Camera::Ptr AddCamera(kge::Scene& scene, const Rectf& viewport)
{
GameObject::Ptr gameObject = scene.CreateGameObject().lock();
Camera::Ptr camera = gameObject->AddComponent<Camera>().lock();
camera->SetPerspectiveLens(0.05f, 20.0f, Degreesf(90.0f));
camera->SetViewport(viewport, Rangef(0.0f, 1.0f));
return camera;
}
void on_passive_motion(int x, int y)
{
if (paused_) return;
double pitch = -(0.5-(double)y/window_height_)*M_PI; // in window coordinates positive y-axis is down
double yaw = (0.5-(double)x/window_width_)*M_PI*2;
camera_->set_pitch(pitch);
camera_->set_yaw(yaw);
}
void RayTracerController::start()
{
if (isRunning())
return;
Camera::Ptr camera = m_rt.camera();
if (!camera)
throw cxx::exception("There is no camera in the raytracer scene");
m_rt.setProgressCallback([camera, this](float progress, bool, quint64 raysProcessed) {
QMutexLocker mtlk(&m_mutex);
emit rayTracerImageUpdated(QPixmap::fromImage((*m_imageProcessor)(camera->canvas()).toImage()));
emit rayTracerProgress(progress, raysProcessed);
});
m_rtThread.start();
}
Camera::Ptr HouScene::loadCamera( QJsonObject &obj )
{
Camera::Ptr camera = std::make_shared<Camera>();
math::V2i res(int(obj.value("resx").toDouble()), int(obj.value("resy").toDouble()));
camera->setRaster( res.x, res.y, float(res.x)/float(res.y) );
math::M44f translation = math::M44f::TranslationMatrix(obj.value("transform.tx").toDouble(), obj.value("transform.ty").toDouble(), obj.value("transform.tz").toDouble());
math::M44f rotationX = math::M44f::RotationMatrixX( -math::degToRad(obj.value("transform.rx").toDouble()) );
math::M44f rotationY = math::M44f::RotationMatrixY( -math::degToRad(obj.value("transform.ry").toDouble()) );
math::M44f rotationZ = math::M44f::RotationMatrixZ( -math::degToRad(obj.value("transform.rz").toDouble()) );
camera->setViewToWorld( rotationX*rotationY*rotationZ*translation );
return camera;
}
void
initialize (int argc, char** argv)
{
const GLubyte* version = glGetString (GL_VERSION);
print_info ("OpenGL Version: %s\n", version);
// works well for MIT CSAIL model 2nd floor:
camera_->set (27.4503, 37.383, 4.30908, 0.0, 0.0654498, -2.25802);
if (argc > 1) loadPolygonMeshModel (argv[1]);
}
void
initialize (int argc, char** argv)
{
const GLubyte* version = glGetString (GL_VERSION);
std::cout << "OpenGL Version: " << version << std::endl;
// works for small files:
camera_->set(-5.0, 0.0, 1.0, 0.0, 0.0, 0.0);
pcl::console::print_info("About to read: %s", argv[2]);
loadPolygonMeshModel (argv[2]);
}
// Handle normal keys
void
on_keyboard (unsigned char key, int x, int y)
{
double speed = 0.1;
if (key == 27)
exit(0);
else if (key == 'w' || key == 'W')
camera_->move(speed,0,0);
else if (key == 's' || key == 'S')
camera_->move(-speed,0,0);
else if (key == 'a' || key == 'A')
camera_->move(0,speed,0);
else if (key == 'd' || key == 'D')
camera_->move(0,-speed,0);
else if (key == 'q' || key == 'Q')
camera_->move(0,0,speed);
else if (key == 'z' || key == 'Z')
camera_->move(0,0,-speed);
else if (key == 'p' || key == 'P')
paused_ = !paused_;
else if (key == 'v' || key == 'V')
write_file_ = 1;
// Use glutGetModifiers for modifiers
// GLUT_ACTIVE_SHIFT, GLUT_ACTIVE_CTRL, GLUT_ACTIVE_ALT
}
void
initialize (int argc, char** argv)
{
const GLubyte* version = glGetString (GL_VERSION);
std::cout << "OpenGL Version: " << version << std::endl;
// works well for MIT CSAIL model 3rd floor:
//camera_->set(4.04454, 44.9377, 1.1, 0.0, 0.0, -2.00352);
// works well for MIT CSAIL model 2nd floor:
// camera_->set (27.4503, 37.383, 4.30908, 0.0, 0.0654498, -2.25802);
// works for small files:
//camera_->set(-5.0, 0.0, 1.0, 0.0, 0.0, 0.0);
camera_->set( 1.31762, 0.382931, 1.89533, 0, 0.20944, -9.14989);
camera_->setPitch(0.20944); // not sure why this is here:
//camera_->set(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
cout << "About to read: " << argv[1] << endl;
load_PolygonMesh_model (argv[1]);
paused_ = false;
}
void initialize(int argc, char** argv)
{
const GLubyte* version = glGetString(GL_VERSION);
std::cout << "OpenGL Version: " << version << std::endl;
// works well for MIT CSAIL model 3rd floor:
// camera_->set(4.04454, 44.9377, 1.1, 0.0, 0.0, -2.00352);
// works for small files:
//camera_->set(-5.0, 0.0, 1.0, 0.0, 0.0, 0.0);
camera_->set(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
cout << "About to read: " << argv[1] << endl;
load_PolygonMesh_model(argv[1]);
paused_ = false;
}
void capture (Eigen::Isometry3d pose_in)
{
// No reference image - but this is kept for compatibility with range_test_v2:
float* reference = new float[range_likelihood_->getRowHeight() * range_likelihood_->getColWidth()];
const float* depth_buffer = range_likelihood_->getDepthBuffer();
// Copy one image from our last as a reference.
for (int i=0, n=0; i<range_likelihood_->getRowHeight(); ++i)
{
for (int j=0; j<range_likelihood_->getColWidth(); ++j)
{
reference[n++] = depth_buffer[i*range_likelihood_->getWidth() + j];
}
}
std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
std::vector<float> scores;
poses.push_back (pose_in);
range_likelihood_->computeLikelihoods (reference, poses, scores);
std::cout << "score: ";
for (size_t i = 0; i<scores.size (); ++i)
{
std::cout << " " << scores[i];
}
std::cout << std::endl;
std::cout << "camera: " << camera_->getX ()
<< " " << camera_->getY ()
<< " " << camera_->getZ ()
<< " " << camera_->getRoll ()
<< " " << camera_->getPitch ()
<< " " << camera_->getYaw ()
<< std::endl;
delete [] reference;
// Benchmark Values for
// 27840 triangle faces
// 13670 vertices
// 45.00Hz: simuation only
// 1.28Hz: simuation, addNoise? , getPointCloud, writeASCII
// 33.33Hz: simuation, getPointCloud
// 23.81Hz: simuation, getPointCloud, writeBinary
// 14.28Hz: simuation, addNoise, getPointCloud, writeBinary
// MODULE TIME FRACTION
// simuation 0.02222 31%
// addNoise 0.03 41%
// getPointCloud 0.008 11%
// writeBinary 0.012 16%
// total 0.07222
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);
}
void initialize(int argc, char** argv)
{
const GLubyte* version = glGetString(GL_VERSION);
std::cout << "OpenGL Version: " << version << std::endl;
// camera_->set(-5.0, 0.0, 1.0, 0.0, 0.0, 0.0);
camera_->set(4.04454, 44.9377, 1.1, 0.0, 0.0, -2.00352);
std::vector<std::string> files;
for (int i=1; i<argc; ++i) files.push_back(argv[i]);
//load_rwx_models(files);
load_model(files);
int i;
for (i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
paused_ = false;
}
void capture (Eigen::Isometry3d pose_in, string point_cloud_fname)
{
// No reference image - but this is kept for compatability with range_test_v2:
float* reference = new float[range_likelihood_->getRowHeight() * range_likelihood_->getColWidth()];
const float* depth_buffer = range_likelihood_->getDepthBuffer();
// Copy one image from our last as a reference.
for (int i=0, n=0; i<range_likelihood_->getRowHeight(); ++i)
{
for (int j=0; j<range_likelihood_->getColWidth(); ++j)
{
reference[n++] = depth_buffer[i*range_likelihood_->getWidth() + j];
}
}
std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
std::vector<float> scores;
poses.push_back (pose_in);
range_likelihood_->computeLikelihoods (reference, poses, scores);
std::cout << "score: ";
for (size_t i = 0; i<scores.size (); ++i)
{
std::cout << " " << scores[i];
}
std::cout << std::endl;
std::cout << "camera: " << camera_->getX ()
<< " " << camera_->getY ()
<< " " << camera_->getZ ()
<< " " << camera_->getRoll ()
<< " " << camera_->getPitch ()
<< " " << camera_->getYaw ()
<< std::endl;
delete [] reference;
// Benchmark Values for
// 27840 triangle faces
// 13670 vertices
// 45.00Hz: simuation only
// 1.28Hz: simuation, addNoise? , getPointCloud, writeASCII
// 33.33Hz: simuation, getPointCloud
// 23.81Hz: simuation, getPointCloud, writeBinary
// 14.28Hz: simuation, addNoise, getPointCloud, writeBinary
// MODULE TIME FRACTION
// simuation 0.02222 31%
// addNoise 0.03 41%
// getPointCloud 0.008 11%
// writeBinary 0.012 16%
// total 0.07222
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);
bool write_cloud = true;
if (write_cloud)
{
// Read Color Buffer from the GPU before creating PointCloud:
// By default the buffers are not read back from the GPU
range_likelihood_->getColorBuffer ();
range_likelihood_->getDepthBuffer ();
// Add noise directly to the CPU depth buffer
range_likelihood_->addNoise ();
// Optional argument to save point cloud in global frame:
// Save camera relative:
//range_likelihood_->getPointCloud(pc_out);
// Save in global frame - applying the camera frame:
//range_likelihood_->getPointCloud(pc_out,true,camera_->pose());
// Save in local frame
range_likelihood_->getPointCloud (pc_out,false,camera_->getPose ());
// TODO: what to do when there are more than one simulated view?
std::cout << pc_out->points.size() << " points written to file\n";
pcl::PCDWriter writer;
//writer.write (point_cloud_fname, *pc_out, false); /// ASCII
writer.writeBinary (point_cloud_fname, *pc_out);
//cout << "finished writing file\n";
}
// Disabled all OpenCV stuff for now: dont want the dependency
/*
bool demo_other_stuff = false;
if (demo_other_stuff && write_cloud)
{
write_score_image (range_likelihood_->getScoreBuffer ());
write_rgb_image (range_likelihood_->getColorBuffer ());
write_depth_image (range_likelihood_->getDepthBuffer ());
// Demo interacton with RangeImage:
pcl::RangeImagePlanar rangeImage;
range_likelihood_->getRangeImagePlanar (rangeImage);
// display viewer: (currently seqfaults on exit of viewer)
if (1==0){
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
viewer = simpleVis(pc_out);
while (!viewer->wasStopped ()){
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
}
*/
}
void
display ()
{
float* reference = new float[range_likelihood_->getRowHeight () * range_likelihood_->getColWidth ()];
const float* depth_buffer = range_likelihood_->getDepthBuffer ();
// Copy one image from our last as a reference.
for (int i = 0, n = 0; i < range_likelihood_->getRowHeight (); ++i)
{
for (int j = 0; j < range_likelihood_->getColWidth (); ++j)
{
reference[n++] = depth_buffer[ (i + range_likelihood_->getRowHeight () * range_likelihood_->getRows () / 2) * range_likelihood_->getWidth ()
+ j + range_likelihood_->getColWidth () * range_likelihood_->getCols () / 2];
}
}
float* reference_vis = new float[range_likelihood_visualization_->getRowHeight () * range_likelihood_visualization_->getColWidth ()];
const float* depth_buffer_vis = range_likelihood_visualization_->getDepthBuffer ();
// Copy one image from our last as a reference.
for (int i = 0, n = 0; i < range_likelihood_visualization_->getRowHeight (); ++i)
{
for (int j = 0; j < range_likelihood_visualization_->getColWidth (); ++j)
{
reference_vis[n++] = depth_buffer_vis[i*range_likelihood_visualization_->getWidth () + j];
}
}
std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
std::vector<float> scores;
// Render a single pose for visualization
poses.clear ();
poses.push_back (camera_->getPose ());
range_likelihood_visualization_->computeLikelihoods (reference_vis, poses, scores);
glDrawBuffer (GL_BACK);
glReadBuffer (GL_BACK);
// Draw the resulting images from the range_likelihood
glViewport (range_likelihood_visualization_->getWidth (), 0,
range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
// Draw the color image
glColorMask (true, true, true, true);
glClearColor (0, 0, 0, 0);
glClearDepth (1);
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable (GL_DEPTH_TEST);
glRasterPos2i (-1,-1);
glDrawPixels (range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight (),
GL_RGB, GL_UNSIGNED_BYTE, range_likelihood_visualization_->getColorBuffer ());
// Draw the depth image
glViewport (0, 0, range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
display_depth_image (range_likelihood_visualization_->getDepthBuffer (),
range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());
poses.clear ();
for (int i = 0; i < range_likelihood_->getRows (); ++i)
{
for (int j = 0; j < range_likelihood_->getCols (); ++j)
{
Camera camera (*camera_);
camera.move ((j - range_likelihood_->getCols () / 2.0) * 0.1,
(i - range_likelihood_->getRows () / 2.0) * 0.1,
0.0);
poses.push_back (camera.getPose ());
}
}
std::cout << std::endl;
TicToc tt;
tt.tic();
range_likelihood_->computeLikelihoods (reference, poses, scores);
tt.toc();
tt.toc_print();
if (gllib::getGLError () != GL_NO_ERROR)
{
std::cerr << "GL Error: RangeLikelihood::computeLikelihoods: finished" << std::endl;
}
#if 0
std::cout << "score: ";
for (size_t i = 0; i < scores.size (); ++i)
{
std::cout << " " << scores[i];
}
std::cout << std::endl;
#endif
std::cout << "camera: " << camera_->getX ()
<< " " << camera_->getY ()
<< " " << camera_->getZ ()
<< " " << camera_->getRoll ()
<< " " << camera_->getPitch ()
<< " " << camera_->getYaw ()
<< std::endl;
delete [] reference_vis;
delete [] reference;
if (gllib::getGLError () != GL_NO_ERROR)
{
std::cerr << "GL Error: before buffers" << std::endl;
}
glBindFramebuffer (GL_FRAMEBUFFER, 0);
glDrawBuffer (GL_BACK);
glReadBuffer (GL_BACK);
if (gllib::getGLError () != GL_NO_ERROR)
{
std::cerr << "GL Error: after buffers" << std::endl;
}
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
if (gllib::getGLError () != GL_NO_ERROR)
{
std::cerr << "GL Error: before viewport" << std::endl;
}
// Draw the score image for the particles
glViewport (0, range_likelihood_visualization_->getHeight (),
range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());
if (gllib::getGLError () != GL_NO_ERROR)
{
std::cerr << "GL Error: after viewport" << std::endl;
}
display_score_image (range_likelihood_->getScoreBuffer ());
// Draw the depth image for the particles
glViewport (range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight (),
range_likelihood_visualization_->getWidth (), range_likelihood_visualization_->getHeight ());
display_score_image (range_likelihood_->getDepthBuffer ());
glutSwapBuffers ();
}
void display ()
{
float* reference = new float[range_likelihood_->getRowHeight() * range_likelihood_->getColWidth()];
const float* depth_buffer = range_likelihood_->getDepthBuffer();
// Copy one image from our last as a reference.
for (int i=0, n=0; i<range_likelihood_->getRowHeight(); ++i)
{
for (int j=0; j<range_likelihood_->getColWidth(); ++j)
{
reference[n++] = depth_buffer[i*range_likelihood_->getWidth() + j];
}
}
std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
std::vector<float> scores;
int n = range_likelihood_->getRows ()*range_likelihood_->getCols ();
for (int i = 0; i < n; ++i)
{
Camera camera(*camera_);
camera.move(0.0,i*0.02,0.0);
//camera.move(0.0,i*0.02,0.0);
poses.push_back (camera.getPose ());
}
range_likelihood_->computeLikelihoods (reference, poses, scores);
range_likelihood_->computeLikelihoods (reference, poses, scores);
std::cout << "score: ";
for (size_t i = 0; i<scores.size (); ++i)
{
std::cout << " " << scores[i];
}
std::cout << std::endl;
std::cout << "camera: " << camera_->getX ()
<< " " << camera_->getY ()
<< " " << camera_->getZ ()
<< " " << camera_->getRoll ()
<< " " << camera_->getPitch ()
<< " " << camera_->getYaw ()
<< std::endl;
delete [] reference;
glDrawBuffer (GL_BACK);
glReadBuffer (GL_BACK);
// Draw the resulting images from the range_likelihood
glViewport (range_likelihood_->getWidth (), 0, range_likelihood_->getWidth (), range_likelihood_->getHeight ());
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
// Draw the color image
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColorMask (true, true, true, true);
glDisable (GL_DEPTH_TEST);
glRasterPos2i (-1,-1);
glDrawPixels (range_likelihood_->getWidth (), range_likelihood_->getHeight (),
GL_RGB, GL_UNSIGNED_BYTE, range_likelihood_->getColorBuffer ());
// Draw the depth image
glViewport (0, 0, range_likelihood_->getWidth (), range_likelihood_->getHeight ());
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
// display_depth_image (range_likelihood_->getDepthBuffer ());
display_depth_image (range_likelihood_->getDepthBuffer (),
range_likelihood_->getWidth (), range_likelihood_->getHeight ());
// Draw the score image
glViewport (0, range_likelihood_->getHeight (),
range_likelihood_->getWidth (), range_likelihood_->getHeight ());
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
display_score_image (range_likelihood_->getScoreBuffer ());
glutSwapBuffers ();
if (write_file_)
{
range_likelihood_->addNoise ();
pcl::RangeImagePlanar rangeImage;
range_likelihood_->getRangeImagePlanar (rangeImage);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);
// Optional argument to save point cloud in global frame:
// Save camera relative:
//range_likelihood_->getPointCloud(pc_out);
// Save in global frame - applying the camera frame:
//range_likelihood_->getPointCloud(pc_out,true,camera_->pose());
// Save in local frame
range_likelihood_->getPointCloud (pc_out,false,camera_->getPose ());
// TODO: what to do when there are more than one simulated view?
pcl::PCDWriter writer;
writer.write ("simulated_range_image.pcd", *pc_out, false);
cout << "finished writing file\n";
// pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
// viewer.showCloud (pc_out);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
viewer = simpleVis(pc_out);
while (!viewer->wasStopped ())
{
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
// doesnt work:
// viewer->~PCLVisualizer();
// viewer.reset();
cout << "done\n";
// Problem: vtk and opengl dont seem to play very well together
// vtk seems to misbehave after a little while and wont keep the window on the screen
// method1: kill with [x] - but eventually it crashes:
//while (!viewer.wasStopped ()){
//}
// method2: eventually starts ignoring cin and pops up on screen and closes almost
// immediately
// cout << "enter 1 to cont\n";
// cin >> pause;
// viewer.wasStopped ();
// method 3: if you interact with the window with keys, the window is not closed properly
// TODO: use pcl methods as this time stuff is probably not cross playform
// struct timespec t;
// t.tv_sec = 100;
// //t.tv_nsec = (time_t)(20000000); // short sleep
// t.tv_nsec = (time_t)(0); // long sleep - normal speed
// nanosleep (&t, NULL);
write_file_ = 0;
}
}
int main(int argc, char* argv[])
{
Game game(Graphics::DirectX11, Vector2i(1920, 1080), 60.0f);
Auto<Graphics> graphics = game.GetGraphics();
Auto<ResourceManager> resourceManager = game.GetResourceManager();
Auto<WindowRenderTarget> windowRenderTarget = game.GetWindowRenderTarget();
Auto<VertexShader> vertexShader;
Auto<PixelShader> pixelShader;
Auto<Mesh> meshTest;
Auto<Sampler> linearSampler;
Auto<Sampler> pointSampler;
kge::Scene::Ptr scene = game.CreateScene();
GameObject::Ptr conrellBox = AddObject(scene, "Media/Meshes/CornellBox.obj#Cube", "Media/Materials/CornellBox.json");
conrellBox->GetTransform()->SetLocalOrientation(Quaternionf(Vector3f(0.0f, 1.0f, 0.0f), Degreesf(180.0f)));
GameObject::Ptr suzanne = scene->CreateGameObject().lock();
suzanne->GetTransform()->SetLocalOrientation(Quaternionf(Vector3f(0.0f, 1.0f, 0.0f), Degreesf(225.0f)));
suzanne->GetTransform()->SetLocalScale(Vector3f(0.6f, 0.6f, 0.6f));
suzanne->GetTransform()->SetLocalPosition(Vector3f(0.0f, -1.0f, 0.0f));
suzanne->AddComponent<SpinBehavior>();
game.GetLuaContext().AddBehaviorScript(resourceManager->LoadResource<LuaScript>("Media/Scripts/Test.lua"));
game.GetLuaContext().AddBehaviorScript(resourceManager->LoadResource<LuaScript>("Media/Scripts/BaseTest.lua"));
//suzanne->AddComponent<LuaBehavior>().lock()->SetLuaClassName("Test");
Renderer::Ref renderer = suzanne->AddComponent<Renderer>();
scene->GetRenderManager().SetCompositor(
RenderManager::DefaultCompositor,
Auto<Compositor>(new DeferredCompositor(*graphics, *resourceManager))
);
Camera::Ptr leftEye = AddCamera(*scene, Rectf(0.0f, 0.0f, 1.0f, 1.0f));
//Camera::Ptr rightEye = AddCamera(*scene, Rectf(0.0f, 0.5f, 1.0f, 0.5f));
GameObject::Ptr cameraObject = scene->CreateGameObject().lock();
cameraObject->AddComponent<FlyCamera>();
leftEye->GetGameObject().GetTransform()->SetParent(cameraObject->GetTransform());
leftEye->GetGameObject().GetTransform()->SetLocalPosition(Vector3f(-0.025f, 0.0f, 0.0f));
//rightEye->GetGameObject().GetTransform()->SetParent(cameraObject->GetTransform());
//rightEye->GetGameObject().GetTransform()->SetLocalPosition(Vector3f(0.025f, 0.0f, 0.0f));
GameObject::Ptr cubeTest = AddObject(scene, "Media/Meshes/Cube.obj#Cube", "Media/Materials/Cube.json");
cubeTest->GetTransform()->SetLocalScale(Vector3f(0.1f, 0.1f, 0.1f));
cubeTest->GetTransform()->SetLocalPosition(Vector3f(0.0f, -0.5f, -0.8f));
SpinBehavior::Ptr cubeSpin = cubeTest->AddComponent<SpinBehavior>().lock();
cubeSpin->SetAxis(Vector3f(1.0f, 0.0f, 0.0f));
cubeSpin = cubeTest->AddComponent<SpinBehavior>().lock();
cubeSpin->SetAxis(Vector3f(0.0f, 1.0f, 0.0f));
cubeSpin->SetRotationRate(Degreesf(7.0f));
{
GameObject::Ptr lightObject = scene->CreateGameObject().lock();
lightObject->GetTransform()->SetLocalPosition(Vector3f(0.0f, 0.9f, 0.0f));
PointLight::Ptr pointLight = lightObject->AddComponent<PointLight>().lock();
pointLight->SetRange(4.0f);
pointLight->SetColor(Colorf(1.0f, 1.0f, 1.0f));
}
for (int i = 1; i <= 5; ++i)
{
for (int j = 0; j < 5; ++j) {
AddEmmisiveSphere(scene, Vector3f(0.4f * i - 1.2f, -0.9f, -0.8f + j * 0.4f), Colorf(0.3f, 0.5f + i * 0.3f, 2.0f - j * 0.3f));
}
}
try
{
vertexShader = resourceManager->LoadResource<VertexShader>("Media/Shaders/Bundle/VertexShaderTest.shader");
pixelShader = resourceManager->LoadResource<PixelShader>("Media/Shaders/Bundle/PixelShaderTest.shader");
meshTest = resourceManager->LoadResource<Mesh>("Media/Meshes/Suzanne.obj#Suzanne");
SamplerDescription samplerDesc;
linearSampler = graphics->CreateSampler(samplerDesc);
samplerDesc.minFilter = InterpolationMode::Point;
samplerDesc.magFilter = InterpolationMode::Point;
samplerDesc.mipFilter = InterpolationMode::Point;
pointSampler = graphics->CreateSampler(samplerDesc);
Material::Ptr suzanneMaterial = resourceManager->LoadResource<Material>("Media/Materials/Suzanne.json");
Renderer::Ptr rendererPtr = renderer.lock();
rendererPtr->SetMesh(meshTest);
rendererPtr->SetMaterial(suzanneMaterial, 0);
RenderTargetConfiguration renderTarget;
renderTarget.AddRenderTarget(windowRenderTarget);
leftEye->SetRenderTargets(renderTarget);
//rightEye->SetRenderTargets(renderTarget);
cameraObject->GetTransform()->SetLocalPosition(Vector3f(0.0f, 0.0f, -2.0f));
}
catch (Exception& exception)
{
const char* what = exception.what();
std::cerr << what;
exit(1);
}
graphics->SetSampler(pointSampler, 0, ShaderStage::PixelShader);
graphics->SetSampler(linearSampler, 1, ShaderStage::PixelShader);
game.SetCurrentScene(scene);
/*
std::ofstream sceneOutput("TestScene.json", std::ios_base::binary);
kge::ComponentFactory factory;
kge::SceneJsonSerializer serializer(factory, sceneOutput);
serializer.SerializeScene(*scene);
sceneOutput.close();
std::ostringstream objectStream(std::ios_base::binary);
kge::SceneJsonSerializer objectSerialize(factory, objectStream);
objectSerialize.SerializePrefab(*suzanne);
std::string objectJson = objectStream.str();
std::istringstream inputStream(objectJson, std::ios_base::binary);
kge::SceneJsonDeserializer objectDeserialize(factory, *game.GetResourceManager(), inputStream);
objectDeserialize.DeserializePrefab(*scene);
*/
suzanne.reset();
game.MainLoop();
return 0;
}
void
execute (int argc, char** argv, std::string plyfile)
{
PtrStepSz<const unsigned short> depth;
PtrStepSz<const KinfuTracker::PixelRGB> rgb24;
int time_ms = 0;
bool has_image = false;
// Create simulation environment:
int width = 640;
int height = 480;
for (int i=0; i<2048; i++)
{
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
glutInit (&argc, argv);
glutInitDisplayMode (GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGB);// was GLUT_RGBA
glutInitWindowPosition (10, 10);
glutInitWindowSize (10, 10);
//glutInitWindowSize (window_width_, window_height_);
glutCreateWindow ("OpenGL range likelihood");
GLenum err = glewInit ();
if (GLEW_OK != err)
{
std::cerr << "Error: " << glewGetErrorString (err) << std::endl;
exit (-1);
}
std::cout << "Status: Using GLEW " << glewGetString (GLEW_VERSION) << std::endl;
if (glewIsSupported ("GL_VERSION_2_0"))
std::cout << "OpenGL 2.0 supported" << std::endl;
else
{
std::cerr << "Error: OpenGL 2.0 not supported" << std::endl;
exit(1);
}
std::cout << "GL_MAX_VIEWPORTS: " << GL_MAX_VIEWPORTS << std::endl;
camera_ = Camera::Ptr (new Camera ());
scene_ = Scene::Ptr (new Scene ());
range_likelihood_ = RangeLikelihood::Ptr (new RangeLikelihood (1, 1, height, width, scene_));
// Actually corresponds to default parameters:
range_likelihood_->setCameraIntrinsicsParameters (640,480, 576.09757860,
576.09757860, 321.06398107, 242.97676897);
range_likelihood_->setComputeOnCPU (false);
range_likelihood_->setSumOnCPU (true);
range_likelihood_->setUseColor (true);
camera_->set(0.471703, 1.59862, 3.10937, 0, 0.418879, -12.2129);
camera_->set_pitch(0.418879); // not sure why this is here:
cout << "About to read: "<< plyfile << endl;
load_PolygonMesh_model (plyfile);
// Generate a series of poses:
std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
Eigen::Vector3d focus_center(0,0,1.3);
// double halo_r = 4.0;
double halo_r = 1.5;
double halo_dz = 1.5; // was 2;
// 20 is too quick when adding noise:
// 50 is ok though
int n_poses=50;
int n_pose_stop = 10;
// above means make a circle of 50 poses, stop after the 10th i.e. 1/5 of a halo ring:
generate_halo(poses,focus_center,halo_r,halo_dz,n_poses);
unsigned short * disparity_buf_ = new unsigned short[width*height ];
const KinfuTracker::PixelRGB* color_buf_;
const uint8_t* color_buf_uint;
// loop though and create the mesh:
for (int i = 0; !exit_; ++i)
{
vector<double> tic_toc;
tic_toc.push_back(getTime());
double tic_main = getTime();
Eigen::Vector3d t(poses[i].translation());
Eigen::Quaterniond r(poses[i].rotation());
std::stringstream ss;
ss << t[0]<<", "<<t[1]<<", "<<t[2]<<" | "
<<r.w()<<", "<<r.x()<<", "<<r.y()<<", "<<r.z() ;
std::cout << i << ": " << ss.str() << " pose_simulatedposition\n";
capture (poses[i],disparity_buf_, color_buf_uint);//,ss.str());
color_buf_ = (const KinfuTracker::PixelRGB*) color_buf_uint;
PtrStepSz<const unsigned short> depth_sim = PtrStepSz<const unsigned short>(height, width, disparity_buf_, 2*width);
//cout << depth_sim.rows << " by " << depth_sim.cols << " | s: " << depth_sim.step << "\n";
// RGB-KinFu currently disabled for now - problems with color in KinFu apparently
// but this constructor might not be right either: not sure about step size
integrate_colors_=false;
PtrStepSz<const KinfuTracker::PixelRGB> rgb24_sim = PtrStepSz<const KinfuTracker::PixelRGB>(height, width, color_buf_, width);
tic_toc.push_back (getTime ());
if (1==0){ // live capture - probably doesnt work anymore, left in here for comparison:
bool has_frame = evaluation_ptr_ ? evaluation_ptr_->grab(i, depth) : capture_.grab (depth, rgb24);
if (!has_frame)
{
cout << "Can't grab" << endl;
break;
}
depth_device_.upload (depth.data, depth.step, depth.rows, depth.cols);
if (integrate_colors_)
image_view_.colors_device_.upload (rgb24.data, rgb24.step, rgb24.rows, rgb24.cols);
{
SampledScopeTime fps(time_ms, i);
//run kinfu algorithm
if (integrate_colors_)
has_image = kinfu_ (depth_device_, image_view_.colors_device_);
else
has_image = kinfu_ (depth_device_);
}
}else{ //simulate:
cout << " color: " << integrate_colors_ << "\n"; // integrate_colors_ seems to be zero
depth_device_.upload (depth_sim.data, depth_sim.step, depth_sim.rows, depth_sim.cols);
if (integrate_colors_){
image_view_.colors_device_.upload (rgb24_sim.data, rgb24_sim.step, rgb24_sim.rows, rgb24_sim.cols);
}
tic_toc.push_back (getTime ());
{
SampledScopeTime fps(time_ms, i);
//run kinfu algorithm
if (integrate_colors_)
has_image = kinfu_ (depth_device_, image_view_.colors_device_);
else
has_image = kinfu_ (depth_device_);
}
}
tic_toc.push_back (getTime ());
Eigen::Affine3f k_aff = kinfu_.getCameraPose();
Eigen::Matrix3f k_m;
k_m =k_aff.rotation();
Eigen::Quaternionf k_r;
k_r = Eigen::Quaternionf(k_m);
std::stringstream ss_k;
ss_k << k_aff(0,3) <<", "<< k_aff(1,3)<<", "<< k_aff(2,3)<<" | "
<<k_r.w()<<", "<<k_r.x()<<", "<<k_r.y()<<", "<<k_r.z() ;
std::cout << i << ": " << ss_k.str() << " pose_kinect\n";
// Everything below this is Visualization or I/O:
if (i >n_pose_stop){
int pause;
cout << "Enter a key to write Mesh file\n";
cin >> pause;
scene_cloud_view_.showMesh(kinfu_, integrate_colors_);
writeMesh(KinFuApp::MESH_VTK);
// writeMesh(KinFuApp::MESH_PLY);
if (scan_)
{
scan_ = false;
scene_cloud_view_.show (kinfu_, integrate_colors_);
if (scan_volume_)
{
// download tsdf volume
{
ScopeTimeT time ("tsdf volume download");
cout << "Downloading TSDF volume from device ... " << flush;
// kinfu_.volume().downloadTsdfAndWeighs (tsdf_volume_.volumeWriteable (), tsdf_volume_.weightsWriteable ());
kinfu_.volume ().downloadTsdfAndWeighsLocal ();
// tsdf_volume_.setHeader (Eigen::Vector3i (pcl::device::VOLUME_X, pcl::device::VOLUME_Y, pcl::device::VOLUME_Z), kinfu_.volume().getSize ());
kinfu_.volume ().setHeader (Eigen::Vector3i (pcl::device::VOLUME_X, pcl::device::VOLUME_Y, pcl::device::VOLUME_Z), kinfu_.volume().getSize ());
// cout << "done [" << tsdf_volume_.size () << " voxels]" << endl << endl;
cout << "done [" << kinfu_.volume ().size () << " voxels]" << endl << endl;
}
{
ScopeTimeT time ("converting");
cout << "Converting volume to TSDF cloud ... " << flush;
// tsdf_volume_.convertToTsdfCloud (tsdf_cloud_ptr_);
kinfu_.volume ().convertToTsdfCloud (tsdf_cloud_ptr_);
cout << "done [" << tsdf_cloud_ptr_->size () << " points]" << endl << endl;
}
}
else
cout << "[!] tsdf volume download is disabled" << endl << endl;
}
if (scan_mesh_)
{
scan_mesh_ = false;
scene_cloud_view_.showMesh(kinfu_, integrate_colors_);
}
if (has_image)
{
Eigen::Affine3f viewer_pose = getViewerPose(scene_cloud_view_.cloud_viewer_);
// image_view_.showScene (kinfu_, rgb24, registration_, independent_camera_ ? &viewer_pose : 0);
image_view_.showScene (kinfu_, rgb24_sim, registration_, independent_camera_ ? &viewer_pose : 0);
}
if (current_frame_cloud_view_)
current_frame_cloud_view_->show (kinfu_);
image_view_.showDepth (depth_sim);
//image_view_.showDepth (depth);
// image_view_.showGeneratedDepth(kinfu_, kinfu_.getCameraPose());
if (!independent_camera_)
setViewerPose (scene_cloud_view_.cloud_viewer_, kinfu_.getCameraPose());
scene_cloud_view_.cloud_viewer_.spinOnce (3);
// As of April 2012, entering a key will end this program...
cout << "Paused after view\n";
cin >> pause;
}
double elapsed = (getTime() -tic_main);
cout << elapsed << " sec elapsed [" << (1/elapsed) << "]\n";
tic_toc.push_back (getTime ());
display_tic_toc (tic_toc, "kinfu_app_sim");
}
void display() {
glViewport(range_likelihood_->width(), 0, range_likelihood_->width(), range_likelihood_->height());
float* reference = new float[range_likelihood_->row_height() * range_likelihood_->col_width()];
const float* depth_buffer = range_likelihood_->depth_buffer();
// Copy one image from our last as a reference.
for (int i=0, n=0; i<range_likelihood_->row_height(); ++i) {
for (int j=0; j<range_likelihood_->col_width(); ++j) {
reference[n++] = depth_buffer[i*range_likelihood_->width() + j];
}
}
std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > poses;
std::vector<float> scores;
int n = range_likelihood_->rows()*range_likelihood_->cols();
for (int i=0; i<n; ++i) { // This is used when there is
Camera camera(*camera_);
camera.move(0.0,0.0,0.0);
//camera.move(0.0,i*0.02,0.0);
poses.push_back(camera.pose());
}
float* depth_field =NULL;
bool do_depth_field =false;
range_likelihood_->compute_likelihoods(reference, poses, scores,depth_field,do_depth_field);
// range_likelihood_->compute_likelihoods(reference, poses, scores);
delete [] reference;
delete [] depth_field;
std::cout << "score: ";
for (size_t i=0; i<scores.size(); ++i) {
std::cout << " " << scores[i];
}
std::cout << std::endl;
// Draw the depth image
// glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// glColorMask(true, true, true, true);
glDisable(GL_DEPTH_TEST);
glViewport(0, 0, range_likelihood_->width(), range_likelihood_->height());
//glViewport(0, 0, range_likelihood_->width(), range_likelihood_->height());
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
//glRasterPos2i(-1,-1);
//glDrawPixels(range_likelihood_->width(), range_likelihood_->height(), GL_LUMINANCE, GL_FLOAT, range_likelihood_->depth_buffer());
display_depth_image(range_likelihood_->depth_buffer());
glutSwapBuffers();
if (write_file_){
range_likelihood_->addNoise();
pcl::RangeImagePlanar rangeImage;
range_likelihood_->getRangeImagePlanar(rangeImage);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pc_out (new pcl::PointCloud<pcl::PointXYZRGB>);
// Optional argument to save point cloud in global frame:
// Save camera relative:
//range_likelihood_->getPointCloud(pc_out);
// Save in global frame - applying the camera frame:
//range_likelihood_->getPointCloud(pc_out,true,camera_->pose());
// Save in local frame
range_likelihood_->getPointCloud(pc_out,false,camera_->pose());
// TODO: what to do when there are more than one simulated view?
pcl::PCDWriter writer;
writer.write ("simulated_range_image.pcd", *pc_out, false);
cout << "finished writing file\n";
pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
viewer.showCloud (pc_out);
// Problem: vtk and opengl dont seem to play very well together
// vtk seems to misbehavew after a little while and wont keep the window on the screen
// method1: kill with [x] - but eventually it crashes:
//while (!viewer.wasStopped ()){
//}
// method2: eventually starts ignoring cin and pops up on screen and closes almost
// immediately
// cout << "enter 1 to cont\n";
// cin >> pause;
// viewer.wasStopped ();
// method 3: if you interact with the window with keys, the window is not closed properly
// TODO: use pcl methods as this time stuff is probably not cross playform
struct timespec t;
t.tv_sec = 100;
//t.tv_nsec = (time_t)(20000000); // short sleep
t.tv_nsec = (time_t)(0); // long sleep - normal speed
nanosleep(&t, NULL);
write_file_ =0;
}
}
