diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o
index 47e7eca82e58fe36401b7f12dca217258b2eec99..5aa84aec02d0a140cbc82afd9f627b127ef2690b 100644
Binary files a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/specular_estimation.cc.o differ
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 96a57b33ab3b6ddfecc0202bb24621e69cc72b0a..c9b187a1d90f3822ec4236696014aabda3835e8c 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -1,6 +1,6 @@
#include "specular_estimation.h"
-void specularEstimation(std::string imageName, std::string calibration, double Roughness, double Metallic);
+void specularEstimation(std::string imageName, std::string calibration, double Roughness, double Metallic, double RoughnessSynthetic, double MetallicSynthetic, bool synthetic, bool denseSample);
void renderSynthetic(std::string imageName, std::string calibration, double Roughness, double Metallic, double RoughnessSynthetic, double MetallicSynthetic);
void denseRealSample(std::string imageName, std::string calibration, double Roughness, double Metallic);
void denseSyntheticSample(std::string imageName, std::string calibration, double Roughness, double Metallic);
@@ -133,21 +133,6 @@ void SpecularEstimation::DenseSample() {
int main(int argc, char** argv) {
- /*int windowWidth = 1092, windowHeight = 728;
- cv::Mat black = cv::Mat(windowHeight, windowWidth, CV_8UC3, cv::Scalar::all(0));
- calibrateLights(windowWidth, windowHeight, black);*/
-
- /*int windowWidth = 1092, windowHeight = 728;
- cv::Mat image = cv::imread("/home/thomas/Documents/2018-09-05/uniformAlbedo/uniformAlbedo.albedo (another copy).png");
- for (double i = 0; i < 3; i += 0.1) {
- for (double j = -100; j < 100; j+=10) {
- cv::Mat textureImage = contrastBrightness(image, i, j);
- cv::imshow("image", textureImage);
- std::cout << "Gain: " << i << ", Bias: " << j << std::endl;
- cv::waitKey(0);
- }
- }*/
-
if (argc < 2) {
std::cerr << "Enter the name of the object followed by the calibration set to use.\n";
return -1;
@@ -159,71 +144,38 @@ int main(int argc, char** argv) {
// Create strings to store the model folder name and calibration folder name
// By default, the name of the chrome sphere calibration images folder is "chrome". This will be overwritten if a second argument is provided.
std::string imageName, calibration = "chrome";
- // Using an image scale of 1 retains the full resolution
- //int imageScale = 1;
- // Show textue is set to false if cropping is used
- //bool showTexture = true;
// Read the name of the model folder
if (argc >= 2) {
// Read the file name from the command line argument and convert it from a char array to a string
const char *argument1 = argv[1];
imageName = argument1;
- }
- /*if (argc >= 3) { // The specified calibration path will be used, otherwise "chrome" is used
- const char *argument2 = argv[2];
- calibration = argument2;
- }*/
-
- /*
- // Read the name of the calibration folder
-
- // Read the image scale
- if (argc >= 4) { // An image scale is provided
- // Scale down the images for faster processing and rendering
- const char *argument3 = argv[3];
- std::stringstream stringValue;
- stringValue << argument3;
- stringValue >> imageScale;
- if (imageScale > 1)
- std::cout << "The images will be scaled to 1/" << imageScale << " of their original resolution in each axis." << std::endl;
- else
- imageScale = 1;
- }
- if ((argc < 2) || (argc > 4)) {
- std::cerr << "Enter the name of the object followed by the calibration set to use.\n\nThe images can be scaled down by providing a number.\nFor instance, entering 2 will scale the x and y axes by 1/2." << std::endl;
- return -1;
}
- std::cout << std::endl;*/
-
- //specularEstimation(imageName, calibration, imageScale, showTexture);
-
- double Roughness = 0.5, Metallic = 0.5, Distance = 0.5, LightPower = 0.5;
- bool denseSample = false;
+ double Roughness = 0.5, Metallic = 0.5, RoughnessSynthetic = 0.5, MetallicSynthetic = 0.5, Distance = 0.5, LightPower = 0.5;
+ bool synthetic = false, denseSample = false;
if (argc >= 4) {
const char *argument2 = argv[2], *argument3 = argv[3];
std::stringstream RoughnessValue, MetallicValue;
RoughnessValue << argument2;
- MetallicValue << argument3;
+ MetallicValue << argument3;
RoughnessValue >> Roughness;
- MetallicValue >> Metallic;
+ MetallicValue >> Metallic;
- specularEstimation(imageName, calibration, Roughness, Metallic);
+ specularEstimation(imageName, calibration, Roughness, Metallic, RoughnessSynthetic, MetallicSynthetic, synthetic, denseSample);
//denseSyntheticSample(imageName, calibration, Roughness, Metallic);
//SpecularEstimation Solver(imageName, calibration, denseSample, Roughness, Metallic);
} else if (argc >= 6) {
- double RoughnessSynthetic, MetallicSynthetic;
-
const char *argument4 = argv[4], *argument5 = argv[5];
std::stringstream RoughnessSyntheticValue, MetallicSyntheticValue;
RoughnessSyntheticValue << argument4;
- MetallicSyntheticValue << argument5;
+ MetallicSyntheticValue << argument5;
RoughnessSyntheticValue >> RoughnessSynthetic;
- MetallicSyntheticValue >> MetallicSynthetic;
+ MetallicSyntheticValue >> MetallicSynthetic;
- renderSynthetic(imageName, calibration, Roughness, Metallic, RoughnessSynthetic, MetallicSynthetic);
+ //renderSynthetic(imageName, calibration, Roughness, Metallic, RoughnessSynthetic, MetallicSynthetic);
+ specularEstimation(imageName, calibration, Roughness, Metallic, RoughnessSynthetic, MetallicSynthetic, synthetic, denseSample);
//SpecularEstimation Solver(imageName, calibration, denseSample, Roughness, Metallic, RoughnessSynthetic, MetallicSynthetic);
} else {
//specularEstimation(imageName, calibration, Roughness, Metallic);
@@ -231,30 +183,79 @@ int main(int argc, char** argv) {
//SpecularEstimation Solver(imageName, calibration, denseSample, Roughness, Metallic);
}
- //denseSyntheticSample(imageName, calibration, Roughness, Metallic);
-
-
return 0;
}
-void renderSynthetic(std::string imageName, std::string calibration, double Roughness, double Metallic, double RoughnessSynthetic, double MetallicSynthetic) {
+void specularEstimation(std::string imageName, std::string calibration, double Roughness, double Metallic, double RoughnessSynthetic = 0.5, double MetallicSynthetic = 0.5, bool synthetic = false, bool denseSample = false) {
- // Define the paths for the model images, calibration images and the albedo texture
- //const std::string sourcePath = "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/vboindexer.cpp";
+ // Define the paths for the model images, calibration images and the albedo
const std::string imagesPath = "/home/thomas/Documents/";
- const std::string folderPath = "2018-09-05";
- const std::string modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
+ const std::string folderPath = "2018-08-31";
+ const std::string modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
const std::string calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
- //const std::string calibrationPath = imagesPath + "2017-12-04" + "/" + calibration + "/" + calibration + ".";
const std::string macbethPath = imagesPath + folderPath + "/macbeth/macbeth.";
const std::string albedoPath = modelPath + "albedo.png";
const std::string normalPath = modelPath + "normal.png";
double Distance = 0.5, LightPower = 0.5;
-
- //const std::string calibrationPath2 = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
int numberOfLights = 6, width = 1092, height = 728;
+ cv::Mat residualImage, albedo, normalMap, heightMap;
+ std::vector<cv::Mat> textureImages;
+
+ if (!synthetic) {
+ for (int i = 0; i < numberOfLights; i++) {
+ std::ostringstream stm;
+ stm << i;
+ std::string indexString = stm.str();
+
+ cv::Mat model = cv::imread(modelPath + indexString + ".png");
+ textureImages.push_back(model);
+ }
+
+ width = textureImages[0].cols;
+ height = textureImages[0].rows;
+
+ // Load a premade dictionary of ArUco markers
+ int dictionaryId = 0;
+ cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+ // Create a ChArUco board
+ int xSquares = 9;
+ int ySquares = 11;
+ float squareSideLength = 0.04f;
+ float markerSideLength = 0.02f;
+ cv::Ptr<cv::aruco::CharucoBoard> charucoBoard = cv::aruco::CharucoBoard::create(xSquares, ySquares, squareSideLength, markerSideLength, dictionary);
+ cv::Mat charucoBoardImage = drawCharuco(charucoBoard, height, ((height * xSquares) / ySquares), false, false);
+ cv::imwrite(imagesPath + "ChArUco board.png", charucoBoardImage);
+
+ phoSte::photometryStero A(numberOfLights, modelPath, calibrationPath, macbethPath, imageName, calibration, 0);
+ A.readImage(modelPath, calibrationPath, macbethPath);
+ //cv::Mat calibrationMask = loadCalibrationMask(calibrationPath, height, width);
+ //calibrationBoundingBox = getBoundingBox(calibrationMask);
+ A.getLightInformation(0);
+ std::cout << "Got light information\n";
+ A.getPixelNormAndAlbedo(1);
+ std::cout << "Got Normal and Albedo\n";
+
+ normalMap = A.outputNormalImage(1);
+ cv::imshow("Normal Map", normalMap);
+ albedo = A.outputAlbedoImage(1);
+ cv::imshow("Albedo", albedo);
+ cv::Mat normalAlbedo = A.outputNormalWithAlbedo(1);
+ cv::imshow("Normal with Albedo", normalAlbedo);
+ //cv::Mat heightMap = A.getHeightMap(2, -0.1);
+ //cv::imshow("Height Map", heightMap);
+ //cv::imwrite(modelPath + "normal", result);
+ heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
+ //cv::waitKey(0);
+
+ //normalMap.convertTo(normalMap, CV_8UC1);
+ //normalMap = convertImageToNormals(normalMap);
+
+ cv::cvtColor(albedo, albedo, CV_GRAY2BGR);
+ albedo.convertTo(albedo, CV_8UC3);
+ }
+
glm::vec3 position, lightInvDir;
glm::mat4 depthProjectionMatrix, depthViewMatrix, depthModelMatrix = glm::mat4(1.0), depthMVP, ModelMatrix = glm::mat4(1.0), MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
glm::mat4 biasMatrix(
@@ -270,215 +271,95 @@ void renderSynthetic(std::string imageName, std::string calibration, double Roug
int lightNumber = 0;
bool calculateResidual = false, perspectiveProjection, shadowControl;
double totalResidual, residualValue;
- cv::Mat residualImage, albedo = cv::imread(albedoPath), normalMap = cv::imread(normalPath), heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
- std::vector<cv::Mat> textureImages;
- normalMap = convertImageToNormals(normalMap);
- normalMap.convertTo(normalMap, CV_32FC3);
+ if (synthetic) {
+ albedo = cv::imread(albedoPath), normalMap = cv::imread(normalPath), heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
+ normalMap = convertImageToNormals(normalMap);
+ normalMap.convertTo(normalMap, CV_32FC3);
+ }
+ //cv::Mat lightDirectionsInverted;
cv::Mat lightDirections = (cv::Mat_<float>(6,3) << 0.447712, 0.138562, 0.883377, 0.228758, -0.106536, 0.967636, 0.1, 0.0705882, 0.99248, 0.000653595, -0.0718954, 0.997412, -0.139216, -0.12549, 0.982279, -0.494771, 0.115033, 0.861376);
-
+ //cv::invert(lightDirections, lightDirectionsInverted, cv::DECOMP_SVD);
+
+
std::vector<glm::vec3> lightInvDirs;
for (int i = 0; i < numberOfLights; i++)
lightInvDirs.push_back(glm::vec3(lightDirections.at<float>(i, 0), -lightDirections.at<float>(i, 2), lightDirections.at<float>(i, 1)));
-
+
lightInvDir = glm::vec3(lightDirections.at<float>(0, 0), -lightDirections.at<float>(0, 2), lightDirections.at<float>(0, 1));
- //lightInvDir = glm::vec3(0, 0, 1);
initialiseOpenGL(heightMap, normalMap, albedo, lightDirections, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, RoughnessID, Roughness, MetallicID, Metallic, DistanceID, Distance, LightPowerID, LightPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
- RenderSynthetic(depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, numberOfLights, RoughnessID, RoughnessSynthetic, MetallicID, MetallicSynthetic, DistanceID, Distance, LightPowerID, LightPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
-
- //Roughness = 0.5, Metallic = 0.5;
- double Gain = 0.5, Bias = 0.5;
+ if (synthetic)
+ RenderSynthetic(depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, numberOfLights, RoughnessID, RoughnessSynthetic, MetallicID, MetallicSynthetic, DistanceID, Distance, LightPowerID, LightPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
- specularMinimisation(Roughness, Metallic, Gain, Bias, imageName, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, RoughnessID, MetallicID, DistanceID, LightPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages);
-
- //viewModel(residual, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, RoughnessID, Roughness, MetallicID, Metallic, DistanceID, Distance, LightPowerID, LightPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
-
- terminateOpenGL(vertexbuffer, uvbuffer, normalbuffer, elementbuffer, programID, depthProgramID, quad_programID, Texture, FramebufferName, depthTexture, quad_vertexbuffer, VertexArrayID);
-
- return;
-}
-
-void specularEstimation(std::string imageName, std::string calibration, double Roughness, double Metallic) {
-
- // Define the paths for the model images, calibration images and the albedo texture
- //const std::string sourcePath = "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/";
- //const std::string imagesPath = "/media/tw00275/ESD-USB/";
- //const std::string sourcePath = "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/vboindexer.cpp";
- const std::string imagesPath = "/home/thomas/Documents/";
- const std::string folderPath = "2018-08-31";
- const std::string modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
- const std::string calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
- //const std::string calibrationPath = imagesPath + "2017-12-04" + "/" + calibration + "/" + calibration + ".";
- const std::string macbethPath = imagesPath + folderPath + "/macbeth/macbeth.";
- const std::string texturePath = modelPath + "texture.png";
-
- double Distance = 0.5, LightPower = 0.5;
-
- /*
- std::vector<double> macbethIntensity;
+ double Gain = 0.5, Bias = 0.5;
- for (int i = 0; i < 6; i++) {
- std::vector<CvScalar> macbethValues;
+ if (denseSample) {
+ std::string outputFileName = imageName + ".txt";
+ std::ofstream outputFile(outputFileName, std::ios::app);
- std::ostringstream stm;
- stm << i;
- std::string indexString = stm.str();
-
- detectMacbeth(macbethPath + indexString + ".png", macbethValues);
- double brightness = 0.2989 * macbethValues[18].val[2] + 0.5870 * macbethValues[18].val[1] + 0.1140 * macbethValues[18].val[0];
- macbethIntensity.push_back(brightness);
- //std::cout << "Brightness of white Macbeth square: " << brightness << std::endl;
- }
-
- // A vector of Mats allow multiple images to be allocated to the same object
- // textureImages are the full colour photographs that are used to create the texture
- // modelImages are the greyscale version of textureImages which are used to calculate the surface normals
- // calibrationImages contain the reflections of the chrome sphere, and are used to determine the light directions
- // charucoImages contain the ChArUco board, and are used to calibrate the camera
- std::vector<cv::Mat> textureImages, modelImages, calibrationImages, charucoImages;
- cv::Mat heightMap, normalMap, texture, lightDirections;
- cv::Rect calibrationBoundingBox;
- int width, height;
-
- // Load the textureImages, modelImages, calibrationImages and charucoImages, then determine the bounding box around the chrome sphere
- loadImages(imageName, calibration, width, height, imageScale, textureImages, calibrationPath, calibrationImages, modelPath, modelImages, calibrationBoundingBox);
-
- // The number of lights is equal to the number of calibration images
- int numberOfLights = int(calibrationImages.size());
-
- // The rotation matrix is created from the rotation and translation vectors, and describes the rotation of the ChArUco board
- // The inverse of this transformation is applied to the light directions
- // The perspective transform warps the model images to align them with the ChArUco board
- std::vector<cv::Vec3d> rvecs, tvecs;
- cv::Mat rotationMatrix, rotationVector, charucoBoardImage, cameraMatrix, distortionCoefficients, perspectiveTransform, lightDirectionsPerspective = cv::Mat(numberOfLights, 3, CV_32F);
- cv::Ptr<cv::aruco::CharucoBoard> charucoBoard;
-
- charucoCalibration(width, height, charucoBoard, charucoBoardImage, cameraMatrix, distortionCoefficients, imagesPath, folderPath);
-
- //charucoAlignment(charucoImages, textureImages, numberOfLights, width, height, rotationMatrix, rotationVector, perspectiveTransform, lightDirections, lightDirectionsPerspective, rvecs, tvecs, charucoBoard, charucoBoardImage, cameraMatrix, distortionCoefficients);
-
-
- //rotationMatrix =
- //rotationVector =
- //perspectiveTransform =
- //lightDirectionsPerspective =
- //std::vector<cv::Vec3d>& rvecs
- //std::vector<cv::Vec3d>& tvecs
+ for (double roughness = 0; roughness <= 1; roughness+=0.01){
+ for (double metallic = 0; metallic <= 1; metallic+=0.01){
+ double residualValue = 0, sum = 0, gain = 1.0, bias = 0.0;
+
+ for(int i = 0; i < numberOfLights; i++) {
- photometricStereo(imageName, calibration, modelPath, imageScale, heightMap, normalMap, texture, lightDirections, lightDirectionsPerspective, textureImages, modelImages, calibrationImages, calibrationBoundingBox, width, height, rvecs, tvecs);
- */
+ // Render the polygons
+ renderPolygons(width, height, programID, lightInvDirs[i], MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MVP, ModelMatrix, ViewMatrix, depthBiasMVP, RoughnessID, roughness, MetallicID, metallic, DistanceID, Distance, LightPowerID, LightPower);
+
+ cv::Mat model = readPixels(height, width);
+ cv::Mat photograph = textureImages[i];
- //phoSte::photometryStero B(21, 2, 22, "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/", "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
- //B.readImage();
+ model.convertTo(model, CV_64FC3, gain, bias);
+ photograph.convertTo(photograph, CV_64FC3);
- //const std::string calibrationPath2 = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
- int numberOfLights = 6;
-
- std::vector<cv::Mat> textureImages;
- for (int i = 0; i < numberOfLights; i++) {
- std::ostringstream stm;
- stm << i;
- std::string indexString = stm.str();
+ sum = meanSquaredError(model, photograph);
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+ glfwPollEvents();
+ }
+
+ residualValue = (sum/numberOfLights);
+
+ //std::cout << "Specular Intensity = " << roughness_ << ", Specular Power = " << metallic_ << ", Residual = " << (sum/numberOfLights_) << ", SSD = " << (sum/numberOfLights_)*(sum/numberOfLights_) << std::endl;
+ //if (outputFile.is_open()) {
+ outputFile << roughness << "\t" << metallic << "\t" << residualValue << std::endl;
+ //outputFile.close();
+ //}
+ }
+ std::cout << roughness*100 << "\%" << std::endl;
+ }
- cv::Mat model = cv::imread(modelPath + indexString + ".png");
- textureImages.push_back(model);
+ outputFile.close();
}
- int width = textureImages[0].cols;
- int height = textureImages[0].rows;
-
-
-
- // Load a premade dictionary of ArUco markers
- int dictionaryId = 0;
- cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
-
- // Create a ChArUco board
- int xSquares = 9;
- int ySquares = 11;
- float squareSideLength = 0.04f;
- float markerSideLength = 0.02f;
- cv::Ptr<cv::aruco::CharucoBoard> charucoBoard = cv::aruco::CharucoBoard::create(xSquares, ySquares, squareSideLength, markerSideLength, dictionary);
-
- cv::Mat charucoBoardImage = drawCharuco(charucoBoard, height, ((height * xSquares) / ySquares), false, false);
-
- cv::imwrite(imagesPath + "ChArUco board.png", charucoBoardImage);
-
-
- phoSte::photometryStero A(numberOfLights, modelPath, calibrationPath, macbethPath, imageName, calibration, 0);
- A.readImage(modelPath, calibrationPath, macbethPath);
- //cv::Mat calibrationMask = loadCalibrationMask(calibrationPath, height, width);
- //calibrationBoundingBox = getBoundingBox(calibrationMask);
- A.getLightInformation(0);
- std::cout << "Got light information\n";
- A.getPixelNormAndAlbedo(1);
- std::cout << "Got Normal and Albedo\n";
-
- cv::Mat normalMap = A.outputNormalImage(1);
- cv::imshow("Normal Map", normalMap);
- cv::Mat texture = A.outputAlbedoImage(1);
- cv::imshow("Albedo", texture);
- cv::Mat normalAlbedo = A.outputNormalWithAlbedo(1);
- cv::imshow("Normal with Albedo", normalAlbedo);
- //cv::Mat heightMap = A.getHeightMap(2, -0.1);
- //cv::imshow("Height Map", heightMap);
- //cv::imwrite(modelPath + "normal", result);
- cv::Mat heightMap = cv::Mat::zeros(texture.size(), CV_8U);
- //cv::waitKey(0);
-
- //normalMap.convertTo(normalMap, CV_8UC1);
- //normalMap = convertImageToNormals(normalMap);
+ if (!denseSample)
+ specularMinimisation(Roughness, Metallic, Gain, Bias, imageName, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, RoughnessID, MetallicID, DistanceID, LightPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages);
+ //viewModel(residual, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, RoughnessID, Roughness, MetallicID, Metallic, DistanceID, Distance, LightPowerID, LightPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
- cv::cvtColor(texture, texture, CV_GRAY2BGR);
- texture.convertTo(texture, CV_8UC3);
-
- //texture.convertTo(texture, CV_GRAY2BGR);
- //normalAlbedo.convertTo(normalAlbedo, CV_8UC3);
-
- //int numberOfLights = 6;
-
- /*
- int imageNum = numberOfLights;
- int objectPixelNum = width;
- std::vector<phoSte::light> m_light;
- for (int i = 0; i < numberOfLights; i++) {
- m_light.push_back(phoSte::light(lightDirections.at<float>(i, 0), lightDirections.at<float>(i, 1), lightDirections.at<float>(i, 2)));
- }
- */
- /*
- phoSte::photometryStero B(21, 2, 22, "/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/", "mask_dir_1.png", "mask_dir_2.png", "mask_I.png", "applemask.png");
- std::cout << "1\n";
- B.readImage();
- std::cout << "2\n";
- B.getLightInformation(1, 2);
- std::cout << "3\n";
- B.getPixelNormAndAlbedo(3);
- std::cout << "4\n";
- cv::Mat applenormal = B.outputNormalImage(3);
- cv::imshow("Surface Normals", applenormal);
- //cv::imwrite("/home/thomas/Documents/Photometric-Stereo/Assignment_1/Apple/normal.jpg", normal);
- //cv::waitKey(0);
+ terminateOpenGL(vertexbuffer, uvbuffer, normalbuffer, elementbuffer, programID, depthProgramID, quad_programID, Texture, FramebufferName, depthTexture, quad_vertexbuffer, VertexArrayID);
- cv::Mat applealbedo = B.outputAlbedoImage(3);
- cv::imshow("Albedo", applealbedo);
- //cv::waitKey(0);
+ return;
+}
- cv::Mat applenormalWithAlbedo = B.outputNormalWithAlbedo(3);
- cv::imshow("Albedo with Surface Normals", applenormalWithAlbedo);
- //cv::waitKey(0);
+void renderSynthetic(std::string imageName, std::string calibration, double Roughness, double Metallic, double RoughnessSynthetic, double MetallicSynthetic) {
- cv::Mat appleheights = B.getHeightMap(2, -0.1);
- //std::string fileName = "appleDepth.png";
- //cv::imwrite(path + fileName, heightMap);
- cv::imshow("Height Map", appleheights);
- cv::waitKey(0);
- */
+ // Define the paths for the model images, calibration images and the albedo
+ const std::string imagesPath = "/home/thomas/Documents/";
+ const std::string folderPath = "2018-09-05";
+ const std::string modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
+ const std::string calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
+ const std::string macbethPath = imagesPath + folderPath + "/macbeth/macbeth.";
+ const std::string albedoPath = modelPath + "albedo.png";
+ const std::string normalPath = modelPath + "normal.png";
+ double Distance = 0.5, LightPower = 0.5;
+ int numberOfLights = 6, width = 1092, height = 728;
glm::vec3 position, lightInvDir;
glm::mat4 depthProjectionMatrix, depthViewMatrix, depthModelMatrix = glm::mat4(1.0), depthMVP, ModelMatrix = glm::mat4(1.0), MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
@@ -495,27 +376,24 @@ void specularEstimation(std::string imageName, std::string calibration, double R
int lightNumber = 0;
bool calculateResidual = false, perspectiveProjection, shadowControl;
double totalResidual, residualValue;
- cv::Mat residualImage;
-
- //cv::Mat lightDirectionsInverted;
- cv::Mat lightDirections = (cv::Mat_<float>(6,3) << 0.447712, 0.138562, 0.883377, 0.228758, -0.106536, 0.967636, 0.1, 0.0705882, 0.99248, 0.000653595, -0.0718954, 0.997412, -0.139216, -0.12549, 0.982279, -0.494771, 0.115033, 0.861376);
- //cv::invert(lightDirections, lightDirectionsInverted, cv::DECOMP_SVD);
+ cv::Mat residualImage, albedo = cv::imread(albedoPath), normalMap = cv::imread(normalPath), heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
+ std::vector<cv::Mat> textureImages;
- /*
- std::vector<glm::vec3> lightInvDirs;
- lightInvDirs.push_back(glm::vec3(0.447712, 0.138562, 0.883377));
- lightInvDirs.push_back(glm::vec3(0.228758, -0.106536, 0.967636));
- lightInvDirs.push_back(glm::vec3(0.1, 0.0705882, 0.99248));
- lightInvDirs.push_back(glm::vec3(0.000653595, -0.0718954, 0.997412));
- lightInvDirs.push_back(glm::vec3(-0.139216, -0.12549, 0.982279));
- lightInvDirs.push_back(glm::vec3(-0.494771, 0.115033, 0.861376));
- */
+ normalMap = convertImageToNormals(normalMap);
+ normalMap.convertTo(normalMap, CV_32FC3);
+ cv::Mat lightDirections = (cv::Mat_<float>(6,3) << 0.447712, 0.138562, 0.883377, 0.228758, -0.106536, 0.967636, 0.1, 0.0705882, 0.99248, 0.000653595, -0.0718954, 0.997412, -0.139216, -0.12549, 0.982279, -0.494771, 0.115033, 0.861376);
+
std::vector<glm::vec3> lightInvDirs;
for (int i = 0; i < numberOfLights; i++)
lightInvDirs.push_back(glm::vec3(lightDirections.at<float>(i, 0), -lightDirections.at<float>(i, 2), lightDirections.at<float>(i, 1)));
+
+ lightInvDir = glm::vec3(lightDirections.at<float>(0, 0), -lightDirections.at<float>(0, 2), lightDirections.at<float>(0, 1));
+ //lightInvDir = glm::vec3(0, 0, 1);
+
+ initialiseOpenGL(heightMap, normalMap, albedo, lightDirections, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, RoughnessID, Roughness, MetallicID, Metallic, DistanceID, Distance, LightPowerID, LightPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
- initialiseOpenGL(heightMap, normalMap, texture, lightDirections, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, RoughnessID, Roughness, MetallicID, Metallic, DistanceID, Distance, LightPowerID, LightPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
+ RenderSynthetic(depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, numberOfLights, RoughnessID, RoughnessSynthetic, MetallicID, MetallicSynthetic, DistanceID, Distance, LightPowerID, LightPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
double Gain = 0.5, Bias = 0.5;
@@ -525,42 +403,19 @@ void specularEstimation(std::string imageName, std::string calibration, double R
terminateOpenGL(vertexbuffer, uvbuffer, normalbuffer, elementbuffer, programID, depthProgramID, quad_programID, Texture, FramebufferName, depthTexture, quad_vertexbuffer, VertexArrayID);
- /*
- // Initialise the values of specular intensity and power exponent
- double Roughness = 0.5, Metallic = 0.5;
-
- // Convert lightDirections from a cv::Mat to a vector of glm::vec3
- std::vector<glm::vec3> lightInvDirVector;
- for (int i = 0; i < numberOfLights; i++)
- lightInvDirVector.push_back(glm::vec3(lightDirections.at<float>(i, 1), -lightDirections.at<float>(i, 0), lightDirections.at<float>(i, 2)));
-
- // Create the OpenGL object
- OpenGL Renderer = OpenGL(heightMap, normalMap, texture, textureImages, width, height, modelPath, sourcePath);
-
- //Renderer.renderPolygons(Roughness, Metallic);
- Renderer.computeResiduals(textureImages, numberOfLights, Roughness, Metallic, modelPath, lightDirections, lightInvDirVector);
- */
-
return;
}
void denseRealSample(std::string imageName, std::string calibration, double Roughness, double Metallic) {
- // Define the paths for the model images, calibration images and the albedo texture
- //const std::string sourcePath = "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/";
- //const std::string imagesPath = "/media/tw00275/ESD-USB/";
- //const std::string sourcePath = "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/vboindexer.cpp";
+ // Define the paths for the model images, calibration images and the albedo
const std::string imagesPath = "/home/thomas/Documents/";
const std::string folderPath = "2018-08-31";
const std::string modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
const std::string calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
- //const std::string calibrationPath = imagesPath + "2017-12-04" + "/" + calibration + "/" + calibration + ".";
const std::string macbethPath = imagesPath + folderPath + "/macbeth/macbeth.";
- const std::string texturePath = modelPath + "texture.png";
double Distance = 0.5, LightPower = 0.5;
-
- //const std::string calibrationPath2 = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
int numberOfLights = 6;
std::vector<cv::Mat> textureImages;
@@ -573,7 +428,7 @@ void denseRealSample(std::string imageName, std::string calibration, double Roug
textureImages.push_back(model);
}
- int width = textureImages[0].cols;
+ int width = textureImages[0].cols;
int height = textureImages[0].rows;
phoSte::photometryStero A(numberOfLights, modelPath, calibrationPath, macbethPath, imageName, calibration, 0);
@@ -587,20 +442,20 @@ void denseRealSample(std::string imageName, std::string calibration, double Roug
cv::Mat normalMap = A.outputNormalImage(1);
cv::imshow("Normal Map", normalMap);
- cv::Mat texture = A.outputAlbedoImage(1);
- cv::imshow("Albedo", texture);
+ cv::Mat albedo = A.outputAlbedoImage(1);
+ cv::imshow("Albedo", albedo);
cv::Mat normalAlbedo = A.outputNormalWithAlbedo(1);
cv::imshow("Normal with Albedo", normalAlbedo);
//cv::Mat heightMap = A.getHeightMap(2, -0.1);
//cv::imshow("Height Map", heightMap);
//cv::imwrite(modelPath + "normal", result);
- cv::Mat heightMap = cv::Mat::zeros(texture.size(), CV_8U);
+ cv::Mat heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
//cv::waitKey(0);
- cv::cvtColor(texture, texture, CV_GRAY2BGR);
- texture.convertTo(texture, CV_8UC3);
+ cv::cvtColor(albedo, albedo, CV_GRAY2BGR);
+ albedo.convertTo(albedo, CV_8UC3);
glm::vec3 position, lightInvDir;
@@ -628,7 +483,7 @@ void denseRealSample(std::string imageName, std::string calibration, double Roug
for (int i = 0; i < numberOfLights; i++)
lightInvDirs.push_back(glm::vec3(lightDirections.at<float>(i, 0), -lightDirections.at<float>(i, 2), lightDirections.at<float>(i, 1)));
- initialiseOpenGL(heightMap, normalMap, texture, lightDirections, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, RoughnessID, Roughness, MetallicID, Metallic, DistanceID, Distance, LightPowerID, LightPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
+ initialiseOpenGL(heightMap, normalMap, albedo, lightDirections, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, RoughnessID, Roughness, MetallicID, Metallic, DistanceID, Distance, LightPowerID, LightPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
std::string outputFileName = imageName + ".txt";
std::ofstream outputFile(outputFileName, std::ios::app);
@@ -682,27 +537,18 @@ void denseRealSample(std::string imageName, std::string calibration, double Roug
void denseSyntheticSample(std::string imageName, std::string calibration, double Roughness, double Metallic) {
- // Define the paths for the model images, calibration images and the albedo texture
- //const std::string sourcePath = "/user/HS222/tw00275/PhD/Minimisation/apps/specular_estimation/src/";
- //const std::string imagesPath = "/media/tw00275/ESD-USB/";
- //const std::string sourcePath = "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/vboindexer.cpp";
+ // Define the paths for the model images, calibration images and the albedo
const std::string imagesPath = "/home/thomas/Documents/";
const std::string folderPath = "2018-09-05";
const std::string modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
const std::string calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
- //const std::string calibrationPath = imagesPath + "2017-12-04" + "/" + calibration + "/" + calibration + ".";
const std::string macbethPath = imagesPath + folderPath + "/macbeth/macbeth.";
- const std::string texturePath = modelPath + "texture.png";
const std::string albedoPath = modelPath + "albedo.png";
const std::string normalPath = modelPath + "normal.png";
double Distance = 0.5, LightPower = 0.5;
-
- //const std::string calibrationPath2 = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
int numberOfLights = 6, width = 1092, height = 728;
-
-
glm::vec3 position, lightInvDir;
glm::mat4 depthProjectionMatrix, depthViewMatrix, depthModelMatrix = glm::mat4(1.0), depthMVP, ModelMatrix = glm::mat4(1.0), MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
glm::mat4 biasMatrix(
@@ -717,7 +563,7 @@ void denseSyntheticSample(std::string imageName, std::string calibration, double
cv::Vec3d residual;
int lightNumber = 0;
bool calculateResidual = false, perspectiveProjection, shadowControl;
- double totalResidual, residualValue, gain = 1.0, bias = 0;
+ double totalResidual, residualValue;
cv::Mat residualImage, albedo = cv::imread(albedoPath), normalMap = cv::imread(normalPath), heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
std::vector<cv::Mat> textureImages;;
diff --git a/bin/specular_estimation b/bin/specular_estimation
index b584f0ab983b7a153c41281c60643bc9208bf664..2132f32a2b798769fb7bfe1b178d9c8b59b778c7 100755
Binary files a/bin/specular_estimation and b/bin/specular_estimation differ
diff --git a/plastic6 0.5 0.5 0.5 0.5.txt b/plastic6 0.5 0.5 0.5 0.5.txt
index 710aacc6c29a66c69d0e44a422d993dd1a70ddd6..3d4e26e65d16e061b06fe84f7458008b6a62a4db 100644
--- a/plastic6 0.5 0.5 0.5 0.5.txt
+++ b/plastic6 0.5 0.5 0.5 0.5.txt
@@ -69,3 +69,374 @@ Roughness Metallic Light Distance Light Intensity Resiudal
0.779893 0 1 0 3057.55
0.779892 0 1 0 3057.56
0.779892 1.49012e-08 1 0 3057.56
+0.779892 -1.49012e-08 1 0 3057.56
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+1 0 1 0 1838.66
+1 0 1 0 1838.66
+0.999999 0 1 0 1838.65
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+1 0 1 0 1838.66
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+0.874051 0 1 0 1138.07
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+0.874051 0 1 0 1138.07
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+1 0 1 0 5919.69
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+0.879178 0 1 0 1120.24
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