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Fix cook torrance model, Add light contrib map example in tutorial
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@SamFlt
SamFlt committed Apr 29, 2024
1 parent 99916e0 commit 1f55836
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Showing 3 changed files with 85 additions and 39 deletions.
6 changes: 5 additions & 1 deletion modules/ar/include/visp3/ar/vpPanda3DRGBRenderer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,9 @@
class VISP_EXPORT vpPanda3DRGBRenderer : public vpPanda3DBaseRenderer, public vpPanda3DLightableScene
{
public:
vpPanda3DRGBRenderer() : vpPanda3DBaseRenderer("RGB") { }
vpPanda3DRGBRenderer() : vpPanda3DBaseRenderer("RGB"), m_showSpeculars(true) { }
vpPanda3DRGBRenderer(bool showSpeculars) : vpPanda3DBaseRenderer(showSpeculars ? "RGB" : "RGB-diffuse"), m_showSpeculars(showSpeculars) { }


/**
* @brief Store the render resulting from calling renderFrame() into a vpImage.
Expand All @@ -59,8 +61,10 @@ class VISP_EXPORT vpPanda3DRGBRenderer : public vpPanda3DBaseRenderer, public vp
protected:
void setupScene() vp_override;
void setupRenderTarget() vp_override;
virtual std::string makeFragmentShader(bool hasTexture, bool specular);

private:
bool m_showSpeculars;
Texture *m_colorTexture;
GraphicsOutput *m_colorBuffer;
static const char *COOK_TORRANCE_VERT;
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56 changes: 33 additions & 23 deletions modules/ar/src/panda3d-simulator/vpPanda3DRGBRenderer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,11 +82,7 @@ void main()
)shader";

const char *vpPanda3DRGBRenderer::COOK_TORRANCE_FRAG = R"shader(
#version 330
//#define HAS_TEXTURE 1
//#define SPECULAR 1
// Version 330, specified when generating shader
#define M_PI 3.1415926535897932384626433832795
Expand Down Expand Up @@ -146,7 +142,7 @@ float G(float hn, float nv, float nl, float vh)
vec3 F(vec3 F0, float vh)
{
return F0 + (1.f - F0) * pow(1.f - vh, 5);
return F0 + (vec3(1.f, 1.f, 1.f) - F0) * pow(1.f - vh, 5);
}
Expand All @@ -172,38 +168,58 @@ void main()
vec3 aFac = p3d_LightSource[i].attenuation;
float attenuation = 1.f / (aFac[0] + aFac[1] * lightDist + aFac[2] * lightDist * lightDist);
vec3 FV = clamp(F(F0, vh), 0.0, 1.0);
vec3 kd = (1.f - FV) * (1.f - p3d_Material.metallic);
vec3 FV = F(F0, vh);
vec3 kd = (1.f - p3d_Material.metallic) * (1.f - FV) * (1.f / M_PI);
#ifdef HAS_TEXTURE
vec4 diffuseColor = texture(p3d_Texture0, texcoords);
#else
vec4 diffuseColor = p3d_Material.baseColor;
#endif
//diffuseColor.xyz = (1.f - FV) * (1.f - p3d_Material.metallic) * diffuseColor.xyz;
#ifdef SPECULAR
float DV = D(roughness2, hn);
float GV = G(hn, nv, nl, vh);
vec3 rs = (DV * GV * FV) / (4.f * nl * nv);
vec3 specularColor = rs * p3d_Material.specular;
vec3 specularColor = vec3(0.f, 0.f, 0.f);
if(nl > 0.f && nv > 0.f) {
float DV = D(roughness2, hn);
float GV = G(hn, nv, nl, vh);
vec3 rs = (DV * GV * FV) / (4.f * nl * nv);
specularColor = rs * p3d_Material.baseColor.rgb;
}
#else
vec3 specularColor = vec3(0.0, 0.0, 0.0);
#endif
//p3d_FragData += (p3d_LightSource[i].color * attenuation) * nl * (diffuseColor * vec4(kd, 1.f) + vec4(specularColor, 1.f));
p3d_FragData = diffuseColor;
p3d_FragData += (p3d_LightSource[i].color * attenuation) * nl * (diffuseColor * vec4(kd, 1.f) + vec4(specularColor, 1.f));
}
}
)shader";

std::string vpPanda3DRGBRenderer::makeFragmentShader(bool hasTexture, bool specular)
{
std::stringstream ss;
ss << "#version 330" << std::endl;
if (hasTexture) {
ss << "#define HAS_TEXTURE 1" << std::endl;
}
if (specular) {
ss << "#define SPECULAR 1" << std::endl;
}
ss << vpPanda3DRGBRenderer::COOK_TORRANCE_FRAG;
std::cout << ss.str() << std::endl;
return ss.str();
}

void vpPanda3DRGBRenderer::addNodeToScene(const NodePath &object)
{
NodePath objectInScene = object.copy_to(m_renderRoot);
objectInScene.set_name(object.get_name());
objectInScene.ls();
std::cout << objectInScene.has_texture() << std::endl;
PT(Shader) shader = Shader::make(Shader::ShaderLanguage::SL_GLSL,
COOK_TORRANCE_VERT,
makeFragmentShader(false, m_showSpeculars));

objectInScene.set_shader(shader);

setNodePose(objectInScene, vpHomogeneousMatrix());
}

Expand All @@ -226,12 +242,6 @@ void vpPanda3DRGBRenderer::setupScene()
{
vpPanda3DBaseRenderer::setupScene();
setLightableScene(m_renderRoot);
PT(Shader) shader;
shader = Shader::make(Shader::ShaderLanguage::SL_GLSL,
COOK_TORRANCE_VERT,
COOK_TORRANCE_FRAG);
m_renderRoot.set_shader(shader);
//m_renderRoot.set_shader_auto();
}

void vpPanda3DRGBRenderer::setupRenderTarget()
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62 changes: 47 additions & 15 deletions tutorial/ar/tutorial-panda3d-renderer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,12 +44,25 @@ void displayDepth(const vpImage<float> &depthImage,
}


void displayLightDifference(const vpImage<vpRGBa> &colorImage, const vpImage<vpRGBa> &colorDiffuseOnly, vpImage<unsigned char> &lightDifference)
{
#pragma omp parallel for
for (int i = 0; i < colorImage.getSize(); ++i) {
float I1 = 0.299 * colorImage.bitmap[i].R + 0.587 * colorImage.bitmap[i].G * +0.114 * colorImage.bitmap[i].B;
float I2 = 0.299 * colorDiffuseOnly.bitmap[i].R + 0.587 * colorDiffuseOnly.bitmap[i].G * +0.114 * colorDiffuseOnly.bitmap[i].B;
lightDifference.bitmap[i] = static_cast<unsigned char>(abs(I1 - I2));
}
vpDisplay::display(lightDifference);
vpDisplay::flush(lightDifference);
}


int main(int argc, const char **argv)
{
bool invertTexture = false;
bool stepByStep = false;
bool debug = false;
bool showLightContrib = false;
char *modelPathCstr = nullptr;
vpParseArgv::vpArgvInfo argTable[] =
{
Expand All @@ -59,6 +72,8 @@ int main(int argc, const char **argv)
"Path to the model to load."},
{"-step", vpParseArgv::ARGV_CONSTANT_BOOL, (char *) nullptr, (char *)&stepByStep,
"Show frames step by step."},
{"-specular", vpParseArgv::ARGV_CONSTANT_BOOL, (char *) nullptr, (char *)&showLightContrib,
"Show frames step by step."},
{"-debug", vpParseArgv::ARGV_CONSTANT_BOOL, (char *) nullptr, (char *)&debug,
"Show Opengl/Panda3D debug message."},
{"-h", vpParseArgv::ARGV_HELP, (char *) nullptr, (char *) nullptr,
Expand All @@ -80,7 +95,7 @@ int main(int argc, const char **argv)
else {
modelPath = "data/deformed_sphere.bam";
}
vpPanda3DRenderParameters renderParams(vpCameraParameters(300, 300, 160, 120), 240, 320, 0.01, 10.0);
vpPanda3DRenderParameters renderParams(vpCameraParameters(600, 600, 320, 240), 480, 640, 0.01, 10.0);
vpPanda3DRendererSet renderer(renderParams);
renderer.setRenderParameters(renderParams);

Expand All @@ -90,16 +105,20 @@ int main(int argc, const char **argv)

std::shared_ptr<vpPanda3DGeometryRenderer> cameraRenderer = std::shared_ptr<vpPanda3DGeometryRenderer>(new vpPanda3DGeometryRenderer(vpPanda3DGeometryRenderer::vpRenderType::CAMERA_NORMALS));
std::shared_ptr<vpPanda3DRGBRenderer> rgbRenderer = std::shared_ptr<vpPanda3DRGBRenderer>(new vpPanda3DRGBRenderer());
std::shared_ptr<vpPanda3DRGBRenderer> rgbDiffuseRenderer = std::shared_ptr<vpPanda3DRGBRenderer>(new vpPanda3DRGBRenderer(false));

renderer.addSubRenderer(geometryRenderer);
renderer.addSubRenderer(cameraRenderer);
renderer.addSubRenderer(rgbRenderer);
if (showLightContrib) {
renderer.addSubRenderer(rgbDiffuseRenderer);
}


renderer.setVerticalSyncEnabled(false);
renderer.setAbortOnPandaError(true);
if (debug) {
renderer.enableDebugLog();

}
if (invertTexture) {
renderer.setForcedInvertTextures(true);
Expand All @@ -114,7 +133,7 @@ int main(int argc, const char **argv)

renderer.addNodeToScene(object);

vpPanda3DAmbientLight alight("Ambient", vpRGBf(0.5));
vpPanda3DAmbientLight alight("Ambient", vpRGBf(0.2));
renderer.addLight(alight);
vpPanda3DPointLight plight("Point", vpRGBf(1.0), vpColVector({ 0.0, 0.2, -0.4 }), vpColVector({ 0.0, 0.0, 1.0 }));
renderer.addLight(plight);
Expand All @@ -126,12 +145,14 @@ int main(int argc, const char **argv)
vpImage<vpRGBf> normalsImage;
vpImage<vpRGBf> cameraNormalsImage;
vpImage<float> depthImage;
unsigned h = renderParams.getImageHeight(), w = renderParams.getImageWidth();
vpImage<vpRGBa> colorImage(h, w);
vpImage<vpRGBa> colorDiffuseOnly(h, w);
vpImage<unsigned char> lightDifference(h, w);

vpImage<vpRGBa> colorImage(renderParams.getImageHeight(), renderParams.getImageWidth());
vpImage<vpRGBa> normalDisplayImage(renderParams.getImageHeight(), renderParams.getImageWidth());
vpImage<vpRGBa> cameraNormalDisplayImage(renderParams.getImageHeight(), renderParams.getImageWidth());

vpImage<unsigned char> depthDisplayImage(renderParams.getImageHeight(), renderParams.getImageWidth());
vpImage<vpRGBa> normalDisplayImage(h, w);
vpImage<vpRGBa> cameraNormalDisplayImage(h, w);
vpImage<unsigned char> depthDisplayImage(h, w);

#if defined(VISP_HAVE_GTK)
using DisplayCls = vpDisplayGTK;
Expand All @@ -146,9 +167,15 @@ int main(int argc, const char **argv)
#endif

DisplayCls dNormals(normalDisplayImage, 0, 0, "normals in world space");
DisplayCls dNormalsCamera(cameraNormalDisplayImage, 0, renderParams.getImageHeight() + 80, "normals in camera space");
DisplayCls dDepth(depthDisplayImage, renderParams.getImageWidth() + 80, 0, "depth");
DisplayCls dColor(colorImage, renderParams.getImageWidth() * 3 + 90, 0, "color");
DisplayCls dNormalsCamera(cameraNormalDisplayImage, 0, h + 80, "normals in camera space");
DisplayCls dDepth(depthDisplayImage, w + 80, 0, "depth");
DisplayCls dColor(colorImage, w + 80, h + 80, "color");

DisplayCls dImageDiff;
if (showLightContrib) {
dImageDiff.init(lightDifference, w * 2 + 90, 0, "Specular/reflectance contribution");
}

renderer.renderFrame();
bool end = false;
bool firstFrame = true;
Expand All @@ -163,17 +190,22 @@ int main(int argc, const char **argv)

const double beforeRender = vpTime::measureTimeMs();
renderer.renderFrame();

const double beforeFetch = vpTime::measureTimeMs();
renderer.getRenderer<vpPanda3DGeometryRenderer>(geometryRenderer->getName())->getRender(normalsImage, depthImage);
renderer.getRenderer<vpPanda3DGeometryRenderer>(cameraRenderer->getName())->getRender(cameraNormalsImage);
renderer.getRenderer<vpPanda3DRGBRenderer>()->getRender(colorImage);
renderer.getRenderer<vpPanda3DRGBRenderer>(rgbRenderer->getName())->getRender(colorImage);
if (showLightContrib) {
renderer.getRenderer<vpPanda3DRGBRenderer>(rgbDiffuseRenderer->getName())->getRender(colorDiffuseOnly);
}

const double beforeConvert = vpTime::measureTimeMs();

displayNormals(normalsImage, normalDisplayImage);
displayNormals(cameraNormalsImage, cameraNormalDisplayImage);
displayDepth(depthImage, depthDisplayImage, nearV, farV);
if (showLightContrib) {
displayLightDifference(colorImage, colorDiffuseOnly, lightDifference);
}
vpDisplay::display(colorImage);
vpDisplay::displayText(colorImage, 15, 15, "Click to quit", vpColor::red);

Expand All @@ -199,11 +231,11 @@ int main(int argc, const char **argv)
}
}
// if (firstFrame) {
// renderParams.setImageResolution(renderParams.getImageHeight() * 0.5, renderParams.getImageWidth() * 0.5);
// renderParams.setImageResolution(h * 0.5, w * 0.5);
// vpCameraParameters orig = renderParams.getCameraIntrinsics();
// vpCameraParameters newCam(orig.get_px() * 0.5, orig.get_py() * 0.5, orig.get_u0() * 0.5, orig.get_v0() * 0.5);
// renderParams.setCameraIntrinsics(newCam);
// std::cout << renderParams.getImageHeight() << std::endl;
// std::cout << h << std::endl;
// //dDepth.setDownScalingFactor(0.5);
// renderer.setRenderParameters(renderParams);
// }
Expand Down

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