initial commit

chronos.cpp

+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <ctime>
+#include <sys/time.h>
+#endif
+
+#include "chronos.h"
+
+Chronos::
+Chronos() { 
+    reset(); 
+}
+
+void 
+Chronos::
+reset(void) { 
+    m_reset = time(); 
+}
+
+double 
+Chronos::
+elapsed(void) { 
+    return time() - m_reset; 
+}
+
+double 
+Chronos::time(void) {
+#ifdef _WIN32
+    LARGE_INTEGER counter, freq;
+    QueryPerformanceCounter(&counter);
+    QueryPerformanceFrequency(&freq);
+    return (1.0*counter.QuadPart)/(1.0*freq.QuadPart);
+#else
+    struct timeval v;
+    gettimeofday(&v, (struct timezone *) NULL);
+    return v.tv_sec + v.tv_usec/1.0e6;
+#endif
+}

chronos.h

+#ifndef CHRONOS_H
+#define CHRONOS_H
+
+class Chronos {
+public:
+    Chronos();
+    void reset(void);
+    double elapsed(void);
+    double time(void);
+private:
+    double m_reset;
+};
+
+#endif // CHRONOS_H

main.cpp

+#include <QtGui/QApplication>
+#include "panowindow1.h"
+#include "openglcanvas.h"
+#include <QMainWindow>
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    PanoWindow1 w;
+    OpenGLCanvas canvas;
+//    QObject::connect(&canvas, SIGNAL(fps(QString)), w.statusBar(), SLOT(showMessage(QString)));
+    w.show();
+    return a.exec();
+}

openglcanvas.cpp

+#include <QtGui>
+#ifdef NEEDGLEE
+#include "GLee.h"
+#endif
+#include "openglcanvas.h"
+#include <cmath>
+
+#define PROGNAME "pano_interface"
+
+#define ROOT_DIR /Users/lvelho/Desktop/Work/omni/pano_interface_1
+
+#define INPUT_IMAGE_FILE "/Users/lvelho/Desktop/pano_interface_1/input_images/image_4_input.pnm"
+
+#define VERT_SHADER_FILE "/Users/lvelho/Desktop/pano_interface_1/shaders/test_vertex_shader.vert"
+#define FRAG_SHADER_FILE "/Users/lvelho/Desktop/pano_interface_1/shaders/fragment_shader.frag"
+
+OpenGLCanvas::OpenGLCanvas(QWidget *parent) :
+    QGLWidget(parent)
+{
+    setFormat(QGL::DoubleBuffer | QGL::DepthBuffer);
+    fov = 60.f;
+    scale = 1.0f;
+    center_lambda = 0.f;
+    center_phi = 0.f;
+    fov_scale_relation = "Square Root";
+    visualization = "Perspective";
+
+    time_frames = 0;
+    time_timer.setInterval(0);
+    connect(&time_timer, SIGNAL(timeout()), this, SLOT(slotTimer()));
+    time_start = time_time.time();
+
+}
+
+void OpenGLCanvas::slotTimer(void) {
+    updateGL();
+}
+
+void OpenGLCanvas::change_fov(double f){
+
+    if (fov!=f && f>=1.f && f<=360.f) fov = f;
+    if (fov<60.f) scale = 1.f;
+    else if (fov>295.f) scale = 0.02f;
+    else {
+        if (fov_scale_relation == "Square Root") scale = sqrt((300.f-fov)/240.f);
+        else if (fov_scale_relation == "Linear") scale = (300.f-fov)/240.f;
+        else if (fov_scale_relation == "Square Power") scale = powf((300.f-fov)/240.f,2);
+        else if (fov_scale_relation == "Cubic Power") scale = powf((300.f-fov)/240.f,3);
+        else if (fov_scale_relation == "Logarithm") scale = log(exp(1.f) + (1.f-exp(1.f))*(fov-60.f)/240.f);
+    }
+
+//    scale = 0.3f;
+
+    updateGL();
+
+}
+
+//void OpenGLCanvas::change_scale(double s){
+
+//    if (scale!=s && s>=0.0 && s<=1.0) scale = s;
+//    updateGL();
+
+//}
+
+void OpenGLCanvas::change_center_lambda(double lambda){
+
+    if (center_lambda!=lambda && lambda>=-3.14f && lambda<=3.14f) {
+        center_lambda = lambda;
+        updateGL();
+    }
+
+}
+
+void OpenGLCanvas::change_center_phi(double phi){
+
+    if (center_phi!=phi && phi>=-1.57f && phi<=1.57f) {
+        center_phi = phi;
+        updateGL();
+    }
+
+}
+
+void OpenGLCanvas::change_fov_scale_relation(QString name){
+
+   fov_scale_relation = name;
+   if (fov<60.f) scale = 1.f;
+   else if (fov>295.f) scale = 0.01f;
+   else{
+       if (fov_scale_relation == "Square Root") scale = sqrt((300.f-fov)/240.f);
+       else if (fov_scale_relation == "Linear") scale = (300.f-fov)/240.f;
+       else if (fov_scale_relation == "Square Power") scale = powf((300.f-fov)/240.f,2);
+       else if (fov_scale_relation == "Cubic Power") scale = powf((300.f-fov)/240.f,3);
+       else if (fov_scale_relation == "Logarithm") scale = log(exp(1.f) + (1.f-exp(1.f))*(fov-60.f)/240.f);
+   }
+   updateGL();
+
+}
+
+void OpenGLCanvas::change_visualization(QString name){
+
+    visualization = name;
+   updateGL();
+
+}
+
+void OpenGLCanvas::initializeGL(){
+    glShadeModel(GL_SMOOTH);
+    glClearColor(1.0f,1.0f,1.0f,0.0f);
+    glClearDepth(1.0f);
+    glEnable(GL_DEPTH_TEST);
+    glDepthFunc(GL_LEQUAL);
+    glHint(GL_PERSPECTIVE_CORRECTION_HINT,GL_NICEST);
+
+    //in Mac
+    const char * const progname = "PROJ_ROOT_DIR";
+    const char * input_image = INPUT_IMAGE_FILE;
+
+//  //    in Linux
+//    const char * const progname = "/home/leo-ks/Research_PHD/Panoramic_Videos-2012-June-to-August/src/Qt-Creator/pano_interface_1-build-desktop-Qt_in_PATH_Release/pano_interface_1";
+//    const char * input_image = "/home/leo-ks/Research_PHD/Panoramic_Videos-2012-June-to-August/src/Qt-Creator/pano_interface_1/input_images/image_8_input.pnm";
+
+    int textureSize = getTextureSize(progname,input_image);
+    unsigned char * textureBytes = (unsigned char*)malloc(textureSize);
+    int width, height;
+    readTextureBytes(progname, input_image, textureBytes, &width, &height);
+    glPixelStorei(GL_UNPACK_ALIGNMENT,1);
+    GLuint tex;
+    glGenTextures(1,&tex);
+    glBindTexture(GL_TEXTURE_2D, tex);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glTexImage2D(GL_TEXTURE_2D,0, GL_RGB, width,height,0,GL_RGB,GL_UNSIGNED_BYTE,textureBytes);
+
+    // mesh resolution
+    int m,n;
+    m = n = 100;
+
+    //defining texture coordinates
+    int meshNumTexCoord = m*n;
+    float *texCoord = (float *)malloc(2*meshNumTexCoord*sizeof(float));
+    if (texCoord == NULL){
+        printf("problem allocating memory for texture coordinates \n");
+    }
+    define_texture_coordinates(texCoord, m, n, -1.57f, 1.57f, -3.14f, 3.14f);
+
+    //defining positions of the sphere vertices
+    int meshNumVertices = m*n;
+    float* positions = (float *)malloc(3*meshNumVertices*sizeof(float));
+    if (positions == NULL){
+        printf("problem allocating memory for positions \n");
+    }
+//    vertex_transformation(positions, m, n, center_lambda, center_phi, fov_rads, scale); //passar pelo vertex shader
+    load_sphere_mesh(positions, m, n); //colocar essa e funcoes para textura e triangulos no initializeGL
+
+    //defining triagle indices
+    unsigned int meshNumFaces = 2*(m-1)*(n-1);
+    unsigned int meshNumIndices = 3*meshNumFaces;
+    unsigned int * indices = (unsigned int *)malloc(meshNumIndices*sizeof(unsigned int));
+    define_triangle_indices(indices, m, n);
+
+    // draw setup
+    verticesPositions = positions;
+    textureCoordinates = texCoord;
+    numberOfIndices = meshNumIndices;
+    triangleIndices = indices;
+
+    setShaders();
+
+}
+
+void OpenGLCanvas::define_texture_coordinates(float *texCoord, int m, int n, float min_phi, float max_phi, float min_lambda, float max_lambda){
+
+    float delta_lambda = (max_lambda-min_lambda)/(1.0*(n-1));
+    float delta_phi = (max_phi-min_phi)/(1.0*(m-1));
+
+    for (int i = 0; i<m; i++){
+        for (int j = 0; j<n; j++){
+            texCoord[2*(j+i*n)] = (min_lambda+delta_lambda*j)/(6.2832) + 0.5;
+            texCoord[2*(j+i*n)+1] = (min_phi+delta_phi*i)/(3.1416) + 0.5;
+        }
+    }
+
+}
+
+void OpenGLCanvas::vertex_transformation(float *positions, int m, int n, float center_lambda, float center_phi, float fov_rads, float scale){
+
+    float min_lambda = -3.1415f;
+    float max_lambda = 3.1415f;
+    float min_phi = -1.5708f;
+    float max_phi = 1.5708f;
+
+    float delta_lambda = (max_lambda-min_lambda)/(1.0*(n-1));
+    float delta_phi = (max_phi-min_phi)/(1.0*(m-1));
+
+    float lambda, phi, x, y, z, u, v, r, theta;
+
+    //calculating the extent of the projection for the given FOV
+    lambda = fov_rads;
+    phi = 0.f;
+    // OpenGL: x is the vertical axes pointg downwards, and y is horizontal axes
+    y = sin(phi);
+    x = -sin(lambda)*cos(phi);
+    z = -cos(lambda)*cos(phi);
+    u = 2.f*x/(-z+1.f);
+    v = 2.f*y/(-z+1.f);
+    r = sqrt(u*u+v*v);
+    theta = atan2(u,v);
+    r *= scale;
+    u = -r*sin(theta);
+    v = r*cos(theta);
+    x = (4.f*u)/(u*u+v*v+4.f);
+    y = (4.f*v)/(u*u+v*v+4.f);
+    z = (u*u+v*v-4.f)/(u*u+v*v+4.f);
+    u = x/(-z);
+    v = y/(-z);
+    float extent = u;
+
+    for (int i = 0; i<m; i++){
+        for (int j = 0; j<n; j++){
+
+            lambda = (min_lambda+delta_lambda*j);
+            phi = (min_phi+delta_phi*i);
+
+            // OpenGL: x is the vertical axes pointg downwards, and y is horizontal axes
+            y = sin(phi);
+            x = -sin(lambda)*cos(phi);
+            z = -cos(lambda)*cos(phi);
+
+            //Rotation 1: (-center_lambda)-rotation on the xz-plane
+            float x_copy = x;
+            x = cos(-center_lambda)*x - sin(-center_lambda)*z;
+            y = 1.f*y;
+            z = sin(-center_lambda)*x_copy + cos(-center_lambda)*z;
+
+            //Rotation 2: (-center_phi)-rotation on the yz-plane
+            float y_copy = y;
+            x = 1.f*x;
+            y = cos(-center_phi)*y - sin(-center_phi)*z;
+            z = sin(-center_phi)*y_copy + cos(-center_phi)*z;
+
+
+            u = 2.f*x/(-z+1.f);
+            v = 2.f*y/(-z+1.f);
+
+            r = sqrt(u*u+v*v);
+            theta = atan2(u,v);
+
+            // scaling the complex plane according to scale specified in the interface (relate it to FOV)
+            r *= scale;
+
+            u = -r*sin(theta);
+            v = r*cos(theta);
+
+            x = (4.f*u)/(u*u+v*v+4.f);
+            y = (4.f*v)/(u*u+v*v+4.f);
+            z = (u*u+v*v-4.f)/(u*u+v*v+4.f);
+
+            lambda = atan2(x,-z)/3.1415;
+            phi = asin(y)/1.5708;
+
+            u = x/(-z);
+            v = y/(-z);
+
+            if (visualization=="Perspective"){
+                positions[3*(j+i*n)] = u/extent;
+                positions[3*(j+i*n)+1] = v/extent;
+                positions[3*(j+i*n)+2] = z;
+            }
+
+            if (visualization=="3D Sphere"){
+                positions[3*(j+i*n)] = 0.9f*x;
+                positions[3*(j+i*n)+1] = 0.9f*y;
+                positions[3*(j+i*n)+2] = z;
+            }
+
+            if (visualization=="Equi-Rectangular"){
+                positions[3*(j+i*n)] = lambda;
+                positions[3*(j+i*n)+1] = phi;
+                positions[3*(j+i*n)+2] = z;
+            }
+
+        }
+    }
+
+}
+
+void OpenGLCanvas::load_sphere_mesh(float *positions, int m, int n){
+
+    float min_lambda = -3.1415f;
+    float max_lambda = 3.1415f;
+    float min_phi = -1.5708f;
+    float max_phi = 1.5708f;
+
+    float delta_lambda = (max_lambda-min_lambda)/(1.0*(n-1));
+    float delta_phi = (max_phi-min_phi)/(1.0*(m-1));
+
+    float lambda, phi, x, y, z;
+
+    for (int i = 0; i<m; i++){
+        for (int j = 0; j<n; j++){
+
+            lambda = (min_lambda+delta_lambda*j);
+            phi = (min_phi+delta_phi*i);
+
+            // OpenGL: x is the vertical axes pointg downwards, and y is horizontal axes
+            y = sin(phi);
+            x = -sin(lambda)*cos(phi);
+            z = -cos(lambda)*cos(phi);
+
+            positions[3*(j+i*n)] = x;
+            positions[3*(j+i*n)+1] = y;
+            positions[3*(j+i*n)+2] = z;
+
+        }
+    }
+
+}
+
+float OpenGLCanvas::calculate_extent(float fov_rads){
+
+    float lambda, phi, x, y, z, u, v, r, theta;
+    //calculating the extent of the projection for the given FOV
+    lambda = fov_rads;
+    phi = 0.f;
+    // OpenGL: x is the vertical axes pointg downwards, and y is horizontal axes
+    y = sin(phi);
+    x = -sin(lambda)*cos(phi);
+    z = -cos(lambda)*cos(phi);
+    u = 2.f*x/(-z+1.f);
+    v = 2.f*y/(-z+1.f);
+    r = sqrt(u*u+v*v);
+    theta = atan2(u,v);
+    r *= scale;
+    u = -r*sin(theta);
+    v = r*cos(theta);
+    x = (4.f*u)/(u*u+v*v+4.f);
+    y = (4.f*v)/(u*u+v*v+4.f);
+    z = (u*u+v*v-4.f)/(u*u+v*v+4.f);
+    u = x/(-z);
+    v = y/(-z);
+    return u;
+}
+
+void OpenGLCanvas::define_triangle_indices(unsigned int * indices, int m, int n){
+
+    for (int i = 0; i<m-1; i++){
+        for (int j = 0; j<n-1; j++){
+
+            unsigned int index = (j+i*n);
+
+            indices[3*(2*(j+i*(n-1)))] = index;
+            indices[3*(2*(j+i*(n-1)))+1] = index+1;
+            indices[3*(2*(j+i*(n-1)))+2] = index+n;
+
+            indices[3*(2*(j+i*(n-1))+1)] = index+1;
+            indices[3*(2*(j+i*(n-1))+1)+1] = index+n+1;
+            indices[3*(2*(j+i*(n-1))+1)+2] = index+n;
+
+        }
+    }
+
+}
+
+int OpenGLCanvas::getTextureSize(const char * const progname, const char * texturePath)
+{
+    struct pam inpam;
+        pm_init(progname, 0);
+        FILE * in_file = fopen(texturePath,"r");
+        if (in_file==NULL){
+            printf("\n ERROR in getTextureSize: unable to open specified file \n");
+            return -1;
+        }
+
+        pnm_readpaminit(in_file, &inpam,PAM_STRUCT_SIZE(tuple_type)); // IN MAC
+//        pnm_readpaminit(in_file, &inpam,sizeof(inpam)); //in linux
+
+        int size = inpam.width*inpam.height*inpam.depth*inpam.bytes_per_sample;
+        pm_close(in_file);
+
+        return size;
+}
+
+void OpenGLCanvas::readTextureBytes(const char * const progname,
+                                          const char * texturePath,
+                                          unsigned char * textureBytes,
+                                          int * outImageWidth,
+                                          int * outImageHeight)
+{
+        struct pam inpam;
+        tuple * tuplerow;
+        int row;
+
+        pm_init(progname, 0);
+        FILE * in_file = fopen(texturePath, "r");
+
+        pnm_readpaminit(in_file, &inpam,PAM_STRUCT_SIZE(tuple_type)); // IN MAC
+//        pnm_readpaminit(in_file, &inpam,sizeof(inpam)); //in linux
+
+        tuplerow = pnm_allocpamrow(&inpam);
+
+        for (row = 0; row < inpam.height; row++) {
+                int column;
+                pnm_readpamrow(&inpam, tuplerow);
+                for (column = 0; column < inpam.width; ++column) {
+                        unsigned int plane;
+                        for (plane = 0; plane < inpam.depth; ++plane) {
+                                textureBytes[(inpam.height-row-1)*3*inpam.width+3*column+plane] = tuplerow[column][plane];
+                        }
+                }
+        }
+
+        pnm_freepamrow(tuplerow);
+
+        *outImageWidth = inpam.width;
+        *outImageHeight = inpam.height;
+
+        pm_close(in_file);
+}
+
+void OpenGLCanvas::resizeGL(int w, int h){
+    glViewport(0,0,w,h);
+
+}
+
+char * OpenGLCanvas::textFileRead(char *fn) {
+
+    FILE *fp;
+    char *content = NULL;
+    int f, count;
+    f = open(fn, O_RDONLY);
+    count = lseek(f, 0, SEEK_END);
+//    close(f);
+    if (fn != NULL) {
+        fp = fopen(fn,"rt");
+        if (fp != NULL) {
+            if (count > 0) {
+                content = (char *)malloc(sizeof(char) * (count+1));
+                count = fread(content,sizeof(char),count,fp);
+                content[count] = '\0';
+            }
+            fclose(fp);
+        }
+    }
+    return content;
+}
+
+void OpenGLCanvas::setShaders() {
+
+    char *vs,*fs;
+
+    GLuint v = glCreateShader(GL_VERTEX_SHADER);
+    GLuint f = glCreateShader(GL_FRAGMENT_SHADER);
+
+    // in Mac
+    vs = textFileRead(VERT_SHADER_FILE);
+    fs = textFileRead(FRAG_SHADER_FILE);
+
+//    // in Linux
+//    vs = textFileRead("/home/leo-ks/Research_PHD/Panoramic_Videos-2012-June-to-August/src/Qt-Creator/pano_interface_1/shaders/test_vertex_shader.vert");
+//    fs = textFileRead("/home/leo-ks/Research_PHD/Panoramic_Videos-2012-June-to-August/src/Qt-Creator/pano_interface_1/shaders/fragment_shader.frag");
+
+    const char * vv = vs;
+    const char * ff = fs;
+
+    glShaderSource(v, 1, &vv,NULL);
+    glShaderSource(f, 1, &ff,NULL);
+
+    free(vs);free(fs);
+
+    glCompileShader(v);
+    glCompileShader(f);
+
+    GLuint p = glCreateProgram();
+
+    glAttachShader(p,v);
+    glAttachShader(p,f);
+
+    glLinkProgram(p);
+    glUseProgram(p);
+
+}
+
+void OpenGLCanvas::paintGL(){
+
+    float fov_rads = (fov/180.f)*1.5708f;
+
+//    // changing scale to generate the figures for the paper (remove it after)
+//    scale = 0.8;
+
+
+    // defining transformation parameters (that will be passed to the vertex shader)
+    float extent = calculate_extent(fov_rads);
+    float vis_mode;
+    if (visualization=="Perspective") vis_mode=1.0;
+    else if (visualization=="3D Sphere") vis_mode=2.0;
+    else if (visualization=="Equi-Rectangular") vis_mode=3.0;
+    glMatrixMode(GL_PROJECTION);
+    glLoadIdentity();
+    glOrtho(0.0, 2.0/extent, 0.0, 2.0/scale, 0.0, -2.0/vis_mode);
+
+    glMatrixMode(GL_MODELVIEW);
+    glLoadIdentity();
+    glOrtho(0.0, 2.0/center_lambda, 0.0, 2.0/center_phi, -1.0, 1.0);
+
+    // drawing the mesh
+    glClearColor(1.0, 1.0, 1.0, 1.0);
+
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+    glEnable(GL_TEXTURE_2D);
+    glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
+
+    glColor3f(1, 0, 0);
+
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glVertexPointer(3, GL_FLOAT, 0, verticesPositions);
+    glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    glTexCoordPointer(2, GL_FLOAT, 0, textureCoordinates);
+
+    glDrawElements(GL_TRIANGLES, numberOfIndices, GL_UNSIGNED_INT, triangleIndices);
+    glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+
+    time_frames++;
+//    if (time_frames > 0) {
+        double dt = time_time.elapsed();
+//        if (dt > 0.5) {
+            time_fps = time_frames/dt;
+            time_frames = 0;
+            time_time.reset();</