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pushing camera eigen update, and other fixes

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Yggdrasil75
2026-01-27 16:11:09 -05:00
parent e0764318b4
commit c0d15a0b9f
3 changed files with 160 additions and 71 deletions
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89
tests/g3etest.cpp
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@@ -5,6 +5,7 @@
#include <atomic>
#include <mutex>
#include <cmath>
#include <random>
#include "../util/grid/grid3eigen.hpp"
#include "../util/output/bmpwriter.hpp"
@@ -52,41 +53,79 @@ int main() {
// Set point data with larger size for visibility
// Note: The third parameter is size, which should be radius squared for intersection test
octree.set(i, pos, greenColor, 1.f, true);
octree.set(i, pos, true, greenColor, 1.0, true);
pointCount++;
}
std::cout << "Added " << pointCount << " points to the green sphere." << std::endl;
// Set camera parameters
PointType cameraPos(0.0f, 0.0f, 3.0f); // camera position
PointType lookDir(0.0f, 0.0f, -1.0f); // looking at sphere
PointType upDir(0.0f, 1.0f, 0.0f); // up direction
PointType rightDir(1.0f, 0.0f, 0.0f); // right direction
// Render parameters
int width = 800;
int height = 600;
int width = 2048;
int height = 2048;
std::cout << "Rendering frame..." << std::endl;
// Set up random number generator for camera positions
std::random_device rd;
std::mt19937 gen(rd());
std::uniform_real_distribution<float> angleDist(0.0f, 2.0f * M_PI);
std::uniform_real_distribution<float> elevationDist(0.1f, M_PI - 0.1f); // Avoid poles
std::uniform_real_distribution<float> radiusDist(2.0f, 4.0f); // Distance from sphere
// Render frame
frame renderedFrame = octree.renderFrame(cameraPos, lookDir, upDir, rightDir, height, width, frame::colormap::RGB);
// Generate and save 15 random views
const int numViews = 15;
std::cout << "Frame rendered. Dimensions: "
<< renderedFrame.getWidth() << "x"
<< renderedFrame.getHeight() << std::endl;
// Save as BMP
std::string filename = "output/green_sphere.bmp";
std::cout << "Saving to " << filename << "..." << std::endl;
if (BMPWriter::saveBMP(filename, renderedFrame)) {
std::cout << "Successfully saved green sphere to " << filename << std::endl;
} else {
std::cerr << "Failed to save BMP file!" << std::endl;
return 1;
for (int viewIndex = 0; viewIndex < numViews; ++viewIndex) {
std::cout << "\nRendering view " << (viewIndex + 1) << " of " << numViews << "..." << std::endl;
// Generate random spherical coordinates for camera position
float azimuth = angleDist(gen);
float elevation = elevationDist(gen);
float camRadius = radiusDist(gen);
// Convert to Cartesian coordinates for camera position
float camX = camRadius * sin(elevation) * cos(azimuth);
float camY = camRadius * sin(elevation) * sin(azimuth);
float camZ = camRadius * cos(elevation);
// Camera looks at the origin (center of sphere)
Vector3f cameraPos(camX, camY, camZ);
Vector3f lookAt(0.0f, 0.0f, 0.0f);
// Calculate camera direction (from position to lookAt)
Vector3f cameraDir = (lookAt - cameraPos).normalized();
// Calculate up vector (avoid gimbal lock)
Vector3f worldUp(0.0f, 1.0f, 0.0f);
Vector3f right = cameraDir.cross(worldUp).normalized();
Vector3f cameraUp = right.cross(cameraDir).normalized();
// Create camera
Camera cam(cameraPos, cameraDir, cameraUp, 80);
// Render frame
frame renderedFrame = octree.renderFrame(cam, height, width, frame::colormap::RGB);
std::cout << "Frame rendered. Dimensions: "
<< renderedFrame.getWidth() << "x"
<< renderedFrame.getHeight() << std::endl;
// Save as BMP
std::string filename = "output/green_sphere_view_" + std::to_string(viewIndex + 1) + ".bmp";
std::cout << "Saving to " << filename << "..." << std::endl;
if (BMPWriter::saveBMP(filename, renderedFrame)) {
std::cout << "Successfully saved view to " << filename << std::endl;
// Print camera position for reference
std::cout << "Camera position: (" << camX << ", " << camY << ", " << camZ << ")" << std::endl;
} else {
std::cerr << "Failed to save BMP file: " << filename << std::endl;
}
// Small delay to ensure unique random seeds
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
std::cout << "\nAll " << numViews << " views have been saved to the output directory." << std::endl;
return 0;
}