codebase / stimlib

  #ifndef STIM_GL_SPIDER_H
  #define STIM_GL_SPIDER_H
  

  #include <GL/glew.h>

  #include <GL/glut.h>

  #include <cuda.h>
  #include <cuda_gl_interop.h>
  #include <cudaGL.h>

  #include <math.h>

  #include "stim/gl/gl_texture.h"
  #include "stim/visualization/camera.h"
  #include "stim/gl/error.h"

  #include "stim/math/vector.h"

  #include "stim/math/rect.h"
  #include "stim/math/matrix.h"
  #include "stim/cuda/cost.h"

  #include <stim/cuda/cudatools/glbind.h>

  #include <stim/visualization/obj.h>

  #include <vector>

  #include <iostream>
  #include <fstream>
  

  
  
  /* Technically since gl_spider inherits from gl_texture, we could
  	call the init with a path to an image stack, and upload
  	the images while creating the spider (calling init) */

  namespace stim
  {
  
  template<typename T>

  class gl_spider

  {
  	//doen't use gl_texture really, just needs the GLuint id.

  	//doesn't even need the texture iD really.

  	private:

  		stim::vec<float> p;  	//vector designating the position of the spider.
  		stim::vec<float> d;	//vector designating the orientation of the spider

  						//always a unit vector.

  		stim::vec<float> m;	//magnitude of the spider vector.

  						//mag[0] = length.
  						//mag[1] = width.

  		std::vector<stim::vec<float> > dV;
  		std::vector<stim::vec<float> > pV;
  		std::vector<stim::vec<float> > mV;
  		//currentTransform
  		stim::matrix<float, 4> cT;
  		GLuint texID;
  		stim::vec<float> S;
  		stim::vec<float> R;

  		cudaGraphicsResource_t resource;

  		GLuint dList;

  		GLuint fboID;
  		GLuint texbufferID;

  		int numSamples;

  		float stepsize = 3.0;

  		int current_cost;

  
  		/// Method for finding the best scale for the spider.
  		/// changes the x, y, z size of the spider to minimize the cost
  		/// function. 
  		void
  		findOptimalDirection()
  		{

  			setMatrix();

  			glCallList(dList);

  			int best = getCost();

  			stim::vec<float> next(
   			dV[best][0]*S[0]*R[0],
  			dV[best][1]*S[1]*R[1],
  			dV[best][2]*S[2]*R[2],

  			0);

  			next = (cT*next).norm();

  			//next = (cT*next);

  			setPosition(	p[0]+next[0]*m[0]/stepsize,
  					p[1]+next[1]*m[0]/stepsize,
  					p[2]+next[2]*m[0]/stepsize);

  			setDirection(next[0], next[1], next[2]);

  		}
  

  		/// Method for finding the best d for the spider.
  		/// Not sure if necessary since the next p for the spider
  		/// will be at d * m.

  		void
  		findOptimalPosition()
  		{

  			setMatrix();

  			glCallList(dList+1);

  			int best = getCost();

  			stim::vec<float> next(
   			pV[best][0],
  			pV[best][1],
  			pV[best][2],
  			1);

  			next = cT*next;	

  			setPosition(
  					next[0]*S[0]*R[0],

  					next[1]*S[1]*R[1],

  					next[2]*S[2]*R[2]
  				   );

  		}
  	

  		/// Method for finding the best scale for the spider.
  		/// changes the x, y, z size of the spider to minimize the cost
  		/// function. */

  		void
  		findOptimalScale()
  		{

  			setMatrix();

  			glCallList(dList+2);

  			int best = getCost();

  			setMagnitude(m[0]*mV[best][0]);

  		}
  

  		void
  		branchDetection()
  		{
  			Bind();

  			setMatrix();

  			glCallList(dList+3);
  			

  		//	int best = getCost();

  			
  		}
  

  		void

  		Optimize()

  		{

  			/*find the optimum d and scale */ 

  		}

  		
  		
  //--------------------------------------------------------------------------//
  //---------------------TEMPLATE CREATION METHODS----------------------------//
  //--------------------------------------------------------------------------//
  
  		///@param solidAngle, the size of the arc to sample.
  		///Method for populating the vector arrays with sampled vectors.

  		///uses the default d vector <0,0,1>

  		void

  		genDirectionVectors(float solidAngle = 3*M_PI/2)

  		{

  			//ofstream file;
  			//file.open("dvectors.txt");

  			//Set up the vectors necessary for Rectangle creation.

  			vec<float> Y(1.0,0.0,0.0);
  			vec<float> pos(0.0,0.0,0.0);
  			vec<float> mag(1.0, 1.0, 1.0);
  			vec<float> dir(0.0, 0.0, 1.0);
  

  			//Set up the variable necessary for vector creation.
  			vec<float> d_s = d.cart2sph().norm();

  			vec<float> temp(0,0,0);

  			int dim = (sqrt(numSamples)-1)/2;

  			float p0  	= -M_PI;
  			float dt  	= solidAngle/(2.0 * ((float)dim + 1.0));
  			float dp  	= p0/(2.0*((float)dim + 1.0));

  			
  			glNewList(dList, GL_COMPILE);
  			//Loop over the space
  			int idx = 0;

  			for(int i = -dim; i <= dim; i++){
  				for(int j = -dim; j <= dim; j++){

  					//Create linear index

  					idx = (j+dim)+(i+dim)*((dim*2)+1);	

  					temp[0] = d_s[0]; 			//rotate vector

  					temp[1] = d_s[1]+dp*(float) i;
  					temp[2] = d_s[2]+dt*(float) j;

  					
  					temp = (temp.sph2cart()).norm();	//back to cart

  					dV.push_back(temp);
  				 	if(cos(Y.dot(temp))< 0.087){                                                                             Y[0] = 0.0; Y[1] = 1.0;}
  					else{Y[0] = 1.0; Y[1] = 0.0;}
  
                                         	hor = stim::rect<float>(mag,
  						 pos, temp,
                         				((Y.cross(temp)).cross(temp)).norm());
         				 	ver = stim::rect<float>(mag,
  						 pos, temp,
                         				hor.n());

  					UpdateBuffer(0.0, 0.0+idx*8.0);

  					CHECK_OPENGL_ERROR

  				}
  			}

  			glEndList();

  		}

  		///@param solidAngle, the size of the arc to sample.
  		///Method for populating the buffer with the sampled texture.
  		///uses the default vector <0,0,0>

  		void

  		genPositionVectors(float delta = 0.4)

  		{

  			//Set up the vectors necessary for Rectangle creation.
  			vec<float> Y(1.0,0.0,0.0);
  			vec<float> pos(0.0,0.0,0.0);
  			vec<float> mag(1.0, 1.0, 1.0);
  			vec<float> dir(0.0, 0.0, 1.0);
  
  			//Set up the variable necessary for vector creation.

  			vec<float> temp(0,0,0);

  			int dim = (sqrt(numSamples)-1)/2;
  			stim::rect<float> samplingPlane =

  				 stim::rect<float>(p, d);

  			samplingPlane.scale(mag[0]*delta, mag[0]*delta);

  			float step = 1.0/(dim);

  			//Loop over the samples, keeping the original p sample
  			//in the center of the resulting texture.
  			int idx;
  			glNewList(dList+1, GL_COMPILE);

  			for(int i = -dim; i <= dim; i++){
  				for(int j = -dim; j <= dim; j++){
  					//Create linear index

  					idx = (j+dim)+(i+dim)*((dim*2)+1);	

  
  					temp = samplingPlane.p(
  							0.5+step*i,
  								 0.5+step*j
  										);

  					pV.push_back(temp);
                  			hor = stim::rect<float>(mag,
  						 temp, dir,
                        				((Y.cross(d)).cross(d))
  						.norm());
                  			ver = stim::rect<float>(mag,
  						 temp, dir,
                          			hor.n());

  					UpdateBuffer(0.0, 0.0+idx*8.0);

  				CHECK_OPENGL_ERROR

  				}
  			}

  			glEndList();

  		}
  
  		///@param solidAngle, the size of the arc to sample.
  		///Method for populating the buffer with the sampled texture.

  		///uses the default m <1,1,0>

  		void

  		genMagnitudeVectors(float delta = 0.70)

  //		genMagnitudeVectors(float delta = 0.50)

  		{
  			

  			//Set up the vectors necessary for Rectangle creation.
  			vec<float> Y(1.0,0.0,0.0);
  			vec<float> pos(0.0,0.0,0.0);
  			vec<float> mag(1.0, 1.0, 1.0);
  			vec<float> dir(0.0, 0.0, 1.0);
  
  			//Set up the variable necessary for vector creation.

  			int dim = (sqrt(numSamples)-1)/2;
  			float min 	= 1.0-delta;
  			float max 	= 1.0+delta;
  			float step	= (max-min)/(numSamples-1);
  			float factor;

  			vec<float> temp(0.0,0.0,0.0);

  			glNewList(dList+2, GL_COMPILE);

  			for(int i = 0; i < numSamples; i++){
  				//Create linear index

  				factor = (min+step*i)*mag[0];

  				temp = factor;

  				mV.push_back(temp);	
  				hor = stim::rect<float>(temp,
  					 pos, dir, 
         	       				((Y.cross(d)).cross(d))
  					.norm());
                 			ver = stim::rect<float>(temp,
  					 pos, dir,
                         			hor.n());

  				UpdateBuffer(0.0, 0.0+i*8.0);

  			CHECK_OPENGL_ERROR

  			}

  			glEndList();

  		}

  		///@param v_x x-coordinate in buffer-space,
  		///@param v_y y-coordinate in buffer-space.

  		///Samples the texturespace and places a sample in the provided coordinates
  		///of bufferspace.

  		void
  		UpdateBuffer(float v_x, float v_y)
  		{	

  			float len = 8.0;

  			stim::vec<float>p1; 
          	        stim::vec<float>p2; 
  	                stim::vec<float>p3; 
                  	stim::vec<float>p4;	

  			p1 = hor.p(1,1);

  			p2 = hor.p(1,0);

  			p3 = hor.p(0,0);

  			p4 = hor.p(0,1);

  			glBegin(GL_QUADS);

  				glTexCoord3f(

  					p1[0],
  					p1[1],
  					p1[2]
  					);

  				glVertex2f(v_x,v_y);
  				glTexCoord3f(

  					p2[0],
  					p2[1],
  					p2[2]
  					);

  				glVertex2f(v_x+len, v_y);
  				glTexCoord3f(

  					p3[0],
  					p3[1],
  					p3[2]
  					);

  				glVertex2f(v_x+len, v_y+len);
  				glTexCoord3f(

  					p4[0],
  					p4[1],
  					p4[2]

  					);

  				glVertex2f(v_x, v_y+len);
  			 glEnd();

  			 p1 = ver.p(1,1);

  			 p2 = ver.p(1,0);

  			 p3 = ver.p(0,0);

  			 p4 = ver.p(0,1);

  		 	 glBegin(GL_QUADS);

  				glTexCoord3f(

  					p1[0],
  					p1[1],
  					p1[2]
  					);

  				glVertex2f(v_x+len, v_y);
  				glTexCoord3f(

  					p2[0],
  					p2[1],
  					p2[2]
  					);

  				glVertex2f(v_x+2.0*len, v_y);

  				glTexCoord3f(

  					p3[0],
  					p3[1],
  					p3[2]
  					);

  				glVertex2f(v_x+2.0*len, v_y+len);

  				glTexCoord3f(

  					p4[0],
  					p4[1],
  					p4[2]
  					);

  				glVertex2f(v_x+len, v_y+len);

  			glEnd(); 

  		}

  //--------------------------------------------------------------------------//
  //--------------------------------GL METHODS--------------------------------//
  //--------------------------------------------------------------------------//

  		///@param width sets the width of the buffer.
  		///@param height sets the height of the buffer.
  		///Function for setting up the 2D buffer that stores the samples.
  		void
  		GenerateFBO(unsigned int width, unsigned int height)
  		{
  			glGenFramebuffers(1, &fboID);
  			glBindFramebuffer(GL_FRAMEBUFFER, fboID);
  			int numChannels = 1;
  			unsigned char* texels = new unsigned char[width * height * numChannels];
  			glGenTextures(1, &texbufferID);
  			glBindTexture(GL_TEXTURE_2D, texbufferID);
  			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
  			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
  			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
  			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
  			glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE,
  				 width, height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, texels);   
  			delete[] texels;
  			glBindFramebuffer(GL_FRAMEBUFFER, 0); 
  			glBindTexture(GL_TEXTURE_2D, 0);

  		}

  		///Method for using the gl manipulation to alighn templates from
  		///Template space (-0.5 0.5) to Texture space (0.0, 1.0),

  		///Based on the p of the spider in real space (arbitrary).
  		void setMatrix()

  		{

  			float curTrans[16];

  			stim::vec<float> rot = getRotation(d);

  			glMatrixMode(GL_TEXTURE);
  			glLoadIdentity();

  			glScalef(1.0/S[0]/R[0], 1.0/S[1]/R[1], 1.0/S[2]/R[2]);

  			glTranslatef(p[0],
  				     p[1],
  				     p[2]);

  			glRotatef(rot[0], rot[1], rot[2], rot[3]);

  			glScalef(m[0],

  				 m[0],

  				 m[0]);

  			glGetFloatv(GL_TEXTURE_MATRIX, curTrans);
  			cT.set(curTrans);

  //			printTransform();

  			CHECK_OPENGL_ERROR
  			glMatrixMode(GL_MODELVIEW);

  		}

  
  //--------------------------------------------------------------------------//
  //--------------------------------CUDA METHODS------------------------------//
  //--------------------------------------------------------------------------//
  		

  		/// Method for registering the texture with Cuda for shared
  		///	access.

  		void
  		createResource()
  		{
  			HANDLE_ERROR(
  				cudaGraphicsGLRegisterImage(
  					 &resource,
  				 	texbufferID,
  				 	GL_TEXTURE_2D,
  				 	//CU_GRAPHICS_REGISTER_FLAGS_NONE)
  					cudaGraphicsMapFlagsReadOnly)
  			);
  		} 
  		

  		///Method for freeing the texture from Cuda for gl access.

  		void
  		destroyResource()
  		{
  			HANDLE_ERROR(
  				cudaGraphicsUnregisterResource(resource)
  			);		
  		}
  

  		///Entry-point into the cuda code for calculating the cost
  		///	of a given samples array (in texture form) 

  		int
  		getCost()
  		{
  			createResource();

  			stim::vec<int> cost = 	get_cost(resource, numSamples);

  			destroyResource();

  //			if (cost[1] >= 80)
  //				exit(0);
  			current_cost = cost[1];

  			return cost[0];

  		}
  

  	public:

  		stim::rect<float> hor;
  		stim::rect<float> ver;	
  

  //--------------------------------------------------------------------------//
  //-----------------------------CONSTRUCTORS---------------------------------//
  //--------------------------------------------------------------------------//
  
  

  		///@param samples, the number of samples this spider is going to use.
  		///best results if samples is can create a perfect root.
  		///Default Constructor

  		gl_spider

  		(int samples = 1089)

  		{

  			p = vec<float>(0.0, 0.0, 0.0);
  			d = vec<float>(0.0, 0.0, 1.0);
  			m = vec<float>(1.0, 1.0);
  			S = vec<float>(1.0, 1.0, 1.0);
  			R = vec<float>(1.0, 1.0, 1.0);

  			//setPosition(0.0,0.0,0.0);
  			//setDirection(0.0,0.0,1.0);
  			//setMagnitude(1.0);

  			numSamples = samples;

  		}
  

  		///temporary constructor for convenience, will be removed in further updates.	

  		gl_spider
  		(float pos_x, float pos_y, float pos_z, float dir_x, float dir_y, float dir_z,

  			float mag_x, int numSamples = 1089)

  		{

  			p = vec<float>(pos_x, pos_y, pos_z);
  			d = vec<float>(dir_x, dir_y, dir_z);

  			m = vec<float>(mag_x, mag_x, mag_x);

  			S = vec<float>(1.0,1.0,1.0);
  			R = vec<float>(1.0,1.0,1.0);

  			//setPosition(pos_x, pos_y, pos_z);
  			//setDirection(dir_x, dir_y, dir_z);
  			//setMagnitude(mag_x);

  		}

  	
  		~gl_spider
  		(void)
  		{
  			Unbind();
  			glDeleteTextures(1, &texbufferID);
  			glDeleteBuffers(1, &fboID);
  		}
  

  		///@param GLuint id texture that is going to be sampled.

  		///Attached the spider to the texture with the given GLuint ID.

  		///Samples in the default d acting as the init method.

  		///Also acts an init.	

  		void

  		attachSpider(GLuint id)

  		{
  			texID = id;

  			GenerateFBO(16, numSamples*8);

  			setDims(0.6, 0.6, 1.0);
  			setSize(512.0, 512.0, 426.0);

  			setMatrix();

  			dList = glGenLists(3);

  			glListBase(dList);

  			Bind();

  			genDirectionVectors(5*M_PI/4);

  			genPositionVectors();
  			genMagnitudeVectors();

  			DrawCylinder();

  			Unbind();

  		}

  //--------------------------------------------------------------------------//
  //-----------------------------ACCESS METHODS-------------------------------//
  //--------------------------------------------------------------------------//

  		///Returns the p vector.

  		vec<float>

  		getPosition()

  		{

  			return p;

  		}
  	

  		///Returns the d vector.

  		vec<float>

  		getDirection()

  		{

  			return d;

  		}
  

  		///Returns the m vector.

  		vec<float>

  		getMagnitude()

  		{

  			return m;

  		}
  	

  		///@param vector pos, the new p.
  		///Sets the p vector to input vector pos.

  		void
  		setPosition(vec<float> pos)
  		{

  			p = pos;

  		}

  
  		///@param x x-coordinate.
  		///@param y y-coordinate.
  		///@param z z-coordinate.

  		///Sets the p vector to the input float coordinates x,y,z.

  		void
  		setPosition(float x, float y, float z)
  		{

  			p[0] = x;
  			p[1] = y;
  			p[2] = z;

  		}

  		///@param vector dir, the new d.
  		///Sets the d vector to input vector dir.

  		void
  		setDirection(vec<float> dir)
  		{

  			d = dir;

  		}
  		

  		///@param x x-coordinate.
  		///@param y y-coordinate.
  		///@param z z-coordinate.

  		///Sets the d vector to the input float coordinates x,y,z.