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main_gpu.cpp
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main_gpu.cpp
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// justanhduc
// Oct 2020
#include <Eigen/Core>
#include <cmath>
#include <ctime>
#include "TSDFVolume.hpp"
#include "GPURaycaster.hpp"
#include "opencv2/opencv.hpp"
#define MAX_PATH 260 // for linux
int main() {
using namespace Eigen;
const int dim_x = 101, dim_y = 139, dim_z = 106;
const int n_max_frame = 30;
const int width = 1024;
const int height = 1024;
const int n_samples = 3; // for anti-aliasing. 1 == no anti-aliasing
GPURaycaster r{width, height};
Vector3f light_source{0, 3, 3};
auto eye = Vector3f{0.5, 0, 2}; // view point
Camera cam((float) width / 2, (float) height / 2, (float) (width - 1) / 2,
(float) (height - 1) / 2);
cam.move_to(eye);
cam.look_at(0.5, 0.5, 0.5);
TSDFVolume volume(dim_x, dim_y, dim_z, dim_x * .01, dim_y * .01, dim_z * .01);
volume.set_truncation_distance(.1); // set low threshold as the step size may be large
char stmp[MAX_PATH];
float ftemp[8];
auto total_time = 0.;
for (int i = 0; i < n_max_frame; i++) {
// reading tsdf files
auto *tsdf = new float[dim_x * dim_y * dim_z * n_max_frame];
sprintf(stmp, "../volume/_tsdf_multi_%03d.bin", i); // for linux
FILE *fp;
fp = fopen(stmp, "rb"); // for linux
if (fp == nullptr) {
printf("Cannot read file %s\n", stmp);
exit(-1);
}
fread(ftemp, sizeof(float), 8, fp);
fread(tsdf, dim_x * dim_y * dim_z, sizeof(float), fp);
fclose(fp);
// start
auto start = std::time(nullptr);
// set tsdf to volume
volume.set_distance_data(tsdf);
// define containers for normals and vertices
Eigen::Matrix<float, 3, Eigen::Dynamic> vertices;
Eigen::Matrix<float, 3, Eigen::Dynamic> normals;
// raycast + shading + rendering
auto *scene = new uint8_t[height * width];
r.render_with_shading(volume, cam, vertices, normals, light_source, n_samples, scene);
// done
total_time += std::difftime(std::time(nullptr), start);
// display
cv::Mat frame(height, width, 0, scene);
cv::imshow("Frame", frame);
auto c = (char) cv::waitKey(1);
if (c == 27)
break;
}
std::cout << "FPS: " << 1 / (total_time / n_max_frame) << std::endl;
return 0;
}