diff --git a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o
index 0778d839d667e7cf5f5091b1e45de55a6eac8f89..2093a391c910169bfeb9ec48481543c2d3bc26d9 100644
Binary files a/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o and b/apps/specular_estimation/CMakeFiles/specular_estimation.dir/src/PhotometricStereo.cc.o differ
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 75db233ceb7bb72734f3d17a2aa61848997dcd6c..e3a201f56cb04419f5cbeb9867bedb856846b23d 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 74ce3afda99b2ce5e7625c0cad7c5a00dac81ff5..43788aadacab8c38eec66eeb879262d53b21c70c 100644
--- a/apps/specular_estimation/src/Ceres.h
+++ b/apps/specular_estimation/src/Ceres.h
@@ -34,10 +34,11 @@ class MyScalarCostFunctor {
double sum = 0;
for(int i = 0; i < numberOfLights_; i++) {
-
+ std::cout << "Rendering polygons\n";
// 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);
+ std::cout << "Calculating residual\n";
meanSquaredError(i, height_, width_, textureImages_, sum, gain, bias);
//structuralSimilarityIndex(i, height_, width_, textureImages_, sum, gain, bias);
@@ -118,7 +119,7 @@ void specularMinimisation(double& SpecularIntensity, double& SpecularPower, doub
problem.SetParameterUpperBound(&Gain, 0, 2);
problem.SetParameterLowerBound(&Bias, 0, -1);
problem.SetParameterUpperBound(&Bias, 0, 1);
-
+
// Run the solver!
Solver::Options options;
options.minimizer_progress_to_stdout = true;
diff --git a/apps/specular_estimation/src/OpenGL.h b/apps/specular_estimation/src/OpenGL.h
index 4869438cdc251d1bac08ccd0c9a8b672f8be0fc8..fa494cec9ca4576806e613f135ba464157a9ec57 100644
--- a/apps/specular_estimation/src/OpenGL.h
+++ b/apps/specular_estimation/src/OpenGL.h
@@ -227,13 +227,13 @@ void initialiseOpenGL(cv::Mat cv_depth, cv::Mat cv_normals, cv::Mat cv_texture,
// Create and compile the GLSL program from the shaders
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";
+ //std::cout << "Shaders loaded.\n";
GLuint texID = glGetUniformLocation(quad_programID, "texture");
- std::cout << "Uniform Location of texture found.\n";
+ //std::cout << "Uniform Location of texture found.\n";
// Create and compile the GLSL program from the shaders
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 the "myTextureSampler" uniform
TextureID = glGetUniformLocation(programID, "myTextureSampler");
//SpecularID = glGetUniformLocation(programID, "mySpecularSampler");
@@ -1404,7 +1404,7 @@ void calibrateLights(int& windowWidth, int& windowHeight, cv::Mat cv_texture) {
// 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);
@@ -1494,19 +1494,19 @@ void calibrateLights(int& windowWidth, int& windowHeight, cv::Mat cv_texture) {
// 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";
+ //std::cout << "Shaders loaded.\n";
GLuint texID = glGetUniformLocation(quad_programID, "texture");
- std::cout << "Uniform Location of texture found.\n";
+ //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");
diff --git a/apps/specular_estimation/src/PhotometricStereo.cc b/apps/specular_estimation/src/PhotometricStereo.cc
index 89d0a4ab3cfb6510ede88962c72df0d292f6d1fb..80e475f17f805909a8205597d2050e64059ea13b 100755
--- a/apps/specular_estimation/src/PhotometricStereo.cc
+++ b/apps/specular_estimation/src/PhotometricStereo.cc
@@ -194,7 +194,7 @@ photometryStero::photometryStero(int imageNumber, std::string modelPath, std::st
std::string indexString = stm.str();
std::string imageNameStr = modelPath + indexString + ".png";
- cv::Mat modelImage = cv::imread(modelPath + indexString + ".png", cv::IMREAD_COLOR);
+ cv::Mat modelImage = cv::imread(imageNameStr, cv::IMREAD_COLOR);
if (!modelImage.data) { // Check if any images failed to load
std::cout << imageNumber << " model images have been loaded." << std::endl;
diff --git a/apps/specular_estimation/src/ShadowMapping.fragmentshader b/apps/specular_estimation/src/ShadowMapping.fragmentshader
index 006a36ae9393b66fd18ca5a05c1534dbae033785..02348908da47c760a1911653772307d804dccdef 100644
--- a/apps/specular_estimation/src/ShadowMapping.fragmentshader
+++ b/apps/specular_estimation/src/ShadowMapping.fragmentshader
@@ -6,7 +6,7 @@ in vec3 Normal_cameraspace;
in vec3 EyeDirection_cameraspace;
in vec3 LightDirection_cameraspace;
in vec4 ShadowCoord;
-//in vec3 Position_worldspace;
+in vec3 Position_worldspace;
// Ouput data
layout(location = 0) out vec3 color;
@@ -16,7 +16,7 @@ uniform sampler2D myTextureSampler;
//uniform sampler2D mySpecularSampler;
uniform mat4 MV;
uniform sampler2DShadow shadowMap;
-//uniform vec3 LightPosition_worldspace;
+uniform vec3 LightPosition_worldspace;
uniform float specularIntensity;
uniform float specularPower;
@@ -73,7 +73,7 @@ void main() {
//vec3 MaterialSpecularColor = texture( myTextureSampler, UV ).rgb;
// Distance to the light
- //float distance = length( LightPosition_worldspace - Position_worldspace );
+ float distance = length( LightPosition_worldspace - Position_worldspace );
// Normal of the computed fragment, in camera space
vec3 n = normalize( Normal_cameraspace );
diff --git a/apps/specular_estimation/src/specular_estimation.cc b/apps/specular_estimation/src/specular_estimation.cc
index 2ed7779433cc32eb2e98f868e62c28292be8f262..1d643291e389de177178995235d3262e1cb5647b 100644
--- a/apps/specular_estimation/src/specular_estimation.cc
+++ b/apps/specular_estimation/src/specular_estimation.cc
@@ -6,8 +6,9 @@ void denseSample(std::string imageName, std::string calibration, double Specular
void denseSyntheticSample(std::string imageName, std::string calibration, double SpecularIntensity, double SpecularPower);
SpecularEstimation::SpecularEstimation(std::string imageName, std::string calibration, bool denseSample, double SpecularIntensity, double SpecularPower) {
- loadTextureImages();
-
+ modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".";
+ calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".";
+
PhotometricStereo();
cv::cvtColor(albedo, albedo, CV_GRAY2BGR);
@@ -26,7 +27,7 @@ SpecularEstimation::SpecularEstimation(std::string imageName, std::string calibr
}
SpecularEstimation::SpecularEstimation(std::string imageName, std::string calibration, bool denseSample, double SpecularIntensity, double SpecularPower, double SpecularIntensitySynthetic, double SpecularPowerSynthetic) {
- albedo = cv::imread(albedoPath);
+ albedo = cv::imread(albedoPath);
heightMap = cv::Mat::zeros(albedo.size(), CV_8U);
normalMap = convertImageToNormals(cv::imread(normalPath));
normalMap.convertTo(normalMap, CV_32FC3);
@@ -141,7 +142,10 @@ int main(int argc, char** argv) {
}
}*/
-
+ if (argc < 2) {
+ std::cerr << "Enter the name of the object followed by the calibration set to use.\n";
+ return -1;
+ }
// Required for the Ceres solver
google::InitGoogleLogging(argv[0]);
@@ -159,12 +163,15 @@ int main(int argc, char** argv) {
// Read the file name from the command line argument and convert it from a char array to a string
const char *argument1 = argv[1];
imageName = argument1;
- }/*
- // Read the name of the calibration folder
- if (argc >= 3) { // The specified calibration path will be used, otherwise "chrome" is used
+ }
+ /*if (argc >= 3) { // The specified calibration path will be used, otherwise "chrome" is used
const char *argument2 = argv[2];
calibration = argument2;
- }
+ }*/
+
+ /*
+ // Read the name of the calibration folder
+
// Read the image scale
if (argc >= 4) { // An image scale is provided
// Scale down the images for faster processing and rendering
@@ -186,18 +193,20 @@ int main(int argc, char** argv) {
//specularEstimation(imageName, calibration, imageScale, showTexture);
- double SpecularIntensity, SpecularPower;
-
- const char *argument2 = argv[2], *argument3 = argv[3];
- std::stringstream SpecularIntensityValue, SpecularPowerValue;
- SpecularIntensityValue << argument2;
- SpecularPowerValue << argument3;
- SpecularIntensityValue >> SpecularIntensity;
- SpecularPowerValue >> SpecularPower;
-
+ double SpecularIntensity = 0.5, SpecularPower = 2;
bool denseSample = false;
- if (argc >= 5) {
+ if (argc >= 4) {
+ const char *argument2 = argv[2], *argument3 = argv[3];
+ std::stringstream SpecularIntensityValue, SpecularPowerValue;
+ SpecularIntensityValue << argument2;
+ SpecularPowerValue << argument3;
+ SpecularIntensityValue >> SpecularIntensity;
+ SpecularPowerValue >> SpecularPower;
+
+ //specularEstimation(imageName, calibration, SpecularIntensity, SpecularPower);
+ SpecularEstimation Solver(imageName, calibration, denseSample, SpecularIntensity, SpecularPower);
+ } else if (argc >= 6) {
double SpecularIntensitySynthetic, SpecularPowerSynthetic;
const char *argument4 = argv[4], *argument5 = argv[5];
diff --git a/apps/specular_estimation/src/specular_estimation.h b/apps/specular_estimation/src/specular_estimation.h
index bda1db80862908e0f87c630317a3346a9287b9c2..46a88b974573d3fb363e86c97bd802a70bb4e109 100644
--- a/apps/specular_estimation/src/specular_estimation.h
+++ b/apps/specular_estimation/src/specular_estimation.h
@@ -18,10 +18,10 @@ class SpecularEstimation {
private:
// OpenCV
- const std::string imageName, calibration = "chrome", imagesPath = "/home/thomas/Documents/", folderPath = "2018-08-31", modelPath = imagesPath + folderPath + "/" + imageName + "/" + imageName + ".", calibrationPath = imagesPath + folderPath + "/" + calibration + "/" + calibration + ".", calibrationPath2 = imagesPath + "2017-12-04" + "/" + calibration + "/" + calibration + ".", macbethPath = imagesPath + folderPath + "/macbeth/macbeth.", albedoPath = modelPath + "albedo.png", normalPath = modelPath + "normal.png", texturePath = modelPath + "texture.png";
+ std::string imageName, modelPath, calibrationPath, calibration = "chrome", imagesPath = "/home/thomas/Documents/", folderPath = "2018-08-31", 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, Gain = 1.0, Bias = 0.0;
- bool calculateResidual = false, perspectiveProjection, shadowControl;
+ bool calculateResidual = false, perspectiveProjection = false, shadowControl = false, denseSample = false;
std::vector<unsigned int> indices;
// ChArUco board
diff --git a/bin/specular_estimation b/bin/specular_estimation
index 1c26f1af1c26ce644eea645c2ff2c807f2c6da31..e15815e35f95323fa740d985957126e8bfa7eba9 100755
Binary files a/bin/specular_estimation and b/bin/specular_estimation differ