void PointSolver2::solve (cv::Mat &inputImage, Point3 &startPos, Quaternion &startOrientation)
{
assert (inputImage.type() == CV_8UC1);
position0 = startPos;
orientation0 = startOrientation;
image = inputImage;
prepareImage ();
#define ITERATION 5
for (int np=0; np<ITERATION; np++) {
currentViewMatrix = createViewMatrix (position0, orientation0);
projectLines ();
findNearestLinePerPoint ();
prepareMatrices ();
solveForCorrection ();
}
// currentViewMatrix = createViewMatrix (position0, orientation0);
debugDraw ("/tmp/draw.png", &position0, &orientation0);
return;
}
double PointSolver2::calcCurrentError ()
{
// for (int lid=0; lid<model.size(); lid++) {
Matrix4 currentViewMatrix = createViewMatrix (position0, orientation0);
for (auto &line: model) {
}
}
void setupViewMatrix()
{
// switch to Model-View matrix
glMatrixMode(GL_MODELVIEW);
// save identity matrix
glPushMatrix();
createViewMatrix();
}
void refreshViewMatrix()
{
// switch to Model-View matrix
glMatrixMode(GL_MODELVIEW);
// pop off the last view matrix from the stack and expose identity matrix
glPopMatrix();
// push identity matrix down the stack, and leave a copy of it on top
glPushMatrix();
createViewMatrix();
}
void PointSolver2::debugDraw (const char *imgname, Point3 *pos, Quaternion *orin)
{
cv::Mat image;
// Matrix4 currentViewMatrix = createViewMatrix (position0, orientation0);
Matrix4 cViewMatrix;
if (pos==NULL)
cViewMatrix = currentViewMatrix;
else
cViewMatrix = createViewMatrix (*pos, *orin);
PointSolver2::projectModel (image, model, this->projectionMatrix, cViewMatrix);
cv::imwrite (imgname, image);
}
void PointSolver2::projectModel (cv::Mat &output, vector<ModelLine> &model, PointSolver2::Projector &projector, Point3 &cameraPosition, Point3 ¢erOfView, Vector3 &_up)
{
Matrix4 viewMatrix = createViewMatrix (cameraPosition, centerOfView, _up);
return PointSolver2::projectModel (output, model, projector, viewMatrix);
}
void PointSolver2::projectModel(cv::Mat &output, vector<ModelLine> &model, PointSolver2::Projector &projector, Point3 &cameraPosition, Quaternion &cameraOrientation)
{
Matrix4 viewMatrix = createViewMatrix (cameraPosition, cameraOrientation);
return PointSolver2::projectModel (output, model, projector, viewMatrix);
}
void OpenGLRenderer::render(GdvCanvas& canvas) {
checkForErrors();
if (isBlack) {
glClearColor(0.0, 0.0, 0.0, 1.0);
} else {
glClearColor(1.0, 1.0, 1.0, 1.0);
}
// Rechnet auf die Projektionsmatrix die Kameramatrix und die Transformation drauf zum Rotieren
QMatrix4x4 mvpMatrix = createProjectionMatrix() * createViewMatrix();
// Mesh-Programm aktivieren
glUseProgram(program_IDs[useMeshShader]);
// Werte der Uniforms ändern
glUniformMatrix4fv(mvpMatrix_ID, 1, false, mvpMatrix.data());
glUniform1i(oiCheckIntersection_ID, isObjectIntersection);
glUniform3f(oiSource_ID, (quelleX - 200)/100.0, (quelleY - 200)/100.0, 0);
glUniform3f(oiObject_ID, (objectX - 200)/100.0, (objectY - 200)/100.0, 0);
checkForErrors();
if (isTransparency) {
glUniform1f(discardRate_ID, (float) discardRate/100.0); // Fragment-Verwerfrate
glBindVertexArray(0);
// FBOs leeren
glBindFramebuffer(GL_FRAMEBUFFER, fbo2);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glBindFramebuffer(GL_FRAMEBUFFER, fbo1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glBindFramebuffer(GL_FRAMEBUFFER, fbo3);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
int doubleSteps = 2 * steps;
for (int i = 0; i < doubleSteps; i++) {
//Wechseln der FBOs/Texturen
GLuint newFBO, usedFBOTexture;
if (i % 2 == 1){
newFBO = fbo2;
usedFBOTexture = colorTexture3;
} else {
newFBO = fbo3;
usedFBOTexture = colorTexture2;
}
glUseProgram(program_IDs[useMeshShader]);
float r;
if (isFlimmern)
r = (float) (std::rand() / (float) RAND_MAX);
else
r = i+1;
glUniform1f(rand_ID, r);
// FBO aktivieren
glBindFramebuffer(GL_FRAMEBUFFER, fbo1);
// Ausgabepuffer (Bildschirm/FBO) löschen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glUniform1i(meshTexture_ID, 0);
glActiveTexture(GL_TEXTURE0 + 0);
glBindTexture(GL_TEXTURE_2D, texture_ID);
// Zeichnen
glBindVertexArray(VAO_mesh);
glDrawArrays(GL_TRIANGLES, 0, vertexCount_mesh);
glBindVertexArray(0);
// Addieren
glBindFramebuffer(GL_FRAMEBUFFER, newFBO);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glUseProgram(program_IDs[useAddShader]);
// setze Shadervariablen
glUniform1i(pingPongStep_ID, i + 1);
// jetzt beide Texturen ansprechen
glUniform1i(newFBO_ID, 0); // 0 -> erste Textureinheit
glUniform1i(oldFBO_ID, 1); // 1 -> zweite Textureinheit
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, colorTexture1);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, usedFBOTexture);
// Zeichnen
glBindVertexArray(VAO_fbo);
glDrawArrays(GL_TRIANGLES, 0, vertexCount_fbo);
glBindVertexArray(0);
checkForErrors();
}
} else {
checkForErrors();
// ohne Transparenz
// in FBO rendern, damit ggfs. noch PostScreen-Effekte angewendet werden können
glBindFramebuffer(GL_FRAMEBUFFER, fbo2);
// Ausgabepuffer (Bildschirm/FBO) löschen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glUseProgram(program_IDs[useMeshShader]);
// Textur binden
glUniform1i(meshTexture_ID, 0);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, texture_ID);
// keine Fragments discarden
glUniform1f(discardRate_ID, 0.0f);
// Zeichnen
glBindVertexArray(VAO_mesh);
glDrawArrays(GL_TRIANGLES, 0, vertexCount_mesh);
glBindVertexArray(0);
checkForErrors();
}
// PostScreen-Effekte hinzufügen
if (isStarWars) {
glBindFramebuffer(GL_FRAMEBUFFER, fbo1); // in FBO rendern
} else {
glBindFramebuffer(GL_FRAMEBUFFER, 0); // in Bildschirm rendern
}
glUseProgram(program_IDs[useFinalShader]); // Programm aktivieren
// bools für finalShader setzen
glUniform1i(sobel_ID, isSobel);
glUniform1i(blue_ID, isBlue);
glUniform1i(black_ID, isBlack);
glUniform1f(height_ID, viewHeight);
glUniform1f(width_ID, viewWidth);
// Jetzt kann das FBO als Textur verwendet werden (Color−Attachment)
glActiveTexture(GL_TEXTURE0 + 0);
glBindTexture(GL_TEXTURE_2D, colorTexture2);
if (isBlack) {
glClearColor(0.0, 0.0, 0.0, 1.0);
} else {
glClearColor(1.0, 1.0, 1.0, 1.0);
}
// Ausgabepuffer (Bildschirm/FBO) löschen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Zeichnen
glBindVertexArray(VAO_fbo);
glDrawArrays(GL_TRIANGLES, 0, vertexCount_fbo);
glBindVertexArray(0);
if (isStarWars) {
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glUseProgram(program_IDs[useStarWarsShader]);
glBindTexture(GL_TEXTURE_2D, colorTexture1);
glUniform1f(swIntensity_ID, starwarsIntensity/100.0);
glUniform1i(swThickness_ID, starwarsThickness);
glUniform1i(swFrequency_ID, starwarsFrequency);
glUniform1i(swViewWidth_ID, viewWidth);
glUniform1i(swViewHeight_ID, viewHeight);
float r = (float) (std::rand() / (float) RAND_MAX);
if (!isStarWarsFlimmern) r = 0.5f;
glUniform1f(swRandom_ID, truncf(r * 100.0) / 100.0);
struct timeval tp;
gettimeofday(&tp, NULL);
long int ms = tp.tv_sec * 1000 + tp.tv_usec / 1000;
glUniform1f(swTime_ID, ms);
// Ausgabepuffer (Bildschirm/FBO) löschen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Zeichnen
glBindVertexArray(VAO_fbo);
glDrawArrays(GL_TRIANGLES, 0, vertexCount_fbo);
glBindVertexArray(0);
}
// Textur und Programm deaktivieren
glBindTexture(GL_TEXTURE_2D, 0);
glUseProgram(0);
checkForErrors();
}
/**
* @brief SelectTypeDialog::accept If user click Ok button, then test do what user want.
* This method can create new dialog window, or create needed variable, if no information is needed.
*/
void SelectTypeDialog::accept()
{
QString selectedType = ui->comboBox->currentText();
if(selectedType == generateProjection)
{
GenerateProjectionMatrix dialog;
dialog.exec();
if(dialog.result() == GenerateProjectionMatrix::Accepted)
{
setResult(true);
type = PROJECTION;
setVisible(false);
}
else
{
setResult(false);
setVisible(false);
}
}
else if(selectedType == generateView)
{
QMessageBox box;
box.setText(tr("Do you want to create view matrix?"));
box.setInformativeText(tr("Uniform variables '%1','%2','%3','%4' will override older variables with the same name.")
.arg(viewName, rotXName, rotYName, zoomZName));
box.setIcon(QMessageBox::Question);
box.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
int ret = box.exec();
if(ret == QMessageBox::Ok)
{
type = VIEW;
createViewMatrix();
setResult(true);
setVisible(false);
}
else
{
setResult(false);
setVisible(false);
}
}
else if(selectedType.startsWith("Rotation") && selectedType.endsWith("buttons"))
{
SetNameWithButtonsDialog dialog;
dialog.exec();
if(dialog.result() == SetNameWithButtonsDialog::Accepted)
{
//QString name = dialog.getVariableName();
//int buttonMinus = dialog.getButtonMinus();
//int buttonPlus = dialog.getButtonPlus();
//TODO complete this
}
}
}
