpUnit*(Height / 2)); // Currently in top center of frame
// Compute the perpendicular, leftward facing vector and move the point to the upper left corner
Vector LeftUnit = UprightDir.Cross(CameraRay.Direction).Normalize() * -1;
UpperLeftCorner = UpperLeftCorner.Translate(LeftUnit*(Width / 2));
Vector HorzInc = LeftUnit * (-1 * Width/ static_cast<double>(Resolution.width)); // Progress to the right
Vector VertInc = UpUnit * (-1 * Height/ static_cast<double>(Resolution.height)); // Progress downwards
// Position upper left corner to be in the center of the pixel
UpperLeftCorner = UpperLeftCorner.Translate((HorzInc * (0.5)) + (VertInc * (0.5)));
Point PixelLocation(0,0,0);
// Iterate over the image space and render each occupied pixel
for (int YPixel = 0; YPixel < Resolution.height; YPixel++)
{
for (int XPixel = 0; XPixel < Resolution.width; XPixel++)
{
PixelLocation = UpperLeftCorner.Translate((VertInc * YPixel) + (HorzInc * XPixel));
Ray CameraToPixel(CameraRay.Location, CameraRay.Location.FromThisToThat(PixelLocation));
cv::Vec3b PixelValue = CastRay(scene, CameraToPixel);
Image.at<cv::Vec3b>(YPixel, XPixel) = PixelValue;
}
}
}
void SobelEdge::Filter(unsigned char** input, int col, int row)
{
int i = 0, j = 0;
float tempAngle = 0;
m_ppEdgeMap = (unsigned char**)CreateMatrix(col+2, row+2, -1, -1, sizeof(unsigned char), &m_lPointerOffset);
if(m_bSaveAsOriginal)
{
m_ppOriginalEdgeMap = (unsigned char**)CreateMatrix(col+2, row+2, -1, -1, sizeof(unsigned char), &m_lPointerOffset);
}
AllocateMemory(col, row, 0, 0);
float **tempEdge = NULL;
float **tempEdge1 = NULL;
long long tempPointerOffset;
tempEdge = (float**)CreateMatrix(col+2, row+2, -1, -1, sizeof(float), &tempPointerOffset);
tempEdge1 = (float**)CreateMatrix(col+2, row+2, -1, -1, sizeof(float), &tempPointerOffset);
float max = 0.0, min = 50000000;
if(m_fLowerThreshold > m_fUpperThreshold)
{
std::cerr<<"Lower threshold is bigger than the upper threshold!"<<std::endl;
return;
}
for(i=0;i<row;i++)
{
for(j=0;j<col;j++)
{
// Simple Sobel filter kernels.
float temp = 0.0, temp1 = 0.0, temp2 = 0.0;
temp = (float)(input[i-1][j-1]*m_SobelOperator1[0][0] + input[i-1][j]*m_SobelOperator1[0][1] + input[i-1][j+1]*m_SobelOperator1[0][2] +
input[i][j-1]*m_SobelOperator1[1][0] + input[i][j]*m_SobelOperator1[1][1] + input[i][j+1]*m_SobelOperator1[1][2] +
input[i+1][j-1]*m_SobelOperator1[2][0] + input[i+1][j]*m_SobelOperator1[2][1] + input[i+1][j+1]*m_SobelOperator1[2][2]);
temp1 = (float)(input[i-1][j-1]*m_SobelOperator2[0][0] + input[i-1][j]*m_SobelOperator2[0][1] + input[i-1][j+1]*m_SobelOperator2[0][2] +
input[i][j-1]*m_SobelOperator2[1][0] + input[i][j]*m_SobelOperator2[1][1] + input[i][j+1]*m_SobelOperator2[1][2] +
input[i+1][j-1]*m_SobelOperator2[2][0] + input[i+1][j]*m_SobelOperator2[2][1] + input[i+1][j+1]*m_SobelOperator2[2][2]);
temp2 = temp*temp + temp1*temp1;
// Preparation for converting float type to unsigned char for saving unthresholded edgemap.
if(temp2>max)
{
max = temp2;
}
if(temp2<min)
{
min = temp2;
}
tempEdge[i][j] = temp2;
tempAngle = atan2(temp, temp1);
m_ppGradientDirection[i][j] = tempAngle;
}
}
// Converting float to unsigned char for saving.
Suppress(m_iColumns, m_iRows, tempEdge, tempEdge1);
if(m_bSaveAsOriginal)
{
for(i=0;i<row;i++)
{
for(j=0;j<col;j++)
{
m_ppOriginalEdgeMap[i][j] = (unsigned char)(255.0-(tempEdge1[i][j]/(max-min)*255.0)); // Edge is black
}
}
}
for(i=0;i<row;i++)
{
for(j=0;j<col;j++)
{
if(tempEdge1[i][j]>m_fUpperThreshold)
{
m_ppEdgeMap[i][j] = 0; // Edge is black
#ifdef _DEBUG
m_statistic++;
#endif
}
else if(tempEdge1[i][j]<=m_fUpperThreshold && tempEdge1[i][j]>m_fLowerThreshold)
{
m_MaybePixels.push_back(PixelLocation(j, i)); // Remember maybe-pixels
}
else
{
m_ppEdgeMap[i][j] = 255;
}
}
}
Resolveambiguity(); // Resolve maybe-pixels
tempEdge += tempPointerOffset;
if(tempEdge != NULL)
{
free(tempEdge);
}
tempEdge1 += tempPointerOffset;
if(tempEdge1 != NULL)
{
free(tempEdge1);
}
#ifdef _DEBUG
std::cout<<"Edge Pixels: "<<m_statistic<<std::endl;
#endif
}
