inline Tv hermite(Tp f,
const Tv& w, const Tv& x, const Tv& y, const Tv& z,
Tp tension, Tp bias)
{
tension = (Tp(1) - tension)*Tp(0.5);
// compute endpoint tangents
//Tv m0 = ((x-w)*(1+bias) + (y-x)*(1-bias))*tension;
//Tv m1 = ((y-x)*(1+bias) + (z-y)*(1-bias))*tension;
Tv m0 = ((x*Tv(2) - w - y)*bias + y - w)*tension;
Tv m1 = ((y*Tv(2) - x - z)*bias + z - x)*tension;
// x - w + x b - w b + y - x - y b + x b
// -w + 2x b - w b + y - y b
// b(2x - w - y) + y - w
//
// y - x + y b - x b + z - y - z b + y b
// -x + 2y b - x b + z - z b
// b(2y - x - z) + z - x
Tp f2 = f * f;
Tp f3 = f2 * f;
// compute hermite basis functions
Tp a3 = Tp(-2)*f3 + Tp(3)*f2;
Tp a0 = Tp(1) - a3;
Tp a2 = f3 - f2;
Tp a1 = f3 - Tp(2)*f2 + f;
return x*a0 + m0*a1 + m1*a2 + y*a3;
}
/*!
SLMesh::preShade calculates the rest of the intersection information
after the final hit point is determined. Should be called just before the
shading when the final intersection point of the closest triangle was found.
*/
void SLMesh::preShade(SLRay* ray)
{
SLFace* hit = ray->hitTriangle;
// calculate the hit point in world space
ray->hitPoint.set(ray->origin + ray->length * ray->dir);
// calculate the interpolated normal with vertex normals in object space
ray->hitNormal.set(N[hit->iA] * (1-(ray->hitU+ray->hitV)) +
N[hit->iB] * ray->hitU +
N[hit->iC] * ray->hitV);
// transform normal back to world space
ray->hitNormal.set(ray->hitShape->wmN() * ray->hitNormal);
// invert normal if the ray is inside a shape
if (!ray->isOutside) ray->hitNormal *= -1;
// for shading the normal is expected to be unit length
ray->hitNormal.normalize();
// calculate interpolated texture coordinates
SLVGLTexture& textures = ray->hitMat->textures();
if (textures.size() > 0)
{ SLVec2f Tu(Tc[hit->iB] - Tc[hit->iA]);
SLVec2f Tv(Tc[hit->iC] - Tc[hit->iA]);
SLVec2f tc(Tc[hit->iA] + ray->hitU*Tu + ray->hitV*Tv);
ray->hitTexCol.set(textures[0]->getTexelf(tc.x,tc.y));
// bumpmapping
if (textures.size() > 1)
{ if (T)
{
// calculate the interpolated tangent with vertex tangent in object space
SLVec4f hitT(T[hit->iA] * (1-(ray->hitU+ray->hitV)) +
T[hit->iB] * ray->hitU +
T[hit->iC] * ray->hitV);
SLVec3f T3(hitT.x,hitT.y,hitT.z); // tangent with 3 components
T3.set(ray->hitShape->wmN() * T3); // transform tangent back to world space
SLVec2f d = textures[1]->dsdt(tc.x,tc.y); // slope of bumpmap at tc
SLVec3f N = ray->hitNormal; // unperturbated normal
SLVec3f B(N^T3); // binormal tangent B
B *= T[hit->iA].w; // correct handedness
SLVec3f D(d.x*T3 + d.y*B); // perturbation vector D
N+=D;
N.normalize();
ray->hitNormal.set(N);
}
}
}
}
OclBM::OclBM(int width,int height,int numofdisps,int win){
edge_method = HAS_EDGE;
maxZ = 3.0;
cv::Mat_<double> cameraMatrix1(3,3);
cameraMatrix1<< 583.41225, 0. , 326.75770,
0. , 589.27674, 209.41198,
0. , 0. , 1.;
cv::Mat_<double> disCoeff1(5,1);
disCoeff1<<-0.00404, -0.14885, -0.00176, 0.00102, 0.00000;
cv::Mat_<double> cameraMatrix2(3,3);
cameraMatrix2<< 579.99012, 0. , 317.64133,
0. , 585.44507, 219.48944,
0. , 0. , 1.;
cv::Mat_<double> disCoeff2(5,1);
disCoeff2<<0.00698, -0.16722, -0.00279, 0.00162, 0.00000;
cv::Mat_<double> rm(3,1);
rm<<0.01857, 0.00525, -0.03124;
cv::Mat_<double> Rm(3,3);
cv::Rodrigues(rm, Rm);
// Rm<< 9.9949590888302986e-01, 3.0555658693688051e-02, 8.6185757455006194e-03,
// -3.0365830270320297e-02, 9.9931064739905584e-01, -2.1357582889317616e-02,
// -9.2652295211821528e-03, 2.1085106513243395e-02, 9.9973475172429860e-01;
cv::Mat_<double> Tv(3,1);
Tv<<-80.14897, 1.97999, -1.23445;
cv::Mat Rr1,Rr2,Pr1,Pr2;
cv::Rect roi1,roi2;
cv::stereoRectify(cameraMatrix1, disCoeff1, cameraMatrix2, disCoeff2, cv::Size(width,height), Rm, Tv, Rr1, Rr2, Pr1, Pr2, Qw);
LOGI("Rr1: %f, %f, %f, %f, %f, %f, %f, %f, %f", Rr1.at<double>(0,0), Rr1.at<double>(0,1), Rr1.at<double>(0,2),
Rr1.at<double>(1,0), Rr1.at<double>(1,1), Rr1.at<double>(1,2), Rr1.at<double>(2,0), Rr1.at<double>(2,1), Rr1.at<double>(2,2));
LOGI("Rr2: %f, %f, %f, %f, %f, %f, %f, %f, %f", Rr2.at<double>(0,0), Rr2.at<double>(0,1), Rr2.at<double>(0,2),
Rr2.at<double>(1,0), Rr2.at<double>(1,1), Rr2.at<double>(1,2), Rr2.at<double>(2,0), Rr2.at<double>(2,1), Rr2.at<double>(2,2));
LOGI("Pr1: %f, %f, %f, %f, %f, %f, %f, %f, %f", Pr1.at<double>(0,0), Pr1.at<double>(0,1), Pr1.at<double>(0,2),
Pr1.at<double>(1,0), Pr1.at<double>(1,1), Pr1.at<double>(1,2), Pr1.at<double>(2,0), Pr1.at<double>(2,1), Pr1.at<double>(2,2));
LOGI("Pr2: %f, %f, %f, %f, %f, %f, %f, %f, %f", Pr2.at<double>(0,0), Pr2.at<double>(0,1), Pr2.at<double>(0,2),
Pr2.at<double>(1,0), Pr2.at<double>(1,1), Rr2.at<double>(1,2), Pr2.at<double>(2,0), Pr2.at<double>(2,1), Pr2.at<double>(2,2));
LOGI("Qw: \n%f, %f, %f, %f,\n%f, %f, %f, %f,\n%f, %f, %f, %f,\n%f, %f, %f, %f",
Qw.at<double>(0,0), Qw.at<double>(0,1), Qw.at<double>(0,2), Qw.at<double>(0,3),
Qw.at<double>(1,0), Qw.at<double>(1,1), Qw.at<double>(1,2), Qw.at<double>(1,3),
Qw.at<double>(2,0), Qw.at<double>(2,1), Qw.at<double>(2,2), Qw.at<double>(2,3),
Qw.at<double>(3,0), Qw.at<double>(3,1), Qw.at<double>(3,2), Qw.at<double>(3,3));
LOGI("Center difference: %f", -Qw.at<double>(3,3)/Qw.at<double>(3,2));
cv::initUndistortRectifyMap(cameraMatrix1, disCoeff1, Rr1, Pr1, cv::Size(width,height), CV_16SC2, mapx1, mapy1);
cv::initUndistortRectifyMap(cameraMatrix2, disCoeff2, Rr2, Pr2, cv::Size(width,height), CV_16SC2, mapx2, mapy2);
// create images for processing
imgWidth=width;
imgHeight=height;
dispImg.create(height,2*width,CV_8UC4);
depthMatrix.create(height,width,CV_32FC3);
ndisp=numofdisps;
winSize=win;
/*
// output gpu device information
cv::ocl::DevicesInfo devInfo;
int res=cv::ocl::getOpenCLDevices(devInfo);
if(res==0){
LOGE("There is no OpenCL here!");
}else{
for(int i=0;i<devInfo.size();++i){
LOGI("deviceProfile: %s",devInfo[i]->deviceProfile.c_str());
LOGI("deviceVersion: %s",devInfo[i]->deviceVersion.c_str());
LOGI("deviceName: %s",devInfo[i]->deviceName.c_str());
LOGI("deviceVendor: %s",devInfo[i]->deviceVendor.c_str());
LOGI("deviceDriverVersion: %s",devInfo[i]->deviceDriverVersion.c_str());
LOGI("deviceExtensions: %s",devInfo[i]->deviceExtensions.c_str());
LOGI("maxWorkGroupSize: %d",devInfo[i]->maxWorkGroupSize);
LOGI("maxComputeUnits: %d",devInfo[i]->maxComputeUnits);
LOGI("localMemorySize: %d",devInfo[i]->localMemorySize);
LOGI("maxMemAllocSize: %d",devInfo[i]->maxMemAllocSize);
LOGI("deviceVersionMajor: %d",devInfo[i]->deviceVersionMajor);
LOGI("deviceVersionMinor: %d",devInfo[i]->deviceVersionMinor);
}
}
*/
#ifdef DUMP_DEPTH
dumpCount = 0;
#endif
}
