protected override void DerivedDraw(MotionEditor editor)
{
DepthMap sensor = GetDepthMap(editor.GetCurrentFrame(), editor.Mirror);
sensor.Draw();
if (ShowImage)
{
UltiDraw.Begin();
UltiDraw.DrawGUIRectangle(Vector2.one / 2f, Vector2.one, UltiDraw.Mustard);
Vector2 size = new Vector2(0.5f, 0.5f * Screen.width / Screen.height);
for (int x = 0; x < sensor.GetResolution(); x++)
{
for (int y = 0; y < sensor.GetResolution(); y++)
{
float distance = Vector3.Distance(sensor.Points[sensor.GridToArray(x, y)], sensor.Pivot.GetPosition());
float intensity = 1f - distance / sensor.GetDistance();
UltiDraw.DrawGUIRectangle(
Vector2.one / 2f - size / 2f + new Vector2((float)x * size.x,
(float)y * size.y) / (sensor.GetResolution() - 1),
size / (sensor.GetResolution() - 1),
Color.Lerp(Color.black, Color.white, intensity)
);
}
}
UltiDraw.End();
}
}
public MotionState(MotionData.Frame frame, bool mirrored)
{
Index = frame.Index;
Timestamp = frame.Timestamp;
Mirrored = mirrored;
Root = frame.GetRootTransformation(mirrored);
RootMotion = frame.GetRootMotion(mirrored);
BoneTransformations = frame.GetBoneTransformations(mirrored);
BoneVelocities = frame.GetBoneVelocities(mirrored);
Trajectory = frame.GetTrajectory(mirrored);
HeightMap = frame.GetHeightMap(mirrored);
DepthMap = frame.GetDepthMap(mirrored);
PastBoneTransformations = new List <Matrix4x4[]>(6);
PastBoneVelocities = new List <Vector3[]>(6);
for (int i = 0; i < 6; i++)
{
MotionData.Frame previous = frame.Data.GetFrame(Mathf.Clamp(frame.Timestamp - 1f + (float)i / 6f, 0f, frame.Data.GetTotalTime()));
PastBoneTransformations.Add(previous.GetBoneTransformations(mirrored));
PastBoneVelocities.Add(previous.GetBoneVelocities(mirrored));
}
FutureBoneTransformations = new List <Matrix4x4[]>(5);
FutureBoneVelocities = new List <Vector3[]>(5);
for (int i = 1; i <= 5; i++)
{
MotionData.Frame future = frame.Data.GetFrame(Mathf.Clamp(frame.Timestamp + (float)i / 5f, 0f, frame.Data.GetTotalTime()));
FutureBoneTransformations.Add(future.GetBoneTransformations(mirrored));
FutureBoneVelocities.Add(future.GetBoneVelocities(mirrored));
}
}
public DepthMap GetDepthMap(Frame frame, bool mirrored)
{
DepthMap sensor = new DepthMap(Resolution, Size, Distance);
Matrix4x4 pivot = frame.GetBoneTransformation(Sensor, mirrored);
pivot *= Matrix4x4.TRS(Vector3.zero, Quaternion.FromToRotation(Vector3.forward, Axis.GetAxis()), Vector3.one);
sensor.Sense(pivot, Mask);
return(sensor);
}
public DepthMap GetDepthMap(bool mirrored)
{
DepthMap depthMap = new DepthMap();
Matrix4x4 pivot = GetBoneTransformation(Data.DepthMapSensor, mirrored);
pivot *= Matrix4x4.TRS(Vector3.zero, Quaternion.FromToRotation(Vector3.forward, Data.GetAxis(Data.DepthMapAxis)), Vector3.one);
depthMap.Sense(pivot, Data.ObjectMask);
return(depthMap);
}
public Picture RenderSceneWithCamera(Scene scene, PerspectiveCamera camera)
{
var depth = new DepthMap(camera.Resolution);
foreach (var pixelRay in camera.GetPixelRays())
{
depth[pixelRay.Position.X, pixelRay.Position.Y] = GetDepth(scene, pixelRay.Ray);
}
return(DepthAsPicture(depth));
}
private Picture DepthAsPicture(DepthMap depth)
{
var maxDepth = float.MinValue;
var minDepth = float.MaxValue;
for (var x = 0; x < depth.Width; x++)
{
for (var y = 0; y < depth.Height; y++)
{
if (depth[x, y] == null)
{
continue;
}
var currentDepth = depth[x, y].Value;
if (currentDepth > maxDepth)
{
maxDepth = currentDepth;
}
if (currentDepth < minDepth)
{
minDepth = currentDepth;
}
}
}
var picture = new Picture(depth.Resolution);
for (var x = 0; x < depth.Width; x++)
{
for (var y = 0; y < depth.Height; y++)
{
var intensity = GetIntensity(depth[x, y], minDepth, maxDepth);
var color = new RgbColor {
Red = intensity, Green = intensity, Blue = intensity
};
picture.SetColor(x, y, color);
}
}
return(picture);
}
internal void Initialize()
{
primaryRaysMap = new RaysMap();
allRaysMap = new RaysMap();
depthMap = new DepthMap();
normalMapRelative = new NormalMap(relative: true);
normalMapAbsolute = new NormalMap(relative: false);
normalMapAbsolute.mapArray = normalMapRelative.mapArray;
normalMapAbsolute.intersectionMapArray = normalMapRelative.intersectionMapArray;
allMaps = new List <IMap> ();
foreach (FieldInfo fieldInfo in typeof(AdditionalViews).GetFields())
{
if (typeof(IMap).IsAssignableFrom(fieldInfo.FieldType))
{
allMaps.Add((IMap)fieldInfo.GetValue(singleton));
}
}
}
public bool Init(RenderingScene renderingScene)
{
_scene = renderingScene;
var _device = Engine.I.Device;
try
{
foreach (var ent in renderingScene.RenderableEntities)
{
_device.LoadMesh(ent.Value.Mesh);
_device.LoadShader(ent.Value.Material.Shader);
if (ent.Value.Material.HasDiffuse)
{
_device.LoadTexture(ent.Value.Material.Diffuse);
}
if (ent.Value.Material.HasNormal)
{
_device.LoadTexture(ent.Value.Material.Normal);
}
}
_depthMap = new DepthMap(renderingScene);
_directLight = new DirectLightCaster(pos: new Vec3(90, 90, -150), dir: Vec3.Zero, color: new Vec3(234.0f / 255.0f, 215.0f / 255.0f, 213.0f / 255.0f));
_depthMap.FillDepthMap(_directLight.LightSpaceMatrix);
_shaderProgram = DepthMap.LoadSpecificShader("shadow&light");
return(true);
}
catch (Exception e)
{
#if DEBUG
throw;
#endif
RenderAPI.I.Core.Log.Error("Can't initialize diffuse stage.", e);
}
return(false);
}
public void Test()
{
var tracer = new ContourTracer();
var map = new DepthMap(10, 10);
map[6, 6] = 100;
map[5, 5] = 100;
map[6, 5] = 100;
map[4, 5] = 100;
map[3, 5] = 100;
map[4, 4] = 100;
map[5, 4] = 100;
map[6, 4] = 100;
map[4, 3] = 100;
map[5, 3] = 100;
map[6, 3] = 100;
map[5, 2] = 100;
var result = tracer.GetContourPoints(map);
Assert.IsTrue(!result.Contains(new Point(5, 4, 100)));
}
public void Dispose()
{
GL.DeleteFramebuffer(FrameBufferObjectHandle); MyGL.Check();
DepthMap.Dispose();
}
