static s8 udu2(u32 n, double *M, double *U, double *D) //todo: replace with DSYTRF { double alpha, beta; triu2(n, M); eye2(n, U); memset(D, 0, n * sizeof(double)); for (u32 j=n; j>=2; j--) { D[j - 1] = M[(j-1)*n + j-1]; if (D[j-1] > 0) { alpha = 1.0 / D[j-1]; } else { alpha = 0.0; } for (u32 k=1; k<j; k++) { beta = M[(k-1)*n + j-1]; U[(k-1)*n + j-1] = alpha * beta; for (u32 kk = 0; kk < k; kk++) { M[kk*n + k-1] = M[kk*n + k-1] - beta * U[kk*n + j-1]; } } } D[0] = M[0]; return 0; }
void main() { bool patternfound = false; bool resetAuto = false; int nbImages = 0; double moyFinale = 0; bool detectionVisage = false; int nbrLoopSinceLastDetection = 0; int criticalValueOfLoopWithoutDetection = 15; std::cout << "initialisation de Chehra..." << std::endl; Chehra chehra; std::cout << "done" << std::endl; cv::Mat cameraMatrix, distCoeffs; cv::Mat rvecs, tvecs; std::vector<cv::Point2f> imagePoints; std::vector<cv::Point2f> pointsVisage2D; std::vector<cv::Point2f> moyPointsVisage2D; std::vector<cv::Point3f> pointsVisage3D; std::vector<cv::Point3f> visage; std::vector<double> distances; double moyDistances; std::vector<std::vector<cv::Point2f>> images; std::vector<cv::Mat> frames; double s = 10.0f; osg::Matrixd matrixS; // scale matrixS.set( s, 0, 0, 0, 0, s, 0, 0, 0, 0, s, 0, 0, 0, 0, 1); pointsVisage3D.push_back(cv::Point3f(90,0,-80)); pointsVisage3D.push_back(cv::Point3f(-90,0,-80)); pointsVisage3D.push_back(cv::Point3f(0,0,0)); pointsVisage3D.push_back(cv::Point3f(600,0,600)); pointsVisage3D.push_back(cv::Point3f(0,0,600)); pointsVisage3D.push_back(cv::Point3f(-600,0,600)); /* pointsVisage3D.push_back(cv::Point3f(13.1, -98.1,108.3)); // exterieur narine gauche pointsVisage3D.push_back(cv::Point3f(-13.1, -98.1,108.3)); // exterieur narine droite pointsVisage3D.push_back(cv::Point3f(0, -87.2, 124.2)); // bout du nez pointsVisage3D.push_back(cv::Point3f(44.4, -57.9, 83.7)); // exterieur oeil gauche pointsVisage3D.push_back(cv::Point3f(0, 55.4, 101.4)); // haut du nez, centre des yeux pointsVisage3D.push_back(cv::Point3f(-44.4, -57.9, 83.7)); // exterieur oeil droit */ cv::FileStorage fs("../rsc/intrinsicMatrix.yml", cv::FileStorage::READ); fs["cameraMatrix"] >> cameraMatrix; fs["distCoeffs"] >> distCoeffs; double f = (cameraMatrix.at<double>(0, 0) + cameraMatrix.at<double>(1, 1)) / 2; // NEAR = distance focale ; si pixels carrés, fx = fy -> np //mais est généralement différent de fy donc on prend (pour l'instant) par défaut la valeur médiane double g = 2000 * f; // je sais pas pourquoi. au pif. fs.release(); cv::VideoCapture vcap(0); if(!vcap.isOpened()) { std::cout << "FAIL!" << std::endl; return; } cv::Mat *frame = new cv::Mat(cv::Mat::zeros(vcap.get(CV_CAP_PROP_FRAME_HEIGHT), vcap.get(CV_CAP_PROP_FRAME_WIDTH), CV_8UC3)); do { vcap >> *frame; }while(frame->empty()); osg::ref_ptr<osg::Image> backgroundImage = new osg::Image; backgroundImage->setImage(frame->cols, frame->rows, 3, GL_RGB, GL_BGR, GL_UNSIGNED_BYTE, (uchar*)(frame->data), osg::Image::AllocationMode::NO_DELETE, 1); // read the scene from the list of file specified commandline args. osg::ref_ptr<osg::Group> group = new osg::Group; osg::ref_ptr<osg::Geode> cam = createHUD(backgroundImage, vcap.get(CV_CAP_PROP_FRAME_WIDTH), vcap.get(CV_CAP_PROP_FRAME_HEIGHT), cameraMatrix.at<double>(0, 2), cameraMatrix.at<double>(1, 2), f); std::cout << "initialisation de l'objet 3D..." << std::endl; osg::ref_ptr<osg::Node> objet3D = osgDB::readNodeFile("../rsc/objets3D/brain.obj"); //osg::ref_ptr<osg::Node> objet3D = osgDB::readNodeFile("../rsc/objets3D/dumptruck.osgt"); //////////////////////////////////////////////////////////////////////////////////////////////////////////////// /* osg::Sphere* unitSphere = new osg::Sphere(osg::Vec3(0, -1000, 1000), 100.0); osg::ShapeDrawable* unitSphereDrawable = new osg::ShapeDrawable(unitSphere); osg::Geode* objet3D = new osg::Geode(); objet3D->addDrawable(unitSphereDrawable); */ //osg::StateSet* sphereStateset = unitSphereDrawable->getOrCreateStateSet(); //sphereStateset->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF); //sphereStateset->setMode(GL_LIGHTING, osg::StateAttribute::OFF); //////////////////////////////////////////////////////////////////////////////////////////////////////////////// std::cout << "done" << std::endl; osg::StateSet* obectStateset = objet3D->getOrCreateStateSet(); obectStateset->setMode(GL_LIGHTING,osg::StateAttribute::OFF); obectStateset->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF); osg::ref_ptr<osg::MatrixTransform> mat = new osg::MatrixTransform(); // construct the viewer. osgViewer::CompositeViewer compositeViewer; osgViewer::View* viewer = new osgViewer::View; osgViewer::View* viewer2 = new osgViewer::View; // add the HUD subgraph. group->addChild(cam); mat->addChild(objet3D); group->addChild(mat); osg::Matrixd projectionMatrix; projectionMatrix.makeFrustum( -cameraMatrix.at<double>(0, 2), vcap.get(CV_CAP_PROP_FRAME_WIDTH) - cameraMatrix.at<double>(0, 2), -cameraMatrix.at<double>(1, 2), vcap.get(CV_CAP_PROP_FRAME_HEIGHT) - cameraMatrix.at<double>(1, 2), f, g); osg::Vec3d eye(0.0f, 0.0f, 0.0f), target(0.0f, g, 0.0f), normal(0.0f, 0.0f, 1.0f); // set the scene to render viewer->setSceneData(group.get()); viewer->setUpViewInWindow(0, 0, 1920 / 2, 1080 / 2); viewer->getCamera()->setProjectionMatrix(projectionMatrix); viewer->getCamera()->setViewMatrixAsLookAt(eye, target, normal); viewer2->setSceneData(group.get()); viewer2->setUpViewInWindow(1920 / 2, 0, 1920 / 2, 1080 / 2); viewer2->getCamera()->setProjectionMatrix(projectionMatrix); osg::Vec3d eye2(4 * f, 3 * f / 2, 0.0f), target2(0.0f, f, 0.0f), normal2(0.0f, 0.0f, 1.0f); viewer2->getCamera()->setViewMatrixAsLookAt(eye2, target2, normal2); compositeViewer.addView(viewer2); compositeViewer.addView(viewer); compositeViewer.realize(); // set up windows and associated threads. do { patternfound = false; resetAuto = false; detectionVisage = false; moyPointsVisage2D.clear(); pointsVisage2D.clear(); visage.clear(); moyDistances = 0; distances.clear(); std::cout << "recherche de pattern" << std::endl << "nbr images sauvegardees : " << images.size() << std::endl; vcap >> *frame; frames.push_back(*frame); detectionVisage = detecterVisage(frame, &chehra, &pointsVisage2D, &visage); if(detectionVisage) { images.push_back(pointsVisage2D); nbrLoopSinceLastDetection = 0; group->addChild(mat); } else nbrLoopSinceLastDetection++; if((images.size() > NBRSAVEDIMAGES || nbrLoopSinceLastDetection > criticalValueOfLoopWithoutDetection) && !images.empty()) images.erase(images.begin()); if(images.empty()) group->removeChild(mat); else { //cv::cornerSubPix(*frame, pointsVisage2D, cv::Size(5, 5), cv::Size(-1, -1), cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); for(int i = 0; i < NBRFACEPOINTSDETECTED; i++) { cv::Point2f coordonee(0.0f, 0.0f); for(int j = 0; j < images.size(); j++) { coordonee.x += images[j][i].x; coordonee.y += images[j][i].y; } coordonee.x /= images.size(); coordonee.y /= images.size(); moyPointsVisage2D.push_back(coordonee); } cv::solvePnP(pointsVisage3D, moyPointsVisage2D, cameraMatrix, distCoeffs, rvecs, tvecs); cv::Mat rotVec(3, 3, CV_64F); cv::Rodrigues(rvecs, rotVec); imagePoints = dessinerPoints(frame, pointsVisage3D, rotVec, tvecs, cameraMatrix, distCoeffs); double t3 = tvecs.at<double>(2, 0); double t1 = tvecs.at<double>(0, 0); double t2 = tvecs.at<double>(1, 0) + t3 / 27.5; // and now, magic ! double r11 = rotVec.at<double>(0, 0); double r12 = rotVec.at<double>(0, 1); double r13 = rotVec.at<double>(0, 2); double r21 = rotVec.at<double>(1, 0); double r22 = rotVec.at<double>(1, 1); double r23 = rotVec.at<double>(1, 2); double r31 = rotVec.at<double>(2, 0); double r32 = rotVec.at<double>(2, 1); double r33 = rotVec.at<double>(2, 2); osg::Matrixd matrixR; // rotation (transposee de rotVec) matrixR.set( r11, r21, r31, 0, r12, r22, r32, 0, r13, r23, r33, 0, 0, 0, 0, 1); osg::Matrixd matrixT; // translation matrixT.makeTranslate(t1, t2, t3); osg::Matrixd matrix90; // rotation de repere entre opencv et osg matrix90.makeRotate(osg::Quat(osg::DegreesToRadians(-90.0f), osg::Vec3d(1.0, 0.0, 0.0))); mat->setMatrix(matrixS * matrixR * matrixT * matrix90); // Calcul d'erreur de reprojection double moy = 0; for(int i = 0; i < pointsVisage2D.size(); i++) { double d = sqrt(pow(pointsVisage2D[i].y - imagePoints[i].y, 2) + pow(pointsVisage2D[i].x - imagePoints[i].x, 2)); distances.push_back(d); moy += d; } moyDistances = moy / pointsVisage2D.size(); if(moyDistances > 2) // si l'ecart de reproj est trop grand, reset resetAuto = true; } backgroundImage->dirty(); compositeViewer.frame(); }while(!compositeViewer.done()); }
int main(int argc, char* argv[]) { // Build your scene and setup your camera here, by calling // functions from Raytracer. The code here sets up an example // scene and renders it from two different view points, DO NOT // change this if you're just implementing part one of the // assignment. Raytracer raytracer; int width = 320; int height = 240; int aa = 2; int sceneNum = 0; double toRadian = 2*M_PI/360.0; fprintf(stderr, "Using options:\n"); #ifdef USE_EXTENDEDLIGHTS fprintf(stderr, "\tExtended light sources\n"); #else fprintf(stderr, "\tPoint light sources\n"); #endif #ifdef USE_REFRACTIONS fprintf(stderr, "\tRefractions\n"); #else fprintf(stderr, "\tNo refractions\n"); #endif #ifdef USE_REFLECTIONS fprintf(stderr, "\tReflections\n"); #else fprintf(stderr, "\tNo reflections\n"); #endif #ifdef IGNORE_SHADOWS fprintf(stderr, "\tNo shadows\n"); #else { #ifdef USE_TRANSMISSIONSHADOWS fprintf(stderr, "\tTransmission-based shadows\n"); #else fprintf(stderr, "\tSimple shadows\n"); #endif } #endif #ifdef USE_FINERFLUX fprintf(stderr, "\tFiner numerical flux intergrations\n"); #else fprintf(stderr, "\tCoarser numerical flux intergrations\n"); #endif if (argc == 3) { width = atoi(argv[1]); height = atoi(argv[2]); } else if (argc == 4) { width = atoi(argv[1]); height = atoi(argv[2]); aa = atoi(argv[3]); } else if (argc == 5) { width = atoi(argv[1]); height = atoi(argv[2]); aa = atoi(argv[3]); sceneNum = atoi(argv[4]); } // SceneNum should not exceed total scenes if ((sceneNum > 3)|| (sceneNum <0)) { sceneNum = 0; } // Camera parameters. Point3D eye(0, 0, 1); Vector3D view(0, 0, -1); Vector3D up(0, 1, 0); double fov = 60; // Defines materials for shading. Material gold( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2, 0.001, 0.0, 1/2.4 ); Material jade( Colour(0.22, 0.38, 0.33), Colour(0.52, 0.73, 0.57), Colour(0.316228, 0.316228, 0.316228), 12.8, 0.2 , 0.0, 0.0 ); Material polishedGold( Colour(0.24725, 0.2245, 0.0645), Colour(0.34615, 0.3143, 0.0903), Colour(0.797357, 0.723991, 0.208006), 83.2, 0.01,0.0,0.0); Material glass( Colour(0.15, 0.15, 0.15), Colour(0.08, 0.08, 0.08), Colour(0.2, 0.2, 0.2), 50.1,0.08,0.9,0.6667 ); Material glass1( Colour(0.2, 0.2, 0.2), Colour(0.2, 0.2, 0.2), Colour(0.7, 0.7, 0.7), 10.1,0.03,0.9,0.6667 ); Material steel( Colour(0.1, 0.1, 0.1), Colour(0.1, 0.1, 0.1), Colour(0.8, 0.8, 0.8), 80, 0.03, 0.0, 1.0 ); Material blueSolid( Colour(0, 0, 1), Colour(0, 0, 1), Colour(0, 0, 0), 0, 0.0, 0.0, 1.0 ); Material redSolid( Colour(1, 0, 0), Colour(1, 0, 0), Colour(0, 0, 0), 0, 0.0, 0.0, 1.0 ); Material chrome( Colour(0.25, 0.25, 0.25), Colour(0.4,0.4,0.4), Colour(0.7746, 0.7746, 0.7746), 77, 0.42, 0.0, 1.0); Material ruby( Colour(0.1745, 0.01175, 0.01175), Colour(0.61424, 0.04136, 0.04136), Colour(0.727811, 0.626959, 0.626959) , 76.8, 0.01, 0.0, 0.565); Material pearl( Colour(0.25, 0.20725, 0.20725), Colour(1, 0.829, 0.829), Colour(0.296648, 0.296648, 0.296648), 11.264, 0.1,0.0,1.0 ); Material silver(Colour(0.23125, 0.23125, 0.23125), Colour(0.2775, 0.2775, 0.2775), Colour(0.773911, 0.773911, 0.773911), 89.6, 0.4,0.0, 1.0); Material emerald(Colour(0.0215, 0.1745, 0.0215),Colour(0.07568, 0.61424, 0.07568), Colour(0.633, 0.727811, 0.633), 76.8, 0.1, 0.25, 0.637); Material brass(Colour(0.329412, 0.223529, 0.027451),Colour(0.780392, 0.568627, 0.113725), Colour(0.992157, 0.941176, 0.807843),27.8974, 0.3, 0.0, 1.0 ); Material bronze(Colour(0.2125, 0.1275, 0.054), Colour(0.714, 0.4284, 0.18144), Colour(0.393548, 0.271906, 0.166721), 25.6, 0.1, 0.0, 1.0 ); Material bronzeShiny(Colour(0.25, 0.148, 0.06475), Colour(0.4, 0.2368, 0.1036), Colour(0.774597, 0.458561, 0.200621), 76.86, 0.15, 0.0, 1.0 ); Material turquoise(Colour(0.1, 0.18725, 0.1745), Colour(0.396, 0.74151, 0.69102), Colour(0.297254, 0.30829, 0.306678), 12.8, 0.01, 0.2, 0.9); Material obsidian(Colour(0.05375, 0.05, 0.06625), Colour(0.18275, 0.17, 0.22525), Colour(0.332741, 0.328634, 0.346435), 38.4, 0.05, 0.18, 0.413); Material copper(Colour(0.19125, 0.0735, 0.0225), Colour(0.7038, 0.27048, 0.0828), Colour(0.256777, 0.137622, 0.086014), 12.8, 0.1, 0.0, 1.0 ); Material copperPolished(Colour(0.2295, 0.08825, 0.0275), Colour(0.5508, 0.2118, 0.066), Colour(0.580594, 0.223257, 0.0695701), 51.2, 0.15, 0.0, 1.0 ); Material pewter(Colour(0.105882, 0.058824, 0.113725), Colour(0.427451, 0.470588, 0.541176), Colour(0.333333, 0.333333, 0.521569), 9.84615, 0.0, 0.0, 1.0 ); // Light Sources //===================== //raytracer.addLightSource( new PointLight(Point3D(1, 1, 2),Colour(0.5, 0.5, 0.5)) ); #ifdef USE_EXTENDEDLIGHTS // Defines a ball light source raytracer.addLightSource( new BallLight(Point3D(-1, 1, 1), 2.0, Colour(0.9, 0.9, 0.9), 4) ); #else // Defines a point light source. raytracer.addLightSource( new PointLight(Point3D(0, 0, 5), Colour(0.9, 0.9,0.9) ) ); #endif if (sceneNum==0) { // Defines a point light source. //raytracer.addLightSource( new PointLight(Point3D(0, 0, 5), // Colour(0.9, 0.9, 0.9) ) ); // Add a unit square into the scene with material mat. SceneDagNode* sphere = raytracer.addObject( new UnitSphere(), &gold); SceneDagNode* plane = raytracer.addObject( new UnitSquare(), &jade ); // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 1.0 }; double factor3[3] = { 4.0, 4.0, 4.0 }; double factor4[3] = { 3.7, 3.7, 3.7 }; raytracer.translate(sphere, Vector3D(0, 0, -5)); raytracer.rotate(sphere, 'x', -45); raytracer.rotate(sphere, 'z', 45); raytracer.scale(sphere, Point3D(0, 0, 0), factor1); raytracer.translate(plane, Vector3D(0, 0, -7)); raytracer.rotate(plane, 'z', 45); raytracer.scale(plane, Point3D(0, 0, 0), factor2); /* SceneDagNode* bigSphere = raytracer.addObject( new UnitSphere(), &glass1); raytracer.scale(bigSphere, Point3D(0, 0, 0), factor3); raytracer.translate(bigSphere, Vector3D(0, 0, -7)); SceneDagNode* bigSphere2 = raytracer.addObject( new UnitSphere(), &glass1); raytracer.scale(bigSphere2, Point3D(0, 0, 0), factor4); raytracer.translate(bigSphere2, Vector3D(0, 0, -7)); */ }// end of scene 0 if (sceneNum==1) { /* raytracer.addLightSource( new BallLight(Point3D(-1, 1, 1), 5.0, Colour(0.9, 0.9, 0.9), 0.888) ); raytracer.addLightSource( new PointLight(Point3D(0, 0, 2),Colour(0.5, 0.5, 0.5)) ); */ // Add a unit square into the scene with material mat. SceneDagNode* sphere = raytracer.addObject( new UnitSphere(), &glass); SceneDagNode* sphere1 = raytracer.addObject( new UnitSphere(), &brass); SceneDagNode* plane = raytracer.addObject( new UnitSquare(), &jade); SceneDagNode* cylinder = raytracer.addObject( new UnitCylinder(), &brass); // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 1.0 }; double factor3[3] = { 0.5, 0.5, 2.0 }; raytracer.translate(sphere, Vector3D(0, 0, -5)); raytracer.rotate(sphere, 'x', -45); raytracer.rotate(sphere, 'z', 45); raytracer.scale(sphere, Point3D(0, 0, 0), factor1); raytracer.translate(sphere1, Vector3D(-2.5, 0, -5)); raytracer.translate(plane, Vector3D(0, 0, -7)); raytracer.rotate(plane, 'z', 45); raytracer.scale(plane, Point3D(0, 0, 0), factor2); raytracer.translate(cylinder, Vector3D(3, 0, -5)); //raytracer.rotate(cylinder, 'y', -20); raytracer.rotate(cylinder, 'z', 45); raytracer.rotate(cylinder, 'x', -75); raytracer.scale(cylinder, Point3D(0, 0, 0), factor3); }// end of scene1 //=============== Scene 2 ============================== //===================================================== if(sceneNum == 2) { /* raytracer.addLightSource( new BallLight(Point3D(-1, 1, 1), 5.0, Colour(0.9, 0.9, 0.9), 0.888) );*/ //raytracer.addLightSource( new PointLight(Point3D(0, 0, 2),Colour(0.5, 0.5, 0.5)) ); //Set up walls //======================================================== SceneDagNode* planeBack = raytracer.addObject( new UnitSquare(), &brass); SceneDagNode* planeBottom = raytracer.addObject( new UnitSquare(), &chrome); SceneDagNode* planeTop = raytracer.addObject( new UnitSquare(), &copperPolished); SceneDagNode* planeLeft = raytracer.addObject( new UnitSquare(), &bronzeShiny); SceneDagNode* planeRight = raytracer.addObject( new UnitSquare(), &brass); SceneDagNode* planeRear = raytracer.addObject( new UnitSquare(), &brass); double scaleFactor[3] = {8.0,8.0,1.0}; double scaleFactor1[3] = {20.01,20.01,1.0}; raytracer.translate(planeBottom, Vector3D(0, -10, 0)); raytracer.translate(planeTop, Vector3D(0, 10, 0)); raytracer.translate(planeLeft, Vector3D(-10, 0, 0)); raytracer.translate(planeRight, Vector3D(10, 0, 0)); raytracer.translate(planeBack, Vector3D(0, 0, -19.9)); raytracer.translate(planeBottom, Vector3D(0, 0, -10)); raytracer.translate(planeTop, Vector3D(0, 0, -10)); raytracer.translate(planeLeft, Vector3D(0, 0, -10)); raytracer.translate(planeRight, Vector3D(0, 0, -10)); raytracer.translate(planeRear, Vector3D(0, 0, 20)); raytracer.rotate(planeTop, 'x', 90); raytracer.rotate(planeBottom, 'x',-90); raytracer.rotate(planeLeft, 'y', -90); raytracer.rotate(planeRight, 'y', 90); raytracer.rotate(planeRear, 'x', 180); raytracer.scale(planeBack, Point3D(0, 0, 0), scaleFactor1); raytracer.scale(planeBottom, Point3D(0, 0, 0), scaleFactor1); raytracer.scale(planeTop, Point3D(0, 0, 0), scaleFactor1); raytracer.scale(planeLeft, Point3D(0, 0, 0), scaleFactor1); raytracer.scale(planeRight, Point3D(0, 0, 0), scaleFactor1); raytracer.scale(planeRear, Point3D(0, 0, 0), scaleFactor1); //=========================================================== double scaleEgg[3] = { 1.0, 1.5, 1.0 }; double scaleBall[3] = {2,2,2}; SceneDagNode* sphere = raytracer.addObject( new UnitSphere(), &glass1); SceneDagNode* sphere1 = raytracer.addObject( new UnitSphere(), &ruby); SceneDagNode* sphere2 = raytracer.addObject( new UnitSphere(), &chrome); //SceneDagNode* cone = raytracer.addObject(sphere, new UnitCone(), &emerald); //raytracer.translate(cone, Vector3D(0,0,-2)); raytracer.translate(sphere, Vector3D(-1,-1,-11)); raytracer.scale(sphere, Point3D(0,0,0), scaleBall); raytracer.translate(sphere1, Vector3D(2.5,-1,-11)); raytracer.translate(sphere2, Vector3D(2,3,-11)); //raytracer.translate(cone, Vector3D(-1,-1,-12)); raytracer.rotate(sphere1, 'z', -45); raytracer.scale(sphere1, Point3D(0,0,0), scaleEgg); //raytracer.rotate(cone, 'x', 90); }//end of scene 2 //==================== Scene 3 ================= //=============================================== if(sceneNum == 3) { #ifdef USE_EXTENDEDLIGHTS raytracer.addLightSource( new BallLight(Point3D(-5, 5, -3), 2.0, Colour(0.4, 0.4, 0.4), 2) ); raytracer.addLightSource( new BallLight(Point3D(5, 5, -3), 2.0, Colour(0.4, 0.4, 0.4), 2) ); #else raytracer.addLightSource( new PointLight(Point3D(-5, 5, 0), Colour(0.5, 0.0, 0.0) ) ); raytracer.addLightSource( new PointLight(Point3D(5, 5, 0), Colour(0.0, 0.5, 0.0) ) ); raytracer.addLightSource( new PointLight(Point3D(0, -5, 0), Colour(0.0, 0.0, 0.5) ) ); #endif double planeScale[3] = {10.0, 10.0, 1.0}; double sphereScale[3]= {1.5,1.5,1.5}; double coneScale[3] = {1.5,1.5,5}; SceneDagNode* plane = raytracer.addObject( new UnitSquare(), &pearl); SceneDagNode* sphere1 = raytracer.addObject( new UnitSphere(), &chrome); SceneDagNode* sphere2 = raytracer.addObject( new UnitSphere(), &brass); //SceneDagNode* cone = raytracer.addObject( new UnitCone(), &turquoise); raytracer.translate(sphere1, Vector3D(1, 1.5, -6.5)); raytracer.translate(sphere2, Vector3D(-1, -1.5, -6.5)); raytracer.scale(sphere2, Point3D(0,0,0), sphereScale); raytracer.scale(sphere1, Point3D(0,0,0), sphereScale); raytracer.rotate(plane, 'z', 45); raytracer.scale(plane, Point3D(0,0,0), planeScale); raytracer.translate(plane, Vector3D(0, 0, -8)); /* raytracer.translate(cone, Vector3D(2.0,-1.0,-3)); raytracer.rotate(cone, 'x', 180); raytracer.scale(cone, Point3D(0,0,0), coneScale); */ } // Render the scene, feel free to make the image smaller for // testing purposes. raytracer.render(width, height, eye, view, up, fov, aa, "sig1.bmp", 's'); //raytracer.render(width, height, eye, view, up, fov, aa, "diffuse1.bmp",'d'); //raytracer.render(width, height, eye, view, up, fov, aa, "view1.bmp",'p'); // Render it from a different point of view. Point3D eye2(4, 2, 1); Vector3D view2(-4, -2, -6); raytracer.render(width, height, eye2, view2, up, fov, aa, "sig2.bmp", 's'); //raytracer.render(width, height, eye2, view2, up, fov, aa, "diffuse2.bmp",'d'); //raytracer.render(width, height, eye2, view2, up, fov, aa, "view2.bmp",'p'); Point3D eye3(-4, -2, 1); Vector3D view3(4, 2, -6); raytracer.render(width, height, eye3, view3, up, fov, aa, "sig3.bmp", 's'); //raytracer.render(width, height, eye3, view3, up, fov, aa, "diffuse3.bmp",'d'); raytracer.render(width, height, eye3, view3, up, fov, aa, "view3.bmp",'p'); return 0; }
int main(int argc, char* argv[]) { // Build your scene and setup your camera here, by calling // functions from Raytracer. The code here sets up an example // scene and renders it from two different view points, DO NOT // change this if you're just implementing part one of the // assignment. Raytracer raytracer; int width = 320; int height = 240; if (argc == 3) { width = atoi(argv[1]); height = atoi(argv[2]); } // Camera parameters. Point3D eye(0., 0., 1.); Vector3D view(0., 0., -1.); Vector3D up(0., 1., 0.); double fov = 60; // Defines a material for shading. Material::Ptr gold = std::make_shared<Material>( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2 ); Material::Ptr jade = std::make_shared<Material>( Colour(0, 0, 0), Colour(0.54, 0.89, 0.63), Colour(0.316228, 0.316228, 0.316228), 12.8 ); // Defines a point light source. raytracer.addLightSource( std::make_shared<PointLight>(Point3D(0., 0., 5.), Colour(0.9, 0.9, 0.9) ) ); // Add a unit square into the scene with material mat. SceneDagNode::Ptr sphere = raytracer.addObject( std::make_shared<UnitSphere>(), gold ); SceneDagNode::Ptr plane = raytracer.addObject( std::make_shared<UnitSquare>(), jade ); // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 6.0 }; raytracer.translate(sphere, Vector3D(0., 0., -5.)); raytracer.rotate(sphere, 'x', -45); raytracer.rotate(sphere, 'z', 45); raytracer.scale(sphere, Point3D(0., 0., 0.), factor1); raytracer.translate(plane, Vector3D(0., 0., -7.)); raytracer.rotate(plane, 'z', 45); raytracer.scale(plane, Point3D(0., 0., 0.), factor2); // Render the scene, feel free to make the image smaller for // testing purposes. raytracer.render(width, height, eye, view, up, fov, "view1.bmp"); // Render it from a different point of view. Point3D eye2(4., 2., 1.); Vector3D view2(-4., -2., -6.); raytracer.render(width, height, eye2, view2, up, fov, "view2.bmp"); return 0; }
int main(int argc, char* argv[]) { // Build your scene and setup your camera here, by calling // functions from Raytracer. The code here sets up an example // scene and renders it from two different view points, DO NOT // change this if you're just implementing part one of the // assignment. Raytracer raytracer; //_render_mode = MODE_SIGNATURE; //_render_mode = MODE_SPECULAR; _render_mode = MODE_FULL_PHONG; //_render_mode = (mode)(MODE_AMBIENT | MODE_DIFFUSE); int width = 320; int height = 240; if (argc == 3) { width = atoi(argv[1]); height = atoi(argv[2]); } // Camera parameters. Point3D eye(0, 0, 1); Vector3D view(0, 0, -1); Vector3D up(0, 1, 0); double fov = 60; // Defines a material for shading. Material gold( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2 ); Material jade( Colour(0, 0, 0), Colour(0.54, 0.89, 0.63), Colour(0.316228, 0.316228, 0.316228), 12.8 ); // Defines a point light source. raytracer.addLightSource( new PointLight(Point3D(0, 0, 5), Colour(0.9, 0.9, 0.9) ) ); // Add a unit square into the scene with material mat. SceneDagNode* sphere = raytracer.addObject( new UnitSphere(), &gold ); SceneDagNode* plane = raytracer.addObject( new UnitSquare(), &jade ); // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 6.0 }; raytracer.translate(sphere, Vector3D(0, 0, -5)); raytracer.rotate(sphere, 'x', -45); raytracer.rotate(sphere, 'z', 45); raytracer.scale(sphere, Point3D(0, 0, 0), factor1); raytracer.translate(plane, Vector3D(0, 0, -7)); raytracer.rotate(plane, 'z', 45); raytracer.scale(plane, Point3D(0, 0, 0), factor2); // Render the scene, feel free to make the image smaller for // testing purposes. raytracer.render(width, height, eye, view, up, fov, "phong1.bmp"); // Render it from a different point of view. Point3D eye2(4, 2, 1); Vector3D view2(-4, -2, -6); raytracer.render(width, height, eye2, view2, up, fov, "phong2.bmp"); return 0; }
int main(int argc, char* argv[]) { // Build your scene and setup your camera here, by calling // functions from Raytracer. The code here sets up an example // scene and renders it from two different view points, DO NOT // change this if you're just implementing part one of the // assignment. Raytracer raytracer; int width = 320; int height = 240; if (argc == 3) { width = atoi(argv[1]); height = atoi(argv[2]); } /***********************************************************Testing ******************************** // Camera parameters. Point3D eye(0, 0, 1); Vector3D view(0, 0, -1); Vector3D up(0, 1, 0); double fov = 60; // Defines a material for shading. Material gold( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2,0.3,0,NULL ); Material jade( Colour(0, 0, 0), Colour(0.54, 0.89, 0.63), Colour(0.316228, 0.316228, 0.316228), 12.8,0.3,0,NULL); // Defines a point light source. raytracer.addLightSource( new PointLight(Point3D(0.0, 0, 5), Colour(0.9, 0.9, 0.9) ) ); // Add a unit square into the scene with material mat. SceneDagNode* sphere = raytracer.addObject( new UnitSphere(), &gold ); SceneDagNode* plane = raytracer.addObject( new UnitSquare(), &jade ); // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 6.0 }; raytracer.translate(sphere, Vector3D(0, 0, -5)); raytracer.rotate(sphere, 'x', -45); raytracer.rotate(sphere, 'z', 45); raytracer.scale(sphere, Point3D(0, 0, 0), factor1); raytracer.translate(plane, Vector3D(0, 0, -7)); raytracer.rotate(plane, 'z', 45); raytracer.scale(plane, Point3D(0, 0, 0), factor2); // Render the scene, feel free to make the image smaller for // testing purposes. raytracer.render(width, height, eye, view, up, fov, "view4.bmp"); // Render it from a different point of view. Point3D eye2(4, 2, 1); Vector3D view2(-4, -2, -6); raytracer.render(width, height, eye2, view2, up, fov, "view5.bmp"); ***********************************************************Testing ********************************/ /***********************************************************Final Scene********************************/ // Camera parameters. // Point3D eye(0, 8, -3); // Vector3D view(0, -1,0); Point3D eye(0, 0, 1); Vector3D view(0, 0, -1); Vector3D up(0, 1, 0); double fov = 60; // Defines a material for shading. Material gold( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2,0.2,NULL); // Material jade( Colour(0, 0, 0), Colour(0.54, 0.89, 0.63), // Colour(0.316228, 0.316228, 0.316228), // 12.8,0.5,NULL); Material jade( Colour(0, 0, 0), Colour(0.47, 0.576, 0.859), Colour(0.316228, 0.316228, 0.316228), 12.8,0.5,NULL); Material red( Colour(0.3, 0.3, 0.3), Colour(1, 0, 0), Colour(0.628281, 0.555802, 0.366065), 51.2,0.2,NULL); Material white( Colour(0.3, 0.3, 0.3), Colour(1, 0.8549, 0.7255), Colour(0.628281, 0.555802, 0.366065), 51.2,0.2,NULL); Material pink( Colour(0.3, 0.3, 0.3), Colour(0.9412, 0.502, 0.502), Colour(0.628281, 0.555802, 0.366065), 51.2,0.2,NULL); Material mirror( Colour(0.0, 0.0, 0.0), Colour(0.0, 0.0, 0.0), Colour(0.0, 0.0, 0.0), 51.2,1,NULL); Material glass( Colour(0.3, 0.3, 0.3), Colour(1, 1, 1), Colour(0.628281, 0.555802, 0.366065), 51.2,0,1,NULL); glass.R_index = 1.3; glass.transparency_coef=1; // Defines a point light source. raytracer.addLightSource( new PointLight(Point3D(0, 0, 5), Colour(0.9, 0.9, 0.9) ) ); raytracer.addLightSource( new PointLight(Point3D(0, 6, -1), Colour(0.9, 0.3, 0.1) ) ); Material test( Colour(0.3, 0.3, 0.3), Colour(0.3, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2 ,0.1,NULL); Material test3( Colour(0.3, 0.3, 0.3), Colour(0.3, 0.5, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2,1,NULL ); Material test2( Colour(0, 0, 0), Colour(0.3, 0.3, 0.3), Colour(1.0, 1.0, 1.0), 51.2,0,NULL ); Texture sky("/Users/bingxu/Documents/graphics/COMP3271_assignment_4_template/raytracerMacOS/sky.bmp"); Texture board("/Users/bingxu/Documents/graphics/COMP3271_assignment_4_template/raytracerMacOS/board.bmp"); Material starrysky(Colour(0, 0, 0),Colour(0, 0, 0), Colour(0.1, 0.1, 0.1), 11.264, 0, &sky); Material board_mat(Colour(0, 0, 0),Colour(0, 0, 0), Colour(0.1, 0.1, 0.1), 11.264, 1, &board); SceneDagNode* plane = raytracer.addObject( new UnitSquare(), &jade ); SceneDagNode* plane1 = raytracer.addObject( new UnitSquare(), &jade ); SceneDagNode* plane2 = raytracer.addObject( new UnitSquare(), &board_mat );//the bottom SceneDagNode* sphere = raytracer.addObject( new UnitSphere(), &mirror); SceneDagNode* sphere1 = raytracer.addObject( new UnitSphere(), &white ); SceneDagNode* mars = raytracer.addObject( new UnitSphere(), &glass ); SceneDagNode* earth = raytracer.addObject( new UnitSphere(), &pink ); SceneDagNode* cylinder1 = raytracer.addObject( new UnitFiniteCylinder(), &gold ); SceneDagNode* cylinder2 = raytracer.addObject( new UnitFiniteCylinder(), &gold ); SceneDagNode* cylinder3 = raytracer.addObject( new UnitFiniteCylinder(), &gold ); SceneDagNode* cone = raytracer.addObject( new UnitFiniteCone(), &red ); double factor1[3] = { 2.0, 2.0, 2.0 }; double factor2[3] = {50,50,50}; double factor3[3] = { 1.0, 1.0, 1.0}; double factor4[3] = { 1.0, 2, 1.0}; double factor5[3] = {0.5,0.5,0.5}; double factor6[3] = {0.5,1.5,0.5}; double factor7[3] = {1.0,4.0,1.0}; //3 squares raytracer.translate(plane, Vector3D(0, 0, -15)); raytracer.scale(plane, Point3D(0, 0, 0), factor2); raytracer.translate(plane1, Vector3D(-15, 0, 0)); raytracer.rotate(plane1, 'y', 90); raytracer.scale(plane1, Point3D(0, 0, 0), factor2); raytracer.translate(plane2, Vector3D(0, -8, 0)); raytracer.rotate(plane2, 'x', -90); raytracer.scale(plane2, Point3D(0, 0, 0), factor2); //four balls raytracer.translate(sphere, Vector3D(-1, -6, -2)); raytracer.scale(sphere, Point3D(0, 0, 0), factor3); raytracer.translate(sphere1,Vector3D(-4.5, -6, 1)); raytracer.scale(sphere1, Point3D(0, 0, 0), factor3); raytracer.translate(mars, Vector3D(3, -3, -1)); raytracer.scale(mars, Point3D(0, 0, 0), factor3); raytracer.translate(earth, Vector3D(-8, -6, -2)); raytracer.scale(earth, Point3D(0, 0, 0), factor3); raytracer.rotate(cylinder1, 'z', -30); //raytracer.rotate(cylinder1, 'x', -15); raytracer.translate(cylinder1, Vector3D(0, -4, -2)); raytracer.scale(cylinder1, Point3D(0, 0, 0), factor7); raytracer.rotate(cylinder2, 'z', -30); raytracer.translate(cylinder2, Vector3D(1.5, -3, -2)); raytracer.scale(cylinder2, Point3D(0, 0, 0), factor6); raytracer.rotate(cylinder3, 'z', -30); raytracer.translate(cylinder3, Vector3D(-1.5, -3, -2)); raytracer.scale(cylinder3, Point3D(0, 0, 0), factor6); raytracer.rotate(cone, 'z', -30); raytracer.translate(cone, Vector3D(0, 2, -2)); raytracer.scale(cone, Point3D(0, 0, 0), factor4); std::clock_t start; double duration; start = std::clock(); // raytracer.render(width, height, eye, view, up, fov, "view4.bmp"); duration = ( std::clock() - start ) / (double) CLOCKS_PER_SEC; //std::cout<<"The rendering duration 1 is .......: "<< duration <<'\n'; // Render it from a different point of view. Point3D eye2(3, 1, 5); Vector3D view2(-10, -8, -15); std::clock_t start1; double duration1; start1 = std::clock(); raytracer.render(width, height, eye2, view2, up, fov, "view5.bmp"); duration1 = ( std::clock() - start1 ) / (double) CLOCKS_PER_SEC; // std::cout<<"The rendering duration 2 is .......: "<< duration1 <<'\n'; /***********************************************************Final Scene********************************/ return 0; }
void main() { bool patternfound = false; bool reset = false; bool resetAuto = false; int nbImages = 0; double moyFinale = 0; char key = 0; bool detectionMire = false; bool detectionVisage = false; int cpt = 0, moyCpt = 0, i = 0; std::cout << "initialisation de Chehra..." << std::endl; Chehra chehra; std::cout << "done" << std::endl; cv::TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03); cv::Size winSize(31, 31); cv::Mat cameraMatrix, distCoeffs; cv::Mat imCalib; cv::Mat imCalibColor; cv::Mat imCalibNext; cv::Mat rvecs, tvecs; cv::Mat Rc, C = cv::Mat(3, 1, CV_64F), rotVecInv; std::vector<cv::Point2f> imagePoints; std::vector<cv::Point3f> objectPoints; std::vector<cv::Point3f> cubeObjectPoints; std::vector<cv::Point3f> dessinPointsVisage; std::vector<std::vector<cv::Point2f>> chessCornersInit(2); std::vector<std::vector<cv::Point2f>> pointsVisageInit(2); std::vector<cv::Point3f> chessCorners3D; std::vector<cv::Point3f> pointsVisage3D; std::vector<cv::Point3f> visage; std::vector<double> distances; double moyDistances; // Creation des coins de la mire for(int x = 0; x < COLCHESSBOARD; x++) for(int y = 0; y < ROWCHESSBOARD; y++) chessCorners3D.push_back(cv::Point3f(x * SIZEMIRE, y * SIZEMIRE, 0.0f)); // Creation des points a projeter for(int x = 0; x < COLCHESSBOARD; x++) for(int y = 0; y < ROWCHESSBOARD; y++) objectPoints.push_back(cv::Point3f(x * SIZEMIRE, y * SIZEMIRE, 0.0f)); cv::FileStorage fs("../rsc/intrinsicMatrix.yml", cv::FileStorage::READ); fs["cameraMatrix"] >> cameraMatrix; fs["distCoeffs"] >> distCoeffs; double f = (cameraMatrix.at<double>(0, 0) + cameraMatrix.at<double>(1, 1)) / 2; // NEAR = distance focale ; si pixels carrés, fx = fy -> np //mais est généralement différent de fy donc on prend (pour l'instant) par défaut la valeur médiane double g = 2000 * f; // je sais pas pourquoi. au pif. fs.release(); cv::VideoCapture vcap(0); if(!vcap.isOpened()){ std::cout << "FAIL!" << std::endl; return; } cv::Mat *frame = new cv::Mat(cv::Mat::zeros(vcap.get(CV_CAP_PROP_FRAME_HEIGHT), vcap.get(CV_CAP_PROP_FRAME_WIDTH), CV_8UC3)); do { vcap >> *frame; }while(frame->empty()); osg::ref_ptr<osg::Image> backgroundImage = new osg::Image; backgroundImage->setImage(frame->cols, frame->rows, 3, GL_RGB, GL_BGR, GL_UNSIGNED_BYTE, (uchar*)(frame->data), osg::Image::AllocationMode::NO_DELETE, 1); // read the scene from the list of file specified commandline args. osg::ref_ptr<osg::Group> group = new osg::Group; osg::ref_ptr<osg::Geode> cam = createHUD(backgroundImage, vcap.get(CV_CAP_PROP_FRAME_WIDTH), vcap.get(CV_CAP_PROP_FRAME_HEIGHT), cameraMatrix.at<double>(0, 2), cameraMatrix.at<double>(1, 2), f); std::cout << "initialisation de l'objet 3D..." << std::endl; osg::ref_ptr<osg::Node> objet3D = osgDB::readNodeFile("../rsc/objets3D/Creature.obj"); std::cout << "done" << std::endl; osg::StateSet* obectStateset = objet3D->getOrCreateStateSet(); obectStateset->setMode(GL_DEPTH_TEST,osg::StateAttribute::OFF); osg::ref_ptr<osg::MatrixTransform> mat = new osg::MatrixTransform(); osg::ref_ptr<osg::PositionAttitudeTransform> pat = new osg::PositionAttitudeTransform(); // construct the viewer. osgViewer::CompositeViewer compositeViewer; osgViewer::View* viewer = new osgViewer::View; osgViewer::View* viewer2 = new osgViewer::View; // add the HUD subgraph. group->addChild(cam); mat->addChild(objet3D); pat->addChild(mat); group->addChild(pat); pat->setScale(osg::Vec3d(3, 3, 3)); osg::Matrixd projectionMatrix; projectionMatrix.makeFrustum( -cameraMatrix.at<double>(0, 2), vcap.get(CV_CAP_PROP_FRAME_WIDTH) - cameraMatrix.at<double>(0, 2), -cameraMatrix.at<double>(1, 2), vcap.get(CV_CAP_PROP_FRAME_HEIGHT) - cameraMatrix.at<double>(1, 2), f, g); osg::Vec3d eye(0.0f, 0.0f, 0.0f), target(0.0f, g, 0.0f), normal(0.0f, 0.0f, 1.0f); // set the scene to render viewer->setSceneData(group.get()); viewer->setUpViewInWindow(0, 0, 1920 / 2, 1080 / 2); viewer->getCamera()->setProjectionMatrix(projectionMatrix); viewer->getCamera()->setViewMatrixAsLookAt(eye, target, normal); viewer2->setSceneData(group.get()); viewer2->setUpViewInWindow(1920 / 2, 0, 1920 / 2, 1080 / 2); viewer2->getCamera()->setProjectionMatrix(projectionMatrix); osg::Vec3d eye2(4 * f, 3 * f / 2, 0.0f), target2(0.0f, f, 0.0f), normal2(0.0f, 0.0f, 1.0f); viewer2->getCamera()->setViewMatrixAsLookAt(eye2, target2, normal2); compositeViewer.addView(viewer); compositeViewer.addView(viewer2); compositeViewer.realize(); // set up windows and associated threads. do { group->removeChild(pat); patternfound = false; resetAuto = false; detectionMire = false; detectionVisage = false; imagePoints.clear(); chessCornersInit[0].clear(); chessCornersInit[1].clear(); pointsVisageInit[0].clear(); pointsVisageInit[1].clear(); pointsVisage3D.clear(); dessinPointsVisage.clear(); visage.clear(); moyDistances = 0; distances.clear(); imCalibNext.release(); std::cout << "recherche de pattern" << std::endl; time_t start = clock(); double timer = 0; do { start = clock(); vcap >> *frame; backgroundImage->dirty(); //detectionMire = detecterMire(frame, &chessCornersInit[1], &imCalibNext); detectionVisage = detecterVisage(frame, &chehra, &pointsVisageInit[1], &visage, &pointsVisage3D, &imCalibNext); cpt++; double duree = (clock() - start)/(double) CLOCKS_PER_SEC; timer += duree; if(timer >= 1){ std::cout << cpt << " fps" << std::endl; moyCpt += cpt; timer = 0; duree = 0; i++; cpt = 0; start = clock(); } compositeViewer.frame(); }while(!detectionMire && !detectionVisage && !compositeViewer.done()); if(compositeViewer.done()) break; std::cout << "pattern detectee" << std::endl << std::endl; group->addChild(pat); do { start = clock(); vcap >> *frame; cv::Mat rotVec = trackingMire(frame, &imCalibNext, &pointsVisageInit, &pointsVisage3D, &cameraMatrix, &distCoeffs, &tvecs); //cv::Mat rotVec = trackingMire(frame, &imCalibNext, &chessCornersInit, &chessCorners3D, &cameraMatrix, &distCoeffs, &tvecs); //imagePoints = dessinerPoints(frame, objectPoints, rotVec, tvecs, cameraMatrix, distCoeffs); imagePoints = dessinerPoints(frame, pointsVisage3D, rotVec, tvecs, cameraMatrix, distCoeffs); double r11 = rotVec.at<double>(0, 0); double r21 = rotVec.at<double>(1, 0); double r31 = rotVec.at<double>(2, 0); double r32 = rotVec.at<double>(2, 1); double r33 = rotVec.at<double>(2, 2); osg::Matrixd matrixR; matrixR.makeRotate( atan2(r32, r33), osg::Vec3d(1.0, 0.0, 0.0), -atan2(-r31, sqrt((r32 * r32) + (r33 * r33))), osg::Vec3d(0.0, 0.0, 1.0), atan2(r21, r11), osg::Vec3d(0.0, 1.0, 0.0)); mat->setMatrix(matrixR); pat->setPosition(osg::Vec3d(tvecs.at<double>(0, 0), tvecs.at<double>(2, 0), -tvecs.at<double>(1, 0))); //std::cout << "x = " << tvecs.at<double>(0, 0) << " - y = " << tvecs.at<double>(1, 0) << " - z = " << tvecs.at<double>(2, 0) << std::endl; // Calcul d'erreur de reprojection double moy = 0; for(int j = 0; j < pointsVisageInit[1].size() ; j++) { double d = sqrt(pow(pointsVisageInit[0][j].y - imagePoints[j].y, 2) + pow(pointsVisageInit[0][j].x - imagePoints[j].x, 2)); distances.push_back(d); moy += d; } moyDistances = moy / pointsVisageInit[1].size(); if(moyDistances > 1) // si l'ecart de reproj est trop grand, reset resetAuto = true; double duree = (clock() - start)/(double) CLOCKS_PER_SEC; std::cout << (int)(1/duree) << " fps" << std::endl; moyCpt += (int)(1/duree); duree = 0; i++; backgroundImage->dirty(); compositeViewer.frame(); }while(!compositeViewer.done() && !resetAuto); }while(!compositeViewer.done()); std::cout << std::endl << "Moyenne des fps : " << moyCpt/i << std::endl; std::system("PAUSE"); }
// here we will redraw the scene according to the current state of the application. void AppWindow::glutDisplay () { // Clear the rendering window glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ); // Build a cross with some lines (if not built yet): if ( _axis.changed ) // needs update { _axis.build(1.0f); // axis has radius 1.0 } if (sunanim) { sunx = 2 * (cos(2 * M_PI*sunxc / 360) + sin(2 * M_PI*sunxc / 360)); suny = 20.0f; sunz = 2 * (-sin(2 * M_PI*sunxz / 360) + cos(2 * M_PI*sunxz / 360)); } else { sunx = 0.0; suny = 1; sunz = -.5; } // Define our scene transformation: GsMat rx, ry, stransf, barrelroll, leftright, transf, updown, rightwing, leftwing, offsety, centerrwing, centerlwing, rl, rr, backR, backL, centerbackl, centerbackr, br, bl; GsMat rfrot, lfrot, rbrot, lbrot, rollyawpitch, ShadowT; rx.rotx ( _rotx ); ry.roty ( _roty ); stransf = rx*ry; // set the scene transformation matrix offsety.translation(GsVec(0.0f, -5.7f, 0.0f)); //Rotate many degrees barrelroll.rotz(2 * M_PI * rotate / 360); leftright.roty(2 * M_PI * _turnlr / 360); updown.rotx(2 * M_PI * _turnud / 360); rollyawpitch = leftright*updown*barrelroll; //Translate front wings to center centerrwing.translation(GsVec(-0.1f,-0.15f,0.0f)); centerlwing.translation(GsVec(0.1f, -0.15f, 0.0f)); //Translate front wings back to airplane rr.translation(GsVec(0.1f, 0.15f, 0.0f)); rl.translation(GsVec(-0.1f, 0.15f, 0.0f)); //Translate back wings to center centerbackl.translation(GsVec(-0.05f, -0.2f, 0.0f)); centerbackr.translation(GsVec(0.05f, -0.2f, 0.0f)); //Translate back wings to airplane bl.translation(GsVec(0.05f, 0.2f, 0.0f)); br.translation(GsVec(-0.05f, 0.2f, 0.0f)); //Rotate front wings rightwing.rotz(2 * M_PI * _wingsflyR / 360); leftwing.rotz(2 * M_PI * -_wingsflyL / 360); //Rotate back wings backR.rotz(2 * M_PI * _backR / 360); backL.rotz(2 * M_PI * -_backL / 360); //Clean up draw function rfrot = rr*rightwing*centerrwing; lfrot = rl*leftwing*centerlwing; rbrot = br*backR*centerbackr; lbrot = bl*backL*centerbackl; //speed is fast GsVec P = GsVec(0.0f, 0.0f, speed); GsVec bd = leftright*updown*barrelroll*P; R = R + bd; transf.setrans(R); GsVec sbd = leftright*P; SR = SR + sbd; ShadowT.setrans(SR); // Define our projection transformation: // (see demo program in gltutors-projection.7z, we are replicating the same behavior here) GsMat camview, camview2, _birdseye, persp, sproj; GsVec eye(0,0,0), center(0,0,0), up(0,1,0); GsVec eye2(0, 10, 0), center2(0, 0, 0), up2(0, 0, 1); eye += R + leftright*updown*barrelroll*GsVec(0,0,2); center += R + GsVec(0, 0, 0); _sun.build(1.0f, sunx, suny, sunz); float ground[4] = { 0, 1, 0, 4.99 }; float light[4] = { sunx, suny, sunz, 0 }; float dot; GsMat shadowMat; dot = ground[0] * light[0] + ground[1] * light[1] + ground[2] * light[2] + ground[3] * light[3]; shadowMat.setl1(dot - light[0] * ground[0], 0.0 - light[0] * ground[1], 0.0 - light[0] * ground[2], 0.0 - light[0] * ground[3]); shadowMat.setl2(0.0 - light[1] * ground[0], dot - light[1] * ground[1], 0.0 - light[1] * ground[2], 0.0 - light[1] * ground[3]); shadowMat.setl3(0.0 - light[2] * ground[0], 0.0 - light[2] * ground[1], dot - light[2] * ground[2], 0.0 - light[2] * ground[3]); shadowMat.setl4(0.0 - light[3] * ground[0], 0.0 - light[3] * ground[1], 0.0 - light[3] * ground[2], dot - light[3] * ground[3]); //shadowMat = shadowMat*ry*rx; camview.lookat ( eye, center, up ); // set our 4x4 "camera" matrix camview2.lookat(eye2, center2, up2); float aspect=1.0f, znear=0.1f, zfar=5000.0f; persp.perspective ( _fovy, aspect, znear, zfar ); // set our 4x4 perspective matrix // Our matrices are in "line-major" format, so vertices should be multiplied on the // right side of a matrix multiplication, therefore in the expression below camview will // affect the vertex before persp, because v' = (persp*camview)*v = (persp)*(camview*v). if (camera) { sproj = persp * camview; // set final scene projection } else { sproj = persp * camview2; } // Note however that when the shader receives a matrix it will store it in column-major // format, what will cause our values to be transposed, and we will then have in our // shaders vectors on the left side of a multiplication to a matrix. float col = 1; // Draw: //if ( _viewaxis ) _axis.draw ( stransf, sproj ); _model.draw(stransf*transf*rollyawpitch, sproj, _light, 0); _model2.draw(stransf*transf*rollyawpitch*rfrot, sproj, _light, 0); _model3.draw(stransf*transf*rollyawpitch*lfrot, sproj, _light, 0); _model4.draw(stransf*transf*rollyawpitch, sproj, _light, 0); _model5.draw(stransf*transf*rollyawpitch*rbrot, sproj, _light, 0); _model6.draw(stransf*transf*rollyawpitch*lbrot, sproj, _light, 0); _floor.draw(stransf, sproj, _light, textures); _city.draw(stransf*offsety, sproj, _light, 0); _city.draw(stransf*shadowMat*offsety, sproj, _shadow, 0); //Shadow _model.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1); _model2.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1); _model3.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1); _model4.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1); _model5.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1); _model6.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1); _side.draw(stransf, sproj, _light, col, textures); _sun.draw(stransf, sproj); // Swap buffers and draw: glFlush(); // flush the pipeline (usually not necessary) glutSwapBuffers(); // we were drawing to the back buffer, now bring it to the front }
int main(int argc, char* argv[]) { // Build your scene and setup your camera here, by calling // functions from Raytracer. The code here sets up an example // scene and renders it from two different view points, DO NOT // change this if you're just implementing part one of the // assignment. Raytracer raytracer; int width = 160; int height = 120; if (argc == 3) { width = atoi(argv[1]); height = atoi(argv[2]); } // Camera parameters. Point3D eye(0, 0, 1); Vector3D view(0, 0, -1); Vector3D up(0, 1, 0); double fov = 60; // Defines a material for shading. Material chrome( Colour(0.25, 0.25, 0.25), Colour(0.4, 0.4, 0.4), Colour(0.774597, 0.774597, 0.774597), 51.2 ); Material jade( Colour(0, 0, 0), Colour(0.54, 0.89, 0.63), Colour(0.316228, 0.316228, 0.316228), 12.8 ); // Defines a point light source. raytracer.addLightSource( new PointLight(Point3D(0, 3, 2), Colour(0.9, 0.9, 0.9) ) ); // Add a unit square into the scene with material mat. SceneDagNode* sphere = raytracer.addObject( new UnitSphere(), &chrome ); SceneDagNode* plane = raytracer.addObject( new UnitSquare(), &jade ); //SceneDagNode* sphere2 = raytracer.addObject( new UnitSphere(), &chrome ); // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 6.0 }; raytracer.translate(sphere, Vector3D(0, 0, -5)); raytracer.rotate(sphere, 'x', -45); raytracer.rotate(sphere, 'z', 45); //raytracer.scale(sphere, Point3D(0, 0, 0), factor1); //raytracer.translate(sphere2, Vector3D(0, 0, -2)); //raytracer.rotate(sphere2, 'x', -45); //raytracer.rotate(sphere2, 'z', 45); raytracer.translate(plane, Vector3D(0, -3, -5)); raytracer.rotate(plane, 'x', -80); raytracer.scale(plane, Point3D(0, 0, 0), factor2); // Render the scene, feel free to make the image smaller for // testing purposes. raytracer.render(width, height, eye, view, up, fov, "view1.bmp", 3, 5, true); // Render it from a different point of view. Point3D eye2(4, 2, 1); Vector3D view2(-4, -2, -6); //raytracer.render(width, height, eye2, view2, up, fov, "view2.bmp", 3, 15, false); //std::cin.get(); return 0; }
int main(int argc, char* argv[]) { // Build your scene and setup your camera here, by calling // functions from Raytracer. The code here sets up an example // scene and renders it from two different view points, DO NOT // change this if you're just implementing part one of the // assignment. Raytracer raytracer; int width = 16 * 20 * 2; int height = 12 * 20 * 2; if (argc == 3) { width = atoi(argv[1]); height = atoi(argv[2]); } // Camera parameters. Point3D eye1(0, 0, 1), eye2(4, 2, 1); Vector3D view1(0, 0, -1), view2(-4, -2, -6); // Point3D eye1(0, 0, 1), eye2(4, 2, -6); // Vector3D view1(0, 0, -1), view2(-4, -2, 1); Vector3D up(0, 1, 0); double fov = 60; // Defines a material for shading. Material gold( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2, LARGE_SPH_REFLECT, LARGE_SPH_REFRAC_INDX, LARGE_SPH_REFRACT); Material jade( Colour(0, 0, 0), Colour(0.54, 0.89, 0.63), Colour(0.316228, 0.316228, 0.316228), 12.8); Material red( Colour(0, 0, 0), Colour(0.9, 0.05, 0.05), Colour(0.4, 0.2, 0.2), 12.8); // Defines a point light source. Point3D light_pos; if (LIGHT_DEFAULT) { light_pos = Point3D(0, 0, 5); } else { light_pos = LIGHT_POS_TEST; } PointLight * light0 = new PointLight( light_pos, Colour(0.9, 0.9, 0.9), 0.1); raytracer.addLightSource(light0); // Add a unit square into the scene with material mat. SceneDagNode* sphere = raytracer.addObject( new UnitSphere(), &gold ); SceneDagNode* sphere2 = raytracer.addObject( new UnitSphere(), &gold ); SceneDagNode* plane = raytracer.addObject( new UnitSquare(), &jade ); //set the texture map for the objects of interest in the scene if texture map flag is ON if (TEXTURE_MAP_FLAG) { // load texture image TextureMap txtmp; txtmp = TextureMap(TEXTURE_IMG); raytracer.setTextureMap(txtmp); //for now, we are only using texture map for sphere sphere->useTextureMapping = true; sphere->obj->setTextureMap(txtmp); } // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 6.0 }; raytracer.translate(sphere, Vector3D(0, 0, -5)); raytracer.rotate(sphere, 'x', -45); raytracer.rotate(sphere, 'z', 45); raytracer.scale(sphere, Point3D(0, 0, 0), factor1); raytracer.translate(plane, Vector3D(0, 0, -7)); raytracer.rotate(plane, 'z', 45); raytracer.scale(plane, Point3D(0, 0, 0), factor2); double f[3] = { 0.5, 0.5, 0.5 }; raytracer.translate(sphere2, Vector3D(0, 0, -8)); raytracer.scale(sphere2, Point3D(0, 0, 0), f); bool DO_SIGNATURE = false; bool DO_SIGNATURE_SS = false; bool DO_DIFFUSE = false; bool DO_PHONG = false; bool DO_PHONG_SS = false; bool DO_FULL_FEATURED = false; bool DO_WOODEN_MONKEY_SCENES = true; bool DO_REFRACTION_SCENE = false; bool RENDER_FIRST_VIEW = true; bool RENDER_SECOND_VIEW = true; raytracer.setReflDepth(0); raytracer.setEnvMapMode(Raytracer::NONE); // render signature if ( DO_SIGNATURE ) { raytracer.setAAMode(Raytracer::NONE); raytracer.setShadingMode(Raytracer::SCENE_MODE_SIGNATURE); if ( RENDER_FIRST_VIEW ) raytracer.render(width, height, eye1, view1, up, fov, "sig1.bmp"); if ( RENDER_SECOND_VIEW ) raytracer.render(width, height, eye2, view2, up, fov, "sig2.bmp"); } // render signature with SS AA if ( DO_SIGNATURE_SS ) { raytracer.setAAMode(Raytracer::AA_SUPER_SAMPLING); raytracer.setShadingMode(Raytracer::SCENE_MODE_SIGNATURE); if ( RENDER_FIRST_VIEW ) raytracer.render(width, height, eye1, view1, up, fov, "sigSS1.bmp"); if ( RENDER_SECOND_VIEW ) raytracer.render(width, height, eye2, view2, up, fov, "sigSS2.bmp"); } // render diffuse if ( DO_DIFFUSE ) { raytracer.setAAMode(Raytracer::NONE); raytracer.setShadingMode(Raytracer::SCENE_MODE_DIFFUSE); if ( RENDER_FIRST_VIEW ) raytracer.render(width, height, eye1, view1, up, fov, "diffuse1.bmp"); if ( RENDER_SECOND_VIEW ) raytracer.render(width, height, eye2, view2, up, fov, "diffuse2.bmp"); } // render phong if ( DO_PHONG ) { raytracer.setAAMode(Raytracer::NONE); raytracer.setShadingMode(Raytracer::SCENE_MODE_PHONG); if ( RENDER_FIRST_VIEW ) raytracer.render(width, height, eye1, view1, up, fov, "phong1.bmp"); if ( RENDER_SECOND_VIEW ) raytracer.render(width, height, eye2, view2, up, fov, "phong2.bmp"); } // phong with super sampling AA if ( DO_PHONG_SS ) { raytracer.setAAMode(Raytracer::AA_SUPER_SAMPLING); raytracer.setShadingMode(Raytracer::SCENE_MODE_PHONG); if ( RENDER_FIRST_VIEW ) raytracer.render(width, height, eye1, view1, up, fov, "phongSS1.bmp"); if ( RENDER_SECOND_VIEW ) raytracer.render(width, height, eye2, view2, up, fov, "phongSS2.bmp"); } // refraction if it's turned on if (REFRACTION_FLAG) { raytracer.setRefractionMode(REFRACTION_FLAG); } // all features enabled or turned to max if ( DO_FULL_FEATURED ) { raytracer.setAAMode(Raytracer::NONE); raytracer.setAAMode(Raytracer::AA_SUPER_SAMPLING); raytracer.setShadingMode(Raytracer::SCENE_MODE_PHONG); raytracer.setShadows(Raytracer::SHADOW_CAST); // raytracer.setShadows(Raytracer::NONE); raytracer.setEnvMapMode(Raytracer::ENV_MAP_CUBE_SKYBOX); // raytracer.setEnvMapMode(Raytracer::NONE); raytracer.setReflDepth(4); if ( raytracer.getEnvMapMode() != Raytracer::NONE ) { // load images EnvMap env; if ( _DEBUG ) { env = EnvMap( "EnvMaps/DebugMaps/posx.bmp", "EnvMaps/DebugMaps/posy.bmp", "EnvMaps/DebugMaps/posz.bmp", "EnvMaps/DebugMaps/negx.bmp", "EnvMaps/DebugMaps/negy.bmp", "EnvMaps/DebugMaps/negz.bmp" ); } else { env = EnvMap( "EnvMaps/SaintLazarusChurch/posx.bmp", "EnvMaps/SaintLazarusChurch/posy.bmp", "EnvMaps/SaintLazarusChurch/posz.bmp", "EnvMaps/SaintLazarusChurch/negx.bmp", "EnvMaps/SaintLazarusChurch/negy.bmp", "EnvMaps/SaintLazarusChurch/negz.bmp" ); } raytracer.setEnvMap(env); } // adjust lighting? if ( raytracer.getReflDepth() > 0 ) { double l0i = 0.5; light0->setAmbient(Colour(l0i, l0i, l0i)); } if ( RENDER_FIRST_VIEW ) raytracer.render(width, height, eye1, view1, up, fov, "all1.bmp"); if ( RENDER_SECOND_VIEW ) raytracer.render(width, height, eye2, view2, up, fov, "all2.bmp"); } // different scenes just for the wooden monkey thing if ( DO_WOODEN_MONKEY_SCENES ) { // wmonkey_scene_1(); wmonkey_scene_2(); // TODO add more scenes here as required... } //render the 2nd refraction scene if ( REFRACTION_FLAG && DO_REFRACTION_SCENE ) { refraction_scene_1(); } printf("Press enter to terminate...\n"); std::string s; std::getline(std::cin, s); return 0; }
/** * Wooden Monkey Scene 1 */ void wmonkey_scene_1() { printf("WOODEN MONKEY SCENE : 1 ----------------------------------\n\n"); Raytracer rt; int width = 16 * 20 * 2; int height = 12 * 20 * 2; // Camera parameters. Point3D eye1(0, 0, 1), eye2(4, 2, 1); Vector3D view1(0, 0, -1), view2(-4, -2, -6); Vector3D up(0, 1, 0); double fov = 60; // Defines a material for shading. Material gold( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2, 0.8 ); Material jade( Colour(0, 0, 0), Colour(0.54, 0.89, 0.63), Colour(0.316228, 0.316228, 0.316228), 12.8); // Defines a point light source. double l0c = 0.5; PointLight * light0 = new PointLight( Point3D(-2, 2, 5), Colour(l0c, l0c, l0c), 0.2); rt.addLightSource(light0); // Add a unit square into the scene with material mat. SceneDagNode* sphere = rt.addObject( new UnitSphere(), &gold ); SceneDagNode* sphere2 = rt.addObject( new UnitSphere(), &gold ); SceneDagNode* plane = rt.addObject( new UnitSquare(), &jade ); // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 6.0 }; rt.translate(sphere, Vector3D(0, 0, -5)); rt.rotate(sphere, 'x', -45); rt.rotate(sphere, 'z', 45); rt.scale(sphere, Point3D(0, 0, 0), factor1); rt.translate(plane, Vector3D(0, 0, -7)); rt.rotate(plane, 'z', 45); rt.scale(plane, Point3D(0, 0, 0), factor2); double f[3] = { 0.5, 0.5, 0.5 }; rt.translate(sphere2, Vector3D(3, 0, -5)); rt.scale(sphere2, Point3D(0, 0, 0), f); rt.setAAMode(Raytracer::AA_SUPER_SAMPLING); rt.setShadingMode(Raytracer::SCENE_MODE_PHONG); rt.setShadows(Raytracer::SHADOW_CAST); rt.setEnvMapMode(Raytracer::ENV_MAP_CUBE_SKYBOX); rt.setColorSpaceMode(Raytracer::COLOR_ENC_SRGB_GAMMA_CORRECT); rt.setReflDepth(4); if ( rt.getEnvMapMode() != Raytracer::NONE ) { // load images EnvMap env; if ( _DEBUG ) { env = EnvMap( "EnvMaps/DebugMaps/posx.bmp", "EnvMaps/DebugMaps/posy.bmp", "EnvMaps/DebugMaps/posz.bmp", "EnvMaps/DebugMaps/negx.bmp", "EnvMaps/DebugMaps/negy.bmp", "EnvMaps/DebugMaps/negz.bmp" ); } else { env = EnvMap( "EnvMaps/SaintLazarusChurch/posx.bmp", "EnvMaps/SaintLazarusChurch/posy.bmp", "EnvMaps/SaintLazarusChurch/posz.bmp", "EnvMaps/SaintLazarusChurch/negx.bmp", "EnvMaps/SaintLazarusChurch/negy.bmp", "EnvMaps/SaintLazarusChurch/negz.bmp" ); } rt.setEnvMap(env); } printf("WOODEN MONKEY SCENE : 1 :: Rendering...\n"); rt.render(width, height, eye2, view2, up, fov, "wmonkey_1.bmp"); printf("WOODEN MONKEY SCENE : 1 :: Done!\n"); }
/** * Wooden Monkey Scene 1 */ void refraction_scene_1() { printf("REFRACTION SCENE : 1 ----------------------------------\n\n"); Raytracer rt; int width = 16 * 20 * 2; int height = 12 * 20 * 2; // Camera parameters. Point3D eye1(0, 0, 1), eye2(4, 2, 1); Vector3D view1(0, 0, -1), view2(-4, -2, -6); Vector3D up(0, 1, 0); double fov = 60; // Defines a material for shading. Material gold( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2, LARGE_SPH_REFLECT, LARGE_SPH_REFRAC_INDX, LARGE_SPH_REFRACT); Material jade( Colour(0, 0, 0), Colour(0.54, 0.89, 0.63), Colour(0.316228, 0.316228, 0.316228), 12.8); // Defines a material for shading. Material gold_nonRefract( Colour(0.3, 0.3, 0.3), Colour(0.75164, 0.60648, 0.22648), Colour(0.628281, 0.555802, 0.366065), 51.2, 0.8 ); // Defines a point light source. double l0c = 0.5; PointLight * light0 = new PointLight( Point3D(-2, 2, 5), Colour(l0c, l0c, l0c), 0.2); rt.addLightSource(light0); // Add a unit square into the scene with material mat. SceneDagNode* sphere = rt.addObject( new UnitSphere(), &gold ); SceneDagNode* sphere2 = rt.addObject( new UnitSphere(), &gold_nonRefract ); SceneDagNode* plane = rt.addObject( new UnitSquare(), &jade ); SceneDagNode* sphere3 = rt.addObject( new UnitSphere(), &RED); SceneDagNode* sphere4 = rt.addObject( new UnitSphere(), &GREEN_TRANSP); SceneDagNode* plane2 = rt.addObject( new UnitSquare(), &jade ); // SceneDagNode* plane3 = rt.addObject( new UnitSquare(), &jade ); // SceneDagNode* plane4 = rt.addObject( new UnitSquare(), &jade ); // Apply some transformations to the unit square. double factor1[3] = { 1.0, 2.0, 1.0 }; double factor2[3] = { 6.0, 6.0, 6.0 }; rt.translate(sphere, Vector3D(0, 0, -5)); rt.rotate(sphere, 'x', -45); rt.rotate(sphere, 'z', 45); rt.scale(sphere, Point3D(0, 0, 0), factor1); rt.translate(plane, Vector3D(0, 0, -7)); rt.rotate(plane, 'z', 45); rt.scale(plane, Point3D(0, 0, 0), factor2); double f[3] = { 0.5, 0.5, 0.5 }; rt.translate(sphere2, Vector3D(3, 0, -5)); rt.scale(sphere2, Point3D(0, 0, 0), f); rt.translate(sphere3, Vector3D(0, 2, -5)); rt.scale(sphere3, Point3D(0, 0, 0), f); double f2[3] = { 0.6, 0.6, 0.6 }; rt.translate(sphere4, Vector3D(-2, 1, -3)); rt.scale(sphere4, Point3D(0, 0, 0), f2); double fp2[3] = { 3.0, 3.0, 3.0 }; rt.translate(plane2,Vector3D(-4,1,-5)); rt.rotate(plane2, 'z', 45); rt.rotate(plane2, 'y', 45); rt.scale(plane2, Point3D(0, 0, 0), fp2); // rt.translate(plane3,Vector3D(-2,0,-5)); // rt.rotate(plane2, 'z', 45); // rt.rotate(plane3, 'x', 90); // rt.scale(plane3, Point3D(0, 0, 0), fp2); // // rt.translate(plane4,Vector3D(-2,1,-5)); // rt.rotate(plane2, 'z', 45); // rt.rotate(plane4, 'y', 90); // rt.scale(plane4, Point3D(0, 0, 0), fp2); rt.setAAMode(Raytracer::AA_SUPER_SAMPLING); rt.setShadingMode(Raytracer::SCENE_MODE_PHONG); rt.setShadows(Raytracer::SHADOW_CAST); rt.setEnvMapMode(Raytracer::ENV_MAP_CUBE_SKYBOX); rt.setColorSpaceMode(Raytracer::COLOR_ENC_SRGB_GAMMA_CORRECT); rt.setReflDepth(4); //set the texture map for the objects of interest in the scene if texture map flag is ON if (TEXTURE_MAP_FLAG) { // load texture image TextureMap txtmp; txtmp = TextureMap(TEXTURE_IMG); TextureMap txtmp2 = TextureMap(TEXTURE_IMG2); TextureMap txtmp3 = TextureMap(TEXTURE_IMG3); //for now, we are only using texture map for sphere sphere->useTextureMapping = true; sphere->obj->setTextureMap(txtmp); sphere2->useTextureMapping = false; sphere4->useTextureMapping = true; sphere4->setTextMapOfObject(txtmp2); plane2->useTextureMapping = true; plane2->setTextMapOfObject(txtmp3); // plane3->useTextureMapping = true; // plane3->setTextMapOfObject(txtmp3); // // plane4->useTextureMapping = true; // plane4->setTextMapOfObject(txtmp3); } // refraction if it's turned on if (REFRACTION_FLAG) { rt.setRefractionMode(REFRACTION_FLAG); } if ( rt.getEnvMapMode() != Raytracer::NONE ) { // load images EnvMap env; if ( _DEBUG ) { env = EnvMap( "EnvMaps/DebugMaps/posx.bmp", "EnvMaps/DebugMaps/posy.bmp", "EnvMaps/DebugMaps/posz.bmp", "EnvMaps/DebugMaps/negx.bmp", "EnvMaps/DebugMaps/negy.bmp", "EnvMaps/DebugMaps/negz.bmp" ); } else { env = EnvMap( "EnvMaps/SaintLazarusChurch/posx.bmp", "EnvMaps/SaintLazarusChurch/posy.bmp", "EnvMaps/SaintLazarusChurch/posz.bmp", "EnvMaps/SaintLazarusChurch/negx.bmp", "EnvMaps/SaintLazarusChurch/negy.bmp", "EnvMaps/SaintLazarusChurch/negz.bmp" ); } rt.setEnvMap(env); } printf("REFRACTION SCENE : 1 :: Rendering...\n"); rt.render(width, height, eye2, view2, up, fov, "refraction_2.bmp"); Point3D eye3(0, 0, 1); Vector3D view3(0, 0, -1); printf("REFRACTION SCENE : 2 :: Rendering...\n"); rt.render(width, height, eye3, view3, up, fov, "refraction_1.bmp"); printf("REFRACTION SCENE : 1 :: Done!\n"); }