[osg-users] Problem to load images

[Rômulo Cerqueira]

Hi Robert,

thanks for your reply. Follows my code:

Code:

#define BOOST_TEST_MODULE "NormalMapping_test"
#include <boost/test/unit_test.hpp>

// OpenSceneGraph includes
#include <osg/Geode>
#include <osg/Group>
#include <osg/Image>
#include <osg/ShapeDrawable>
#include <osg/StateSet>
#include <osg/Texture2D>
#include <osgDB/ReadFile>
#include <osgViewer/Viewer>

// Rock includes
#include <normal_depth_map/NormalDepthMap.hpp>
#include <normal_depth_map/ImageViewerCaptureTool.hpp>

// OpenCV includes
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/contrib/contrib.hpp>

// C++ includes
#include <iostream>

using namespace normal_depth_map;

BOOST_AUTO_TEST_SUITE(NormalMapping)


// add one object to scene (sphere)
void addSimpleObject(osg::ref_ptr<osg::Group> root) {
    osg::ref_ptr<osg::Geode> geode = new osg::Geode();
    geode->addDrawable(new osg::ShapeDrawable(new osg::Sphere(osg::Vec3(0,0,-14), 5)));
    root->addChild(geode);
    root->getChild(0)->asGeode()->addDrawable(geode->getDrawable(0));
}

// define texture attributes
osg::ref_ptr<osg::StateSet> insertNormalMapTexture(osg::ref_ptr<osg::Image> diffuseImage, osg::ref_ptr<osg::Image> normalImage) {
    osg::ref_ptr<osg::Texture2D> diffuse = new osg::Texture2D();
    osg::ref_ptr<osg::Texture2D> normal = new osg::Texture2D();

    diffuse->setImage(diffuseImage);
    diffuse->setDataVariance(osg::Object::DYNAMIC);
    diffuse->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR_MIPMAP_LINEAR);
    diffuse->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
    diffuse->setWrap(osg::Texture::WRAP_S, osg::Texture::REPEAT);
    diffuse->setWrap(osg::Texture::WRAP_T, osg::Texture::REPEAT);
    diffuse->setResizeNonPowerOfTwoHint(false);
    diffuse->setMaxAnisotropy(8.0f);

    normal->setImage(normalImage);
    normal->setDataVariance(osg::Object::DYNAMIC);
    normal->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR_MIPMAP_LINEAR);
    normal->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
    normal->setWrap(osg::Texture::WRAP_S, osg::Texture::REPEAT);
    normal->setWrap(osg::Texture::WRAP_T, osg::Texture::REPEAT);
    normal->setResizeNonPowerOfTwoHint(false);
    normal->setMaxAnisotropy(8.0f);

    osg::ref_ptr<osg::StateSet> normalState = new osg::StateSet();
    normalState->setTextureAttributeAndModes(TEXTURE_UNIT_DIFFUSE, diffuse, osg::StateAttribute::ON);
    normalState->setTextureAttributeAndModes(TEXTURE_UNIT_NORMAL, normal, osg::StateAttribute::ON);
    return normalState;
}

// get texture files
void loadTextures(osg::ref_ptr<osg::Group> root, TextureImages textureId) {
    osg::ref_ptr<osg::Image> diffuseImage = osgDB::readImageFile("/home/romulo/dev.bir.master/simulation/normal_depth_map/textures/gray_texture_d.jpg");
    osg::ref_ptr<osg::Image> normalImage = osgDB::readImageFile("/home/romulo/dev.bir.master/simulation/normal_depth_map/textures/gray_texture_n.jpg");

    // texture properties
    osg::ref_ptr<osg::Geode> geode = new osg::Geode();
    geode->setStateSet(insertNormalMapTexture(diffuseImage, normalImage));
    root->addChild(geode);
}

// create scene with normal mapping and one object
osg::ref_ptr<osg::Group> createNormalMapSimpleScene() {
    osg::ref_ptr<osg::Group> root = new osg::Group();
    osg::ref_ptr<osg::StateSet> stateset = new osg::StateSet();
    stateset->addUniform(new osg::Uniform("diffuseTexture", TEXTURE_UNIT_DIFFUSE));
    stateset->addUniform(new osg::Uniform("normalTexture", TEXTURE_UNIT_NORMAL));
    stateset->setDataVariance(osg::Object::STATIC);
    root->setStateSet(stateset);

    loadTextures(root, TEXTURE_GRAY);
    addSimpleObject(root);
    return root;
}

// compute the normal depth map for a osg scene
cv::Mat computeNormalDepthMap(osg::ref_ptr<osg::Group> root, float maxRange, float fovX, float fovY) {
    uint height = 500;

    // normal depth map
    NormalDepthMap normalDepthMap(maxRange, fovX * 0.5, fovY * 0.5);
    ImageViewerCaptureTool capture(fovY, fovX, height);
    capture.setBackgroundColor(osg::Vec4d(0, 0, 0, 0));
    normalDepthMap.addNodeChild(root);

    // grab scene
    osg::ref_ptr<osg::Image> osgImage = capture.grabImage(normalDepthMap.getNormalDepthMapNode());
    osg::ref_ptr<osg::Image> osgDepth = capture.getDepthBuffer();
    cv::Mat cvImage = cv::Mat(osgImage->t(), osgImage->s(), CV_32FC3, osgImage->data());
    cv::Mat cvDepth = cv::Mat(osgDepth->t(), osgDepth->s(), CV_32FC1, osgDepth->data());
    cvDepth = cvDepth.mul( cv::Mat1f(cvDepth < 1) / 255);

    std::vector<cv::Mat> channels;
    cv::split(cvImage, channels);
    channels[1] = cvDepth;
    cv::merge(channels, cvImage);
    cv::cvtColor(cvImage, cvImage, cv::COLOR_RGB2BGR);
    cv::flip(cvImage, cvImage, 0);

    return cvImage.clone();
}

BOOST_AUTO_TEST_CASE(differentNormalMaps_TestCase) {
    float maxRange = 20.0f;
    float fovX = M_PI / 3;  // 60 degrees
    float fovY = M_PI / 3;  // 60 degrees

    osg::ref_ptr<osg::Group> normalRoot = createNormalMapSimpleScene();

    cv::Mat cvNormal = computeNormalDepthMap(normalRoot, maxRange, fovX, fovY);

    plotSonarTest(cvNormal, maxRange, fovX * 0.5);
}

BOOST_AUTO_TEST_SUITE_END()





... 

Thank you!

Cheers,
Rômulo

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http://forum.openscenegraph.org/viewtopic.php?p=71422#71422