void Raytracer::render( int width, int height, Point3D eye, Vector3D view,
Vector3D up, double fov, std::string fileName ) {
computeTransforms(_root);
Matrix4x4 viewToWorld;
_scrWidth = width;
_scrHeight = height;
double factor = (double(height)/2)/tan(fov*M_PI/360.0);
initPixelBuffer();
viewToWorld = initInvViewMatrix(eye, view, up);
// Construct a ray for each pixel.
for (int i = 0; i < _scrHeight; i++) {
for (int j = 0; j < _scrWidth; j++) {
// Sets up ray origin and direction in view space,
// image plane is at z = -1.
Point3D origin(0., 0., 0.);
Point3D imagePlane;
imagePlane[0] = (-double(width)/2 + 0.5 + j)/factor;
imagePlane[1] = (-double(height)/2 + 0.5 + i)/factor;
imagePlane[2] = -1;
// TODO: Convert ray to world space and call
// shadeRay(ray) to generate pixel colour.
// ray -> world space
Point3D rayOriginWorld = viewToWorld * imagePlane;
Vector3D rayDir = imagePlane - origin;
Vector3D rayDirWorld = viewToWorld * rayDir;
Ray3D ray;
ray.origin = rayOriginWorld;
ray.dir = rayDirWorld;
ray.dir.normalize();
// pixel colour
Colour col = shadeRay(ray);
_rbuffer[i*width+j] = int(col[0]*255);
_gbuffer[i*width+j] = int(col[1]*255);
_bbuffer[i*width+j] = int(col[2]*255);
}
}
flushPixelBuffer(fileName);
}
void Raytracer::computeTransforms( SceneDagNode::Ptr node )
{
SceneDagNode::Ptr childPtr;
if (node->parent != nullptr)
{
node->modelToWorld = node->parent->modelToWorld*node->trans;
node->worldToModel = node->invtrans*node->parent->worldToModel;
}
else
{
node->modelToWorld = node->trans;
node->worldToModel = node->invtrans;
}
// Traverse the children.
childPtr = node->child;
while (childPtr != NULL) {
computeTransforms(childPtr);
childPtr = childPtr->next;
}
}
//处理无匹配区域
void FindRegionCorrespondence(const Mat& srcImg, const Mat& refImg, const vector<Point2i>& srcFeatures, const vector<Point2i>& refFeatures, const Mat& srcVisibility, const Mat& refVisibility,
const vector<int>& srcLabels, const int& regionum, vector<int>& refLabels, string resultFolder)
{
vector<vector<Point2f>> srcFeaturesTab(regionum);
vector<vector<Point2f>> refFeaturesTab(regionum);
int sz = srcFeatures.size();
int width = srcImg.size().width;
int height = srcImg.size().height;
for (int i = 0; i < sz; ++i)
{
int index = srcFeatures[i].y * width + srcFeatures[i].x;
int l = srcLabels[index];
srcFeaturesTab[l].push_back(srcFeatures[i]);
refFeaturesTab[l].push_back(refFeatures[i]);
}
//保存无匹配区域
vector<int> unmatchedIdx(0);
for (int i = 0; i < regionum; ++i)
if (srcFeaturesTab[i].size() == 0)
{
unmatchedIdx.push_back(i);
}
vector<vector<Point2f>> d_srcPointsTab(regionum);
calPointsTab(srcLabels, width, height, d_srcPointsTab);
string fn;
Mat unmatchedMsk = Mat::zeros(height, width, CV_8UC1), unmatched;
cout << "unmatched regions: " << endl;
for (int i = 0; i < unmatchedIdx.size(); ++i)
{
int idx = unmatchedIdx[i];
cout << idx << ' ';
pointsToMask(d_srcPointsTab[idx], unmatchedMsk);
}
cout << endl;
fn = resultFolder + "/unmatched_regions_mask.png";
imwrite(fn, unmatchedMsk);
srcImg.copyTo(unmatched, unmatchedMsk);
fn = resultFolder + "/unmatched_regions.png";
imwrite(fn, unmatched);
//每个区域的像素点
vector<vector<Point2f>> srcPointsTab(regionum); //已知
vector<vector<Point2f>> refPointsTab(regionum); //未知
calPointsTab(srcLabels, srcVisibility, srcPointsTab); //每个区域只保留可见性为1的像素
//calPointsTab(srcLabels, width, height, srcPointsTab);
vector<Mat> transforms(regionum);
vector<int> isMatched(regionum);
computeTransforms(srcFeaturesTab, refFeaturesTab, transforms, isMatched);
//deal with unmatched region
//cout << endl << "copy with no-matched region." << endl;
dealUnMatchedRegion(isMatched, transforms);
//dealUnMatchedRegion(srcImg, srcPointsTab, srcFeaturesTab, srcLabels, isMatched, transforms);
//apply transform to each region
applyTransforms(srcPointsTab, transforms, isMatched, refPointsTab);
//求解refLabels
computeRefLabels(refPointsTab, width, height, refVisibility, refLabels);
}
