lightmap.h

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#ifndef _LIGHTMAP_H
#define _LIGHTMAP_H

#include <vector>
#include <math/growmat.h>
#include "lightcollector.h"

//also includes opengl
#include "ipltexture.h"

class LightMap {
public:
        LightMap();
        ~LightMap();
        LightMap(const LightMap &a);

        bool init(int nbCam, IplImage *model, float corners[4][2], int nx, int ny);
        void setCamNum(int n);

        bool initGL();
        void enableShader(int cam, CvMat *obj2world);
        void disableShader();

        bool load(const char *lightParamsFN="lightParams.mat", const char *normalsFN="normals.mat");
        bool save(const char *lightParamsFN="lightParams.mat", const char *normalsFN="normals.mat");

        bool addNormal(float normal[3], LightCollector &lc, int cam);

        bool addNormalCalib(float normal[3], LightCollector &lc, int cam);

        bool addNormalLightMap(float normal[3], LightCollector &lc, int cam);

        bool computeLightParams();

        bool isReady() { return lightParams!=0; }

        IplTexture map;

        LightCollector reflc;

        bool saveImage(const char *filename);

        const float *getGain(int cam);
        const float *getBias(int cam);

        CvScalar readMap(const float normal[3]);

        int nbNormals() const { return normals->rows; }

private:
        void normal2uv(const float n[3], float uv[2]);
        void uv2normal(const float uv[2], float n[3]);
        bool updateLightMap(float n[3], float *val);
        double getObsMat(int i, int j, int c);

        void buildMapFromSamples();

        // (g, b) for each cam, x for each frame
        struct Observation {
                int camCol;
                float camVal[3];
                int normalCol;
                float normalVal[3];
        };
        static double getObsElem(const std::vector<Observation>::iterator &it, int i, int c);
        void computeAtA(CvMat *AtA, int channel);

        std::vector<Observation> obs;
        CvMat *lightParams;
        CvGrowMat *normals;
        int nbCam;

        bool ARB;
        bool initialized;
        unsigned int g_vertShader, g_fragShader, g_shaderProgram;
};

#endif