change camera normal frame to be more coherent, update tutorial model

lagadic · May 3, 2024 · 5f6db92 · 5f6db92
1 parent 2971eb2
commit 5f6db92
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Showing 5 changed files with 25 additions and 17 deletions.
diff --git a/modules/ar/include/visp3/ar/vpPanda3DGeometryRenderer.h b/modules/ar/include/visp3/ar/vpPanda3DGeometryRenderer.h
@@ -46,7 +46,7 @@
  *
  * This information may contain, depending on requested render type:
  *
- * - Normals in the world frame or in the camera frame
+ * - Normals in the world frame or in the camera frame.
  * - Depth information
  */
 class VISP_EXPORT vpPanda3DGeometryRenderer : public vpPanda3DBaseRenderer
@@ -56,7 +56,7 @@ class VISP_EXPORT vpPanda3DGeometryRenderer : public vpPanda3DBaseRenderer
   enum vpRenderType
   {
     WORLD_NORMALS, //! Surface normals in world space.
-    CAMERA_NORMALS, //! Surface normals in the frame of the camera
+    CAMERA_NORMALS, //! Surface normals in the frame of the camera. Z points towards the camera and y is up.
   };
 
   vpPanda3DGeometryRenderer(vpRenderType renderType);

diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DGeometryRenderer.cpp
@@ -56,8 +56,8 @@ void main()
     gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex;
     // View space is Z-up right handed, flip z and y
     oNormal = p3d_NormalMatrix * normalize(p3d_Normal);
-    oNormal.yz = oNormal.zy;
-    oNormal.y = -oNormal.y;
+    // oNormal.yz = oNormal.zy;
+    // oNormal.y = -oNormal.y;
     vec4 cs_position = p3d_ModelViewMatrix * p3d_Vertex;
   distToCamera = -cs_position.z;
 }

diff --git a/tutorial/ar/data/deformed_sphere.bam b/tutorial/ar/data/deformed_sphere.bam
diff --git a/tutorial/ar/data/suzanne.bam b/tutorial/ar/data/suzanne.bam
diff --git a/tutorial/ar/tutorial-panda3d-renderer.cpp b/tutorial/ar/tutorial-panda3d-renderer.cpp
@@ -130,7 +130,6 @@ int main(int argc, const char **argv)
      "Show frames step by step."},
     {"-canny", vpParseArgv::ARGV_CONSTANT_BOOL, (char *) nullptr, (char *)&showCanny,
      "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,
@@ -150,21 +149,28 @@ int main(int argc, const char **argv)
     modelPath = modelPathCstr;
   }
   else {
-    modelPath = "data/deformed_sphere.bam";
+    modelPath = "data/suzanne.bam";
   }
   vpPanda3DRenderParameters renderParams(vpCameraParameters(300, 300, 160, 120), 240, 320, 0.01, 10.0);
   vpPanda3DRendererSet renderer(renderParams);
   renderer.setRenderParameters(renderParams);
 
   const std::string objectName = "object";
 
-  std::shared_ptr<vpPanda3DGeometryRenderer> geometryRenderer = std::make_shared<vpPanda3DGeometryRenderer>(vpPanda3DGeometryRenderer::vpRenderType::WORLD_NORMALS);
-  std::shared_ptr<vpPanda3DGeometryRenderer> cameraRenderer = std::make_shared<vpPanda3DGeometryRenderer>(vpPanda3DGeometryRenderer::vpRenderType::CAMERA_NORMALS);
-  std::shared_ptr<vpPanda3DRGBRenderer> rgbRenderer = std::make_shared<vpPanda3DRGBRenderer>();
-  std::shared_ptr<vpPanda3DRGBRenderer> rgbDiffuseRenderer = std::make_shared<vpPanda3DRGBRenderer>(false);
-  std::shared_ptr<vpPanda3DLuminanceFilter> grayscaleFilter = std::make_shared<vpPanda3DLuminanceFilter>("toGrayscale", rgbRenderer, false);
-  std::shared_ptr<vpPanda3DGaussianBlur> blurFilter = std::make_shared<vpPanda3DGaussianBlur>("blur", grayscaleFilter, false);
-  std::shared_ptr<vpPanda3DCanny> cannyFilter = std::make_shared<vpPanda3DCanny>("canny", blurFilter, true, 10.f);
+  std::shared_ptr<vpPanda3DGeometryRenderer> geometryRenderer =
+    std::make_shared<vpPanda3DGeometryRenderer>(vpPanda3DGeometryRenderer::vpRenderType::WORLD_NORMALS);
+  std::shared_ptr<vpPanda3DGeometryRenderer> cameraRenderer =
+    std::make_shared<vpPanda3DGeometryRenderer>(vpPanda3DGeometryRenderer::vpRenderType::CAMERA_NORMALS);
+  std::shared_ptr<vpPanda3DRGBRenderer> rgbRenderer =
+    std::make_shared<vpPanda3DRGBRenderer>();
+  std::shared_ptr<vpPanda3DRGBRenderer> rgbDiffuseRenderer =
+    std::make_shared<vpPanda3DRGBRenderer>(false);
+  std::shared_ptr<vpPanda3DLuminanceFilter> grayscaleFilter =
+    std::make_shared<vpPanda3DLuminanceFilter>("toGrayscale", rgbRenderer, false);
+  std::shared_ptr<vpPanda3DGaussianBlur> blurFilter =
+    std::make_shared<vpPanda3DGaussianBlur>("blur", grayscaleFilter, false);
+  std::shared_ptr<vpPanda3DCanny> cannyFilter =
+    std::make_shared<vpPanda3DCanny>("canny", blurFilter, true, 10.f);
 
 
   renderer.addSubRenderer(geometryRenderer);
@@ -197,11 +203,13 @@ int main(int argc, const char **argv)
   renderer.addNodeToScene(object);
 
   vpPanda3DAmbientLight alight("Ambient", vpRGBf(0.2));
-  // renderer.addLight(alight);
-  vpPanda3DPointLight plight("Point", vpRGBf(1.0), vpColVector({ 0.2, 0.2, -0.2 }), vpColVector({ 0.0, 0.0, 2.0 }));
+  renderer.addLight(alight);
+
+  vpPanda3DPointLight plight("Point", vpRGBf(1.0), vpColVector({ 0.3, -0.4, -0.2 }), vpColVector({ 0.0, 0.0, 1.0 }));
   renderer.addLight(plight);
-  vpPanda3DDirectionalLight dlight("Directional", vpRGBf(2.0), vpColVector({ 0.0, -1.0, 0.0 }));
-  //renderer.addLight(dlight);
+
+  vpPanda3DDirectionalLight dlight("Directional", vpRGBf(2.0), vpColVector({ 1.0, 1.0, 0.0 }));
+  renderer.addLight(dlight);
 
   rgbRenderer->printStructure();
   std::cout << "Setting camera pose" << std::endl;