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");
}
