pose debug
This commit is contained in:
fxia22
parent
96a9fc0cfa
commit
1d34b60405
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@ -1,323 +1,328 @@
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// Include GLFW
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#include <glfw3.h>
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extern GLFWwindow* window; // The "extern" keyword here is to access the variable "window" declared in tutorialXXX.cpp. This is a hack to keep the tutorials simple. Please avoid this.
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// Include GLM
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#include <glm/glm.hpp>
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//#include <glm/gtx/rotate_vector.hpp>
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#include <glm/gtc/matrix_transform.hpp>
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#include <glm/gtx/transform.hpp>
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#include <glm/gtc/quaternion.hpp>
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#include <glm/gtx/quaternion.hpp>
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#include <stdio.h>
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#include <cassert>
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#include <cstring>
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using namespace glm;
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#include "controls.hpp"
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glm::mat4 ViewMatrix;
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glm::mat4 ProjectionMatrix;
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glm::mat4 getViewMatrix(){
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return ViewMatrix;
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}
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glm::mat4 getProjectionMatrix(){
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return ProjectionMatrix;
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}
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// Initial position : on +Z
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// point 0 view 1
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// glm::vec3 position = glm::vec3( 0.033474, 1.53312, 0.002227 );
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// opengl location = blender rotate by 90 along x
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// original (blender): 0.033474, -0.002227, 1.53312
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// point 0 view 2
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// glm::vec3 position = glm::vec3( -1.096474, 1.535375, -0.124639 ); // point 0 view 2 adapted
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// original (blender): -1.096474, 0.124639, 1.535375
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glm::vec3 position = glm::vec3(-1.096474, 0.124639, 1.535375); // point 0 view 2 original (blender):
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// Point 6 view 0
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//glm::vec3 position = glm::vec3( -1.096474, 1.535375, -0.124639 );
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// Initial horizontal angle : toward -Z
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float horizontalAngle = 3.14f;
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// Initial vertical angle : none
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float verticalAngle = 0.0f;
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float speed = 3.0f; // 3 units / second
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float mouseSpeed = 0.005f;
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float currentPoseStartTime = 0;
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int currentPoseRotCount = 0;
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glm::quat initialDirections[] = {
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glm::quat(glm::vec3(glm::radians(90.0f), 0.0f, 0.0f)),
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glm::quat(glm::vec3(0.0f, glm::radians(90.0f), 0.0f)),
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glm::quat(glm::vec3(0.0f, 0.0f, 0.0f)),
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glm::quat(glm::vec3(0.0f, glm::radians(-90.0f), 0.0f)),
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glm::quat(glm::vec3(0.0f, glm::radians(-180.0f), 0.0f)),
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//glm::quat(glm::vec3(0.0f, glm::radians(90.0f), 0.0f)),
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//glm::quat(glm::vec3(0.0f, glm::radians(180.0f), 0.0f)),
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//glm::quat(glm::vec3(0.0f, glm::radians(270.0f), 0.0f)),
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glm::quat(glm::vec3(glm::radians(-90.0f), 0.0f, 0.0f))
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};
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// Automatically load all poses of a model, and render corresponding pngs
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// Useful for diagnostics
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void getPositionRotation(glm::vec3 &position, float& rotX, float& rotY, float& rotZ, char* filename) {
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// Change position, rotation and Z value
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printf("Updating position rotation\n");
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const char * path = "posefile";
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FILE * file = fopen(path, "r");
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if( file == NULL ){
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printf("Impossible to open the file !\n");
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}
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printf("Done reading pose file\n");
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int i = -1;
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float pos[3], rot[3];
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char namebuf[50];
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while (i < currentPoseRotCount) {
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//printf("current i: %d\n", i);
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//printf("original vec %f %f %f\n", position[0], position[1], position[2]);
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memset(namebuf, 0, 50);
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int count = fscanf(file, "%f %f %f %f %f %f %s\n", &pos[0], &pos[1], &pos[2], &rot[0], &rot[1], &rot[2], namebuf );
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// printf("current count: %d %s\n", count, namebuf);
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assert(count == 7);
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//fgets(filename, 30, file);
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//printf("current count: %d %s\n", count, filename);
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i ++;
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}
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position[0] = pos[0];
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position[1] = pos[1];
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position[2] = pos[2];
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rotX = rot[0];
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rotY = rot[1];
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rotZ = rot[2];
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strcpy(filename, namebuf);
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printf("Successfully read pose file line %d\n", currentPoseRotCount);
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fclose(file);
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}
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bool computeMatricesFromInputs(){
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bool do_screenshot = true;
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// glfwGetTime is called only once, the first time this function is called
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static double lastTime = glfwGetTime();
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// Compute time difference between current and last frame
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double currentTime = glfwGetTime();
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float deltaTime = float(currentTime - lastTime);
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// Get mouse position
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double xpos, ypos;
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//glfwGetCursorPos(window, &xpos, &ypos);
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// Reset mouse position for next framAze
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//glfwSetCursorPos(window, 512/2, 512/2);
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// Compute new orientation
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horizontalAngle += mouseSpeed * float( 768/2 - xpos );
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verticalAngle += mouseSpeed * float( 768/2 - ypos );
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// Direction : Spherical coordinates to Cartesian coordinates conversion
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glm::vec3 direction(
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cos(verticalAngle) * sin(horizontalAngle),
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sin(verticalAngle),
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cos(verticalAngle) * cos(horizontalAngle)
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);
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// Right vector
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glm::vec3 right = glm::vec3(
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sin(horizontalAngle - 3.14f/2.0f),
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0,
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cos(horizontalAngle - 3.14f/2.0f)
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);
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// Up vector
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// glm::vec3 up = glm::cross( right, direction );
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glm::vec4 up4 = glm::vec4(0.0, 1.0, 0.0, 1.0);
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/*
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// Move forward
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if (glfwGetKey( window, GLFW_KEY_UP ) == GLFW_PRESS){
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position += direction * deltaTime * speed;
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}
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// Move backward
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if (glfwGetKey( window, GLFW_KEY_DOWN ) == GLFW_PRESS){
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position -= direction * deltaTime * speed;
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}
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// Strafe right
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if (glfwGetKey( window, GLFW_KEY_RIGHT ) == GLFW_PRESS){
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position += right * deltaTime * speed;
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}
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// Strafe left
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if (glfwGetKey( window, GLFW_KEY_LEFT ) == GLFW_PRESS){
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position -= right * deltaTime * speed;
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}
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*/
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// Hardcoded pose information
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// Camera matrix
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// Point 0 view 1
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/*float rotationX = 1.2462860345840454;
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float rotationY = -0.009244712069630623;
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float rotationZ = -1.2957184314727783;
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*/
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// Point 0 view 2
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float rotationX = 1.3605239391326904;
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float rotationY = -0.009078502655029297;
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float rotationZ = -1.441698670387268;
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//float fov = 0.9698680134771724;
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float fov = glm::radians(90.0f);
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ProjectionMatrix = glm::perspective(fov, 1.0f, 0.1f, 5000.0f); // near & far are not verified, but accuracy seems to work well
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// Point 6 view 0
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//float rotationX = 1.4468656778335571;
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//float rotationY = -0.00613052025437355;
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//float rotationZ = -0.22472861409187317;
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//if (currentTime - currentPoseStartTime > 1) {
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// UNCOMMENT THIS, in order to render png at a new position every second
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//getPositionRotation(position, rotationX, rotationY, rotationZ, filename);
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glm::quat initial = initialDirections[currentPoseRotCount];
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//convertRotation(rotationX, rotationY, rotationZ, currentPoseRotCount);
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currentPoseStartTime = currentTime;
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currentPoseRotCount += 1;
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do_screenshot = true;
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//}
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glm::quat viewDirection;
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glm::vec3 viewDirectionEuler(rotationX, rotationY, rotationZ);
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viewDirection = glm::quat(viewDirectionEuler) * initial;
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ViewMatrix = glm::inverse(glm::translate(glm::mat4(1.0), position) * glm::toMat4(viewDirection));
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/*printf("Third view matrix\n");
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for (int i = 0; i < 4; ++i) {
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printf("\t %f %f %f %f\n", ViewMatrix[0][i], ViewMatrix[1][i], ViewMatrix[2][i], ViewMatrix[3][i]);
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}*/
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// For the next frame, the "last time" will be "now"
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lastTime = currentTime;
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return do_screenshot;
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}
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bool computeMatricesFromFile(std::string filename){
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bool do_screenshot = true;
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// glfwGetTime is called only once, the first time this function is called
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static double lastTime = glfwGetTime();
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// Compute time difference between current and last frame
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double currentTime = glfwGetTime();
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float deltaTime = float(currentTime - lastTime);
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// Get mouse position
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double xpos, ypos;
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// Compute new orientation
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horizontalAngle += mouseSpeed * float( 512/2 - xpos );
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verticalAngle += mouseSpeed * float( 512/2 - ypos );
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// Direction : Spherical coordinates to Cartesian coordinates conversion
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glm::vec3 direction(
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cos(verticalAngle) * sin(horizontalAngle),
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sin(verticalAngle),
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cos(verticalAngle) * cos(horizontalAngle)
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);
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// Hardcoded pose information
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// Camera matrix
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// Point 0 view 1
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/*float rotationX = 1.2462860345840454;
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float rotationY = -0.009244712069630623;
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float rotationZ = -1.2957184314727783;
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*/
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// Point 0 view 2
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//float rotationX = 1.3605239391326904;
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//float rotationY = -0.009078502655029297;
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//float rotationZ = -1.441698670387268;
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//float fov = 0.9698680134771724;
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float fov = glm::radians(90.0f);
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float posX = 0;
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float posY = 0;
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float posZ = 0;
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float rotW = 0;
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float rotX = 0;
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float rotY = 0;
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float rotZ = 0;
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float junk[2];
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FILE * file = fopen(filename.c_str(), "r");
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if( file == NULL ){
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printf("Impossible to open pose file %s!\n", filename.c_str());
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}
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char namebuf[50];
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int count = fscanf(file, "%s %f %f %f %f %f %f %f %f %f\n", namebuf, &posX, &posY, &posZ, &rotW, &rotY, &rotX, &rotZ, &junk[0], &junk[1] );
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printf("Loading pose file count: %d, namebuf: %s, rot count %d\n", count, namebuf, currentPoseRotCount);
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//assert(count == 10);
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rotY = -rotY;
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position = glm::vec3(posX, posY, posZ);
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ProjectionMatrix = glm::perspective(fov, 1.0f, 0.1f, 5000.0f); // near & far are not verified, but accuracy seems to work well
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//if (currentTime - currentPoseStartTime > 1) {
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// UNCOMMENT THIS, in order to render png at a new position every second
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//getPositionRotation(position, rotationX, rotationY, rotationZ, filename);
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glm::quat initial = initialDirections[currentPoseRotCount];
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//convertRotation(rotationX, rotationY, rotationZ, currentPoseRotCount);
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currentPoseStartTime = currentTime;
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currentPoseRotCount += 1;
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do_screenshot = true;
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//}
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glm::quat viewDirection;
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//glm::vec3 viewDirectionEuler(rotationX, rotationY, rotationZ);
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glm::quat rotateX_90 = glm::quat(glm::vec3(glm::radians(90.0f), 0.0f, 0.0f));
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viewDirection = rotateX_90 * glm::quat(rotW, rotX, rotY, rotZ) * initial;
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//viewDirection = glm::quat(viewDirectionEuler) * initial;
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ViewMatrix = glm::inverse(glm::translate(glm::mat4(1.0), position) * glm::toMat4(viewDirection));
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// For the next frame, the "last time" will be "now"
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lastTime = currentTime;
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return do_screenshot;
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}
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// Include GLFW
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#include <glfw3.h>
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extern GLFWwindow* window; // The "extern" keyword here is to access the variable "window" declared in tutorialXXX.cpp. This is a hack to keep the tutorials simple. Please avoid this.
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// Include GLM
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#include <glm/glm.hpp>
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//#include <glm/gtx/rotate_vector.hpp>
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#include <glm/gtc/matrix_transform.hpp>
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#include <glm/gtx/transform.hpp>
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#include <glm/gtc/quaternion.hpp>
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#include <glm/gtx/quaternion.hpp>
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#include <stdio.h>
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#include <cassert>
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#include <cstring>
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using namespace glm;
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#include "controls.hpp"
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glm::mat4 ViewMatrix;
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glm::mat4 ProjectionMatrix;
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glm::mat4 getViewMatrix(){
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return ViewMatrix;
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}
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glm::mat4 getProjectionMatrix(){
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return ProjectionMatrix;
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}
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// Initial position : on +Z
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// point 0 view 1
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// glm::vec3 position = glm::vec3( 0.033474, 1.53312, 0.002227 );
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// opengl location = blender rotate by 90 along x
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// original (blender): 0.033474, -0.002227, 1.53312
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// point 0 view 2
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// glm::vec3 position = glm::vec3( -1.096474, 1.535375, -0.124639 ); // point 0 view 2 adapted
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// original (blender): -1.096474, 0.124639, 1.535375
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glm::vec3 position = glm::vec3(-1.096474, 0.124639, 1.535375); // point 0 view 2 original (blender):
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// Point 6 view 0
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//glm::vec3 position = glm::vec3( -1.096474, 1.535375, -0.124639 );
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// Initial horizontal angle : toward -Z
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float horizontalAngle = 3.14f;
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// Initial vertical angle : none
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float verticalAngle = 0.0f;
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float speed = 3.0f; // 3 units / second
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float mouseSpeed = 0.005f;
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float currentPoseStartTime = 0;
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int currentPoseRotCount = 0;
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glm::quat initialDirections[] = {
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glm::quat(glm::vec3(glm::radians(90.0f), 0.0f, 0.0f)),
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glm::quat(glm::vec3(0.0f, glm::radians(90.0f), 0.0f)),
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glm::quat(glm::vec3(0.0f, 0.0f, 0.0f)),
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glm::quat(glm::vec3(0.0f, glm::radians(-90.0f), 0.0f)),
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glm::quat(glm::vec3(0.0f, glm::radians(-180.0f), 0.0f)),
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glm::quat(glm::vec3(glm::radians(-90.0f), 0.0f, 0.0f))
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};
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glm::mat4 getView(glm::mat4 source, int k){
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glm::quat initial = initialDirections[k];
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glm::quat rotateX_90 = glm::quat(glm::vec3(glm::radians(90.0f), 0.0f, 0.0f));
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glm::quat viewDirection = rotateX_90 * initial;
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glm::mat4 v = glm::inverse(source * glm::toMat4(viewDirection));
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//glm::inverse(glm::translate(glm::mat4(1.0), position) * glm::toMat4(viewDirection));
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return v;
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}
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// Automatically load all poses of a model, and render corresponding pngs
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// Useful for diagnostics
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void getPositionRotation(glm::vec3 &position, float& rotX, float& rotY, float& rotZ, char* filename) {
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// Change position, rotation and Z value
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printf("Updating position rotation\n");
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const char * path = "posefile";
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FILE * file = fopen(path, "r");
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if( file == NULL ){
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printf("Impossible to open the file !\n");
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}
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printf("Done reading pose file\n");
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int i = -1;
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float pos[3], rot[3];
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char namebuf[50];
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while (i < currentPoseRotCount) {
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//printf("current i: %d\n", i);
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//printf("original vec %f %f %f\n", position[0], position[1], position[2]);
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memset(namebuf, 0, 50);
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int count = fscanf(file, "%f %f %f %f %f %f %s\n", &pos[0], &pos[1], &pos[2], &rot[0], &rot[1], &rot[2], namebuf );
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// printf("current count: %d %s\n", count, namebuf);
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assert(count == 7);
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//fgets(filename, 30, file);
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//printf("current count: %d %s\n", count, filename);
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i ++;
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}
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position[0] = pos[0];
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position[1] = pos[1];
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position[2] = pos[2];
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rotX = rot[0];
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rotY = rot[1];
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rotZ = rot[2];
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strcpy(filename, namebuf);
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printf("Successfully read pose file line %d\n", currentPoseRotCount);
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fclose(file);
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}
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bool computeMatricesFromInputs(){
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||||
|
||||
bool do_screenshot = true;
|
||||
|
||||
// glfwGetTime is called only once, the first time this function is called
|
||||
static double lastTime = glfwGetTime();
|
||||
|
||||
// Compute time difference between current and last frame
|
||||
double currentTime = glfwGetTime();
|
||||
float deltaTime = float(currentTime - lastTime);
|
||||
|
||||
// Get mouse position
|
||||
double xpos, ypos;
|
||||
//glfwGetCursorPos(window, &xpos, &ypos);
|
||||
|
||||
// Reset mouse position for next framAze
|
||||
//glfwSetCursorPos(window, 512/2, 512/2);
|
||||
|
||||
// Compute new orientation
|
||||
horizontalAngle += mouseSpeed * float( 768/2 - xpos );
|
||||
verticalAngle += mouseSpeed * float( 768/2 - ypos );
|
||||
|
||||
// Direction : Spherical coordinates to Cartesian coordinates conversion
|
||||
glm::vec3 direction(
|
||||
cos(verticalAngle) * sin(horizontalAngle),
|
||||
sin(verticalAngle),
|
||||
cos(verticalAngle) * cos(horizontalAngle)
|
||||
);
|
||||
|
||||
// Right vector
|
||||
glm::vec3 right = glm::vec3(
|
||||
sin(horizontalAngle - 3.14f/2.0f),
|
||||
0,
|
||||
cos(horizontalAngle - 3.14f/2.0f)
|
||||
);
|
||||
|
||||
// Up vector
|
||||
// glm::vec3 up = glm::cross( right, direction );
|
||||
glm::vec4 up4 = glm::vec4(0.0, 1.0, 0.0, 1.0);
|
||||
|
||||
/*
|
||||
// Move forward
|
||||
if (glfwGetKey( window, GLFW_KEY_UP ) == GLFW_PRESS){
|
||||
position += direction * deltaTime * speed;
|
||||
}
|
||||
// Move backward
|
||||
if (glfwGetKey( window, GLFW_KEY_DOWN ) == GLFW_PRESS){
|
||||
position -= direction * deltaTime * speed;
|
||||
}
|
||||
// Strafe right
|
||||
if (glfwGetKey( window, GLFW_KEY_RIGHT ) == GLFW_PRESS){
|
||||
position += right * deltaTime * speed;
|
||||
}
|
||||
// Strafe left
|
||||
if (glfwGetKey( window, GLFW_KEY_LEFT ) == GLFW_PRESS){
|
||||
position -= right * deltaTime * speed;
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
// Hardcoded pose information
|
||||
// Camera matrix
|
||||
// Point 0 view 1
|
||||
/*float rotationX = 1.2462860345840454;
|
||||
float rotationY = -0.009244712069630623;
|
||||
float rotationZ = -1.2957184314727783;
|
||||
*/
|
||||
// Point 0 view 2
|
||||
float rotationX = 1.3605239391326904;
|
||||
float rotationY = -0.009078502655029297;
|
||||
float rotationZ = -1.441698670387268;
|
||||
//float fov = 0.9698680134771724;
|
||||
float fov = glm::radians(90.0f);
|
||||
|
||||
|
||||
ProjectionMatrix = glm::perspective(fov, 1.0f, 0.1f, 5000.0f); // near & far are not verified, but accuracy seems to work well
|
||||
|
||||
// Point 6 view 0
|
||||
//float rotationX = 1.4468656778335571;
|
||||
//float rotationY = -0.00613052025437355;
|
||||
//float rotationZ = -0.22472861409187317;
|
||||
|
||||
|
||||
//if (currentTime - currentPoseStartTime > 1) {
|
||||
// UNCOMMENT THIS, in order to render png at a new position every second
|
||||
//getPositionRotation(position, rotationX, rotationY, rotationZ, filename);
|
||||
glm::quat initial = initialDirections[currentPoseRotCount];
|
||||
//convertRotation(rotationX, rotationY, rotationZ, currentPoseRotCount);
|
||||
currentPoseStartTime = currentTime;
|
||||
currentPoseRotCount += 1;
|
||||
do_screenshot = true;
|
||||
//}
|
||||
|
||||
|
||||
|
||||
glm::quat viewDirection;
|
||||
glm::vec3 viewDirectionEuler(rotationX, rotationY, rotationZ);
|
||||
viewDirection = glm::quat(viewDirectionEuler) * initial;
|
||||
|
||||
ViewMatrix = glm::inverse(glm::translate(glm::mat4(1.0), position) * glm::toMat4(viewDirection));
|
||||
|
||||
/*printf("Third view matrix\n");
|
||||
for (int i = 0; i < 4; ++i) {
|
||||
printf("\t %f %f %f %f\n", ViewMatrix[0][i], ViewMatrix[1][i], ViewMatrix[2][i], ViewMatrix[3][i]);
|
||||
}*/
|
||||
|
||||
// For the next frame, the "last time" will be "now"
|
||||
lastTime = currentTime;
|
||||
|
||||
return do_screenshot;
|
||||
}
|
||||
|
||||
|
||||
bool computeMatricesFromFile(std::string filename){
|
||||
|
||||
bool do_screenshot = true;
|
||||
|
||||
|
||||
// glfwGetTime is called only once, the first time this function is called
|
||||
static double lastTime = glfwGetTime();
|
||||
|
||||
// Compute time difference between current and last frame
|
||||
double currentTime = glfwGetTime();
|
||||
float deltaTime = float(currentTime - lastTime);
|
||||
|
||||
// Get mouse position
|
||||
double xpos, ypos;
|
||||
|
||||
|
||||
// Compute new orientation
|
||||
horizontalAngle += mouseSpeed * float( 512/2 - xpos );
|
||||
verticalAngle += mouseSpeed * float( 512/2 - ypos );
|
||||
|
||||
// Direction : Spherical coordinates to Cartesian coordinates conversion
|
||||
glm::vec3 direction(
|
||||
cos(verticalAngle) * sin(horizontalAngle),
|
||||
sin(verticalAngle),
|
||||
cos(verticalAngle) * cos(horizontalAngle)
|
||||
);
|
||||
|
||||
// Hardcoded pose information
|
||||
// Camera matrix
|
||||
// Point 0 view 1
|
||||
/*float rotationX = 1.2462860345840454;
|
||||
float rotationY = -0.009244712069630623;
|
||||
float rotationZ = -1.2957184314727783;
|
||||
*/
|
||||
// Point 0 view 2
|
||||
//float rotationX = 1.3605239391326904;
|
||||
//float rotationY = -0.009078502655029297;
|
||||
//float rotationZ = -1.441698670387268;
|
||||
//float fov = 0.9698680134771724;
|
||||
float fov = glm::radians(90.0f);
|
||||
|
||||
float posX = 0;
|
||||
float posY = 0;
|
||||
float posZ = 0;
|
||||
|
||||
float rotW = 0;
|
||||
float rotX = 0;
|
||||
float rotY = 0;
|
||||
float rotZ = 0;
|
||||
|
||||
float junk[2];
|
||||
|
||||
FILE * file = fopen(filename.c_str(), "r");
|
||||
if( file == NULL ){
|
||||
printf("Impossible to open pose file %s!\n", filename.c_str());
|
||||
}
|
||||
|
||||
char namebuf[50];
|
||||
|
||||
int count = fscanf(file, "%s %f %f %f %f %f %f %f %f %f\n", namebuf, &posX, &posY, &posZ, &rotW, &rotY, &rotX, &rotZ, &junk[0], &junk[1] );
|
||||
|
||||
printf("Loading pose file count: %d, namebuf: %s, rot count %d\n", count, namebuf, currentPoseRotCount);
|
||||
|
||||
//assert(count == 10);
|
||||
|
||||
rotY = -rotY;
|
||||
|
||||
position = glm::vec3(posX, posY, posZ);
|
||||
|
||||
ProjectionMatrix = glm::perspective(fov, 1.0f, 0.1f, 5000.0f); // near & far are not verified, but accuracy seems to work well
|
||||
|
||||
|
||||
//if (currentTime - currentPoseStartTime > 1) {
|
||||
// UNCOMMENT THIS, in order to render png at a new position every second
|
||||
//getPositionRotation(position, rotationX, rotationY, rotationZ, filename);
|
||||
glm::quat initial = initialDirections[currentPoseRotCount];
|
||||
//convertRotation(rotationX, rotationY, rotationZ, currentPoseRotCount);
|
||||
currentPoseStartTime = currentTime;
|
||||
currentPoseRotCount += 1;
|
||||
do_screenshot = true;
|
||||
//}
|
||||
|
||||
|
||||
glm::quat viewDirection;
|
||||
//glm::vec3 viewDirectionEuler(rotationX, rotationY, rotationZ);
|
||||
glm::quat rotateX_90 = glm::quat(glm::vec3(glm::radians(90.0f), 0.0f, 0.0f));
|
||||
viewDirection = rotateX_90 * glm::quat(rotW, rotX, rotY, rotZ) * initial;
|
||||
//viewDirection = glm::quat(viewDirectionEuler) * initial;
|
||||
|
||||
ViewMatrix = glm::inverse(glm::translate(glm::mat4(1.0), position) * glm::toMat4(viewDirection));
|
||||
|
||||
// For the next frame, the "last time" will be "now"
|
||||
lastTime = currentTime;
|
||||
|
||||
return do_screenshot;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,12 +1,14 @@
|
|||
#ifndef CONTROLS_HPP
|
||||
#define CONTROLS_HPP
|
||||
|
||||
#include <string>
|
||||
|
||||
bool computeMatricesFromInputs();
|
||||
bool computeMatricesFromFile(std::string filename);
|
||||
|
||||
glm::mat4 getViewMatrix();
|
||||
glm::mat4 getProjectionMatrix();
|
||||
|
||||
#ifndef CONTROLS_HPP
|
||||
#define CONTROLS_HPP
|
||||
|
||||
#include <string>
|
||||
|
||||
bool computeMatricesFromInputs();
|
||||
bool computeMatricesFromFile(std::string filename);
|
||||
|
||||
glm::mat4 getViewMatrix();
|
||||
glm::mat4 getProjectionMatrix();
|
||||
|
||||
glm::mat4 getView(glm::mat4 source, int k);
|
||||
|
||||
#endif
|
||||
|
|
@ -190,18 +190,24 @@ def read_pose_from_json(root, model_id, idx):
|
|||
posedir = os.path.join(root, model_id, 'pano', 'points')
|
||||
pose_i = os.listdir(posedir)[idx]
|
||||
item = os.path.join(root, model_id, 'pano', 'points', pose_i)
|
||||
|
||||
print(item)
|
||||
|
||||
f = open(item)
|
||||
pose_dict = json.load(f)
|
||||
p = np.concatenate(np.array(pose_dict[0][u'camera_rt_matrix'] + [[0,0,0,1]])).astype(np.float32).reshape((4,4))
|
||||
rotation = np.array([[0,-1,0,0],[-1,0,0,0],[0,0,-1,0],[0,0,0,1]])
|
||||
p = np.dot(rotation, p)
|
||||
|
||||
print(p)
|
||||
p[:3, 3] = np.linalg.inv(p[:3, :3]).dot(p[:3, 3])
|
||||
print(p)
|
||||
print(mat_to_str(p))
|
||||
return mat_to_str(p)
|
||||
|
||||
trans = -np.dot(p[:3, :3].T, p[:3, -1])
|
||||
rotation = np.array([[0,0,-1],[0,-1,0],[1,0,0]])
|
||||
rot = np.dot(np.dot(rotation, p[:3, :3]), rotation)
|
||||
|
||||
p2 = np.eye(4)
|
||||
|
||||
p2[:3, :3] = rot
|
||||
p2[:3, -1] = trans
|
||||
|
||||
print(p2)
|
||||
|
||||
return mat_to_str(p2)
|
||||
|
||||
def mat_to_str(matrix):
|
||||
s = ""
|
||||
|
|
|
|||
|
|
@ -511,9 +511,11 @@ int main( int argc, char * argv[] )
|
|||
|
||||
zmq::context_t context (1);
|
||||
zmq::socket_t socket (context, ZMQ_REP);
|
||||
socket.bind ("tcp://*:5555");
|
||||
socket.bind ("tcp://127.0.0.1:5555");
|
||||
|
||||
int pose_idx = 0;
|
||||
|
||||
|
||||
|
||||
do{
|
||||
|
||||
|
|
@ -532,7 +534,7 @@ int main( int argc, char * argv[] )
|
|||
std::cout << "Finished cast" << std::endl;
|
||||
std::cout << request_str << std::endl;
|
||||
|
||||
glm::mat4 viewMat = glm::inverse(str_to_mat(request_str));
|
||||
glm::mat4 viewMat = str_to_mat(request_str);
|
||||
debug_mat(viewMat, "json");
|
||||
|
||||
// Measure speed
|
||||
|
|
@ -550,13 +552,24 @@ int main( int argc, char * argv[] )
|
|||
}
|
||||
|
||||
zmq::message_t reply (windowWidth*windowHeight*sizeof(unsigned short) * 6);
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, FramebufferName);
|
||||
glViewport(0,0,windowWidth,windowHeight); // Render on the whole framebuffer, complete from the lower left corner to the upper right
|
||||
|
||||
int nSize = windowWidth*windowHeight*3;
|
||||
int nByte = nSize*sizeof(unsigned short);
|
||||
// First let's create our buffer, 3 channels per Pixel
|
||||
unsigned short* dataBuffer = (unsigned short*)malloc(nByte);
|
||||
//char* dataBuffer = (char*)malloc(nSize*sizeof(char));
|
||||
|
||||
unsigned short * dataBuffer_c = (unsigned short * ) malloc(windowWidth*windowHeight * sizeof(unsigned short));
|
||||
if (!dataBuffer) return false;
|
||||
if (!dataBuffer_c) return false;
|
||||
|
||||
|
||||
for (int k = 0; k < 6; k ++ )
|
||||
{
|
||||
// Render to our framebuffer
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, FramebufferName);
|
||||
glViewport(0,0,windowWidth,windowHeight); // Render on the whole framebuffer, complete from the lower left corner to the upper right
|
||||
|
||||
|
||||
// Clear the screen
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
|
|
@ -566,8 +579,9 @@ int main( int argc, char * argv[] )
|
|||
// Compute the MVP matrix from keyboard and mouse input
|
||||
//computeMatricesFromInputs();
|
||||
computeMatricesFromFile(name_loc);
|
||||
glm::mat4 ProjectionMatrix = getProjectionMatrix();
|
||||
glm::mat4 ViewMatrix = getViewMatrix();
|
||||
float fov = glm::radians(90.0f);
|
||||
glm::mat4 ProjectionMatrix = glm::perspective(fov, 1.0f, 0.1f, 5000.0f); // near & far are not verified, but accuracy seems to work well
|
||||
glm::mat4 ViewMatrix = getView(viewMat, k);
|
||||
glm::mat4 ModelMatrix = glm::mat4(1.0);
|
||||
|
||||
pose_idx ++;
|
||||
|
|
@ -682,7 +696,6 @@ int main( int argc, char * argv[] )
|
|||
glDisableVertexAttribArray(0);
|
||||
*/
|
||||
|
||||
|
||||
/*
|
||||
if (false) {
|
||||
char buffer[100];
|
||||
|
|
@ -699,14 +712,7 @@ int main( int argc, char * argv[] )
|
|||
//glfwSwapBuffers(window);
|
||||
//glfwPollEvents();
|
||||
|
||||
int nSize = windowWidth*windowHeight*3;
|
||||
int nByte = nSize*sizeof(unsigned short);
|
||||
// First let's create our buffer, 3 channels per Pixel
|
||||
unsigned short* dataBuffer = (unsigned short*)malloc(nByte);
|
||||
//char* dataBuffer = (char*)malloc(nSize*sizeof(char));
|
||||
|
||||
if (!dataBuffer) return false;
|
||||
|
||||
|
||||
// Let's fetch them from the backbuffer
|
||||
// We request the pixels in GL_BGR format, thanks to Berzeger for the tip
|
||||
glReadPixels((GLint)0, (GLint)0,
|
||||
|
|
@ -715,21 +721,20 @@ int main( int argc, char * argv[] )
|
|||
|
||||
glGetTextureImage(renderedTexture, 0, GL_RGB, GL_UNSIGNED_SHORT, nSize*sizeof(unsigned short), dataBuffer);
|
||||
|
||||
unsigned short * dataBuffer_c = (unsigned short * ) malloc(windowWidth*windowHeight * sizeof(unsigned short));
|
||||
|
||||
for (int i = 0; i < windowWidth * windowHeight; i++)
|
||||
dataBuffer_c[i] = dataBuffer[3*i];
|
||||
|
||||
memcpy (reply.data () + windowWidth*windowHeight*sizeof(unsigned short) * k, (unsigned char*)dataBuffer_c, windowWidth*windowHeight*sizeof(unsigned short));
|
||||
|
||||
free(dataBuffer);
|
||||
free(dataBuffer_c);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
socket.send (reply);
|
||||
|
||||
free(dataBuffer);
|
||||
free(dataBuffer_c);
|
||||
//free(dataBuffer);
|
||||
//free(dataBuffer_c);
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,4 @@
|
|||
#cython: boundscheck=False, wraparound=False, nonecheck=False
|
||||
import numpy as np
|
||||
|
||||
def transfer2(unsigned short [:,:,:,:] in_img, int [:,:,:]coords, int h, int w):
|
||||
|
|
|
|||
Loading…
Reference in New Issue