Read pose from file (loc + quaternion)
This commit is contained in:
hzyjerry
parent
48d7cb4808
commit
8147a4cb63
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@ -16,4 +16,6 @@ distrib/
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*.obj
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depth_render
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glew-1.13.0/
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glfw-3.1.2/
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glfw-3.1.2/
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/11HB6XZSh1Q
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/19Em1uen8Ae
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@ -13,6 +13,7 @@ extern GLFWwindow* window; // The "extern" keyword here is to access the variabl
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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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@ -110,7 +111,7 @@ void getPositionRotation(glm::vec3 &position, float& rotX, float& rotY, float& r
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bool computeMatricesFromInputs(char* filename){
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bool computeMatricesFromInputs(){
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bool do_screenshot = true;
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@ -204,50 +205,7 @@ bool computeMatricesFromInputs(char* filename){
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//}
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// First way (deprecated) : lookAt function
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/*
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ViewMatrix = glm::lookAt(
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position, // Camera is here
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position+pose_direction, // and looks here : at the same position, plus "direction"
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up // Head is up (set to 0,-1,0 to look upside-down)
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);
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printf("First view matrix (no translate)\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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printf("Current 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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printf("Up vector: %f %f %f\n", up[0], up[1], up[2]);
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printf("pos vector: %f %f %f\n", position[0], position[1], position[2]);
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*/
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/* Second way (deprecated): manually construct up direction
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glm::vec4 pose_d = glm::vec4(0.0, 0.0, -1.0, 1.0);
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glm::mat4 pose_trans = glm::mat4(1.0);
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pose_trans = glm::rotate(pose_trans, -rotationX, glm::vec3(1.0f, 0.0f, 0.0f));
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pose_trans = glm::rotate(pose_trans, -rotationY, glm::vec3(0.0f, 1.0f, 0.0f));
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pose_trans = glm::rotate(pose_trans, -rotationZ, glm::vec3(0.0f, 0.0f, 1.0f));
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pose_d = pose_trans * pose_d;
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up4 = pose_trans * up4;
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glm::vec3 pose_direction(pose_d);
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glm::vec3 up(up4);
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//printf("pose direction %f %f %f %f\n", pose_d[0], pose_d[1], pose_d[2], pose_d[3]);
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//printf("pose direction %f %f %f\n", pose_direction[0], pose_direction[1], pose_direction[2]);
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//printf(" direction %f %f %f\n", direction[0], direction[1], direction[2]);
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*/
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// Third way
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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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@ -264,3 +222,101 @@ bool computeMatricesFromInputs(char* filename){
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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, &rotX, &rotY, &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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viewDirection = 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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@ -1,7 +1,11 @@
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#ifndef CONTROLS_HPP
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#define CONTROLS_HPP
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bool computeMatricesFromInputs(char* filename);
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#include <string>
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bool computeMatricesFromInputs();
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bool computeMatricesFromFile(std::string filename);
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glm::mat4 getViewMatrix();
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glm::mat4 getProjectionMatrix();
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@ -367,7 +367,7 @@ int main( int argc, char * argv[] )
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// Compute the MVP matrix from keyboard and mouse input
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char filename[50];
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bool do_screenshot = computeMatricesFromInputs(filename);
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bool do_screenshot = computeMatricesFromInputs();
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glm::mat4 ProjectionMatrix = getProjectionMatrix();
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glm::mat4 ViewMatrix = getViewMatrix();
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glm::mat4 ModelMatrix = glm::mat4(1.0);
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@ -41,9 +41,9 @@ for request in range(6):
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# todo: debug
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data = data[:][::-1][:]
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#img = Image.fromarray(data[0])
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#img.save(img_path + str(request) + ".tiff")
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scipy.misc.imsave(img_path + str(request) + ".tiff", data)
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img = Image.fromarray(data)
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img.save(img_path + str(request) + ".tiff")
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#scipy.misc.imsave(img_path + str(request) + ".png", data, 'L', bits=16)
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print("Received reply %s [ %s ]" % (request, data))
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@ -161,9 +161,22 @@ int main( int argc, char * argv[] )
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{
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cmdline::parser cmdp;
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cmdp.add<std::string>("obj", 'b', "obj file name", true, "");
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cmdp.add<std::string>("datapath", 'd', "data model directory", true, "");
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cmdp.add<std::string>("model", 'm', "model id", true, "");
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cmdp.parse_check(argc, argv);
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std::string name_obj = cmdp.get<std::string>("obj");
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std::string name_path = cmdp.get<std::string>("datapath");
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std::string model_id = cmdp.get<std::string>("model");
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std::string name_obj = name_path + "/" + model_id + "/" + model_id + "_HIGH.obj";
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std::string name_loc = name_path + "/" + model_id + "/" + "sweep_locations.csv";
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//std::string name_ply = "out_res.ply";
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glfwSetErrorCallback(error_callback);
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@ -334,11 +347,17 @@ int main( int argc, char * argv[] )
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bool res = loadOBJ(name_obj.c_str(), vertices, uvs, normals);
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// Note: use unsigned int because of too many indices
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//std::vector<short unsigned int> short_indices;
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//bool res = loadAssImp(name_ply.c_str(), short_indices, vertices, uvs, normals);
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std::vector<unsigned int> indices;
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std::vector<glm::vec3> indexed_vertices;
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std::vector<glm::vec2> indexed_uvs;
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std::vector<glm::vec3> indexed_normals;
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indexVBO(vertices, uvs, normals, indices, indexed_vertices, indexed_uvs, indexed_normals);
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// Load it into a VBO
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@ -503,25 +522,11 @@ int main( int argc, char * argv[] )
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glUseProgram(programID);
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// Compute the MVP matrix from keyboard and mouse input
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char filename[50];
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bool do_screenshot = computeMatricesFromInputs(filename);
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computeMatricesFromFile(name_loc);
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glm::mat4 ProjectionMatrix = getProjectionMatrix();
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glm::mat4 ViewMatrix = getViewMatrix();
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glm::mat4 ModelMatrix = glm::mat4(1.0);
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/*
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printf("Before ");
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for (int i = 0; i < 16; i++)
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printf("%f ", ProjectionMatrix[i / 4][i % 4]);
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printf("\n");
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//BuildPerspProjMat(ProjectionMatrix, 1.0489180166567196, 1.0, 0.0, 128.0);
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printf("After ");
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for (int i = 0; i < 16; i++)
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printf("%f ", ProjectionMatrix[i / 4][i % 4]);
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printf("\n");
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*/
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@ -633,6 +638,7 @@ int main( int argc, char * argv[] )
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*/
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/*
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if (false) {
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char buffer[100];
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//printf("before: %s\n", buffer);
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@ -642,6 +648,7 @@ int main( int argc, char * argv[] )
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//printf("saving screenshot to %s\n", buffer);
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save_screenshot(buffer, windowWidth, windowHeight, renderedTexture);
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}
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*/
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// Swap buffers
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//glfwSwapBuffers(window);
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@ -698,41 +705,3 @@ int main( int argc, char * argv[] )
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return 0;
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}
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void BuildPerspProjMat(glm::mat4 &m, float fov, float aspect,
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float znear, float zfar) {
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float xymax = znear * tan(fov/2);
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float ymin = -xymax;
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float xmin = -xymax;
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float width = xymax - xmin;
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float height = xymax - ymin;
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float depth = zfar - znear;
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float q = -(zfar + znear) / depth;
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float qn = -2 * (zfar * znear) / depth;
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float w = 2 * znear / (width + 0.000001);
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w = w / aspect;
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float h = 2 * znear / (height + 0.000001);
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//m[0][0] = w;
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m[0][1] = (float) 0.0;
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m[0][2] = (float) 0.0;
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m[0][3] = (float) 0.0;
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m[1][0] = (float) 0.0;
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//m[1][1] = h;
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m[1][2] = (float) 0.0;
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m[1][3] = (float) 0.0;
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m[2][0] = (float) 0.0;
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m[2][1] = (float) 0.0;
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m[2][2] = q;
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m[2][3] = (float) -1.0;
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m[3][0] = (float) 0.0;
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m[3][1] = (float) 0.0;
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//m[3][2] = qn;
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m[3][3] = (float) 0.0;
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}
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@ -15,5 +15,5 @@ def transfer2(unsigned char [:,:,:,:] in_img, int [:,:,:]coords, int h, int w):
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corrx = coords[ycoord, xcoord, 1]
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corry = coords[ycoord, xcoord, 2]
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for c in range(3):
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out_img[ycoord, xcoord, c] = in_img[ind, corrx, corry, c]
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out_img[ycoord, xcoord, c] = in_img[ind, corry, corrx, c]
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return np.array(out_img)
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