diff --git a/base/camera.hpp b/base/camera.hpp index 1a96713..a62449d 100644 --- a/base/camera.hpp +++ b/base/camera.hpp @@ -41,7 +41,7 @@ private: } else { - matrices.view = transM * rotM; + matrices.view = LookAt(position, to, up, true, true); } viewPos = glm::vec4(position, 0.0f) * glm::vec4(-1.0f, 1.0f, -1.0f, 1.0f); @@ -55,7 +55,11 @@ public: glm::vec3 rotation = glm::vec3(); glm::vec3 position = glm::vec3(); glm::vec4 viewPos = glm::vec4(); - glm::mat3 rotationMatrix = glm::mat3(); + glm::vec3 from = glm::vec3(); + glm::vec3 to = glm::vec3(); + glm::vec3 up = glm::vec3(); + glm::mat4 rotationMatrix = glm::mat4(); + float rotationSpeed = 1.0f; float movementSpeed = 1.0f; @@ -90,6 +94,151 @@ public: return zfar; } + void setTo(glm::vec3 to) + { + this->to = to; + } + + void setUp(glm::vec3 up) + { + this->up = up; + } + /* + 方案来源： + https://zhuanlan.zhihu.com/p/635801612 + */ + + glm::mat4 GetProjectionMatrixFromClip(float zleft, float zright, float zbottom, float ztop, float znear, float zfar, bool zPositive) + { + if (zPositive) + { + float A = -(zfar + znear) / (znear - zfar); + float B = 2 * (zfar * znear) / (znear - zfar); + glm::mat4 T = glm::mat4( + 2 * znear / (zright - zleft), 0, -(zright + zleft) / (zright - zleft), 0, + 0, 2 * znear / (ztop - zbottom), -(ztop + zbottom) / (ztop - zbottom), 0, + 0, 0, A, B, + 0, 0, 1, 0); + T = glm::transpose(T); // let's transpose it back to column major + return T; + } + else + { + float A = (zfar + znear) / (znear - zfar); + float B = 2 * (zfar * znear) / (znear - zfar); + glm::mat4 T = glm::mat4( + 2 * znear / (zright - zleft), 0, (zright + zleft) / (zright - zleft), 0, + 0, 2 * znear / (ztop - zbottom), (ztop + zbottom) / (ztop - zbottom), 0, + 0, 0, A, B, + 0, 0, -1, 0); + T = glm::transpose(T); // let's transpose it back to column major + return T; + } + } + + void setProjectionMatrix(float fx, float fy, float u0, float v0, float znear, float zfar, float viewWidth, float viewHeight, bool zPositive, bool rightHand) + { + float l = -u0 / fx * znear; + float r = (viewWidth - u0) / fx * znear; + float t = -v0 / fy * znear; + float b = (viewHeight - v0) / fy * znear; + glm::mat4 perspective = glm::mat4(); + if (rightHand) + { + if (zPositive) + { // right hand system and z positive, usually used in 3d reconstruction/SFM/SLAM + perspective = GetProjectionMatrixFromClip(l, r, b, t, znear, zfar, zPositive); + } + else + { // right hand system, z negative, usually used in OpenGL + perspective = GetProjectionMatrixFromClip(l, r, -b, -t, znear, zfar, zPositive); + } + } + else + { + if (zPositive) + { // left hand system, z positive + perspective = GetProjectionMatrixFromClip(l, r, -b, -t, znear, zfar, zPositive); + } + else + { // left hand system, z negative + perspective = GetProjectionMatrixFromClip(l, r, b, t, znear, zfar, zPositive); + } + } + matrices.perspective = perspective; + } + + glm::mat4 LookAt(const glm::vec3& from, const glm::vec3& to, const glm::vec3& up, bool zPositive, bool rightHand) + { + this->from = from; + this->to = to; + this->up = up; + // we stands on "from" and look at "to" + // if zPositive = true, the destination is in the area of the positive half-axis of z, otherwise it is negative + // if rightHand = true, the coordinate system is right-handed, otherwise it is left-handed + glm::vec3 zAxis = glm::normalize(to - from); + glm::vec3 yAxis = glm::normalize(up); + glm::vec3 xAxis; + + if (rightHand) + { + if (zPositive) + { // rightHand = true and zPositive = true, usually used in 3d reconstruction + yAxis = -yAxis; + } + else + { // rightHand = true and zPositive = false, usually used in OpenGL + zAxis = -zAxis; + } + } + else + { // left-hand + if (!zPositive) + { + zAxis = -zAxis; + yAxis = -yAxis; + } + } + + xAxis = glm::normalize(glm::cross(yAxis, zAxis)); + yAxis = glm::normalize(glm::cross(zAxis, xAxis)); + + // glm matrix is column major, so if you set like this, you will notice that the matrix is transposed when you use it. + glm::mat3 R = glm::mat3( + xAxis.x, xAxis.y, xAxis.z, + yAxis.x, yAxis.y, yAxis.z, + zAxis.x, zAxis.y, zAxis.z + ); + R = glm::transpose(R); // Let's transpose it back + glm::vec3 t = -R * from; // t = -R * from; + + glm::mat4 m = glm::mat4( + xAxis.x, xAxis.y, xAxis.z, t.x, + yAxis.x, yAxis.y, yAxis.z, t.y, + zAxis.x, zAxis.y, zAxis.z, t.z, + 0, 0, 0, 1); + m = glm::transpose(m); // Let's transpose it back + return m; + } + + /* + GDC2007方案：Koshy George + */ + void setPerspective(float fx, float fy, float cx, float cy, float znear, float zfar) + { + this->znear = znear; + this->zfar = zfar; + float A = -(zfar + znear) / (znear - zfar); + float B = 2 * (zfar * znear) / (znear - zfar); + glm::mat4 persepctive = glm::mat4(glm::vec4(fx / cx, 0, 0, 0), + glm::vec4(0, fy / cy, 0, 0), + glm::vec4(0, 0, A, B), + glm::vec4(0, 0, 1, 0)); + matrices.perspective = persepctive; + + } + + void setPerspective(float fov, float aspect, float znear, float zfar) { this->fov = fov; diff --git a/base/renderConfig.cpp b/base/renderConfig.cpp index 81899fc..8dc2264 100644 --- a/base/renderConfig.cpp +++ b/base/renderConfig.cpp @@ -18,14 +18,17 @@ void PlumageConfig::PlumageConfiguration::readConfigurationFromToml(std::string settings.endFrameIndex = toml::find(tomlSettings, "endFrameIndex"); settings.videoFrameRate = toml::find(tomlSettings, "videoFrameRate"); auto& camera = toml::find(tomlSettings, "camera"); - settings.fovX = toml::find(camera, "fovX"); - settings.fovY = toml::find(camera, "fovY"); + settings.calibrationWidth = toml::find(camera, "cam_width"); + settings.calibrationHeight = toml::find(camera, "cam_height"); + std::string fX = toml::find(camera, "fx"); + std::string fY = toml::find(camera, "fy"); std::string cX = toml::find(camera, "cX"); std::string cY = toml::find(camera, "cY"); std::vector bottomCenter = toml::find>(camera, "bottomCenter"); std::vector bottomNormal = toml::find>(camera, "bottomNormal"); std::vector> cameraTracks = toml::find>>(camera, "cameraTracks"); std::vector>> cameraAngle = toml::find>>>(camera, "cameraAngle"); + auto& debug = toml::find(tomlSettings, "debug"); settings.validation = toml::find(debug, "validation"); settings.vsync = toml::find(debug, "vsync"); @@ -38,6 +41,8 @@ void PlumageConfig::PlumageConfiguration::readConfigurationFromToml(std::string conversion */ size_t sz; + settings.fX = std::stof(fX, &sz); + settings.fY = std::stof(fY, &sz); settings.cX = std::stof(cX, &sz); settings.cY = std::stof(cY, &sz); settings.bottomCenter = glm::vec3(bottomCenter[0], -bottomCenter[1], -bottomCenter[2]); @@ -55,6 +60,12 @@ void PlumageConfig::PlumageConfiguration::readConfigurationFromToml(std::string glm::vec3(cameraAngle[i][2][0], cameraAngle[i][2][1], cameraAngle[i][2][2])); } + float ratioX = settings.width / settings.calibrationWidth; + float ratioY = settings.height / settings.calibrationWidth; + settings.fX = settings.fX * ratioX; + settings.fY = settings.fY * ratioY; + settings.cX = settings.cX * ratioX; + settings.cY = settings.cY * ratioY; } PlumageConfig::PlumageConfiguration::PlumageConfiguration() diff --git a/base/renderConfig.h b/base/renderConfig.h index 3814586..d55770b 100644 --- a/base/renderConfig.h +++ b/base/renderConfig.h @@ -40,11 +40,14 @@ namespace PlumageConfig uint32_t videoFrameRate = 25; // 视频帧率 uint32_t selectedPhysicalDeviceIndex = 7; - + float fX = 565.5f; + float fY = 516.3f; float fovX = 1.f; float fovY = 1.f; - float cX = 2.f; - float cY = 0.f; + float cX = 328.2f; + float cY = 238.8f; + int calibrationWidth = 640.0f; + int calibrationHeight = 480.0f; glm::vec3 bottomCenter = { 0.f,0.f,-6.f }; //std::vector bottomCenter = { 0.f,0.f,-6.f }; glm::vec3 bottomNormal = { 0.f,1.0f,0.f }; @@ -127,7 +130,7 @@ namespace PlumageConfig std::string hdr2ktxShFilePath = getAssetPath() + "script/hdr2ktxShFilePath.sh"; // 配置文件路径，命令行传入后保存在这 //std::string configFilePath = getAssetPath() + "config/guanzi.toml"; - std::string configFilePath = getAssetPath() + "config/fangshai_traj1_matrix.toml"; + std::string configFilePath = getAssetPath() + "config/yukino_traj1_matrix.toml"; } filePath; diff --git a/data/config/fangshai_traj1_matrix.toml b/data/config/fangshai_traj1_matrix.toml index 3bfa6c6..b122815 100644 --- a/data/config/fangshai_traj1_matrix.toml +++ b/data/config/fangshai_traj1_matrix.toml @@ -11,7 +11,7 @@ videoFrameRate = 24 selectedPhysicalDeviceIndex = 7 [FilePath] -glTFModelFilePath = "./data/models/DamagedHelmet/DamagedHelmet.gltf" +glTFModelFilePath = "./data/models/kettle.glb" envMapFilePath = "./data/environments/metro_noord_4k_hdr16f_cube.ktx" imageOutputPath = "./data/output/imageSequence" videoOutputPath = "./data/output/video" diff --git a/data/config/yukino_traj1_matrix.toml b/data/config/yukino_traj1_matrix.toml new file mode 100644 index 0000000..839e177 --- /dev/null +++ b/data/config/yukino_traj1_matrix.toml @@ -0,0 +1,38 @@ +[settings] +width = 1080 +height = 720 +multiSampling = false +sampleCount = 4 +rotateModel = false +modelRotateSpeed = 2.0 +startFrameIndex = 1 +endFrameIndex = 200 +videoFrameRate = 24 +selectedPhysicalDeviceIndex = 7 + +[FilePath] +glTFModelFilePath = "./data/models/DamagedHelmet/DamagedHelmet.gltf" +envMapFilePath = "./data/environments/metro_noord_4k_hdr16f_cube.ktx" +imageOutputPath = "./data/output/imageSequence" +videoOutputPath = "./data/output/video" + +[settings.camera] +fovX = 1.0 +fovY = 1.0 +cX = "360.0" +cY = "640.0" +bottomCenter = [ -0.20879337125178765, 2.3087555899516596, 2.473949654089369,] +bottomNormal = [ -0.011641082353889942, -0.7463688850402832, -0.6654307246208191,] +cameraTracks = [ [ -3.705986797046532, 1.1843115623358687, -8.36887870193848,], [ -3.4736110010816126, 1.2510175652581217, -8.447763533765812,], [ -3.2381062236977414, 1.3128047630183273, -8.521186011271864,], [ -2.99970487967736, 1.3696121791119555, -8.589073675335742,], [ -2.7586422423644748, 1.4213837514777645, -8.651359529029186,], [ -2.515156211478267, 1.4680683878242855, -8.707982103734471,], [ -2.2694870783347976, 1.5096200160517517, -8.758885519806482,], [ -2.021877288708485, 1.5459976297196898, -8.804019541719203,], [ -1.7725712035673973, 1.5771653285153302, -8.843339627642102,], [ -1.5218148579184825, 1.6030923536828876, -8.876806973397546,], [ -1.2698557180007137, 1.6237531183787257, -8.904388550755833,], [ -1.0169424370657945, 1.639127232922497, -8.926057140030078,], [ -0.7633246099874174, 1.6491995249192835, -8.941791356938747,], [ -0.5092525269412583, 1.6539600542329285, -8.951575673709364,], [ -0.2549769263987881, 1.6534041227957446, -8.955400434402554,], [ -0.0007487476786774971, 1.6475322792449416, -8.953261864441279,], [ 0.2531811167000181, 1.6363503183811894, -8.945162074335899,], [ 0.5065620686184785, 1.6198692754498438, -8.93110905760135,], [ 0.7591440516682143, 1.5981054152504985, -8.911116682868505,], [ 1.0106777979265478, 1.5710802160855883, -8.885204680197521,], [ 1.2609150739539596, 1.538820348563896, -8.853398621606637,], [ 1.509608925770523, 1.5013576492798852, -8.815729895835691,], [ 1.7565139225696678, 1.458729089394823, -8.772235677369219,], [ 2.0013863989287533, 1.410976738150707, -8.722958889749723,], [ 2.243984695277428, 1.3581477213530042, -8.66794816321733,], [ 2.4840693963864404, 1.3002941748631676, -8.607257786717602,], [ 2.721403567641575, 1.2374731931468432, -8.540947654324903,], [ 2.9557529888695053, 1.169746772928513, -8.469083206134185,], [ 3.1868863854848244, 1.0971817520082232, -8.391735363679516,], [ 3.4145756567301504, 1.0198497433007414, -8.308980459943076,], [ 3.6385961007840186, 0.9378270641622563, -8.220900164023737,], [ 3.858726636514467, 0.8511946610743577, -8.127581400539505,], [ 4.074750021659411, 0.7600380297596364, -8.029116263843427,], [ 4.28645306721853, 0.6644471308077289, -7.925601927137588,], [ 4.493626847845081, 0.5645163008950685, -7.817140546574874,], [ 4.696066908029971, 0.46034415968598713, -7.703839160443201,], [ 4.893573463874688, 0.35203351250700105, -7.585809583531637,], [ 5.085951600253865, 0.2396912488903729, -7.463168296782713,], [ 5.273011463172995, 0.12342823708704631, -7.336036332339786,], [ 5.454568447131384, 0.003359214653069216, -7.204539154102934,], [ 5.630443377305504, -0.12039732478252607, -7.068806533911232,], [ 5.800462686372913, -0.2477192484566242, -6.928972423473608,], [ 5.964458585802241, -0.37848090500232107, -6.78517482217469,], [ 6.122269231440218, -0.5125532484516532, -6.637555640886061,], [ 6.273738883232307, -0.6498039655883849, -6.486260561917379,], [ 6.418718058919341, -0.7900976065251819, -6.331438895245506,], [ 6.557063681558468, -0.9332957183762977, -6.173243431163601,], [ 6.68863922072281, -1.0792569818938507, -6.011830289495545,], [ 6.8133148272405215, -1.227837350932869, -5.847358765524516,], [ 6.930967461340236, -1.3788901946074343, -5.679991172787789,], [ 7.041481014076472, -1.5322664419976695, -5.50989268289286,], [ 7.144746421915142, -1.6878147292647416, -5.3372311625130155,], [ 7.240661774366092, -1.8453815490286885, -5.162177007723194,], [ 7.329132414556457, -2.0048114018616787, -4.984902975839624,], [ 7.410071032645557, -2.165946949747163, -4.8055840149292255,], [ 7.483397751989173, -2.328629171353507, -4.624397091156978,], [ 7.54904020796816, -2.4926975189688525, -4.441521014141678,], [ 7.606933619403573, -2.6579900769423106, -4.257136260492446,], [ 7.657020852487884, -2.824343721475179, -4.07142479570009,], [ 7.69925247716914, -2.991594281604417, -3.8845698945591467,], [ 7.73358681593247, -3.159576701219584, -3.696755960297776,], [ 7.7599899849307485, -3.3281252019532848, -3.50816834259404,], [ 7.778435927423868, -3.4970734467843996, -3.318993154658157,], [ 7.788906439493592, -3.6662547041926525, -3.1294170895612177,], [ 7.791391188008629, -3.835502012702479, -2.9396272359916815,], [ 7.78588772082218, -4.004648345653854, -2.7498108936214147,], [ 7.77240146919192, -4.173526776037443, -2.5601553882635293,], [ 7.750945742419989, 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0.3023457393708539,], [ 6.364699256527716, -6.845520863349252, 0.46146707486253535,], [ 6.217250012286455, -6.9821180438858566, 0.6172584296892246,], [ 6.063366039635777, -7.115508918736794, 0.7695660565926336,], [ 5.903199203478053, -7.24556184721306, 0.9182396463333266,], [ 5.736907569143398, -7.372148482775724, 1.0631324760278071,], [ 5.564655246398263, -7.4951438996984825, 1.2041015539462967,], [ 5.386612227488929, -7.614426716354243, 1.3410077606282853,], [ 5.202954219379656, -7.729879215004161, 1.4737159861766707,], [ 5.013862470351154, -7.841387457970815, 1.602095263594893,], [ 4.819523591130391, -7.948841400080949, 1.7260188980355555,], [ 4.620129370728337, -8.052134997266776, 1.845364591832952,], [ 4.415876587167381, -8.151166311218654, 1.9600145651960776,], [ 4.206966813285149, -8.245837609985918, 2.0698556724430905,], [ 3.9936062178064855, -8.336055464426481, 2.1747795136624117,], [ 3.7760053618797933, -8.421730840410143, 2.274682541690363,], [ 3.5543789912785972, 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-0.1199273799980187,], [ -0.513398799082742, -0.14396334755198473, -0.845988314140346,],], [ [ 0.7539725314735841, 0.4237468912979397, -0.5019601517039448,], [ 0.4305641673391112, -0.8958855538894615, -0.10956081478225123,], [ -0.496124903211775, -0.13352020988414046, -0.8579233263908856,],], [ [ 0.7742311661596732, 0.40793820817946946, -0.48389308700823186,], [ 0.4144110038248919, -0.9046264991799817, -0.09957116495359547,], [ -0.47836139189516313, -0.12343952077310769, -0.8694441117492415,],], [ [ 0.7937257281812643, 0.39171829335001673, -0.4653560433453853,], [ 0.39784886662260976, -0.9130290172196309, -0.08996828909154515,], [ -0.46012579557141403, -0.11373122864853441, -0.8805393005879226,],], [ [ 0.8124369787514045, 0.3751031539045134, -0.44636731453834855,], [ 0.3808941005604138, -0.9210848157329876, -0.08076166407647635,], [ -0.4414361105704464, -0.10440491442942329, -0.8911979432917367,],], [ [ 0.8303464521167406, 0.3581091869776041, -0.42694564016907477,], [ 0.36356343794421064, -0.9287859446147759, -0.07196037573710005,], [ -0.42231078135341016, -0.09546978206887206, -0.9014095210637584,],], [ [ 0.8474364737810581, 0.34075316356166846, -0.4071101870848244,], [ 0.34587398204490577, -0.9361248037757033, -0.06357310988382744,], [ -0.40276868231023877, -0.08693464947082831, -0.9111639563061404,],], [ [ 0.8636901779479385, 0.3230522119558957, -0.3868805304828113,], [ 0.3278431902195533, -0.9430941506428723, -0.05560814373691148,], [ -0.3828290991329214, -0.07880793978783039, -0.9204516225655064,],], [ [ 0.8790915241653331, 0.3050238008627238, -0.3662766345918467,], [ 0.30948885668305254, -0.9496871073073702, -0.04807333775781199,], [ -0.3625117097828548, -0.07109767310831705, -0.9292633540331255,],], [ [ 0.8936253131556213, 0.28668572214834226, -0.3453188329700553,], [ 0.2908290949474065, -0.9558971673119776, -0.04097612789185432,], [ -0.3418365650710728, -0.06381145854171272, -0.9375904545904835,],],] +fx = "1563.540461099237" +fy = "1592.8295679063556" +cam_width = 720 +cam_height = 1280 + +[settings.debug] +validation = true +vsync = false +headless = false +outputPNGimage = false +debugMode = true diff --git a/src/render/render.cpp b/src/render/render.cpp index a138a2d..38c01e2 100644 --- a/src/render/render.cpp +++ b/src/render/render.cpp @@ -1492,10 +1492,10 @@ PlumageRender::PlumageRender() float modelSize = std::max(models.scene.aabb[0][0], std::max(models.scene.aabb[1][1], models.scene.aabb[2][2])); // Center and scale model - float scale = (1.0f / modelSize ) * 0.5f; + float scale = (1.0f / modelSize ) * 2.0f; glm::vec3 translate = -glm::vec3(models.scene.aabb[3][0], models.scene.aabb[3][1], models.scene.aabb[3][2]); - translate += -0.5f * glm::vec3(models.scene.aabb[0][0], models.scene.aabb[1][1], models.scene.aabb[2][2]); - translate += -0.5f * settings.bottomCenter; + translate += -2.0f * glm::vec3(models.scene.aabb[0][0], models.scene.aabb[1][1], models.scene.aabb[2][2]); + translate += -2.0f * settings.bottomCenter; //camera.setPosition(glm::vec3(0, 0, -modelSize - 2)); shaderDataScene.model = glm::mat4(1.0f); @@ -1510,13 +1510,14 @@ PlumageRender::PlumageRender() shaderDataScene.model = glm::rotate(shaderDataScene.model, glm::radians(modelrot), glm::vec3(0, 1, 0)); } - + /* shaderDataScene.camPos = glm::vec3( -camera.position.z * sin(glm::radians(camera.rotation.y)) * cos(glm::radians(camera.rotation.x)), -camera.position.z * sin(glm::radians(camera.rotation.x)), camera.position.z * cos(glm::radians(camera.rotation.y)) * cos(glm::radians(camera.rotation.x)) ); - + */ + shaderDataScene.camPos = settings.cameraTracks[] // Skybox @@ -1544,7 +1545,10 @@ PlumageRender::PlumageRender() camera.type = Camera::CameraType::lookat; - camera.setPerspective(45.0f, (float)settings.width / (float)settings.height, 0.1f, 256.0f); + camera.setProjectionMatrix(settings.fX,settings.fY,settings.cX,settings.cY,1.f, 256.f,settings.calibrationWidth,settings.calibrationHeight,true,true); + //camera.setPerspective(settings.fX, settings.fY, settings.cX, settings.cY, 1.0f, 256.0f); + camera.setTo(settings.bottomCenter); + camera.setUp(settings.bottomNormal); camera.rotationSpeed = 0.25f; camera.movementSpeed = 0.1f;