source: GTP/trunk/Lib/Vis/Preprocessing/src/Camera.cpp @ 2575

#include <algorithm>

// the devil library
#include <IL/il.h>
#include <IL/ilu.h>
#include <IL/ilut.h>
#include <cassert>

#include "Camera.h"
#include "Ray.h"
#include "SimpleRay.h"
#include "KdTree.h"
#include "Mesh.h"
#include "Exporter.h"
#include "SceneGraph.h"
#include "Preprocessor.h"
#include "RayCaster.h"

#ifdef USE_HAVRAN_RAYCASTER 
//#include "timer.h"
#include "raypack.h"
#endif

using namespace std;

namespace GtpVisibilityPreprocessor {


void
InitDevIl()
{
  ilInit();
  ILuint ImageName;
  ilGenImages(1, &ImageName);
  ilBindImage(ImageName);
  ilEnable(IL_FILE_OVERWRITE);

  //  ilRegisterFormat(IL_RGBA);
  //  ilRegisterType(IL_FLOAT);

  //  ilEnable(IL_ORIGIN_SET);
  //  ilOriginFunc(IL_ORIGIN_UPPER_LEFT);
}

bool
Camera::SnapImage(string filename,
                  KdTree *tree,
                  SceneGraph *sceneGraph
                 )
{
  int x;
  int y;

  bool exportRays = false;

  
  InitDevIl();
  int components = 4;
  float *buffer = new float[components*mWidth*mHeight];
  float *pbuffer = buffer;
  //  - components*mWidth;
  
  vector<Ray *> rays;

  long t1 = GetTime();

  Ray ray;

  for (y = 0; y < mHeight; y++) {
    cout<<"+";
    for (x = 0; x < mWidth; x++) {
      SetupRay(ray, mWidth - (x + 1), mHeight - (y + 1));

          bool debug = true;
          //      (y == mHeight/2) && (x== mWidth/3);
          //      MeshDebug = debug;
          
          if (debug) 
                ray.mFlags = (Ray::STORE_TESTED_OBJECTS | Ray::STORE_KDLEAVES);
          else 
                ray.mFlags &= ~(Ray::STORE_TESTED_OBJECTS|Ray::STORE_KDLEAVES);
          
          if (tree->CastRay(ray)) {
                //              cout<<"I1";

                if (ray.intersections.size()) {
                  sort(ray.intersections.begin(), ray.intersections.end());
                  MeshInstance *mesh = (MeshInstance*)ray.intersections[0].mObject;
                  RgbColor color(1,1,1);
                  if (mesh->GetMesh()->mMaterial)
                        color = mesh->GetMesh()->mMaterial->mDiffuseColor;
                  
                  pbuffer[0] = color.r;
                  pbuffer[1] = color.g;
                  pbuffer[2] = color.b;
                  pbuffer[3] = 1.0f;
                  
                }
          }
      pbuffer+=components;
      
          //      if (exportRays && ( 1||(x==222) && (y==97))) {
          //      if (exportRays && ((x%4==0) && (y%4==0))) {

          //      if (exportRays && ray.intersections.empty()) {
          if (debug) {
                Ray *nray = new Ray(ray);
                rays.push_back(nray);
          }
    }
    //    pbuffer-=2*components*mWidth;
  }
  
  long t2 = GetTime();
  cout<<"#RAY_CAST_TIME\n";
  cout<<TimeDiff(t1, t2)<<"\n";
  
  
  cout<<"Saving image"<<endl;
  
  ilRegisterType(IL_FLOAT);
  ilTexImage(mWidth, mHeight, 1, 4, IL_RGBA, IL_FLOAT, buffer);
  ilSaveImage((char *const)filename.c_str());
  delete buffer;

  cout<<"done."<<endl<<flush;
  
  Exporter *exporter = NULL;
  if (1) {
    exporter = Exporter::GetExporter(filename + "-rays" + ".x3d");
    //exporter->SetFilled();

        exporter->SetWireframe();

        if (sceneGraph) 
          exporter->ExportScene(sceneGraph->GetRoot());
        
    //exporter->ExportKdTree(*tree);
        //exporter->ExportBspTree(*bsptree);
    exporter->ExportRays(rays, 2000);
    int k =0;
    for (int j=0; j < rays.size(); j++)
      if (rays[j]->kdLeaves.size()) {
                Ray *ray = rays[j];
                int i;
                exporter->SetWireframe();

                if (1)
                  for (i= 0; i < ray->kdLeaves.size(); i++)
                        exporter->ExportBox(tree->GetBox(ray->kdLeaves[i]));

                exporter->SetFilled();
                
                if (1)
                  for (i= 0; i < ray->testedObjects.size(); i++)
                        exporter->ExportIntersectable(ray->testedObjects[i]);
      }
        
    delete exporter;
  }
  
  return true;
}


void
Camera::SetupRay(Ray &ray, const int x, const int y)
{
  Vector3 xv = mRight*((x - mWidth/2)/(float)mWidth);
  Vector3 yv = mUp*((y - mHeight/2)/(float)mHeight);
  Vector3 target = xv + yv + mDirection;

  ray.Clear();
  ray.Init(mPosition, target, Ray::LOCAL_RAY);
  ray.mFlags &= ~Ray::CULL_BACKFACES;
}


void
Camera::SetupRay(SimpleRay &ray, const int x, const int y)
{
  Vector3 xv = mRight*((x - mWidth/2)/(float)mWidth);
  Vector3 yv = mUp*((y - mHeight/2)/(float)mHeight);
  Vector3 target = xv + yv + mDirection;
  Vector3 dir = target - mPosition;
  dir.Normalize();
  
  ray.Set(mPosition, dir, 0,
          1.0f, ~(SimpleRay::F_BIDIRECTIONAL));
}

bool
Camera::SnapImage(string filename,
                  RayCaster *raycaster,
                  AxisAlignedBox3 &bbox,
                  SceneGraph *sceneGraph
                  )
{
  int x;
  int y;

  bool exportRays = false;

  
  InitDevIl();
  int components = 4;
  float *buffer = new float[components*mWidth*mHeight];
  assert(buffer);
  float *pbuffer = buffer;
  //  - components*mWidth;
  
  vector<Ray *> rays;

  long t1 = GetTime();

  SimpleRay ray;
  VssRayContainer vssRays;

  //CTimer timer;
  //timer.Start();
  
  for (y = 0; y < mHeight; y++) {
    cout<<"+";
    for (x = 0; x < mWidth; x++) {
      SetupRay(ray, mWidth - (x + 1), mHeight - (y + 1));

      bool debug = true;
      //          (y == mHeight/2) && (x== mWidth/3);
      //          MeshDebug = debug;
      

      int res = raycaster->CastRay(ray,
                                   vssRays,
                                   bbox,
                                   false, // castDoubleRay,
                                   false); // pruneInvalidRays
      
      if (res) {
        Vector3 normal = raycaster->intersect.mNormal;
        float v =
          ray.mDirection.x * normal.x +
          ray.mDirection.y * normal.y +
          ray.mDirection.z * normal.z;
        v *= 1.0f;
        pbuffer[0] = v;
        pbuffer[1] = v;
        pbuffer[2] = v;
        pbuffer[3] = 1.0f;                
      }
      else {
        pbuffer[0] = 0.0;
        pbuffer[1] = 0.0;
        pbuffer[2] = 0.0;
        pbuffer[3] = 1.0f;
      }
      pbuffer+=components;
      
      if (debug) {
        Ray *nray = new Ray(ray.mOrigin, ray.mDirection,
                            Ray::LOCAL_RAY);
        rays.push_back(nray);
      }
    }
    //    pbuffer-=2*components*mWidth;
  } // for y

  //timer.Stop();
  
  long t2 = GetTime();
  cout<<"\n#RAY_CAST_TIME = ";
  cout << TimeDiff(t1, t2)<<" [mikrosec]\n";  
  
  cout<<"Saving image"<<endl;
  
  ilRegisterType(IL_FLOAT);
  ilTexImage(mWidth, mHeight, 1, 4, IL_RGBA, IL_FLOAT, buffer);
  ilSaveImage((char *const)filename.c_str());
  delete buffer;

  cout<<"done."<<endl<<flush;
    
  return true;
}

bool
Camera::SnapImagePacket(string filename,
                        RayCaster *raycaster,
                        AxisAlignedBox3 &bbox,
                        SceneGraph *sceneGraph
                        )
{
#ifdef USE_HAVRAN_RAYCASTER 
  
  int x;
  int y;

  bool exportRays = false;

  
  InitDevIl();
  int components = 4;
  float *buffer = new float[components*mWidth*mHeight];
  assert(buffer);
  float *pbuffer = buffer;
  //  - components*mWidth;
  
  vector<Ray *> rays;

  long t1 = GetTime();

  SimpleRay ray;
  VssRayContainer vssRays;

  //CTimer timer;
  //timer.Start();

  RayPacket2x2 rp;
  for (y = 0; y < mHeight-1; y+=2) {
    float *pppbuffer = pbuffer;
    cout<<"+";
    for (x = 0; x < mWidth-1; x+=2) {
      int i = 0;
      for (int yi = 0; yi < 2; yi++) {
        for (int xi = 0; xi < 2; xi++) {
          SetupRay(ray, mWidth - (x+xi + 1), mHeight - (y+yi + 1));
          rp.SetLoc(i, ray.mOrigin);
          rp.SetDir(i, ray.mDirection);
          i++;
        } // for xi
      } // for yi      

      raycaster->CastRaysPacket2x2(rp, false, false);

      i = 0;
      float *ppbuffer = pbuffer;
      for (int yi = 0; yi < 2; yi++) {
        for (int xi = 0; xi < 2; xi++) {
          Intersectable* res = rp.GetObject(i);
          if (res) {
            pbuffer[0] = 1.0f;
            pbuffer[1] = 1.0f;
            pbuffer[2] = 1.0f;
            pbuffer[3] = 1.0f;            
          }
          else {
            pbuffer[0] = 0.0;
            pbuffer[1] = 0.0;
            pbuffer[2] = 0.0;
            pbuffer[3] = 1.0f;
          }
          i++;
          ppbuffer += components;
        } // xi
        ppbuffer += components * (mWidth-2);
      } // yi

      pbuffer = ppbuffer + 2 * components;
    } // for x
    pbuffer = pppbuffer + mWidth * 2 * components;
    pppbuffer = pbuffer; // for the next time;
  } // for y

  //timer.Stop();
  
  long t2 = GetTime();
  cout<<"\n#RAY_CAST_TIME = ";
  cout << TimeDiff(t1, t2)<<" [mikrosec]\n";  
  
  cout<<"Saving image"<<endl;
  
  ilRegisterType(IL_FLOAT);
  ilTexImage(mWidth, mHeight, 1, 4, IL_RGBA, IL_FLOAT, buffer);
  ilSaveImage((char *const)filename.c_str());
  delete buffer;
#endif
  cout<<"done."<<endl<<flush;
    
  return true;
}
  

}