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//Value Computed by CMake
Minimisation_SOURCE_DIR:STATIC=/home/thomas/Documents/Minimisation
+//Path to a file.
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+
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+
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OPENGL_INCLUDE_DIR:PATH=/usr/include
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+
//Path to a library.
OPENGL_gl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libGL.so
//Path to a library.
OPENGL_glu_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libGLU.so
+//Path to a library.
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+
+//Path to a library.
+OPENGL_opengl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libOpenGL.so
+
//Path to a file.
OPENGL_xmesa_INCLUDE_DIR:PATH=OPENGL_xmesa_INCLUDE_DIR-NOTFOUND
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CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
//Minor version of cmake used to create the current loaded cache
-CMAKE_CACHE_MINOR_VERSION:INTERNAL=9
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=10
//Patch version of cmake used to create the current loaded cache
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CMAKE_RANLIB-ADVANCED:INTERNAL=1
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CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1
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FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/usr/local][cfound components: core imgproc highgui calib3d video aruco ][v3.4.1()]
//Details about finding OpenGL
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+FIND_PACKAGE_MESSAGE_DETAILS_OpenGL:INTERNAL=[/usr/lib/x86_64-linux-gnu/libOpenGL.so][/usr/lib/x86_64-linux-gnu/libGLX.so][/usr/include][c ][v()]
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OPENGL_INCLUDE_DIR-ADVANCED:INTERNAL=1
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OPENGL_gl_LIBRARY-ADVANCED:INTERNAL=1
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OPENGL_glu_LIBRARY-ADVANCED:INTERNAL=1
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+OPENGL_opengl_LIBRARY-ADVANCED:INTERNAL=1
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+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__ARMCC_VERSION)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
+ /* __ARMCC_VERSION = VRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+ /* SDCC = VRP */
+# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
+# endif
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+ /* _SGI_COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10)
+# else
+ /* _COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+# define PLATFORM_ID
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+# define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
+# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+# endif
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+# define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCAVR__)
+# define ARCHITECTURE_ID "AVR"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if defined(_MSC_VER) && !defined(__clang__)
+# define C_DIALECT "90"
+# else
+# define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+ "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/CMakeFiles/3.10.2/CompilerIdC/a.out b/CMakeFiles/3.10.2/CompilerIdC/a.out
new file mode 100755
index 0000000000000000000000000000000000000000..da472d62917a18507f1b7c01f9ffd8ba1bab59ae
Binary files /dev/null and b/CMakeFiles/3.10.2/CompilerIdC/a.out differ
diff --git a/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2d66298588989dc5d404dae0025b8bf4e952498e
--- /dev/null
+++ b/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,576 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+ /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+ /* __SUNPRO_CC = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# else
+ /* __SUNPRO_CC = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+ /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+ /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
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+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
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+ /* _MSC_VER = VVRR */
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+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__)
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+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+ /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+# define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__)
+# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__ARMCC_VERSION)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+ /* __ARMCC_VERSION = VRRPPPP */
+ # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#else
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+ # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+ # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
+#endif
+
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+ /* _SGI_COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
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+# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10)
+# endif
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+/* These compilers are either not known or too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
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+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
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+# define COMPILER_ID ""
+#endif
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+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
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+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
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+#define STRINGIFY(X) STRINGIFY_HELPER(X)
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+# define PLATFORM_ID "MinGW"
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+# define PLATFORM_ID "Windows"
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+#elif defined(__FreeBSD__) || defined(__FreeBSD)
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+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
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+# define PLATFORM_ID "Xenix"
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+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+# define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+# define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+# define PLATFORM_ID "OS2"
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+# elif defined(__WINDOWS__)
+# define PLATFORM_ID "Windows3x"
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+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
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+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
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+# if _M_ARM == 4
+# define ARCHITECTURE_ID "ARMV4I"
+# elif _M_ARM == 5
+# define ARCHITECTURE_ID "ARMV5I"
+# else
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+# else /* unknown architecture */
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+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
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+# elif defined(_M_IX86)
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+# else /* unknown architecture */
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+# endif
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+# elif defined(__ICCAVR__)
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+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+#else
+# define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
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+char const info_version_internal[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+ 'i','n','t','e','r','n','a','l','[',
+ COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+ SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+ '.', SIMULATE_VERSION_MINOR,
+# ifdef SIMULATE_VERSION_PATCH
+ '.', SIMULATE_VERSION_PATCH,
+# ifdef SIMULATE_VERSION_TWEAK
+ '.', SIMULATE_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
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+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(_MSC_VER) && defined(_MSVC_LANG)
+#define CXX_STD _MSVC_LANG
+#else
+#define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201402L
+ "17"
+#elif CXX_STD >= 201402L
+ "14"
+#elif CXX_STD >= 201103L
+ "11"
+#else
+ "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+ require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+ require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+ require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+ require += info_cray[argc];
+#endif
+ require += info_language_dialect_default[argc];
+ (void)argv;
+ return require;
+}
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make[1]: Leaving directory '/home/thomas/Documents/Minimisation/CMakeFiles/CMakeTmp'
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diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/vboindexer.cpp.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/vboindexer.cpp.o
index a511ccbefe8f9b922edf0d26cc6056166e015352..3ed93ad3866f4bc90c5e88143359910306a00984 100644
Binary files a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/vboindexer.cpp.o and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/vboindexer.cpp.o differ
diff --git a/apps/specular_estimation/Makefile b/apps/specular_estimation/Makefile
index da9683430057c128bcef4ed11ccb6f474eb22b3c..85ef6de28d9276c30cf8260749feef2d5587b446 100644
--- a/apps/specular_estimation/Makefile
+++ b/apps/specular_estimation/Makefile
@@ -1,5 +1,5 @@
# CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.9
+# Generated by "Unix Makefiles" Generator, CMake Version 3.10
# Default target executed when no arguments are given to make.
default_target: all
diff --git a/apps/specular_estimation/cmake_install.cmake b/apps/specular_estimation/cmake_install.cmake
index 88dcb06b2f5b93aaf0ddb2e2f5205de2d506e0d5..0af4da3177eaad854727c21226217513162f83ec 100644
--- a/apps/specular_estimation/cmake_install.cmake
+++ b/apps/specular_estimation/cmake_install.cmake
@@ -32,3 +32,8 @@ if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+ set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
diff --git a/apps/specular_estimation/src/Ceres.h b/apps/specular_estimation/src/Ceres.h
index f43f3137a6479f04580221c8a4003faab9ef15f2..391df8444ee1a42a7aa17cfe5f163f5433ba9c88 100644
--- a/apps/specular_estimation/src/Ceres.h
+++ b/apps/specular_estimation/src/Ceres.h
@@ -11,15 +11,171 @@ using ceres::Problem;
using ceres::Solver;
using ceres::Solve;
-void specularMinimisation(float& SpecularIntensity, float& SpecularPower, double& residual);
+void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double& residualValue, cv::Vec3d residual,
+ std::vector< cv::Vec3d > residuals,
+ double totalResidual,
+ cv::Mat residualImage,
+ bool calculateResidual,
+ glm::mat4 depthProjectionMatrix,
+ glm::mat4 depthViewMatrix,
+ int width,
+ int height,
+ glm::vec3 position,
+ float& horizontalAngle,
+ float& verticalAngle,
+ float& FoV,
+ glm::vec3 lightInvDir,
+ cv::Mat lightDirections,
+ std::vector< cv::Mat > textureImages,
+ int lightNumber,
+ int numberOfLights,
+ GLuint SpecularIntensityID,
+ GLuint SpecularPowerID,
+ GLuint programID,
+ GLuint ModelMatrixID,
+ GLuint ViewMatrixID,
+ GLuint DepthBiasID,
+ GLuint lightInvDirID,
+ GLuint Texture,
+ GLuint TextureID,
+ GLuint depthTexture,
+ GLuint ShadowMapID,
+ GLuint vertexbuffer,
+ GLuint uvbuffer,
+ GLuint normalbuffer,
+ GLuint elementbuffer,
+ std::vector<unsigned int> indices,
+ GLuint MatrixID,
+ std::string modelPath);
// A templated cost functor that implements the residual r = 10 - x.
// The method operator() is templated so that we can then use an automatic differentiation wrapper around it to generate its derivatives.
struct CostFunctor {
- template <typename T> bool operator()(const T* const x, T* residual) const {
- residual[0] = x[0];
+
+ // Pass variables into struct
+ //CostFunctor(GLuint bufferID):bufferID(bufferID){};
+ CostFunctor(double& SpecularIntensity, double& SpecularPower, double& residualValue, cv::Vec3d residual, std::vector< cv::Vec3d > residuals, double totalResidual, cv::Mat residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3 position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3 lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int lightNumber, int numberOfLights, GLuint SpecularIntensityID, GLuint SpecularPowerID, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath):SpecularIntensity(SpecularIntensity), SpecularPower(SpecularPower), residualValue(residualValue), residual(residual), residuals(residuals), totalResidual(totalResidual), residualImage(residualImage), calculateResidual(calculateResidual), depthProjectionMatrix(depthProjectionMatrix), depthViewMatrix(depthViewMatrix), width(width), height(height), position(position), horizontalAngle(horizontalAngle), verticalAngle(verticalAngle), FoV(FoV), lightInvDir(lightInvDir), lightDirections(lightDirections), textureImages(textureImages), lightNumber(lightNumber), numberOfLights(numberOfLights), SpecularIntensityID(SpecularIntensityID), SpecularPowerID(SpecularPowerID), programID(programID), ModelMatrixID(ModelMatrixID), ViewMatrixID(ViewMatrixID), DepthBiasID(DepthBiasID), lightInvDirID(lightInvDirID), Texture(Texture), TextureID(TextureID), depthTexture(depthTexture), ShadowMapID(ShadowMapID), vertexbuffer(vertexbuffer), uvbuffer(uvbuffer), normalbuffer(normalbuffer), elementbuffer(elementbuffer), indices(indices), MatrixID(MatrixID), modelPath(modelPath){}
+
+ template <typename T> bool operator()(const T* const SpecularIntensity, const T* const SpecularPower, T* residualValue) const {
+
+ double value = function(SpecularIntensity, SpecularPower);
+
+ //residual[0] = x[0];
+ residualValue[0] = value;
return true;
}
+
+ //template <typename T> T function(T* v1, T* v2) {
+ template <typename T> T function(T* SpecularIntensity, T* SpecularPower) {
+ //Use GLuint for something
+ //bufferID
+
+ do {
+ // Render the shadows
+ glm::mat4 depthModelMatrix = glm::mat4(1.0);
+ glm::mat4 depthMVP = depthProjectionMatrix * depthViewMatrix * depthModelMatrix;
+ //renderShadows(FramebufferName, shadowResolution, depthProgramID, depthProjectionMatrix, depthViewMatrix, depthMatrixID, vertexbuffer, elementbuffer, indices, depthModelMatrix, depthMVP);
+
+ // Compute the MVP matrix from keyboard and mouse input
+ glm::mat4 ModelMatrix = glm::mat4(1.0);
+ glm::mat4 MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix;
+ bool perspectiveProjection, shadowControl;
+ //computeMatricesFromInputs(windowWidth, windowHeight, position, horizontalAngle, verticalAngle, FoV, mouseSpeed, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection, shadowControl, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
+ computeMatricesFromLights(width, height, position, horizontalAngle, verticalAngle, FoV, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection = false, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
+ MVP = ProjectionMatrix * ViewMatrix * ModelMatrix;
+
+ glm::mat4 biasMatrix(
+ 0.5, 0.0, 0.0, 0.0,
+ 0.0, 0.5, 0.0, 0.0,
+ 0.0, 0.0, 0.5, 0.0,
+ 0.5, 0.5, 0.5, 1.0
+ );
+
+ depthBiasMVP = biasMatrix * depthMVP;
+
+
+ // Render the polygons
+ renderPolygons(width, height, programID, lightInvDir, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MVP, ModelMatrix, ViewMatrix, depthBiasMVP, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
+
+ // Optionally render the shadowmap (for debug only)
+ //void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer);
+
+
+
+ //totalResidual = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
+ computeResidual(lightNumber, height, width, modelPath, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
+ residuals.push_back(residual);
+
+ // Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
+ // AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
+ //CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 2>(new CostFunctor);
+ //problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+ glfwPollEvents();
+
+
+
+ //TODO: Save model image and residual
+
+
+ //CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
+ //problem.AddResidualBlock(cost_function, NULL, &x);
+
+ lightNumber++;
+ } while (lightNumber < numberOfLights);
+ //} while (glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS && glfwWindowShouldClose(window) == 0); // Check if the ESC key was pressed or the window was closed
+
+ lightNumber = 0;
+
+ //return T(v1[0] + v2[0]);
+ return totalResidual;
+ }
+
+
+ // Access variables in struct
+ //private:
+ //GLuint bufferID;
+ double& SpecularIntensity;
+ double& SpecularPower;
+ double& residualValue;
+ cv::Vec3d residual;
+ std::vector< cv::Vec3d > residuals;
+ double totalResidual;
+ cv::Mat residualImage;
+ bool calculateResidual;
+ glm::mat4 depthProjectionMatrix;
+ glm::mat4 depthViewMatrix;
+ int width;
+ int height;
+ glm::vec3 position;
+ float& horizontalAngle;
+ float& verticalAngle;
+ float& FoV;
+ glm::vec3 lightInvDir;
+ cv::Mat lightDirections;
+ std::vector< cv::Mat > textureImages;
+ int lightNumber;
+ int numberOfLights;
+ GLuint SpecularIntensityID;
+ GLuint SpecularPowerID;
+ GLuint programID;
+ GLuint ModelMatrixID;
+ GLuint ViewMatrixID;
+ GLuint DepthBiasID;
+ GLuint lightInvDirID;
+ GLuint Texture;
+ GLuint TextureID;
+ GLuint depthTexture;
+ GLuint ShadowMapID;
+ GLuint vertexbuffer;
+ GLuint uvbuffer;
+ GLuint normalbuffer;
+ GLuint elementbuffer;
+ std::vector<unsigned int> indices;
+ GLuint MatrixID;
+ std::string modelPath;
};
/*struct CostFunctor {
@@ -31,19 +187,54 @@ struct CostFunctor {
}
};*/
-void specularMinimisation(float& SpecularIntensity, float& SpecularPower, double& residual) {
+void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double& residualValue, cv::Vec3d residual,
+ std::vector< cv::Vec3d > residuals,
+ double totalResidual,
+ cv::Mat residualImage,
+ bool calculateResidual,
+ glm::mat4 depthProjectionMatrix,
+ glm::mat4 depthViewMatrix,
+ int width,
+ int height,
+ glm::vec3 position,
+ float& horizontalAngle,
+ float& verticalAngle,
+ float& FoV,
+ glm::vec3 lightInvDir,
+ cv::Mat lightDirections,
+ std::vector< cv::Mat > textureImages,
+ int lightNumber,
+ int numberOfLights,
+ GLuint SpecularIntensityID,
+ GLuint SpecularPowerID,
+ GLuint programID,
+ GLuint ModelMatrixID,
+ GLuint ViewMatrixID,
+ GLuint DepthBiasID,
+ GLuint lightInvDirID,
+ GLuint Texture,
+ GLuint TextureID,
+ GLuint depthTexture,
+ GLuint ShadowMapID,
+ GLuint vertexbuffer,
+ GLuint uvbuffer,
+ GLuint normalbuffer,
+ GLuint elementbuffer,
+ std::vector<unsigned int> indices,
+ GLuint MatrixID,
+ std::string modelPath) {
// The variable to solve for with its initial value. It will be mutated in place by the solver.
- double x = SpecularIntensity;
- const double initial_x = x;
+ const double initialSpecularIntensity = SpecularIntensity;
+ const double initialSpecularPower = SpecularPower;
// Build the problem.
- Problem problem;
+ ceres::Problem problem;
// Set up the only cost function (also known as residual). This uses auto-differentiation to obtain the derivative (jacobian).
// AutoDiffCostFunction<CostFunctor, (Dimensions of Residual), (Dimensions of Variables)>
- CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 1>(new CostFunctor);
- problem.AddResidualBlock(cost_function, NULL, &x);
+ ceres::CostFunction* cost_function = new AutoDiffCostFunction<CostFunctor, 1, 2>(new CostFunctor(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath));
+ problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
// Run the solver!
Solver::Options options;
@@ -52,7 +243,8 @@ void specularMinimisation(float& SpecularIntensity, float& SpecularPower, double
Solve(options, &problem, &summary);
std::cout << summary.BriefReport() << "\n";
- std::cout << "Specular Intensity: " << initial_x << " -> " << x << "\n";
+ std::cout << "Specular Intensity: " << initialSpecularIntensity << " -> " << SpecularIntensity << "\n";
+ std::cout << "Specular Power: " << initialSpecularPower << " -> " << SpecularPower << "\n";
}
/*void specularMinimisation(char** argv) {
diff --git a/apps/specular_estimation/src/OpenCV.h b/apps/specular_estimation/src/OpenCV.h
index 56a7c36c9f776c8697eca89d349b812eb2bbe959..715e2200b7a324619fb345a6bb5402c90e9121cd 100644
--- a/apps/specular_estimation/src/OpenCV.h
+++ b/apps/specular_estimation/src/OpenCV.h
@@ -35,7 +35,7 @@ void photometricStereo(std::string imageName, std::string calibration, std::stri
lightDirections = getLightDirections(calibrationImages, calibrationBoundingBox);
/*for (int i = 0; i < int(lightDirections.rows); i++) {
- cv::Mat rotatedLightDirections = rotatePoints(lightDirections(cv::Rect(0, i, 3, 1)), rvecs[i]);
+ cv::Mat rotatedLightDirections = rotatePointcos(lightDirections(cv::Rect(0, i, 3, 1)), rvecs[i]);
lightDirectionsPerspective.at<float>(i, 0) = rotatedLightDirections.at<float>(i, 0);
lightDirectionsPerspective.at<float>(i, 1) = rotatedLightDirections.at<float>(i, 1);
diff --git a/apps/specular_estimation/src/OpenGL.h b/apps/specular_estimation/src/OpenGL.h
index 7dc1a18d5eccfe76bae410a3b35e4aab861d606a..bce7665b20a06afe8bfe67f329b3af42d229b8f6 100644
--- a/apps/specular_estimation/src/OpenGL.h
+++ b/apps/specular_estimation/src/OpenGL.h
@@ -35,22 +35,22 @@ using ceres::Problem;
using ceres::Solver;
using ceres::Solve;
-void computeMatricesFromInputs(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, float mouseSpeed, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, bool& shadowControl, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, bool& calculateResidual);
-void computeMatricesFromLights(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, bool& calculateResidual);
+void computeMatricesFromInputs(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, float mouseSpeed, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, bool& shadowControl, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual);
+void computeMatricesFromLights(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual);
void createMesh(cv::Mat Z, cv::Mat normals, std::vector<glm::vec3> & out_vertices, std::vector<glm::vec2> & out_uvs, std::vector<glm::vec3> & out_normals, std::vector<unsigned int> & out_indices);
GLuint loadMat(cv::Mat cv_texture);
-void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, std::vector< cv::Mat > textureImages, cv::Mat lightDirections, int& windowWidth, int& windowHeight, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, GLuint& programID, GLuint& MatrixID, GLuint& ModelMatrixID, GLuint& ViewMatrixID, GLuint& DepthBiasID, GLuint& lightInvDirID, GLuint& Texture, GLuint& TextureID, GLuint& depthTexture, GLuint& ShadowMapID, GLuint& vertexbuffer, GLuint& uvbuffer, GLuint& normalbuffer, GLuint& elementbuffer, std::vector<unsigned int> & indices, GLuint& depthProgramID, GLuint& quad_programID, GLuint& FramebufferName, GLuint& quad_vertexbuffer, GLuint& VertexArrayID, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower);
-//void openGL(int& lightNumber, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, GLuint programID, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint depthProgramID, GLuint quad_programID, GLuint FramebufferName, GLuint quad_vertexbuffer, GLuint VertexArrayID, int numberOfLights, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, bool& calculateResidual);
+void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, std::vector< cv::Mat > textureImages, cv::Mat lightDirections, int& windowWidth, int& windowHeight, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, GLuint& programID, GLuint& MatrixID, GLuint& ModelMatrixID, GLuint& ViewMatrixID, GLuint& DepthBiasID, GLuint& lightInvDirID, GLuint& Texture, GLuint& TextureID, GLuint& depthTexture, GLuint& ShadowMapID, GLuint& vertexbuffer, GLuint& uvbuffer, GLuint& normalbuffer, GLuint& elementbuffer, std::vector<unsigned int> & indices, GLuint& depthProgramID, GLuint& quad_programID, GLuint& FramebufferName, GLuint& quad_vertexbuffer, GLuint& VertexArrayID, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower);
+//void openGL(int& lightNumber, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, GLuint programID, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint depthProgramID, GLuint quad_programID, GLuint FramebufferName, GLuint quad_vertexbuffer, GLuint VertexArrayID, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual);
void terminateOpenGL(GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, GLuint programID, GLuint depthProgramID, GLuint quad_programID, GLuint Texture, GLuint FramebufferName, GLuint depthTexture, GLuint quad_vertexbuffer, GLuint VertexArrayID);
-void renderPolygons(int windowWidth, int windowHeight, GLuint programID, glm::vec3 lightInvDir, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 MVP, glm::mat4 ModelMatrix, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower);
+void renderPolygons(int windowWidth, int windowHeight, GLuint programID, glm::vec3 lightInvDir, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 MVP, glm::mat4 ModelMatrix, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower);
void renderShadows(GLuint FramebufferName, int shadowResolution, GLuint depthProgramID, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, GLuint depthMatrixID, GLuint vertexbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 depthModelMatrix, glm::mat4 depthMVP);
void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer);
-void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::string modelPath, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double& sum, float SpecularIntensity, float SpecularPower);
-double returnResidual(int imageNumber, int windowHeight, int windowWidth, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, float SpecularIntensity, float SpecularPower);
-void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath, double& x, Problem& problem);
-void viewModel(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath);
+void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::string modelPath, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double& sum, double SpecularIntensity, double SpecularPower);
+double returnResidual(int imageNumber, int windowHeight, int windowWidth, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double SpecularIntensity, double SpecularPower);
+void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath, double& x, Problem& problem);
+void viewModel(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath);
-void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, std::vector< cv::Mat > textureImages, cv::Mat lightDirections, int& windowWidth, int& windowHeight, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, GLuint& programID, GLuint& MatrixID, GLuint& ModelMatrixID, GLuint& ViewMatrixID, GLuint& DepthBiasID, GLuint& lightInvDirID, GLuint& Texture, GLuint& TextureID, GLuint& depthTexture, GLuint& ShadowMapID, GLuint& vertexbuffer, GLuint& uvbuffer, GLuint& normalbuffer, GLuint& elementbuffer, std::vector<unsigned int> & indices, GLuint& depthProgramID, GLuint& quad_programID, GLuint& FramebufferName, GLuint& quad_vertexbuffer, GLuint& VertexArrayID, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower) {
+void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, std::vector< cv::Mat > textureImages, cv::Mat lightDirections, int& windowWidth, int& windowHeight, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, GLuint& programID, GLuint& MatrixID, GLuint& ModelMatrixID, GLuint& ViewMatrixID, GLuint& DepthBiasID, GLuint& lightInvDirID, GLuint& Texture, GLuint& TextureID, GLuint& depthTexture, GLuint& ShadowMapID, GLuint& vertexbuffer, GLuint& uvbuffer, GLuint& normalbuffer, GLuint& elementbuffer, std::vector<unsigned int> & indices, GLuint& depthProgramID, GLuint& quad_programID, GLuint& FramebufferName, GLuint& quad_vertexbuffer, GLuint& VertexArrayID, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower) {
// Initialise the GLFW library first
if (!glfwInit()) {
std::cerr << "Failed to initialise GLFW.\n";
@@ -347,7 +347,7 @@ void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, G
glDisableVertexAttribArray(0);
}
-void renderPolygons(int windowWidth, int windowHeight, GLuint programID, glm::vec3 lightInvDir, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 MVP, glm::mat4 ModelMatrix, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower) {
+void renderPolygons(int windowWidth, int windowHeight, GLuint programID, glm::vec3 lightInvDir, GLuint MatrixID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, glm::mat4 MVP, glm::mat4 ModelMatrix, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower) {
// Render to the screen
glBindFramebuffer(GL_FRAMEBUFFER, 0);
@@ -469,7 +469,7 @@ void renderPolygons(int windowWidth, int windowHeight, GLuint programID, glm::ve
}
}*/
-void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::string modelPath, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double& sum, float SpecularIntensity, float SpecularPower) {
+void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::string modelPath, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double& sum, double SpecularIntensity, double SpecularPower) {
// Create an empty Mat the same size as the image
cv::Mat temp = cv::Mat(windowHeight, windowWidth, CV_8UC3);
@@ -523,7 +523,7 @@ void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::st
//std::cout << "Image " << imageNumber << ", average sum of squared differences: R = " << sum << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl;
}
-double returnResidual(int imageNumber, int windowHeight, int windowWidth, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, float SpecularIntensity, float SpecularPower) {
+double returnResidual(int imageNumber, int windowHeight, int windowWidth, std::vector < cv::Mat > textureImages, cv::Mat& residual, cv::Vec3d& residuals, double SpecularIntensity, double SpecularPower) {
// Create an empty Mat the same size as the image
cv::Mat temp = cv::Mat(windowHeight, windowWidth, CV_8UC3);
@@ -563,7 +563,7 @@ double returnResidual(int imageNumber, int windowHeight, int windowWidth, std::v
return sum;
}
-void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath, double& x, Problem& problem) {
+void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath, double& x, Problem& problem) {
do {
// Render the shadows
glm::mat4 depthModelMatrix = glm::mat4(1.0);
@@ -624,7 +624,7 @@ void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals,
lightNumber = 0;
}
-void viewModel(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath) {
+void viewModel(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double& totalResidual, cv::Mat& residualImage, bool calculateResidual, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::vec3& lightInvDir, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, GLuint programID, GLuint ModelMatrixID, GLuint ViewMatrixID, GLuint DepthBiasID, GLuint lightInvDirID, GLuint Texture, GLuint TextureID, GLuint depthTexture, GLuint ShadowMapID, GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer, GLuint elementbuffer, std::vector<unsigned int> indices, GLuint MatrixID, std::string modelPath) {
do {
// Render the shadows
glm::mat4 depthModelMatrix = glm::mat4(1.0);
@@ -692,7 +692,7 @@ void viewModel(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals, double&
} while (glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS && glfwWindowShouldClose(window) == 0); // Check if the ESC key was pressed or the window was closed
}
-void computeMatricesFromLights(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, bool& calculateResidual) {
+void computeMatricesFromLights(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, cv::Mat lightDirections, std::vector< cv::Mat > textureImages, int& lightNumber, int numberOfLights, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual) {
//calculateResidual = false;
@@ -819,7 +819,7 @@ void computeMatricesFromLights(int windowWidth, int windowHeight, glm::vec3& pos
}*/
}
-void computeMatricesFromInputs(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, float mouseSpeed, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, bool& shadowControl, GLuint& SpecularIntensityID, float& SpecularIntensity, GLuint& SpecularPowerID, float& SpecularPower, bool& calculateResidual) {
+void computeMatricesFromInputs(int windowWidth, int windowHeight, glm::vec3& position, float& horizontalAngle, float& verticalAngle, float& FoV, float mouseSpeed, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::vec3& lightInvDir, glm::mat4& depthProjectionMatrix, glm::mat4& depthViewMatrix, bool& perspectiveProjection, bool& shadowControl, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower, bool& calculateResidual) {
calculateResidual = false;
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index a44ae69ab2c95f2cd885fb0797dad87cd7e8fccd..7d4577dc8f4c3454dafbe0336d2b01e28a9467e0 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -14,7 +14,7 @@ int main(int argc, char** argv) {
bool showTexture = true;
// Read the name of the model folder
- if (argc >= 2) { // The default calibration path "chrome" will be used
+ 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;
@@ -44,8 +44,9 @@ int main(int argc, char** argv) {
std::cout << std::endl;
// Define the paths for the model images, calibration images and the albedo texture
- const std::string modelPath = "/home/thomas/Documents/2017-12-04/" + imageName + "/" + imageName + ".";
- const std::string calibrationPath = "/home/thomas/Documents/2017-12-04/" + calibration + "/" + calibration + ".";
+ const std::string folder = "2017-12-04";
+ const std::string modelPath = "/home/thomas/Documents/" + folder + "/" + imageName + "/" + imageName + ".";
+ const std::string calibrationPath = "/home/thomas/Documents/" + folder + "/" + calibration + "/" + calibration + ".";
const std::string texturePath = modelPath + "texture.png";
@@ -69,7 +70,6 @@ int main(int argc, char** argv) {
// 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);
@@ -92,14 +92,14 @@ int main(int argc, char** argv) {
glm::vec3 position, lightInvDir;
glm::mat4 depthProjectionMatrix, depthViewMatrix;
- float horizontalAngle, verticalAngle, FoV, SpecularIntensity = 0.5f, SpecularPower = 2.0f;
+ float horizontalAngle, verticalAngle, FoV;
GLuint programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularPowerID;
std::vector<unsigned int> indices;
cv::Vec3d residual;
std::vector< cv::Vec3d > residuals;
int lightNumber = 0;
bool calculateResidual = false;
- double totalResidual;
+ double totalResidual, SpecularIntensity = 0.5d, SpecularPower = 2.0d, residualValue;
cv::Mat residualImage;
initialiseOpenGL(heightMap, normalMap, texture, textureImages, 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
@@ -107,9 +107,9 @@ int main(int argc, char** argv) {
//initialiseOpenGL(heightMap, normalMap, texture, charucoImages, lightDirectionsPerspective, 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
+ specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
-
-
+ /*
// The variable to solve for with its initial value. It will be mutated in place by the solver.
double x = SpecularIntensity;
const double initial_x = x;
@@ -129,12 +129,16 @@ int main(int argc, char** argv) {
std::cout << summary.BriefReport() << "\n";
std::cout << "Specular Intensity: " << initial_x << " -> " << x << "\n";
+ */
viewModel(residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, 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);
- // wood6: Average residual = 8.92126e+08, difference = -27795, specular intensity = 0.234, specular power = 2
+ return 0;
+}
+
+// wood6: Average residual = 8.92126e+08, difference = -27795, specular intensity = 0.234, specular power = 2
/* Image 0, SSD per pixel: R = 241.427, G = 232.569, B = 204.216, specular intensity = 0.237, specular power = 2
Image 1, SSD per pixel: R = 245.135, G = 233.578, B = 197.033, specular intensity = 0.236, specular power = 2
@@ -180,7 +184,3 @@ int main(int argc, char** argv) {
Image 5, SSD per pixel: R = 219.19, G = 223.315, B = 223.424, specular intensity = 0.42, specular power = 2
Average residual = 9.30516e+08, specular intensity = 0.42, specular power = 2
*/
-
-
- return 0;
-}
diff --git a/apps/specular_estimation/src/stdafx.h b/apps/specular_estimation/src/stdafx.h
index 60a8f329173f59ecac54f957b2e15b3af5c28cf9..60b4aa9f819b377f2a6a19faa6fb3a34fba0846f 100644
--- a/apps/specular_estimation/src/stdafx.h
+++ b/apps/specular_estimation/src/stdafx.h
@@ -1,5 +1,4 @@
-// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
-// automatic differentiation.
+#define GLM_ENABLE_EXPERIMENTAL
#include <stdio.h>
#include <iostream>
@@ -36,4 +35,4 @@ using namespace glm;
#include "OpenCV.h"
#include "Charuco.h"
#include "OpenGL.h"
-#include "Ceres.h"
\ No newline at end of file
+#include "Ceres.h"
diff --git a/cmake_install.cmake b/cmake_install.cmake
index e580cdae7851d03ce5ca2eae0bf89eb88f0313aa..d13aa149e0beae41670db36bf56a894188560abe 100644
--- a/cmake_install.cmake
+++ b/cmake_install.cmake
@@ -32,6 +32,11 @@ if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+ set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
if(NOT CMAKE_INSTALL_LOCAL_ONLY)
# Include the install script for each subdirectory.
include("/home/thomas/Documents/Minimisation/apps/cmake_install.cmake")