From f79acf61490743fd6a35be6bbdbeb6e608ad8724 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 3 Oct 2019 21:56:49 +0300
Subject: [PATCH] Colours from config
---
.../cpp/include/ftl/cuda/normals.hpp | 2 +-
.../cpp/include/ftl/render/splat_render.hpp | 3 ++
components/renderers/cpp/src/normals.cu | 4 +-
components/renderers/cpp/src/splat_render.cpp | 44 ++++++++++++++++---
4 files changed, 44 insertions(+), 9 deletions(-)
diff --git a/components/renderers/cpp/include/ftl/cuda/normals.hpp b/components/renderers/cpp/include/ftl/cuda/normals.hpp
index 4cfaccc14..b4d2ced19 100644
--- a/components/renderers/cpp/include/ftl/cuda/normals.hpp
+++ b/components/renderers/cpp/include/ftl/cuda/normals.hpp
@@ -14,7 +14,7 @@ void normals(ftl::cuda::TextureObject<float4> &output,
void normal_visualise(ftl::cuda::TextureObject<float4> &norm,
ftl::cuda::TextureObject<uchar4> &output,
- const float3 &light, const float3 &diffuse, const float3 &ambient,
+ const float3 &light, const uchar4 &diffuse, const uchar4 &ambient,
cudaStream_t stream);
void normal_filter(ftl::cuda::TextureObject<float4> &norm,
diff --git a/components/renderers/cpp/include/ftl/render/splat_render.hpp b/components/renderers/cpp/include/ftl/render/splat_render.hpp
index 5f8a8ba49..af6affb10 100644
--- a/components/renderers/cpp/include/ftl/render/splat_render.hpp
+++ b/components/renderers/cpp/include/ftl/render/splat_render.hpp
@@ -47,6 +47,9 @@ class Splatter : public ftl::render::Renderer {
bool backcull_;
cv::Scalar background_;
bool splat_;
+ float3 light_dir_;
+ uchar4 light_diffuse_;
+ uchar4 light_ambient_;
};
}
diff --git a/components/renderers/cpp/src/normals.cu b/components/renderers/cpp/src/normals.cu
index 08fd9794b..cbbd0e967 100644
--- a/components/renderers/cpp/src/normals.cu
+++ b/components/renderers/cpp/src/normals.cu
@@ -90,7 +90,7 @@ void ftl::cuda::normals(ftl::cuda::TextureObject<float4> &output,
__global__ void vis_normals_kernel(ftl::cuda::TextureObject<float4> norm,
ftl::cuda::TextureObject<uchar4> output,
- float3 direction, float3 diffuse, float3 ambient) {
+ float3 direction, uchar4 diffuse, uchar4 ambient) {
const unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
@@ -113,7 +113,7 @@ __global__ void vis_normals_kernel(ftl::cuda::TextureObject<float4> norm,
void ftl::cuda::normal_visualise(ftl::cuda::TextureObject<float4> &norm,
ftl::cuda::TextureObject<uchar4> &output,
- const float3 &light, const float3 &diffuse, const float3 &ambient,
+ const float3 &light, const uchar4 &diffuse, const uchar4 &ambient,
cudaStream_t stream) {
const dim3 gridSize((norm.width() + T_PER_BLOCK - 1)/T_PER_BLOCK, (norm.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index 41d1a4217..d993e1458 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/components/renderers/cpp/src/splat_render.cpp
@@ -25,7 +25,10 @@ static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
return rz * rx * ry;
}
-static cv::Scalar parseColour(const std::string &colour) {
+/*
+ * Parse a CSS style colour string into a scalar.
+ */
+static cv::Scalar parseCVColour(const std::string &colour) {
std::string c = colour;
if (c[0] == '#') {
c.erase(0, 1);
@@ -41,6 +44,25 @@ static cv::Scalar parseColour(const std::string &colour) {
return cv::Scalar(0,0,0,0);
}
+/*
+ * Parse a CSS style colour string into a scalar.
+ */
+static uchar4 parseCUDAColour(const std::string &colour) {
+ std::string c = colour;
+ if (c[0] == '#') {
+ c.erase(0, 1);
+ unsigned long value = stoul(c.c_str(), nullptr, 16);
+ return make_uchar4(
+ (value >> 0) & 0xff,
+ (value >> 8) & 0xff,
+ (value >> 16) & 0xff,
+ (value >> 24) & 0xff
+ );
+ }
+
+ return make_uchar4(0,0,0,0);
+}
+
Splatter::Splatter(nlohmann::json &config, ftl::rgbd::FrameSet *fs) : ftl::render::Renderer(config), scene_(fs) {
if (config["clipping"].is_object()) {
auto &c = config["clipping"];
@@ -84,9 +106,19 @@ Splatter::Splatter(nlohmann::json &config, ftl::rgbd::FrameSet *fs) : ftl::rende
splat_ = value("splatting", true);
});
- background_ = parseColour(value("background", std::string("#e0e0e0")));
+ background_ = parseCVColour(value("background", std::string("#4c4c4c")));
on("background", [this](const ftl::config::Event &e) {
- background_ = parseColour(value("background", std::string("#e0e0e0")));
+ background_ = parseCVColour(value("background", std::string("#4c4c4c")));
+ });
+
+ light_diffuse_ = parseCUDAColour(value("diffuse", std::string("#e0e0e0")));
+ on("diffuse", [this](const ftl::config::Event &e) {
+ light_diffuse_ = parseCUDAColour(value("diffuse", std::string("#e0e0e0")));
+ });
+
+ light_ambient_ = parseCUDAColour(value("ambient", std::string("#0e0e0e")));
+ on("ambient", [this](const ftl::config::Event &e) {
+ light_ambient_ = parseCUDAColour(value("ambient", std::string("#0e0e0e")));
});
}
@@ -324,9 +356,9 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
// Convert normal to single float value
temp_.create<GpuMat>(Channel::Colour, Format<uchar4>(camera.width, camera.height));
ftl::cuda::normal_visualise(out.getTexture<float4>(Channel::Normals), temp_.createTexture<uchar4>(Channel::Colour),
- make_float3(0.0f, 0.0f, 1.0f),
- make_float3(220,220,220),
- make_float3(30,30,30), stream);
+ make_float3(-0.3f, 0.2f, 1.0f),
+ light_diffuse_,
+ light_ambient_, stream);
// Put in output as single float
cv::cuda::swap(temp_.get<GpuMat>(Channel::Colour), out.create<GpuMat>(Channel::Normals));
--
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