diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
index 258658ce700e47f3a648b6ad1aec8fd62450fb3b..b5e66120c74dc922a3f87e696c12599fd67812fd 100644
--- a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
+++ b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/CXX.includecache
@@ -11,6 +11,10 @@ ceres/ceres.h
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/ceres/ceres.h
glog/logging.h
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/glog/logging.h
+iostream
+-
+fstream
+-
/home/thomas/Documents/Minimisation/apps/specular_estimation/src/Charuco.h
opencv2/opencv.hpp
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 6f4989d130915eb24e4e04e908dfdbfb652d6924..59809c72e6c2d7826035549e2235d96de11d102c 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/Ceres.h b/apps/specular_estimation/src/Ceres.h
index 75b84067179dd267099485da2cd9227ba13b4734..9b75b07ae495c80ef5b31d998149de25a19b0a06 100644
--- a/apps/specular_estimation/src/Ceres.h
+++ b/apps/specular_estimation/src/Ceres.h
@@ -6,6 +6,9 @@
#include "ceres/ceres.h"
#include "glog/logging.h"
+#include <iostream>
+#include <fstream>
+
using namespace ceres;
/*using ceres::AutoDiffCostFunction;
@@ -14,34 +17,39 @@ using ceres::Problem;
using ceres::Solver;
using ceres::Solve;*/
-void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double residualValue, cv::Vec3d residual, std::vector<cv::Vec3d> residuals, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, 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, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages);
+void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double residualValue, cv::Vec3d residual, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, 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, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages);
+void outputToFile(double specularIntensity, double specularPower, double resiudal);
class MyScalarCostFunctor {
public:
- MyScalarCostFunctor(double residualValue, cv::Vec3d residual, std::vector<cv::Vec3d> residuals, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, 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, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages):residualValue_(residualValue), residual_(residual), residuals_(residuals), totalResidual_(totalResidual), residualImage_(residualImage), depthProjectionMatrix_(depthProjectionMatrix), depthViewMatrix_(depthViewMatrix), width_(width), height_(height), 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), ModelMatrix_(ModelMatrix), MVP_(MVP), ViewMatrix_(ViewMatrix), depthBiasMVP_(depthBiasMVP), lightInvDirs_(lightInvDirs), textureImages_(textureImages){}
+ MyScalarCostFunctor(double residualValue, cv::Vec3d residual, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, 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, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages):residualValue_(residualValue), residual_(residual), totalResidual_(totalResidual), residualImage_(residualImage), depthProjectionMatrix_(depthProjectionMatrix), depthViewMatrix_(depthViewMatrix), width_(width), height_(height), 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), ModelMatrix_(ModelMatrix), MVP_(MVP), ViewMatrix_(ViewMatrix), depthBiasMVP_(depthBiasMVP), lightInvDirs_(lightInvDirs), textureImages_(textureImages){}
bool operator()(const double* const SpecularIntensity, const double* const SpecularPower, double* residualValue) const {
- double specularIntensity_ = double(SpecularIntensity[0]);
- double specularPower_ = double(SpecularPower[0]);
+ double specularIntensity = double(SpecularIntensity[0]);
+ double specularPower = double(SpecularPower[0]);
double sum = 0;
for(int i = 0; i < numberOfLights_; i++) {
// 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_, SpecularIntensityID_, specularIntensity_, SpecularPowerID_, specularPower_);
+ renderPolygons(width_, height_, programID_, lightInvDirs_[i], MatrixID_, ModelMatrixID_, ViewMatrixID_, DepthBiasID_, lightInvDirID_, Texture_, TextureID_, depthTexture_, ShadowMapID_, vertexbuffer_, uvbuffer_, normalbuffer_, elementbuffer_, indices_, MVP_, ModelMatrix_, ViewMatrix_, depthBiasMVP_, SpecularIntensityID_, specularIntensity, SpecularPowerID_, specularPower);
- computeResidual(i, height_, width_, textureImages_, sum);
+ meanSquaredError(i, height_, width_, textureImages_, sum);
+ //structuralSimilarityIndex(i, height_, width_, textureImages_, sum);
// Swap buffers
glfwSwapBuffers(window);
glfwPollEvents();
}
- //std::cout << "Residual = " << (sum/numberOfLights_) << ", SSD = " << (sum/numberOfLights_)*(sum/numberOfLights_) << std::endl;
+ //std::cout << "Specular Intensity = " << specularIntensity << ", Specular Power = " << specularPower << ", Residual = " << (sum/numberOfLights_) << ", SSD = " << (sum/numberOfLights_)*(sum/numberOfLights_) << std::endl;
+ //std::cout << specularIntensity << "\t" << specularPower << "\t" << (sum/numberOfLights_) << std::endl;
+
+ //outputToFile(specularIntensity, specularPower, (sum/numberOfLights_));
- residualValue[0] = (sum/numberOfLights_)*(sum/numberOfLights_);
+ residualValue[0] = (sum/numberOfLights_);
return true;
}
@@ -83,7 +91,7 @@ class MyScalarCostFunctor {
std::vector<cv::Mat> textureImages_;
};
-void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double residualValue, cv::Vec3d residual, std::vector<cv::Vec3d> residuals, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, 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, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages) {
+void specularMinimisation(double& SpecularIntensity, double& SpecularPower, double residualValue, cv::Vec3d residual, double totalResidual, cv::Mat residualImage, glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix, int width, int height, 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, glm::mat4 ModelMatrix, glm::mat4 MVP, glm::mat4 ViewMatrix, glm::mat4 depthBiasMVP, std::vector<glm::vec3> lightInvDirs, std::vector<cv::Mat> textureImages) {
// The variable to solve for with its initial value. It will be mutated in place by the solver.
const double initialSpecularIntensity = SpecularIntensity;
@@ -94,8 +102,10 @@ void specularMinimisation(double& SpecularIntensity, double& SpecularPower, doub
// 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)>
- ceres::CostFunction* cost_function = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 1, 1>(new MyScalarCostFunctor(residualValue, residual, residuals, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages));
- problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
+ ceres::CostFunction* cost_function = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 1, 1>(new MyScalarCostFunctor(residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages));
+ std::vector<ceres::ResidualBlockId> residual_block_ids;
+ ceres::ResidualBlockId block_id = problem.AddResidualBlock(cost_function, NULL, &SpecularIntensity, &SpecularPower);
+ residual_block_ids.push_back(block_id);
problem.SetParameterLowerBound(&SpecularIntensity, 0, 0);
problem.SetParameterUpperBound(&SpecularIntensity, 0, 1);
@@ -107,9 +117,28 @@ void specularMinimisation(double& SpecularIntensity, double& SpecularPower, doub
Solver::Summary summary;
Solve(options, &problem, &summary);
- std::cout << summary.BriefReport() << "\n";
- std::cout << "Specular Intensity: " << initialSpecularIntensity << " -> " << SpecularIntensity << "\n";
- std::cout << "Specular Power: " << initialSpecularPower << " -> " << SpecularPower << "\n";
+ ceres::Problem::EvaluateOptions evaluateOptions;
+ evaluateOptions.residual_blocks = residual_block_ids;
+ double total_cost = 0.0;
+ std::vector<double> residuals;
+ problem.Evaluate(evaluateOptions, &total_cost, &residuals, nullptr, nullptr);
+ //for (auto i = residuals.begin(); i != residuals.end(); ++i)
+ // std::cout << *i << ' ';
+
+ std::cout << summary.BriefReport() << std::endl;
+ //std::cout << summary.FullReport() << std::endl;
+ std::cout << "Specular Intensity: " << initialSpecularIntensity << " -> " << SpecularIntensity << std::endl;
+ std::cout << "Specular Power: " << initialSpecularPower << " -> " << SpecularPower << std::endl;
+}
+
+void outputToFile(double specularIntensity, double specularPower, double resiudal) {
+
+ std::ofstream outputFile("results.txt", std::ios::app);
+
+ if (outputFile.is_open()) {
+ outputFile << specularIntensity << "\t" << specularPower << "\t" << resiudal << std::endl;
+ outputFile.close();
+ }
}
#endif
diff --git a/apps/specular_estimation/src/Charuco.h b/apps/specular_estimation/src/Charuco.h
index ff37538b7513cdc2b216c1c875ded8a94e8b9f16..781410e3648d4226dbae0386288406ba5c8b6752 100644
--- a/apps/specular_estimation/src/Charuco.h
+++ b/apps/specular_estimation/src/Charuco.h
@@ -31,7 +31,7 @@ void undistortCharuco(cv::Ptr<cv::aruco::CharucoBoard> board, cv::Mat inputImage
void charucoCalibration(int width, int height, cv::Ptr<cv::aruco::CharucoBoard>& charucoBoard, cv::Mat& charucoBoardImage, cv::Mat& cameraMatrix, cv::Mat& distortionCoefficients, const std::string imagesPath, const std::string folderPath) {
- std::vector< cv::Mat > charucoImages;
+ std::vector<cv::Mat> charucoImages;
const std::string charucoPath = imagesPath + folderPath + "/charuco/";
cameraMatrix = cv::imread(charucoPath + "cameraMatrix.png", cv::IMREAD_COLOR);
diff --git a/apps/specular_estimation/src/OpenCV.h b/apps/specular_estimation/src/OpenCV.h
index f558e793615b9799f6a82e71e16625d0799ff440..c2f93b17de06618d47062e0bbb3c64c4c31e14a9 100644
--- a/apps/specular_estimation/src/OpenCV.h
+++ b/apps/specular_estimation/src/OpenCV.h
@@ -35,6 +35,23 @@ void displayHeightMap(cv::Mat Z, std::string modelPath, bool saveHeightMap);
cv::Mat scaleImageIntensity(cv::Mat image);
void loadSurfaceNormals(cv::Mat lightDirections, int width, int height, int imageScale, std::string modelPath, cv::Mat& normals, cv::Mat& Z, std::vector< cv::Mat > modelImages);
cv::Mat convertImageToNormals(cv::Mat normalMap);
+cv::Mat addNoise(cv::Mat temp, double standardDeviation);
+cv::Mat addNoise(cv::Mat image);
+cv::Mat AddGaussianNoise(const cv::Mat mSrc, double Mean, double StdDev);
+cv::Mat AddGaussianNoise_Opencv(const cv::Mat mSrc, double Mean, double StdDev);
+double sigma(cv::Mat& m, int i, int j, int block_size);
+double cov(cv::Mat& m1, cv::Mat& m2, int i, int j, int block_size);
+double eqm(cv::Mat& img1, cv::Mat& img2);
+double psnr(cv::Mat& img_src, cv::Mat& img_compressed, int block_size);
+double ssim(cv::Mat& img_src, cv::Mat& img_compressed, int block_size, bool show_progress);
+void compute_quality_metrics(char * file1, char * file2, int block_size);
+double getMSSIM(const cv::Mat& i1, const cv::Mat& i2);
+
+inline unsigned char Clamp(int n)
+{
+ n = n>255 ? 255 : n;
+ return n<0 ? 0 : n;
+}
void photometricStereo(std::string imageName, std::string calibration, std::string modelPath, int imageScale, cv::Mat& Z, cv::Mat& normals, cv::Mat& texture, cv::Mat& lightDirections, cv::Mat& lightDirectionsPerspective, std::vector<cv::Mat>& textureImages, std::vector<cv::Mat>& modelImages, std::vector<cv::Mat> calibrationImages, cv::Rect calibrationBoundingBox, int& width, int& height, std::vector< cv::Vec3d > rvecs, std::vector<cv::Vec3d> tvecs) {
@@ -718,7 +735,319 @@ cv::Mat convertImageToNormals(cv::Mat normalMap) {
}
}
return result;
-
+}
+
+/*cv::Mat addNoise(cv::Mat temp, double standardDeviation) {
+ if (standardDeviation <= 0)
+ return temp;
+ cv::Mat noise = cv::Mat(temp.rows, temp.cols, CV_64F);
+ cv::Mat result = cv::Mat(temp.rows, temp.cols, CV_64F);
+ cv::cvtColor(temp, temp, cv::COLOR_BGR2GRAY);
+ temp.convertTo(temp, CV_64F);
+ normalize(temp, result, 0.0, 1.0, CV_MINMAX, CV_64F);
+ randn(noise, 0, standardDeviation);
+ result += noise;
+ normalize(result, result, 0.0, 1.0, CV_MINMAX, CV_64F);
+ result.convertTo(result, CV_8U, 255, 0);
+ cv::cvtColor(result, result, cv::COLOR_GRAY2BGR);
+ return result;
+}*/
+
+cv::Mat addNoise(cv::Mat temp, double standardDeviation) {
+ if (standardDeviation <= 0)
+ return temp;
+ cv::Mat noise = cv::Mat(temp.rows, temp.cols, CV_64F);
+ cv::Mat result = cv::Mat(temp.rows, temp.cols, CV_64F);
+ cv::cvtColor(temp, temp, cv::COLOR_BGR2GRAY);
+ temp.convertTo(temp, CV_64F);
+ normalize(temp, result, 0.0, 1.0, CV_MINMAX, CV_64F);
+ randn(noise, 0, standardDeviation);
+ result += noise;
+ normalize(result, result, 0.0, 1.0, CV_MINMAX, CV_64F);
+ result.convertTo(result, CV_8U, 255, 0);
+ cv::cvtColor(result, result, cv::COLOR_GRAY2BGR);
+ return result;
+}
+
+// http://opencvexamples.blogspot.com/
+cv::Mat addNoise(cv::Mat image) {
+ rand();
+ cv::RNG rng(rand());
+ int i,j;
+ for (int n = 0; n < 100; n++) {
+ i = rand() % image.cols;
+ j = rand() % image.rows;
+
+ cv::Point center(i, j);
+ circle(image, center, rng.uniform(1, 3), // radius,
+ cv::Scalar(rng.uniform(0, 256),rng.uniform(0, 256),rng.uniform(0, 256)), // color of noise points
+ -2, // thickness, negative for filled
+ 16);
+ }
+
+ return image;
+}
+
+// https://stackoverflow.com/questions/32005094/how-to-add-noise-to-color-image-opencv
+cv::Mat AddGaussianNoise(const cv::Mat mSrc, double Mean=0.0, double StdDev=10.0)
+{
+ cv::Mat mDst;
+ if(mSrc.empty())
+ {
+ std::cout<<"[Error]! Input Image Empty!";
+ return mSrc;
+ }
+
+ cv::Mat mGaussian_noise = cv::Mat(mSrc.size(), CV_16SC3);
+ cv::randn(mGaussian_noise, cv::Scalar::all(Mean), cv::Scalar::all(StdDev));
+
+ for (int Rows = 0; Rows < mSrc.rows; Rows++)
+ {
+ for (int Cols = 0; Cols < mSrc.cols; Cols++)
+ {
+ cv::Vec3b Source_Pixel = mSrc.at<cv::Vec3b>(Rows,Cols);
+ cv::Vec3b &Des_Pixel = mDst.at<cv::Vec3b>(Rows,Cols);
+ cv::Vec3s Noise_Pixel = mGaussian_noise.at<cv::Vec3s>(Rows,Cols);
+
+ for (int i = 0; i < 3; i++)
+ {
+ int Dest_Pixel = Source_Pixel.val[i] + Noise_Pixel.val[i];
+ Des_Pixel.val[i] = Clamp(Dest_Pixel);
+ }
+ }
+ }
+
+ return mDst;
+}
+
+cv::Mat AddGaussianNoise_Opencv(const cv::Mat mSrc, double Mean=0.0, double StdDev=10.0)
+{
+ cv::Mat mDst;
+ if(mSrc.empty())
+ {
+ std::cout<<"[Error]! Input Image Empty!";
+ return mSrc;
+ }
+ cv::Mat mSrc_16SC;
+ cv::Mat mGaussian_noise = cv::Mat(mSrc.size(),CV_16SC3);
+ cv::randn(mGaussian_noise, cv::Scalar::all(Mean), cv::Scalar::all(StdDev));
+
+ mSrc.convertTo(mSrc_16SC,CV_16SC3);
+ cv::addWeighted(mSrc_16SC, 1.0, mGaussian_noise, 1.0, 0.0, mSrc_16SC);
+ mSrc_16SC.convertTo(mDst, mSrc.type());
+
+ return mDst;
+}
+
+// Quality Metric https://gist.github.com/Bibimaw/8873663
+// sigma on block_size
+ double sigma(cv::Mat& m, int i, int j, int block_size)
+ {
+ double sd = 0;
+
+ cv::Mat m_tmp = m(cv::Range(i, i + block_size), cv::Range(j, j + block_size));
+ cv::Mat m_squared(block_size, block_size, CV_64F);
+
+ multiply(m_tmp, m_tmp, m_squared);
+
+ // E(x)
+ double avg = mean(m_tmp)[0];
+ // E(x²)
+ double avg_2 = mean(m_squared)[0];
+
+
+ sd = sqrt(avg_2 - avg * avg);
+
+ return sd;
+ }
+
+ // Covariance
+ double cov(cv::Mat& m1, cv::Mat& m2, int i, int j, int block_size)
+ {
+ cv::Mat m3 = cv::Mat::zeros(block_size, block_size, m1.depth());
+ cv::Mat m1_tmp = m1(cv::Range(i, i + block_size), cv::Range(j, j + block_size));
+ cv::Mat m2_tmp = m2(cv::Range(i, i + block_size), cv::Range(j, j + block_size));
+
+
+ multiply(m1_tmp, m2_tmp, m3);
+
+ double avg_ro = mean(m3)[0]; // E(XY)
+ double avg_r = mean(m1_tmp)[0]; // E(X)
+ double avg_o = mean(m2_tmp)[0]; // E(Y)
+
+
+ double sd_ro = avg_ro - avg_o * avg_r; // E(XY) - E(X)E(Y)
+
+ return sd_ro;
+ }
+
+ // Mean squared error
+ double eqm(cv::Mat& img1, cv::Mat& img2)
+ {
+ int i, j;
+ double eqm = 0;
+ int height = img1.rows;
+ int width = img1.cols;
+
+ for (i = 0; i < height; i++)
+ for (j = 0; j < width; j++)
+ eqm += (img1.at<double>(i, j) - img2.at<double>(i, j)) * (img1.at<double>(i, j) - img2.at<double>(i, j));
+
+ eqm /= height * width;
+
+ return eqm;
+ }
+
+
+
+ /**
+ * Compute the PSNR between 2 images
+ */
+ double psnr(cv::Mat& img_src, cv::Mat& img_compressed, int block_size)
+ {
+ int D = 255;
+ return (10 * log10((D*D)/eqm(img_src, img_compressed)));
+ }
+
+
+ /**
+ * Compute the SSIM between 2 images
+ */
+ double ssim(cv::Mat& img_src, cv::Mat& img_compressed, int block_size, bool show_progress = false)
+ {
+ float C1 = 0.01 * 255 * 0.01 * 255, C2 = 0.03 * 255 * 0.03 * 255;
+
+ double ssim = 0;
+
+ int nbBlockPerHeight = img_src.rows / block_size;
+ int nbBlockPerWidth = img_src.cols / block_size;
+
+ for (int k = 0; k < nbBlockPerHeight; k++)
+ {
+ for (int l = 0; l < nbBlockPerWidth; l++)
+ {
+ int m = k * block_size;
+ int n = l * block_size;
+
+ double avg_o = mean(img_src(cv::Range(k, k + block_size), cv::Range(l, l + block_size)))[0];
+ double avg_r = mean(img_compressed(cv::Range(k, k + block_size), cv::Range(l, l + block_size)))[0];
+ double sigma_o = sigma(img_src, m, n, block_size);
+ double sigma_r = sigma(img_compressed, m, n, block_size);
+ double sigma_ro = cov(img_src, img_compressed, m, n, block_size);
+
+ ssim += ((2 * avg_o * avg_r + C1) * (2 * sigma_ro + C2)) / ((avg_o * avg_o + avg_r * avg_r + C1) * (sigma_o * sigma_o + sigma_r * sigma_r + C2));
+
+ }
+ // Progress
+ if (show_progress)
+ std::cout << "\r>>SSIM [" << (int) ((( (double)k) / nbBlockPerHeight) * 100) << "%]";
+ }
+ ssim /= nbBlockPerHeight * nbBlockPerWidth;
+
+ if (show_progress)
+ {
+ std::cout << "\r>>SSIM [100%]" << std::endl;
+ std::cout << "SSIM : " << ssim << std::endl;
+ }
+
+ return ssim;
+ }
+
+ void compute_quality_metrics(char * file1, char * file2, int block_size)
+ {
+
+ cv::Mat img_src;
+ cv::Mat img_compressed;
+
+ // Loading pictures
+ img_src = cv::imread(file1, cv::IMREAD_GRAYSCALE);
+ img_compressed = cv::imread(file2, cv::IMREAD_GRAYSCALE);
+
+
+ img_src.convertTo(img_src, CV_64F);
+ img_compressed.convertTo(img_compressed, CV_64F);
+
+ int height_o = img_src.rows;
+ int height_r = img_compressed.rows;
+ int width_o = img_src.cols;
+ int width_r = img_compressed.cols;
+
+ // Check pictures size
+ if (height_o != height_r || width_o != width_r)
+ {
+ std::cout << "Images must have the same dimensions" << std::endl;
+ return;
+ }
+
+ // Check if the block size is a multiple of height / width
+ if (height_o % block_size != 0 || width_o % block_size != 0)
+ {
+ std::cout << "WARNING : Image WIDTH and HEIGHT should be divisible by BLOCK_SIZE for the maximum accuracy" << std::endl
+ << "HEIGHT : " << height_o << std::endl
+ << "WIDTH : " << width_o << std::endl
+ << "BLOCK_SIZE : " << block_size << std::endl
+ << std::endl;
+ }
+
+ double ssim_val = ssim(img_src, img_compressed, block_size);
+ double psnr_val = psnr(img_src, img_compressed, block_size);
+
+ std::cout << "SSIM : " << ssim_val << std::endl;
+ std::cout << "PSNR : " << psnr_val << std::endl;
+ }
+
+double getMSSIM(const cv::Mat& i1, const cv::Mat& i2)
+{
+ const double C1 = 6.5025, C2 = 58.5225;
+ /***************************** INITS **********************************/
+ int d = CV_32F;
+
+ cv::Mat I1, I2;
+ i1.convertTo(I1, d); // cannot calculate on one byte large values
+ i2.convertTo(I2, d);
+
+ cv::Mat I2_2 = I2.mul(I2); // I2^2
+ cv::Mat I1_2 = I1.mul(I1); // I1^2
+ cv::Mat I1_I2 = I1.mul(I2); // I1 * I2
+
+ /*************************** END INITS **********************************/
+
+ cv::Mat mu1, mu2; // PRELIMINARY COMPUTING
+ GaussianBlur(I1, mu1, cv::Size(11, 11), 1.5);
+ GaussianBlur(I2, mu2, cv::Size(11, 11), 1.5);
+
+ cv::Mat mu1_2 = mu1.mul(mu1);
+ cv::Mat mu2_2 = mu2.mul(mu2);
+ cv::Mat mu1_mu2 = mu1.mul(mu2);
+
+ cv::Mat sigma1_2, sigma2_2, sigma12;
+
+ GaussianBlur(I1_2, sigma1_2, cv::Size(11, 11), 1.5);
+ sigma1_2 -= mu1_2;
+
+ GaussianBlur(I2_2, sigma2_2, cv::Size(11, 11), 1.5);
+ sigma2_2 -= mu2_2;
+
+ GaussianBlur(I1_I2, sigma12, cv::Size(11, 11), 1.5);
+ sigma12 -= mu1_mu2;
+
+ ///////////////////////////////// FORMULA ////////////////////////////////
+ cv::Mat t1, t2, t3;
+
+ t1 = 2 * mu1_mu2 + C1;
+ t2 = 2 * sigma12 + C2;
+ t3 = t1.mul(t2); // t3 = ((2*mu1_mu2 + C1).*(2*sigma12 + C2))
+
+ t1 = mu1_2 + mu2_2 + C1;
+ t2 = sigma1_2 + sigma2_2 + C2;
+ t1 = t1.mul(t2); // t1 =((mu1_2 + mu2_2 + C1).*(sigma1_2 + sigma2_2 + C2))
+
+ cv::Mat ssim_map;
+ divide(t3, t1, ssim_map); // ssim_map = t3./t1;
+
+ cv::Scalar mssim = mean( ssim_map ); // mssim = average of ssim map
+ double ssim = mssim[0] + mssim[1] + mssim[2];
+ return ssim;
}
/*cv::Mat convertImageToNormals(cv::Mat normalMap) {
diff --git a/apps/specular_estimation/src/OpenGL.h b/apps/specular_estimation/src/OpenGL.h
index 7be27521260ee4b765a8cc4cd7ebccef613bb765..03ad8add82de58016fe0efe427e663d00dcfe740 100644
--- a/apps/specular_estimation/src/OpenGL.h
+++ b/apps/specular_estimation/src/OpenGL.h
@@ -42,7 +42,8 @@ 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, 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, int& lightNumber, int numberOfLights, bool& calculateResidual, GLuint& SpecularIntensityID, double& SpecularIntensity, GLuint& SpecularPowerID, double& SpecularPower);
-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);
+void createSphere(int lats, int longs);
+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, 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, int numberOfLights, bool calculateResidual, glm::mat4& depthMVP, glm::mat4& depthModelMatrix, glm::mat4& MVP, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::mat4& ModelMatrix, glm::mat4& depthBiasMVP, glm::mat4& biasMatrix);
//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);
@@ -50,13 +51,14 @@ void terminateOpenGL(GLuint vertexbuffer, GLuint uvbuffer, GLuint normalbuffer,
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, double SpecularIntensity, double SpecularPower);
-void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::vector <cv::Mat> textureImages, double& sum);
+//void meanSquaredError(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);
+void meanSquaredError(int imageNumber, int windowHeight, int windowWidth, std::vector <cv::Mat> textureImages, double& sum);
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);
-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 viewModel(cv::Vec3d& residual, 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 RenderSynthetic(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 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 checkForErrors(std::string stage, bool printIfOK);
+void calibrateLights(int& windowWidth, int& windowHeight, cv::Mat cv_texture);
void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture, 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, int numberOfLights, bool calculateResidual, glm::mat4& depthMVP, glm::mat4& depthModelMatrix, glm::mat4& MVP, glm::mat4& ProjectionMatrix, glm::mat4& ViewMatrix, glm::mat4& ModelMatrix, glm::mat4& depthBiasMVP, glm::mat4& biasMatrix) {
// Initialise the GLFW library first
@@ -143,14 +145,15 @@ void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture,
std::vector<glm::vec2> uvs;
std::vector<glm::vec3> normals;
//std::vector<unsigned int> indices;
- //bool res = loadOBJ("C:/Users/tdwal/Documents/repos/OpenGLTutorials/tutorial16_shadowmaps/room_thickwalls.obj", vertices, uvs, normals);
+ //bool res = loadOBJ("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/sphere.obj", vertices, uvs, normals);
createMesh(cv_depth, cv_normals, vertices, uvs, normals, indices);
+ //createSphere(100, 100);
std::cout << "\nModel created.\n\n";
// Load it into a VBO
//GLuint vertexbuffer; // This will identify the vertex buffer
glGenBuffers(1, &vertexbuffer); // Generate 1 buffer, and put the resulting identifier in vertexbuffer
- glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer); // The following commands will talk about our 'vertexbuffer' buffer
+ glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer); // The following commands will talk about the 'vertexbuffer' buffer
glBufferData(GL_ARRAY_BUFFER, vertices.size() * sizeof(glm::vec3), &vertices[0], GL_STATIC_DRAW); // Give the vertices to OpenGL
//GLuint uvbuffer;
@@ -244,7 +247,7 @@ void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture,
// Compute the MVP matrix from the light's point of view
//lightInvDir = glm::vec3(0, 0, 1);
depthProjectionMatrix = glm::perspective<float>(45.0f, 1.0f, 1.0f, 100.0f);
- depthViewMatrix = glm::lookAt(lightInvDir, glm::vec3(0, 0, 0), glm::vec3(0, 1, 0));
+ depthViewMatrix = glm::lookAt(glm::vec3(0, 0, 1), glm::vec3(0, 0, 0), glm::vec3(0, 1, 0));
// Initial position: on +Z
position = glm::vec3(0, 0, 1);
@@ -487,7 +490,7 @@ 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, double SpecularIntensity, double SpecularPower) {
+/*void meanSquaredError(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);
@@ -502,9 +505,9 @@ void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::st
//temp = temp(cv::Rect(1, 1, windowWidth-2, windowHeight-2));
//copyMakeBorder(temp, temp, 1, 1, 1, 1, cv::BORDER_REPLICATE);
- /*cv::Mat texture = textureImages[imageNumber];
- cv::cvtColor(texture, texture, CV_BGR2GRAY);
- texture.convertTo(texture, CV_8UC3);*/
+ //cv::Mat texture = textureImages[imageNumber];
+ //cv::cvtColor(texture, texture, CV_BGR2GRAY);
+ //texture.convertTo(texture, CV_8UC3);
// Calculate the absolute differences between the model and the photograph
cv::absdiff(temp, textureImages[imageNumber], residual);
@@ -535,18 +538,18 @@ void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::st
residuals = cv::Vec3d(cv::sum(sumOfSquaredDifferences)[0], cv::sum(sumOfSquaredDifferences)[1], cv::sum(sumOfSquaredDifferences)[2]);
- /*
+
// Use the matchTemplate function to calculate the sum of squared differences
- matchTemplate(temp, textureImages[imageNumber], residual, 1);
+ //matchTemplate(temp, textureImages[imageNumber], residual, 1);
+
+ //sum = cv::sum(residual)[0];
- sum = cv::sum(residual)[0];
- */
//std::cout << "Image " << imageNumber << ", SSD per pixel: R = " << cv::sum(sumOfSquaredDifferences)[2]/(windowHeight * windowWidth) << ", G = " << cv::sum(sumOfSquaredDifferences)[1]/(windowHeight * windowWidth) << ", B = " << cv::sum(sumOfSquaredDifferences)[0]/(windowHeight * windowWidth) << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl;
//std::cout << "Image " << imageNumber << ", average sum of squared differences: R = " << sum << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl;
-}
+}*/
-void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::vector<cv::Mat> textureImages, double& sum) {
+void meanSquaredError(int imageNumber, int windowHeight, int windowWidth, std::vector<cv::Mat> textureImages, double& sum) {
// Create an empty Mat the same size as the image
cv::Mat temp = cv::Mat(windowHeight, windowWidth, CV_8UC3);
@@ -558,6 +561,8 @@ void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::ve
// 3D models have the origin in the bottom-left corner, while images have the origin in the top-left corner. The image is flipped to convert between the two.
cv::flip(temp, temp, 0);
+
+ //temp = addNoise(temp, 0.001);
/*cv::Mat texture = textureImages[imageNumber];
cv::cvtColor(texture, texture, CV_BGR2GRAY);
@@ -578,6 +583,22 @@ void computeResidual(int imageNumber, int windowHeight, int windowWidth, std::ve
//sum += (cv::sum(sumOfSquaredDifferences)[0] + cv::sum(sumOfSquaredDifferences)[1] + cv::sum(sumOfSquaredDifferences)[2]);
}
+void structuralSimilarityIndex(int imageNumber, int windowHeight, int windowWidth, std::vector<cv::Mat> textureImages, double& sum) {
+
+ // Create an empty Mat the same size as the image
+ cv::Mat temp = cv::Mat(windowHeight, windowWidth, CV_8UC3);
+ cv::Mat residual = cv::Mat(windowHeight, windowWidth, CV_8UC3);
+ cv::Mat sumOfSquaredDifferences = cv::Mat(windowHeight, windowWidth, CV_16UC3);
+
+ // Read the image into the Mat as an 8-bit colour image
+ glReadPixels(0, 0, windowWidth, windowHeight, GL_BGR, GL_UNSIGNED_BYTE, temp.data);
+
+ // 3D models have the origin in the bottom-left corner, while images have the origin in the top-left corner. The image is flipped to convert between the two.
+ cv::flip(temp, temp, 0);
+
+ sum += 3 - getMSSIM(temp, textureImages[imageNumber]);
+}
+
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
@@ -652,7 +673,7 @@ void computeResiduals(cv::Vec3d& residual, std::vector< cv::Vec3d >& residuals,
//totalResidual = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
- computeResidual(lightNumber, height, width, modelPath, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
+ meanSquaredError(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).
@@ -679,7 +700,7 @@ 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, 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 viewModel(cv::Vec3d& residual, 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);
@@ -712,7 +733,8 @@ void viewModel(cv::Vec3d& residual, std::vector<cv::Vec3d>& residuals, double& t
//void renderShadowMap(GLuint quad_programID, GLuint depthTexture, GLuint texID, GLuint quad_vertexbuffer);
if (calculateResidual) {
- computeResidual(lightNumber, height, width, modelPath, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
+ double sum = 0;
+ meanSquaredError(lightNumber, height, width, textureImages, sum);
//computeResiduals(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);
std::cout << "Light number: " << lightNumber << ", per-pixel residual = " << totalResidual << ", specular intensity = " << SpecularIntensity << ", specular power = " << SpecularPower << std::endl;
}
@@ -723,7 +745,7 @@ void viewModel(cv::Vec3d& residual, std::vector<cv::Vec3d>& residuals, double& t
if (calculateResidual) {
// Compute the residual image and sum of differences
cv::Mat residualImage;
- computeResidual(lightNumber, height, width, textureImages, residualImage, residuals, residual, SpecularIntensity, SpecularPower);
+ meanSquaredError(lightNumber, height, width, textureImages, residualImage, residuals, residual, SpecularIntensity, SpecularPower);
specularMinimisation(SpecularIntensity, SpecularPower, residual);
calculateResidual = false;
@@ -731,7 +753,7 @@ void viewModel(cv::Vec3d& residual, std::vector<cv::Vec3d>& residuals, double& t
*/
//totalResidual = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
- //computeResidual(lightNumber, height, width, textureImages, residualImage, residual, totalResidual, SpecularIntensity, SpecularPower);
+ //meanSquaredError(lightNumber, height, width, 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).
@@ -779,6 +801,8 @@ void RenderSynthetic(glm::mat4 depthProjectionMatrix, glm::mat4 depthViewMatrix,
// 3D models have the origin in the bottom-left corner, while images have the origin in the top-left corner. The image is flipped to convert between the two.
cv::flip(temp, temp, 0);
+ //temp = addNoise(temp, 0.1);
+ temp = AddGaussianNoise_Opencv(temp, 0, 0.001);
textureImages.push_back(temp);
std::ostringstream a, b, c;
@@ -853,8 +877,8 @@ void computeMatricesFromLights(int windowWidth, int windowHeight, glm::vec3& pos
}
}
- lightInvDir = glm::vec3(lightDirections.at<float>(lightNumber, 0)+0.5, -lightDirections.at<float>(lightNumber, 2), lightDirections.at<float>(lightNumber, 1)+0.5);
- //lightInvDir = glm::vec3(lightDirections.at<float>(lightNumber, 0), -lightDirections.at<float>(lightNumber, 2), lightDirections.at<float>(lightNumber, 1));
+ //lightInvDir = glm::vec3(lightDirections.at<float>(lightNumber, 0)+0.5, lightDirections.at<float>(lightNumber, 2), 0.5-lightDirections.at<float>(lightNumber, 1));
+ lightInvDir = glm::vec3(lightDirections.at<float>(lightNumber, 0), -lightDirections.at<float>(lightNumber, 2), lightDirections.at<float>(lightNumber, 1));
// Modify specular power
@@ -1031,6 +1055,7 @@ void computeMatricesFromInputs(int windowWidth, int windowHeight, glm::vec3& pos
shadowControl = false;
}
+ /*
if (shadowControl == true) {
lightInvDir = position;
//depthViewMatrix = glm::lookAt(lightInvDir, glm::vec3(0, 0, 0), glm::vec3(0, 1, 0));
@@ -1042,11 +1067,63 @@ void computeMatricesFromInputs(int windowWidth, int windowHeight, glm::vec3& pos
else
depthProjectionMatrix = glm::ortho(-0.5f * aspectRatio, 0.5f * aspectRatio, -0.5f, 0.5f, 0.0f, 10.0f); // In world coordinates
}
-
+ */
// For the next frame, the "last time" will be "now"
lastTime = currentTime;
}
+// http://www.cburch.com/cs/490/sched/feb8/index.html
+void createSphere(int lats, int longs) {
+ int i, j;
+ for(i = 0; i <= lats; i++) {
+ double lat0 = M_PI * (-0.5 + (double) (i - 1) / lats);
+ double z0 = sin(lat0);
+ double zr0 = cos(lat0);
+
+ double lat1 = M_PI * (-0.5 + (double) i / lats);
+ double z1 = sin(lat1);
+ double zr1 = cos(lat1);
+
+ glBegin(GL_QUAD_STRIP);
+ for(j = 0; j <= longs; j++) {
+ double lng = 2 * M_PI * (double) (j - 1) / longs;
+ double x = cos(lng);
+ double y = sin(lng);
+
+ glNormal3f(x * zr0, y * zr0, z0);
+ glVertex3f(x * zr0, y * zr0, z0);
+ glNormal3f(x * zr1, y * zr1, z1);
+ glVertex3f(x * zr1, y * zr1, z1);
+ }
+ glEnd();
+ }
+}
+
+// https://stackoverflow.com/a/39521983
+/*void createSphere(int lats, int longs) {
+ const float PI = 3.141592f;
+ GLfloat x, y, z, alpha, beta; // Storage for coordinates and angles
+ GLfloat radius = 60.0f;
+ int gradation = 20;
+
+ for (alpha = 0.0; alpha < GL_PI; alpha += PI/gradation)
+ {
+ glBegin(GL_TRIANGLE_STRIP);
+ for (beta = 0.0; beta < 2.01*GL_PI; beta += PI/gradation)
+ {
+ x = radius*cos(beta)*sin(alpha);
+ y = radius*sin(beta)*sin(alpha);
+ z = radius*cos(alpha);
+ glVertex3f(x, y, z);
+ x = radius*cos(beta)*sin(alpha + PI/gradation);
+ y = radius*sin(beta)*sin(alpha + PI/gradation);
+ z = radius*cos(alpha + PI/gradation);
+ glVertex3f(x, y, z);
+ }
+ glEnd();
+ }
+}*/
+
void createMesh(cv::Mat cv_depth, cv::Mat cv_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) {
std::cout << "Width: " << cv_normals.cols << ", Height: " << cv_normals.rows << std::endl;
@@ -1239,7 +1316,440 @@ void checkForErrors(std::string stage, bool printIfOK) {
}
}
+void calibrateLights(int& windowWidth, int& windowHeight, cv::Mat cv_texture) {
+ // Initialise the GLFW library first
+ if (!glfwInit()) {
+ std::cerr << "Failed to initialise GLFW.\n";
+ getchar();
+ return;
+ }
+ std::cout << "Initialised GLFW.\n";
+
+ glfwWindowHint(GLFW_SAMPLES, 4); // 4x antialiasing
+ glfwWindowHint(GLFW_RESIZABLE, GL_FALSE);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); // OpenGL 3.3
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
+ glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // Only needed for macOS
+ glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE); // Disable old OpenGL
+
+ // Set the shadow resolution to 4096x4096
+ int shadowResolution = 4096;
+
+ // Open a window and create its OpenGL context
+ window = glfwCreateWindow(windowWidth, windowHeight, "Window", NULL, NULL);
+ if (window == NULL) {
+ std::cerr << "Failed to open GLFW window. Older Intel GPUs are not OpenGL 3.3 compatible.\n";
+ getchar();
+ glfwTerminate();
+ return;
+ }
+ glfwMakeContextCurrent(window);
+ std::cout << "Opened GLFW window.\n";
+
+ // On macOS with a retina screen it will be windowWidth*2 and windowHeight*2, so the actual framebuffer size is:
+ glfwGetFramebufferSize(window, &windowWidth, &windowHeight);
+
+ // Initialize GLEW
+ glewExperimental = true; // Needed for core profile
+ if (glewInit() != GLEW_OK) {
+ std::cerr << "Failed to initialise GLEW.\n";
+ getchar();
+ glfwTerminate();
+ return;
+ }
+ std::cout << "Initialised GLEW.\n";
+
+ // Ensure that the escape key being pressed can be captured
+ glfwSetInputMode(window, GLFW_STICKY_KEYS, GL_TRUE);
+ // Hide the mouse and enable unlimited mouvement
+ //glfwSetInputMode(window, GLFW_CURSOR, GLFW_CURSOR_DISABLED);
+
+ // Set the mouse at the center of the screen
+ glfwPollEvents();
+ //glfwSetCursorPos(window, windowWidth / 2, windowHeight / 2);
+
+ // Dark blue background
+ glClearColor(0.0f, 0.0f, 0.4f, 0.0f);
+
+ // Enable depth test, which stores fragments in the Z-buffer
+ glEnable(GL_DEPTH_TEST);
+
+ // Accept fragment if it is closer to the camera than the former one
+ glDepthFunc(GL_LESS);
+
+ // Cull triangles which do not have a normal facing towards the camera
+ glEnable(GL_CULL_FACE);
+
+ // Create a Vertex Array Object (VAO) and set it as the current one
+ GLuint VertexArrayID;
+ glGenVertexArrays(1, &VertexArrayID);
+ glBindVertexArray(VertexArrayID);
+
+ // Create and compile the GLSL program from the shaders
+ GLuint depthProgramID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/DepthRTT.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/DepthRTT.fragmentshader");
+
+ // Get a handle for the "MVP" uniform
+ GLuint depthMatrixID = glGetUniformLocation(depthProgramID, "depthMVP");
+
+ // Load the texture
+ //GLuint Texture = loadDDS("uvmap.DDS");
+ GLuint Texture = loadMat(cv_texture);
+ std::cout << "Texture loaded.\n\n";
+
+ // Read our .obj file
+ std::vector<glm::vec3> vertices;
+ std::vector<glm::vec2> uvs;
+ std::vector<glm::vec3> normals;
+ bool res = loadOBJ("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/sphere.obj", vertices, uvs, normals);
+ std::cout << "\nModel created.\n\n";
+
+ std::vector<unsigned short> indices;
+ std::vector<glm::vec3> indexed_vertices;
+ std::vector<glm::vec2> indexed_uvs;
+ std::vector<glm::vec3> indexed_normals;
+ indexVBO(vertices, uvs, normals, indices, indexed_vertices, indexed_uvs, indexed_normals);
+
+ // Load it into a VBO
+ GLuint vertexbuffer; // This will identify the vertex buffer
+ glGenBuffers(1, &vertexbuffer); // Generate 1 buffer, and put the resulting identifier in vertexbuffer
+ glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer); // The following commands will talk about the 'vertexbuffer' buffer
+ glBufferData(GL_ARRAY_BUFFER, indexed_vertices.size() * sizeof(glm::vec3), &indexed_vertices[0], GL_STATIC_DRAW); // Give the vertices to OpenGL
+
+ GLuint uvbuffer;
+ glGenBuffers(1, &uvbuffer);
+ glBindBuffer(GL_ARRAY_BUFFER, uvbuffer);
+ glBufferData(GL_ARRAY_BUFFER, indexed_uvs.size() * sizeof(glm::vec2), &indexed_uvs[0], GL_STATIC_DRAW);
+
+ GLuint normalbuffer;
+ glGenBuffers(1, &normalbuffer);
+ glBindBuffer(GL_ARRAY_BUFFER, normalbuffer);
+ glBufferData(GL_ARRAY_BUFFER, indexed_normals.size() * sizeof(glm::vec3), &indexed_normals[0], GL_STATIC_DRAW);
+
+ // Generate a buffer for the indices as well
+ GLuint elementbuffer;
+ glGenBuffers(1, &elementbuffer);
+ glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, elementbuffer);
+ glBufferData(GL_ELEMENT_ARRAY_BUFFER, indices.size() * sizeof(unsigned short), &indices[0], GL_STATIC_DRAW);
+
+
+ // ---------------------------------------------
+ // Render to Texture - specific code begins here
+ // ---------------------------------------------
+
+ // The framebuffer, which regroups 0, 1, or more textures, and 0 or 1 depth buffer.
+ GLuint FramebufferName = 0;
+ glGenFramebuffers(1, &FramebufferName);
+ glBindFramebuffer(GL_FRAMEBUFFER, FramebufferName);
+
+ // Depth texture. Slower than a depth buffer, but you can sample it later in your shader
+ GLuint depthTexture;
+ glGenTextures(1, &depthTexture);
+ glBindTexture(GL_TEXTURE_2D, depthTexture);
+ glTexImage2D(GL_TEXTURE_2D, 0,GL_DEPTH_COMPONENT16, 1024, 1024, 0,GL_DEPTH_COMPONENT, GL_FLOAT, 0);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_LEQUAL);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_R_TO_TEXTURE);
+
+ glFramebufferTexture(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, depthTexture, 0);
+
+ // No color output in the bound framebuffer, only depth.
+ glDrawBuffer(GL_NONE);
+
+ // Always check that our framebuffer is ok
+ if(glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE)
+ return;
+
+
+ // The quad's FBO. Used only for visualizing the shadowmap.
+ static const GLfloat g_quad_vertex_buffer_data[] = {
+ -1.0f, -1.0f, 0.0f,
+ 1.0f, -1.0f, 0.0f,
+ -1.0f, 1.0f, 0.0f,
+ -1.0f, 1.0f, 0.0f,
+ 1.0f, -1.0f, 0.0f,
+ 1.0f, 1.0f, 0.0f,
+ };
+
+ GLuint quad_vertexbuffer;
+ glGenBuffers(1, &quad_vertexbuffer);
+ glBindBuffer(GL_ARRAY_BUFFER, quad_vertexbuffer);
+ glBufferData(GL_ARRAY_BUFFER, sizeof(g_quad_vertex_buffer_data), g_quad_vertex_buffer_data, GL_STATIC_DRAW);
+
+ // Create and compile our GLSL program from the shaders
+ GLuint quad_programID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/Passthrough.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/SimpleTexture.fragmentshader");
+ std::cout << "Shaders loaded.\n";
+ GLuint texID = glGetUniformLocation(quad_programID, "texture");
+ std::cout << "Uniform Location of texture found.\n";
+
+ // Create and compile our GLSL program from the shaders
+ GLuint programID = LoadShaders("/home/thomas/Documents/Minimisation/apps/specular_estimation/src/ShadowMapping.vertexshader", "/home/thomas/Documents/Minimisation/apps/specular_estimation/src/ShadowMapping.fragmentshader");
+
+ // Get a handle for our "myTextureSampler" uniform
+ GLuint TextureID = glGetUniformLocation(programID, "myTextureSampler");
+
+ GLuint SpecularIntensityID = glGetUniformLocation(programID, "specularIntensity");
+ GLuint SpecularPowerID = glGetUniformLocation(programID, "specularPower");
+
+ // Get a handle for our "MVP" uniform
+ GLuint MatrixID = glGetUniformLocation(programID, "MVP");
+ GLuint ViewMatrixID = glGetUniformLocation(programID, "V");
+ GLuint ModelMatrixID = glGetUniformLocation(programID, "M");
+ GLuint DepthBiasID = glGetUniformLocation(programID, "DepthBiasMVP");
+ GLuint ShadowMapID = glGetUniformLocation(programID, "shadowMap");
+
+ // Get a handle for our "LightPosition" uniform
+ GLuint lightInvDirID = glGetUniformLocation(programID, "LightInvDirection_worldspace");
+
+ // Compute the MVP matrix from the light's point of view
+ //lightInvDir = glm::vec3(0, 0, 1);
+ //depthProjectionMatrix = glm::perspective<float>(45.0f, 1.0f, 1.0f, 100.0f);
+ //depthViewMatrix = glm::lookAt(glm::vec3(0, 0, 1), glm::vec3(0, 0, 0), glm::vec3(0, 1, 0));
+
+ do {
+ // Render to our framebuffer
+ glBindFramebuffer(GL_FRAMEBUFFER, FramebufferName);
+ glViewport(0, 0, windowWidth, windowHeight); // Render on the whole framebuffer, complete from the lower left corner to the upper right
+
+ // We don't use bias in the shader, but instead we draw back faces,
+ // which are already separated from the front faces by a small distance
+ // (if your geometry is made this way)
+ glEnable(GL_CULL_FACE);
+ glCullFace(GL_BACK); // Cull back-facing triangles -> draw only front-facing triangles
+
+ // Clear the screen
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ // Use our shader
+ glUseProgram(depthProgramID);
+
+ glm::vec3 lightInvDir = glm::vec3(0.5f,2,2);
+
+ // Compute the MVP matrix from the light's point of view
+ glm::mat4 depthProjectionMatrix = glm::ortho<float>(-10,10,-10,10,-10,20);
+ glm::mat4 depthViewMatrix = glm::lookAt(lightInvDir, glm::vec3(0,0,0), glm::vec3(0,1,0));
+ // or, for spot light :
+ //glm::vec3 lightPos(5, 20, 20);
+ //glm::mat4 depthProjectionMatrix = glm::perspective<float>(45.0f, 1.0f, 2.0f, 50.0f);
+ //glm::mat4 depthViewMatrix = glm::lookAt(lightPos, lightPos-lightInvDir, glm::vec3(0,1,0));
+
+ glm::mat4 depthModelMatrix = glm::mat4(1.0);
+ glm::mat4 depthMVP = depthProjectionMatrix * depthViewMatrix * depthModelMatrix;
+
+ // Send our transformation to the currently bound shader,
+ // in the "MVP" uniform
+ glUniformMatrix4fv(depthMatrixID, 1, GL_FALSE, &depthMVP[0][0]);
+
+ // 1rst attribute buffer : vertices
+ glEnableVertexAttribArray(0);
+ glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
+ glVertexAttribPointer(
+ 0, // The attribute we want to configure
+ 3, // size
+ GL_FLOAT, // type
+ GL_FALSE, // normalized?
+ 0, // stride
+ (void*)0 // array buffer offset
+ );
+
+ // Index buffer
+ glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, elementbuffer);
+ // Draw the triangles !
+ glDrawElements(
+ GL_TRIANGLES, // mode
+ indices.size(), // count
+ GL_UNSIGNED_SHORT, // type
+ (void*)0 // element array buffer offset
+ );
+
+ glDisableVertexAttribArray(0);
+
+
+
+ // Render to the screen
+ glBindFramebuffer(GL_FRAMEBUFFER, 0);
+ glViewport(0,0,windowWidth,windowHeight); // Render on the whole framebuffer, complete from the lower left corner to the upper right
+
+ glEnable(GL_CULL_FACE);
+ glCullFace(GL_BACK); // Cull back-facing triangles -> draw only front-facing triangles
+
+ // Clear the screen
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ // Use our shader
+ glUseProgram(programID);
+
+ // Initial position: on +Z
+ glm::vec3 position = glm::vec3(0, 0, 1);
+ // Initial horizontal angle: toward -Z
+ float horizontalAngle = M_PI;
+ // Initial vertical angle: none
+ float verticalAngle = 0.0f;
+ // Initial Field of View
+ float FoV = 60.0f;
+ // Mouse Speed
+ float mouseSpeed = 0.005f;
+
+ bool perspectiveProjection = false, shadowControl = false, calculateResidual = false;
+ int lightNumber = 0;
+
+ glm::mat4 ViewMatrix, ProjectionMatrix;
+
+ double SpecularIntensity = 0.5, SpecularPower = 2;
+
+ // Compute the MVP matrix from keyboard and mouse input
+ computeMatricesFromInputs(windowWidth, windowHeight, position, horizontalAngle, verticalAngle, FoV, mouseSpeed, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection, shadowControl, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, calculateResidual);
+ //glm::mat4 ProjectionMatrix = getProjectionMatrix();
+ //glm::mat4 ViewMatrix = getViewMatrix();
+ //computeMatricesFromLights(windowWidth, windowHeight, position, horizontalAngle, verticalAngle, FoV, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection, lightDirections, lightNumber, numberOfLights, calculateResidual, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
+ //ViewMatrix = glm::lookAt(glm::vec3(14,6,4), glm::vec3(0,1,0), glm::vec3(0,1,0));
+ glm::mat4 ModelMatrix = glm::mat4(1.0);
+ glm::mat4 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
+ );
+
+ glm::mat4 depthBiasMVP = biasMatrix*depthMVP;
+
+ // Send our transformation to the currently bound shader,
+ // in the "MVP" uniform
+ glUniformMatrix4fv(MatrixID, 1, GL_FALSE, &MVP[0][0]);
+ glUniformMatrix4fv(ModelMatrixID, 1, GL_FALSE, &ModelMatrix[0][0]);
+ glUniformMatrix4fv(ViewMatrixID, 1, GL_FALSE, &ViewMatrix[0][0]);
+ glUniformMatrix4fv(DepthBiasID, 1, GL_FALSE, &depthBiasMVP[0][0]);
+
+ glUniform1f(SpecularIntensityID, SpecularIntensity);
+ glUniform1f(SpecularPowerID, SpecularPower);
+
+ glUniform3f(lightInvDirID, lightInvDir.x, lightInvDir.y, lightInvDir.z);
+
+ // Bind our texture in Texture Unit 0
+ glActiveTexture(GL_TEXTURE0);
+ glBindTexture(GL_TEXTURE_2D, Texture);
+ // Set our "myTextureSampler" sampler to use Texture Unit 0
+ glUniform1i(TextureID, 0);
+
+ glActiveTexture(GL_TEXTURE1);
+ glBindTexture(GL_TEXTURE_2D, depthTexture);
+ glUniform1i(ShadowMapID, 1);
+
+ // 1rst attribute buffer : vertices
+ glEnableVertexAttribArray(0);
+ glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
+ glVertexAttribPointer(
+ 0, // attribute
+ 3, // size
+ GL_FLOAT, // type
+ GL_FALSE, // normalized?
+ 0, // stride
+ (void*)0 // array buffer offset
+ );
+
+ // 2nd attribute buffer : UVs
+ glEnableVertexAttribArray(1);
+ glBindBuffer(GL_ARRAY_BUFFER, uvbuffer);
+ glVertexAttribPointer(
+ 1, // attribute
+ 2, // size
+ GL_FLOAT, // type
+ GL_FALSE, // normalized?
+ 0, // stride
+ (void*)0 // array buffer offset
+ );
+
+ // 3rd attribute buffer : normals
+ glEnableVertexAttribArray(2);
+ glBindBuffer(GL_ARRAY_BUFFER, normalbuffer);
+ glVertexAttribPointer(
+ 2, // attribute
+ 3, // size
+ GL_FLOAT, // type
+ GL_FALSE, // normalized?
+ 0, // stride
+ (void*)0 // array buffer offset
+ );
+
+ // Index buffer
+ glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, elementbuffer);
+
+ // Draw the triangles !
+ glDrawElements(
+ GL_TRIANGLES, // mode
+ indices.size(), // count
+ GL_UNSIGNED_SHORT, // type
+ (void*)0 // element array buffer offset
+ );
+
+ glDisableVertexAttribArray(0);
+ glDisableVertexAttribArray(1);
+ glDisableVertexAttribArray(2);
+
+
+ // Optionally render the shadowmap (for debug only)
+
+ // Render only on a corner of the window (or we we won't see the real rendering...)
+ glViewport(0,0,512,512);
+
+ // Use our shader
+ glUseProgram(quad_programID);
+
+ // Bind our texture in Texture Unit 0
+ glActiveTexture(GL_TEXTURE0);
+ glBindTexture(GL_TEXTURE_2D, depthTexture);
+ // Set our "renderedTexture" sampler to use Texture Unit 0
+ glUniform1i(texID, 0);
+
+ // 1rst attribute buffer : vertices
+ glEnableVertexAttribArray(0);
+ glBindBuffer(GL_ARRAY_BUFFER, quad_vertexbuffer);
+ glVertexAttribPointer(
+ 0, // attribute 0. No particular reason for 0, but must match the layout in the shader.
+ 3, // size
+ GL_FLOAT, // type
+ GL_FALSE, // normalized?
+ 0, // stride
+ (void*)0 // array buffer offset
+ );
+
+ // Draw the triangle !
+ // You have to disable GL_COMPARE_R_TO_TEXTURE above in order to see anything !
+ //glDrawArrays(GL_TRIANGLES, 0, 6); // 2*3 indices starting at 0 -> 2 triangles
+ glDisableVertexAttribArray(0);
+
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+ glfwPollEvents();
+
+ } // Check if the ESC key was pressed or the window was closed
+ while( glfwGetKey(window, GLFW_KEY_ESCAPE ) != GLFW_PRESS &&
+ glfwWindowShouldClose(window) == 0 );
+
+ // Cleanup VBO and shader
+ glDeleteBuffers(1, &vertexbuffer);
+ glDeleteBuffers(1, &uvbuffer);
+ glDeleteBuffers(1, &normalbuffer);
+ glDeleteBuffers(1, &elementbuffer);
+ glDeleteProgram(programID);
+ glDeleteProgram(depthProgramID);
+ glDeleteProgram(quad_programID);
+ glDeleteTextures(1, &Texture);
+
+ glDeleteFramebuffers(1, &FramebufferName);
+ glDeleteTextures(1, &depthTexture);
+ glDeleteBuffers(1, &quad_vertexbuffer);
+ glDeleteVertexArrays(1, &VertexArrayID);
+
+ // Close OpenGL window and terminate GLFW
+ glfwTerminate();
+}
/*
class OpenGL {
@@ -1784,7 +2294,7 @@ class OpenGL {
return textureID;
}
- void computeResidual(double SpecularIntensity, double SpecularPower) {
+ void meanSquaredError(double SpecularIntensity, double SpecularPower) {
// Create an empty Mat the same size as the image
cv::Mat temp = cv::Mat(windowHeight, windowWidth, CV_8UC3);
cv::Mat sumOfSquaredDifferences = cv::Mat(windowHeight, windowWidth, CV_16UC3);
@@ -1872,7 +2382,7 @@ class OpenGL {
//totalResidual = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
- //computeResidual(SpecularIntensity, SpecularPower);
+ //meanSquaredError(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).
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 3313718987cbe64579a7cad6a5ce955d5fd3d8c0..9f05e043e8677dad9642f4e73d40916ce1edc339 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -1,10 +1,16 @@
#include "stdafx.h"
-void specularEstimation(std::string imageName, std::string calibration, int imageScale, bool showTexture);
-void renderSynthetic(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower);
+void specularEstimation(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower);
+void renderSynthetic(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower, double SpecularIntensitySynthetic, double SpecularPowerSynthetic);
+void denseSample(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower);
+void denseSyntheticSample(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower);
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);
+
// Required for the Ceres solver
google::InitGoogleLogging(argv[0]);
@@ -12,9 +18,9 @@ int main(int argc, char** argv) {
// 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;
+ //int imageScale = 1;
// Show textue is set to false if cropping is used
- bool showTexture = true;
+ //bool showTexture = true;
// Read the name of the model folder
if (argc >= 2) {
@@ -48,28 +54,182 @@ int main(int argc, char** argv) {
//specularEstimation(imageName, calibration, imageScale, showTexture);
+ double SpecularIntensity, SpecularPower;
- if (argc >= 3) {
+ const char *argument2 = argv[2], *argument3 = argv[3];
+ std::stringstream SpecularIntensityValue, SpecularPowerValue;
+ SpecularIntensityValue << argument2;
+ SpecularPowerValue << argument3;
+ SpecularIntensityValue >> SpecularIntensity;
+ SpecularPowerValue >> SpecularPower;
- double SpecularIntensity, SpecularPower;
+ if (argc >= 5) {
+ double SpecularIntensitySynthetic, SpecularPowerSynthetic;
- const char *argument2 = argv[2], *argument3 = argv[3];
- std::stringstream SpecularIntensityValue, SpecularPowerValue;
- SpecularIntensityValue << argument2;
- SpecularPowerValue << argument3;
- SpecularIntensityValue >> SpecularIntensity;
- SpecularPowerValue >> SpecularPower;
+ const char *argument4 = argv[4], *argument5 = argv[5];
+ std::stringstream SpecularIntensitySyntheticValue, SpecularPowerSyntheticValue;
+ SpecularIntensitySyntheticValue << argument4;
+ SpecularPowerSyntheticValue << argument5;
+ SpecularIntensitySyntheticValue >> SpecularIntensitySynthetic;
+ SpecularPowerSyntheticValue >> SpecularPowerSynthetic;
- renderSynthetic(imageName, calibration, SpecularIntensity, SpecularPower);
+ renderSynthetic(imageName, calibration, SpecularIntensity, SpecularPower, SpecularIntensitySynthetic, SpecularPowerSynthetic);
+ } else {
+ specularEstimation(imageName, calibration, SpecularIntensity, SpecularPower);
}
+ //denseSyntheticSample(imageName, calibration, SpecularIntensity, SpecularPower);
+
+
return 0;
}
+/*
+class SpecularEstimation {
+ public:
+ SpecularEstimation(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower) {
+ loadTextureImages();
+
+ PhotometricStereo();
-void renderSynthetic(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower) {
+ cv::cvtColor(albedo, albedo, CV_GRAY2BGR);
+ albedo.convertTo(albedo, CV_8UC3);
+
+ populateLightInvDirs();
+
+ 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
+
+ specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages);
+
+ terminateOpenGL(vertexbuffer, uvbuffer, normalbuffer, elementbuffer, programID, depthProgramID, quad_programID, Texture, FramebufferName, depthTexture, quad_vertexbuffer, VertexArrayID);
+ }
+ SpecularEstimation(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower, double SpecularIntensitySynthetic, double SpecularPowerSynthetic) {
+ albedo = cv::imread(albedoPath);
+ //normalMap = cv::imread(normalPath);
+ heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
+
+ normalMap = convertImageToNormals(cv::imread(normalPath));
+ normalMap.convertTo(normalMap, CV_32FC3);
+
+ populateLightInvDirs();
+
+ 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
+
+ RenderSynthetic(depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, numberOfLights, SpecularIntensityID, SpecularIntensitySynthetic, SpecularPowerID, SpecularPowerSynthetic, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
+
+ specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages);
+
+ terminateOpenGL(vertexbuffer, uvbuffer, normalbuffer, elementbuffer, programID, depthProgramID, quad_programID, Texture, FramebufferName, depthTexture, quad_vertexbuffer, VertexArrayID);
+ }
+ ~SpecularEstimation();
+
+ void loadTextureImages() {
+ 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;
+ }
+
+ void PhotometricStereo() {
+ phoSte::photometryStero A(numberOfLights, modelPath, calibrationPath2, macbethPath, imageName, calibration, 0);
+
+ A.readImage(modelPath, calibrationPath2, macbethPath);
+ //cv::Mat calibrationMask = loadCalibrationMask(calibrationPath2, 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);
+ 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);
+ }
+
+ void populateLightInvDirs() {
+ 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)));
+ }
+
+ void DenseSample() {
+ std::ofstream results;
+ results.open (imagesPath + folderPath + "/" + imageName + ".txt");
+
+ for (SpecularIntensity = 0; SpecularIntensity < 1; SpecularIntensity+=0.01){
+ for (SpecularPower = 0; SpecularPower < 5; SpecularPower+=0.05){
+
+ double residualValue = 0, sum = 0;
+
+ for(int i = 0; i < numberOfLights; i++) {
+
+ // 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
+
+ meanSquaredError(i, height, width, textureImages, sum);
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+ glfwPollEvents();
+ }
+
+ residualValue = (sum/numberOfLights);
+
+ //std::cout << "Specular Intensity = " << specularIntensity_ << ", Specular Power = " << specularPower_ << ", Residual = " << (sum/numberOfLights_) << ", SSD = " << (sum/numberOfLights_)*(sum/numberOfLights_) << std::endl;
+ results << SpecularIntensity << "\t" << SpecularPower << "\t" << residualValue << std::endl;
+ }
+ }
+
+ results.close();
+ }
+
+ private:
+ // OpenCV
+ const std::string imageName, calibration = "chrome", imagesPath = "/home/thomas/Documents/", folderPath= "2018-09-05", modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".", calibrationPath = imagesPath + "2017-12-04" + "/" + calibration + "/" + calibration + ".", calibrationPath2 = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".", macbethPath = imagesPath + folderPath + "/macbeth/macbeth.", albedoPath = modelPath + "albedo.png", normalPath = modelPath + "normal.png", texturePath = modelPath + "texture.png";
+ int width = 1092, height = 728, numberOfLights = 6, lightNumber = 0;
+ double SpecularIntensity, SpecularPower, SpecularIntensitySynthetic, SpecularPowerSynthetic, totalResidual, residualValue;
+ bool calculateResidual = false, perspectiveProjection, shadowControl;
+ std::vector<unsigned int> indices;
+
+ // ChArUco board
+ int dictionaryId = 0, xSquares = 9, ySquares = 11;
+ cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(dictionaryId));
+ float squareSideLength = 0.04f, 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::Mat residualImage, albedo, normalMap, heightMap, normalAlbedo, 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::Vec3d residual;
+ std::vector<cv::Mat> textureImages;
+ std::vector<glm::vec3> lightInvDirs;
+
+ // OpenGL
+ GLuint programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularPowerID;
+ glm::vec3 position, lightInvDir;
+ glm::mat4 depthProjectionMatrix, depthViewMatrix, depthModelMatrix = glm::mat4(1.0), depthMVP, ModelMatrix = glm::mat4(1.0), MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix, biasMatrix = glm::mat4(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);
+ float horizontalAngle, verticalAngle, FoV;
+};
+*/
+void renderSynthetic(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower, double SpecularIntensitySynthetic, double SpecularPowerSynthetic) {
// 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";
+ //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 = "2018-09-05";
const std::string modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
@@ -94,46 +254,47 @@ void renderSynthetic(std::string imageName, std::string calibration, double Spec
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, 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;
- //textureImages.push_back(albedo);
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)+0.5, -lightDirections.at<float>(i, 2), lightDirections.at<float>(i, 1)+0.5));
-
+ 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
- RenderSynthetic(depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
+ RenderSynthetic(depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, numberOfLights, SpecularIntensityID, SpecularIntensitySynthetic, SpecularPowerID, SpecularPowerSynthetic, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
- specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages);
+ //SpecularIntensity = 0.5, SpecularPower = 2;
- 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);
+ specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, 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, 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);
return;
}
-void specularEstimation(std::string imageName, std::string calibration, int imageScale, bool showTexture) {
+void specularEstimation(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower) {
// 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 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 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 + ".";
@@ -199,7 +360,7 @@ void specularEstimation(std::string imageName, std::string calibration, int imag
//B.readImage();
const std::string calibrationPath2 = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
- int numberOfLights = 6, width = 1092, height = 728;
+ int numberOfLights = 6;
std::vector<cv::Mat> textureImages;
for (int i = 0; i < numberOfLights; i++) {
@@ -210,7 +371,28 @@ void specularEstimation(std::string imageName, std::string calibration, int imag
cv::Mat model = cv::imread(modelPath + indexString + ".png");
textureImages.push_back(model);
}
+
+ 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, calibrationPath2, macbethPath, imageName, calibration, 0);
A.readImage(modelPath, calibrationPath2, macbethPath);
//cv::Mat calibrationMask = loadCalibrationMask(calibrationPath2, height, width);
@@ -230,7 +412,7 @@ void specularEstimation(std::string imageName, std::string calibration, int imag
//cv::imshow("Height Map", heightMap);
//cv::imwrite(modelPath + "normal", result);
cv::Mat heightMap = cv::Mat::zeros(texture.size(), CV_8U);
- cv::waitKey(0);
+ //cv::waitKey(0);
//normalMap.convertTo(normalMap, CV_8UC1);
//normalMap = convertImageToNormals(normalMap);
@@ -294,10 +476,9 @@ void specularEstimation(std::string imageName, std::string calibration, int imag
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, perspectiveProjection, shadowControl;
- double totalResidual, residualValue, SpecularIntensity = 0.5, SpecularPower = 2.0;
+ double totalResidual, residualValue;
cv::Mat residualImage;
//cv::Mat lightDirectionsInverted;
@@ -316,13 +497,13 @@ void specularEstimation(std::string imageName, std::string calibration, int imag
std::vector<glm::vec3> lightInvDirs;
for (int i = 0; i < numberOfLights; i++)
- lightInvDirs.push_back(glm::vec3(lightDirections.at<float>(i, 0)+0.5, -lightDirections.at<float>(i, 2), lightDirections.at<float>(i, 1)+0.5));
+ 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
- specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, residuals, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages);
+ specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, ModelMatrix, MVP, ViewMatrix, depthBiasMVP, lightInvDirs, textureImages);
- 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);
+ //viewModel(residual, 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);
@@ -344,3 +525,226 @@ void specularEstimation(std::string imageName, std::string calibration, int imag
return;
}
+
+void denseSample(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower) {
+
+ // 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";
+
+
+
+ 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();
+
+ cv::Mat model = cv::imread(modelPath + indexString + ".png");
+ textureImages.push_back(model);
+ }
+
+ int width = textureImages[0].cols;
+ int height = textureImages[0].rows;
+
+ phoSte::photometryStero A(numberOfLights, modelPath, calibrationPath2, macbethPath, imageName, calibration, 0);
+ A.readImage(modelPath, calibrationPath2, macbethPath);
+ //cv::Mat calibrationMask = loadCalibrationMask(calibrationPath2, 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);
+
+
+
+ cv::cvtColor(texture, texture, CV_GRAY2BGR);
+ texture.convertTo(texture, 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(
+ 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
+ );
+ 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;
+ 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);
+
+ 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)));
+
+ 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
+
+ std::ofstream results;
+ results.open (imagesPath + folderPath + "/" + imageName + ".txt");
+ //results << "Writing this to a file.\n";
+
+
+ for (double specularIntensity = 0; specularIntensity < 1; specularIntensity+=0.01){
+ for (double specularPower = 0; specularPower < 5; specularPower+=0.05){
+
+ double residualValue = 0, sum = 0;
+
+ for(int i = 0; i < numberOfLights; i++) {
+
+ // 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, SpecularIntensityID, specularIntensity, SpecularPowerID, specularPower);
+
+ meanSquaredError(i, height, width, textureImages, sum);
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+ glfwPollEvents();
+ }
+
+ residualValue = (sum/numberOfLights);
+
+ //std::cout << "Specular Intensity = " << specularIntensity_ << ", Specular Power = " << specularPower_ << ", Residual = " << (sum/numberOfLights_) << ", SSD = " << (sum/numberOfLights_)*(sum/numberOfLights_) << std::endl;
+ results << specularIntensity << "\t" << specularPower << "\t" << residualValue << std::endl;
+ }
+ }
+
+ results.close();
+
+ //specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, 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, 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);
+
+ return;
+}
+
+void denseSyntheticSample(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower) {
+
+ // 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 = "2018-09-05";
+ 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";
+
+
+ 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(
+ 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
+ );
+ 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;
+ 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);
+
+ //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));
+
+ 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, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, numberOfLights, calculateResidual, depthMVP, depthModelMatrix, MVP, ProjectionMatrix, ViewMatrix, ModelMatrix, depthBiasMVP, biasMatrix);
+
+ RenderSynthetic(depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID, modelPath);
+
+ std::ofstream results;
+ results.open (imagesPath + folderPath + "/" + imageName + ".txt");
+ //results << "Writing this to a file.\n";
+
+
+ for (double specularIntensity = 0; specularIntensity < 1; specularIntensity+=0.01){
+ for (double specularPower = 0; specularPower < 5; specularPower+=0.05){
+
+ double residualValue = 0, sum = 0;
+
+ for(int i = 0; i < numberOfLights; i++) {
+
+ // 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, SpecularIntensityID, specularIntensity, SpecularPowerID, specularPower);
+
+ meanSquaredError(i, height, width, textureImages, sum);
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+ glfwPollEvents();
+ }
+
+ residualValue = (sum/numberOfLights);
+
+ //std::cout << "Specular Intensity = " << specularIntensity_ << ", Specular Power = " << specularPower_ << ", Residual = " << (sum/numberOfLights_) << ", SSD = " << (sum/numberOfLights_)*(sum/numberOfLights_) << std::endl;
+ results << specularIntensity << "\t" << specularPower << "\t" << residualValue << std::endl;
+ }
+ }
+
+ results.close();
+
+ //specularMinimisation(SpecularIntensity, SpecularPower, residualValue, residual, totalResidual, residualImage, depthProjectionMatrix, depthViewMatrix, width, height, numberOfLights, SpecularIntensityID, SpecularPowerID, 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, 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);
+
+ return;
+}
\ No newline at end of file
diff --git a/apps/specular_estimation/src/sphere.obj b/apps/specular_estimation/src/sphere.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2566de291f5c05f41b67b29e9ada1577c8384e86
--- /dev/null
+++ b/apps/specular_estimation/src/sphere.obj
@@ -0,0 +1,2520 @@
+# Blender v2.79 (sub 0) OBJ File: 'sphere.obj'
+# www.blender.org
+mtllib sphere.mtl
+o Sphere
+v 0.000000 0.000000 1.000004
+v 0.191341 -0.038060 0.980789
+v 0.195090 0.000000 0.980789
+v 0.375330 -0.074658 0.923884
+v 0.382683 0.000000 0.923884
+v 0.555570 0.000000 0.831474
+v 0.544895 -0.108386 0.831474
+v 0.707106 0.000000 0.707111
+v 0.693520 -0.137950 0.707111
+v 0.831469 0.000000 0.555574
+v 0.815493 -0.162212 0.555574
+v 0.923879 0.000000 0.382687
+v 0.906127 -0.180240 0.382687
+v 0.980784 0.000000 0.195094
+v 0.961940 -0.191342 0.195094
+v 0.999999 0.000000 0.000004
+v 0.980785 -0.195090 0.000004
+v 0.980784 -0.000001 -0.195086
+v 0.961940 -0.191342 -0.195086
+v 0.923879 0.000000 -0.382679
+v 0.906127 -0.180240 -0.382679
+v 0.831469 0.000000 -0.555566
+v 0.815493 -0.162212 -0.555566
+v 0.707106 0.000000 -0.707103
+v 0.693520 -0.137950 -0.707103
+v 0.555570 0.000000 -0.831466
+v 0.544895 -0.108387 -0.831466
+v 0.382683 0.000000 -0.923875
+v 0.375330 -0.074658 -0.923875
+v 0.195090 0.000000 -0.980782
+v 0.191342 -0.038060 -0.980782
+v 0.000000 0.000000 -0.999996
+v 0.180240 -0.074658 -0.980782
+v 0.353553 -0.146447 -0.923875
+v 0.513280 -0.212608 -0.831466
+v 0.653281 -0.270598 -0.707103
+v 0.768178 -0.318190 -0.555566
+v 0.853553 -0.353554 -0.382679
+v 0.906127 -0.375330 -0.195086
+v 0.923879 -0.382684 0.000004
+v 0.906127 -0.375330 0.195094
+v 0.853553 -0.353554 0.382687
+v 0.768178 -0.318190 0.555574
+v 0.653281 -0.270598 0.707111
+v 0.513280 -0.212608 0.831474
+v 0.353553 -0.146447 0.923884
+v 0.180240 -0.074658 0.980789
+v 0.162211 -0.108386 0.980789
+v 0.318190 -0.212608 0.923884
+v 0.461940 -0.308658 0.831474
+v 0.587938 -0.392848 0.707111
+v 0.691342 -0.461940 0.555574
+v 0.768178 -0.513280 0.382687
+v 0.815493 -0.544895 0.195094
+v 0.831469 -0.555570 0.000004
+v 0.815493 -0.544895 -0.195086
+v 0.768178 -0.513280 -0.382679
+v 0.691342 -0.461940 -0.555566
+v 0.587938 -0.392848 -0.707103
+v 0.461940 -0.308658 -0.831466
+v 0.318190 -0.212608 -0.923875
+v 0.162212 -0.108387 -0.980782
+v 0.137950 -0.137950 -0.980782
+v 0.270598 -0.270598 -0.923875
+v 0.392847 -0.392848 -0.831466
+v 0.500000 -0.500000 -0.707103
+v 0.587938 -0.587938 -0.555566
+v 0.653281 -0.653282 -0.382679
+v 0.693520 -0.693520 -0.195086
+v 0.707107 -0.707107 0.000004
+v 0.693520 -0.693520 0.195094
+v 0.653281 -0.653282 0.382687
+v 0.587938 -0.587938 0.555574
+v 0.500000 -0.500000 0.707111
+v 0.392847 -0.392848 0.831474
+v 0.270598 -0.270598 0.923884
+v 0.137950 -0.137950 0.980789
+v 0.108386 -0.162212 0.980789
+v 0.212607 -0.318190 0.923884
+v 0.308658 -0.461940 0.831474
+v 0.392847 -0.587938 0.707111
+v 0.461940 -0.691342 0.555574
+v 0.513280 -0.768178 0.382687
+v 0.544895 -0.815493 0.195094
+v 0.555570 -0.831470 0.000004
+v 0.544895 -0.815493 -0.195086
+v 0.513280 -0.768178 -0.382679
+v 0.461940 -0.691342 -0.555566
+v 0.392847 -0.587938 -0.707103
+v 0.308658 -0.461940 -0.831466
+v 0.212607 -0.318190 -0.923875
+v 0.108386 -0.162212 -0.980782
+v 0.074658 -0.180240 -0.980782
+v 0.146447 -0.353554 -0.923875
+v 0.212607 -0.513280 -0.831466
+v 0.270598 -0.653282 -0.707103
+v 0.318190 -0.768178 -0.555566
+v 0.353553 -0.853553 -0.382679
+v 0.375330 -0.906127 -0.195086
+v 0.382683 -0.923879 0.000004
+v 0.375330 -0.906127 0.195094
+v 0.353553 -0.853553 0.382687
+v 0.318190 -0.768178 0.555574
+v 0.270598 -0.653282 0.707111
+v 0.212607 -0.513280 0.831474
+v 0.146447 -0.353553 0.923884
+v 0.074658 -0.180240 0.980789
+v 0.038060 -0.191342 0.980789
+v 0.074658 -0.375330 0.923884
+v 0.108386 -0.544895 0.831474
+v 0.137950 -0.693520 0.707111
+v 0.162212 -0.815493 0.555574
+v 0.180240 -0.906127 0.382687
+v 0.191342 -0.961940 0.195094
+v 0.195090 -0.980785 0.000004
+v 0.191342 -0.961940 -0.195086
+v 0.180240 -0.906127 -0.382679
+v 0.162212 -0.815493 -0.555566
+v 0.137950 -0.693520 -0.707103
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diff --git a/bin/specular_estimation b/bin/specular_estimation
index a498f50420f5a12a702f86889812a590e17714d3..dd728f6f6c8af3dcea6eec57052514a615149049 100755
Binary files a/bin/specular_estimation and b/bin/specular_estimation differ
diff --git a/results.txt b/results.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f586c5dc281891443cae0de0840a0431d90d420
--- /dev/null
+++ b/results.txt
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