int main()
{
// Build scene
SceneList scene;
scene.push_back(new Sphere(Point3(-320,0,50), 200.0f, ColorRGBA(255,0,0,255)));
scene.push_back(new Sphere(Point3(320, 0, 50), 200.0f, ColorRGBA(0, 0, 255, 255)));
scene.push_back(new Sphere(Point3(0, 0, -50), 200.0f, ColorRGBA(0, 255, 0, 255)));
scene.push_back(new Plane(Vector3(0,1,0), Vector3(0, -150, 0), ColorRGBA(255,255,255,255)));
// Render the scene
RayTraceSettings settings;
settings.resolutionWidth = 600;
settings.resolutionHeight = 480;
settings.depth = 255;
settings.clearColor = ColorRGB(50,50,50);
settings.eyePosition = Point3(0, 0, 600);
RayTracer rayTracer(settings);
rayTracer.renderScene(scene);
rayTracer.saveToFile("rayTracerTest.tga");
// Clean up the scene
std::for_each(scene.begin(), scene.end(), deleteDynamicObject());
return 0;
}
bool losExists( const hydroogmap::OgMap &ogMap, double traversabilityThreshhold, const Cell2D &c1, const Cell2D &c2 )
{
assert( ogMap.cellWithinMap( c1.x(), c1.y() ) );
assert( ogMap.cellWithinMap( c2.x(), c2.y() ) );
hydroogmap::OgLosTracer rayTracer( ogMap, (unsigned char)(traversabilityThreshhold*hydroogmap::CELL_OCCUPIED) );
return rayTracer.isClearCells( c1.x(), c1.y(), c2.x(), c2.y() );
}
int main(int argc, char *argv[])
{
Q_UNUSED(argc);
Q_UNUSED(argv);
SceneSettingReader settingsReader(SETTINGS_FILENAME);
Scene scene(settingsReader);
RayTracer rayTracer(scene);
auto image = rayTracer.generateImage();
image.save(settingsReader.outputFilename());
return 0;
}
int main(int argc, char** argv) {
for(int i = 1; i < argc; i++) {
Timer program_timer, task_timer;
program_timer.start();
// parse command line inputs and initialize
cout << "Initializing:\t"; cout.flush();
task_timer.start();
ifstream render_stream(argv[1]);
list<Setting> settings = RTInputParser(render_stream).get_settings();
RayTracer rayTracer(settings);
task_timer.stop();
cout << task_timer.get_duration_s() << " s" << endl;
// create raytracer and RENDER
cout << "Rendering:\t"; cout.flush();
task_timer.start();
rayTracer.render();
task_timer.stop();
cout << task_timer.get_duration_s() << " s" << endl;
// draw to image
cout << "Saving:\t\t"; cout.flush();
task_timer.start();
rayTracer.save();
task_timer.stop();
cout << task_timer.get_duration_s() << " s" << endl;
program_timer.stop();
cout << "Total Time:\t" << program_timer.get_duration_s() << " s" << endl;
cout << endl;
}
return 0;
}
void optimizePath( const hydroogmap::OgMap &ogMap,
double traversabilityThreshhold,
const Cell2DVector &origPath,
Cell2DVector &optimisedPath )
{
hydroogmap::OgLosTracer rayTracer( ogMap, (unsigned char)(traversabilityThreshhold*hydroogmap::CELL_OCCUPIED) );
#ifndef NDEBUG
// Check that the original path is OK.
if ( origPath.size() >= 2 )
{
for ( unsigned int i=1; i < origPath.size(); i++ )
{
Cell2D wp1 = origPath[i-1];
Cell2D wp2 = origPath[i];
if ( !rayTracer.isClearCells( wp1.x(), wp1.y(), wp2.x(), wp2.y() ) )
{
cout<<"TRACE(pathplanutils.cpp): OptimisePath: original path was messed up:" << endl;
cout<<"TRACE(pathplanutils.cpp): Couldn't get from wp "<<i-1<<" to "<<i<< endl;
cout<<"TRACE(pathplanutils.cpp): " << wp1 << " --> " << wp2 << endl;
cout<<"TRACE(pathplanutils.cpp): entire origPath: " << endl;
for ( unsigned int j=0; j < origPath.size(); j++ )
{
cout << " " << j << ": " << origPath[j] << endl;
}
assert( false && "optimizePath received dodgy input path!" );
}
}
}
#endif
assert( origPath.size() > 0 );
optimisedPath.push_back( origPath[0] );
if ( origPath.size() >= 2 )
{
int priorI = 0;
int middleI = 1;
//
// In this while loop: middle and post are always contiguous wps from origPath.
//
while ( (middleI+1) < (int)(origPath.size()) )
{
const Cell2D &prior = origPath[priorI];
const Cell2D &middle = origPath[middleI];
const Cell2D &post = origPath[middleI+1];
#ifndef NDEBUG
if ( !rayTracer.isClearCells( prior.x(), prior.y(), middle.x(), middle.y() ) )
{
cout << "ERROR(pathplanutils.cpp): Couldn't trace from prior to middle." << endl;
cout<<"TRACE(pathplanutils.cpp): prior: " << prior << endl;
cout<<"TRACE(pathplanutils.cpp): middle: " << middle << endl;
cout<<"TRACE(pathplanutils.cpp): post: " << post << endl;
cout<<"TRACE(pathplanutils.cpp): origPath: " << endl;
for ( unsigned int j=0; j < origPath.size(); j++ )
cout << " " << j << ": " << origPath[j] << endl;
assert( false );
}
#endif
if ( !rayTracer.isClearCells( prior.x(), prior.y(), post.x(), post.y() ) )
{
// There's a direct line from prior to middle, but _not_ from prior to post.
// Therefore the middle-man is necessary.
optimisedPath.push_back( middle );
priorI = middleI;
}
else
{
// skip the middle-man
}
middleI++;
}
}
// Add the last cell
optimisedPath.push_back( origPath.back() );
#ifndef NDEBUG
// Just double-check that the path is OK.
if ( optimisedPath.size() < 2 ) return;
for ( unsigned int i=1; i < optimisedPath.size(); i++ )
{
Cell2D wp1 = optimisedPath[i-1];
Cell2D wp2 = optimisedPath[i];
if ( !rayTracer.isClearCells( wp1.x(), wp1.y(), wp2.x(), wp2.y() ) )
{
cout<<"TRACE(pathplanutils.cpp): OptimisePath messed up:" << endl;
cout<<"TRACE(pathplanutils.cpp): Couldn't get from wp "<<i-1<<" to "<<i<< endl;
cout<<"TRACE(pathplanutils.cpp): " << wp1 << " --> " << wp2 << endl;
cout<<"TRACE(pathplanutils.cpp): entire optimised path: " << endl;
for ( unsigned int j=0; j < optimisedPath.size(); j++ )
{
cout << " " << j << ": " << optimisedPath[j] << endl;
}
cout<<"TRACE(pathplanutils.cpp): origPath: " << endl;
for ( unsigned int j=0; j < origPath.size(); j++ )
{
cout << " " << j << ": " << origPath[j] << endl;
}
assert( false && "optimizePath messed up!" );
}
}
#endif
}