computeResiduals() returns the residuals of each colour channel of each light direction

apps/specular_estimation/src/Ceres.h

@@ -21,7 +21,14 @@ struct CostFunctor {
 		return true;
 	}
 };
-
+/*
+struct CostFunctor {
+  template <typename T> bool operator()(const T* const SpecularIntensity, const T* const SpecularPower, T* residual) const {
+    residual[0] = returnResidual(lightNumber, height, width, textureImages, residualImage, residuals, SpecularIntensity, SpecularPower);
+    return true;
+  }
+};
+*/
 void specularMinimisation(float& SpecularIntensity, float& SpecularPower, double& residual) {
 	
   // The variable to solve for with its initial value. It will be mutated in place by the solver.

apps/specular_estimation/src/OpenCV.h

@@ -45,10 +45,10 @@ void photometricStereo(std::string imageName, std::string calibration, std::stri
 
 	texture = createTexture(modelPath, imageScale, textureImages, width, height);
 
-	//loadSurfaceNormals(lightDirections, width, height, imageScale, modelPath, normals, Z, modelImages);
+	loadSurfaceNormals(lightDirections, width, height, imageScale, modelPath, normals, Z, modelImages);
 	
-	normals = cv::Mat(height, width, CV_32FC3, cv::Scalar(0,0,1));
-	Z = cv::Mat(height, width, CV_32FC2, cv::Scalar::all(0));
+	//normals = cv::Mat(height, width, CV_32FC3, cv::Scalar(0,0,1));
+	//Z = cv::Mat(height, width, CV_32FC2, cv::Scalar::all(0));
 	
 	cv::GaussianBlur(Z, Z, cv::Size(3, 3), 0, 0);
 	//cv::resize(Z, Z, cv::Size(), 0.5, 0.5, cv::INTER_LINEAR);
@@ -136,6 +136,7 @@ void loadSurfaceNormals(cv::Mat lightDirections, int width, int height, int imag
 	
 	if (!normals.data) {		
 		normals = cv::Mat(height, width, CV_32FC3, cv::Scalar::all(0));
+		//normals = cv::Mat(height, width, CV_32FC3, cv::Scalar(0,0,1));
 		// Estimate the surface normals and p, q gradients
 		getSurfaceNormals(normals, pGradients, qGradients, lightDirectionsInverted, modelImages);
 		std::cout << "Surface normals have been estimated.\n\n";

apps/specular_estimation/src/specular_estimation.cc

@@ -105,42 +105,44 @@ int main(int argc, char** argv) {
 	float horizontalAngle, verticalAngle, FoV, SpecularIntensity = 0.5f, SpecularPower = 2.0f;
 	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;
-	double residual;
 	bool calculateResidual = false;
+	double totalResidual;
+	cv::Mat residualImage;
 
 	initialiseOpenGL(heightMap, normalMap, texture, textureImages, lightDirections, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
 	//initialiseOpenGL(heightMap, normalMap, texture, textureImages, lightDirectionsPerspective, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
 	//initialiseOpenGL(heightMap, normalMap, texture, charucoImages, lightDirectionsPerspective, width, height, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower);
 
-	/*
-	glm::mat4 ModelMatrix = glm::mat4(1.0);
-	glm::mat4 MVP, ViewMatrix, depthBiasMVP, ProjectionMatrix = glm::ortho(-0.5f * float(windowWidth) / float(windowHeight), 0.5f * float(windowWidth) / float(windowHeight), -0.5f, 0.5f, 0.0f, 10.0f);
-	bool perspectiveProjection, shadowControl;
-	computeResiduals(windowWidth, windowHeight, position, horizontalAngle, verticalAngle, FoV, ProjectionMatrix, ViewMatrix, lightInvDir, depthProjectionMatrix, depthViewMatrix, perspectiveProjection = false, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensity, SpecularPower);
-	*/
-	
-	
-	
-	do {
-		openGL(lightNumber, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, residual, calculateResidual);
-		//openGL(lightNumber, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirectionsPerspective, textureImages, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, residual, calculateResidual);
-		//openGL(lightNumber, depthProjectionMatrix, depthViewMatrix, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirectionsPerspective, charucoImages, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, residual, calculateResidual);
-		
-		// TODO: Check if the viewpoint has been changed
-		if (calculateResidual) {
-			specularMinimisation(SpecularIntensity, SpecularPower, residual);
-			//openGL(lightNumber, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, programID, MatrixID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, depthProgramID, quad_programID, FramebufferName, quad_vertexbuffer, VertexArrayID, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, residual, calculateResidual);
-			calculateResidual = false;
-		}
-	} while (glfwGetKey(window, GLFW_KEY_ESCAPE) != GLFW_PRESS &&	glfwWindowShouldClose(window) == 0); // Check if the ESC key was pressed or the window was closed
 	
+
+
+
+	// The variable to solve for with its initial value. It will be mutated in place by the solver.
+	double x = SpecularIntensity;
+	const double initial_x = x;
+
+	// Build the problem.
+	Problem problem;
 	
 	
+	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);
 	
+	/*
+	// Run the solver!
+	Solver::Options options;
+	options.minimizer_progress_to_stdout = true;
+	Solver::Summary summary;
+	Solve(options, &problem, &summary);
+
+	std::cout << summary.BriefReport() << "\n";
+	std::cout << "Specular Intensity: " << initial_x << " -> " << x << "\n";
+	*/
+	viewModel(residual, residuals, totalResidual, residualImage, calculateResidual, depthProjectionMatrix, depthViewMatrix, width, height, position, horizontalAngle, verticalAngle, FoV, lightInvDir, lightDirections, textureImages, lightNumber, numberOfLights, SpecularIntensityID, SpecularIntensity, SpecularPowerID, SpecularPower, programID, ModelMatrixID, ViewMatrixID, DepthBiasID, lightInvDirID, Texture, TextureID, depthTexture, ShadowMapID, vertexbuffer, uvbuffer, normalbuffer, elementbuffer, indices, MatrixID);
 	
 	terminateOpenGL(vertexbuffer, uvbuffer, normalbuffer, elementbuffer, programID, depthProgramID, quad_programID, Texture, FramebufferName, depthTexture, quad_vertexbuffer, VertexArrayID);
 	
-	
 	return 0;
 }