vcglib/vcg/math/shot.h

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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
/****************************************************************************
History
$Log: not supported by cvs2svn $
2007-02-06 09:54:07 +01:00
Revision 1.22 2007/02/05 14:17:21 corsini
add extrinsic parameters accessors
2007-02-05 15:17:21 +01:00
Revision 1.21 2006/12/18 16:02:55 matteodelle
minor eroor correction on variable names
Revision 1.20 2006/12/18 09:46:39 callieri
camera+shot revamp: changed field names to something with more sense, cleaning of various functions, correction of minor bugs/incongruences, removal of the infamous reference in shot.
Revision 1.19 2006/01/22 17:01:40 cignoni
Corrected intialization of flag, must be zero.
Revision 1.18 2005/12/12 16:53:43 callieri
corrected UnProject, it's necessary also a ZDepth value to perform inverse projection
Revision 1.17 2005/12/07 10:57:52 callieri
added commodity function ProjectWorldtoViewport() to obtain directly pixel indices without calling two separate function of two different objects
Revision 1.16 2005/12/02 16:14:35 callieri
in Shot<S>::Axis changed Row3 to GetRow3 . row3 was the old method name of Matrix44
Revision 1.15 2005/12/01 01:03:37 cignoni
Removed excess ';' from end of template functions, for gcc compiling
Revision 1.14 2005/11/23 14:18:35 ganovelli
added access to similarity (just for symmetry with Camera() )
Revision 1.13 2005/11/23 11:58:52 ganovelli
Empty constructor added, untemplated class Shotf and Shotd added
usage: Shotf myShot;
corrected member access rights
Revision 1.12 2005/07/11 13:12:35 cignoni
small gcc-related compiling issues (typenames,ending cr, initialization order)
Revision 1.11 2005/01/22 11:20:20 ponchio
<...Point3.h> -> <...point3.h>
2005-01-22 12:20:20 +01:00
Revision 1.10 2005/01/05 13:26:15 ganovelli
corretto cambiamento di sistema di rif.
Revision 1.9 2004/12/15 18:45:50 tommyfranken
*** empty log message ***
Revision 1.4 2004/10/07 14:41:31 fasano
Little fix on ViewPoint() method
2004-10-07 16:41:31 +02:00
Revision 1.3 2004/10/07 14:24:53 ganovelli
added LookAt,LookToward
2004-10-07 16:24:53 +02:00
Revision 1.2 2004/10/05 19:04:25 ganovelli
version 5-10-2004 in progress
2004-10-05 21:04:25 +02:00
Revision 1.1 2004/09/15 22:58:05 ganovelli
re-creation
2004-09-16 00:58:05 +02:00
Revision 1.2 2004/09/06 21:41:30 ganovelli
*** empty log message ***
Revision 1.1 2004/09/03 13:01:51 ganovelli
creation
****************************************************************************/
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#ifndef __VCGLIB_SHOT
#define __VCGLIB_SHOT
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#include <vcg/space/point2.h>
#include <vcg/space/point3.h>
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#include <vcg/math/similarity.h>
#include <vcg/math/camera.h>
namespace vcg{
template <class S>
class Shot {
public:
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typedef Camera<S> CameraType;
typedef S ScalarType;
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Camera<S> Intrinsics; // the camera that made the shot
Similarity<S,vcg::Matrix44<S> > Extrinsics; // the position and orientation of the camera
Shot(Camera<S> c)
{
Intrinsics = c;
Extrinsics.SetIdentity();
}
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Shot()
{
Extrinsics.SetIdentity();
}
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/// GET the i-th axis of the coordinate system of the camera
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vcg::Point3<S> Axis(const int & i)const;
/// GET the viewpoint
const vcg::Point3<S> GetViewPoint()const;
/// SET the viewpoint
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void SetViewPoint(const vcg::Point3<S> & viewpoint);
/// look at (dir+up)
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void LookAt(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
/// look at (opengl-like)
void LookAt(const S & eye_x,const S & eye_y,const S & eye_z,
const S & at_x,const S & at_y,const S & at_z,
const S & up_x,const S & up_y,const S & up_z);
/// look towards
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void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
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/// convert a 3d point from world to camera coordinates
vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from camera to world coordinates
vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
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/// project a 3d point from world coordinates to 2d camera viewport (pixel)
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vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
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/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
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/// returns distance of point p from camera plane (z depth), used for unprojection
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S Depth(const vcg::Point3<S> & p)const;
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// accessors
public:
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vcg::Similarity<S, vcg::Matrix44<S> > * GetExtrinsics(){return &Extrinsics;}
void SetExtrinsics(vcg::Similarity<S, vcg::Matrix44<S> > &m44)
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{
Extrinsics.tra = m44.tra;
Extrinsics.rot.FromMatrix(m44.rot);
Extrinsics.sca = m44.sca;
}
}; // end class definition
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//---
/// GET the viewpoint
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template <class S>
const vcg::Point3<S> Shot<S>::GetViewPoint() const
{
return -Extrinsics.tra;
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}
/// SET the viewpoint
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template <class S>
void Shot<S>::SetViewPoint(const vcg::Point3<S> & viewpoint)
{
Extrinsics.tra = -viewpoint;
}
//---
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/// GET the i-th axis of the coordinate system of the camera
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template <class S>
vcg::Point3<S> Shot<S>::Axis(const int & i) const
{
vcg::Matrix44<S> m;
Extrinsics.rot.ToMatrix(m);
vcg::Point3<S> aa = m.GetRow3(i);
return aa;
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}
/// look at (dir+up)
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template <class S>
void Shot<S>::LookAt(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
{
LookTowards(z_dir-GetViewPoint(),up);
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}
/// look at (opengl-like)
template <class S>
void Shot<S>::LookAt(const S & eye_x, const S & eye_y, const S & eye_z,
const S & at_x, const S & at_y, const S & at_z,
const S & up_x,const S & up_y,const S & up_z)
{
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SetViewPoint(Point3<S>(eye_x,eye_y,eye_z));
LookAt(Point3<S>(at_x,at_y,at_z),Point3<S>(up_x,up_y,up_z));
}
/// look towards
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template <class S>
void Shot<S>::LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
{
vcg::Point3<S> x_dir = up ^-z_dir;
vcg::Point3<S> y_dir = -z_dir ^x_dir;
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Matrix44<S> m;
m.SetIdentity();
*(vcg::Point3<S> *)&m[0][0] = x_dir/x_dir.Norm();
*(vcg::Point3<S> *)&m[1][0] = y_dir/y_dir.Norm();
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*(vcg::Point3<S> *)&m[2][0] = -z_dir/z_dir.Norm();
Extrinsics.rot.FromMatrix(m);
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}
//--- Space transformation methods
/// convert a 3d point from world to camera coordinates
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template <class S>
vcg::Point3<S> Shot<S>::ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const
{
Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM);
vcg::Point3<S> cp = rotM * (p + Extrinsics.tra);
cp[2]=-cp[2]; // note: camera reference system is right handed
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return cp;
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}
/// convert a 3d point from camera to world coordinates
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template <class S>
vcg::Point3<S> Shot<S>::ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const
{
Matrix44<S> rotM;
vcg::Point3<S> cp = p;
cp[2]=-cp[2]; // note: World reference system is left handed
Extrinsics.rot.ToMatrix(rotM);
cp = Inverse(rotM) * cp-Extrinsics.tra;
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return cp;
}
/// project a 3d point from world coordinates to 2d camera viewport (pixel)
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template <class S>
vcg::Point2<S> Shot<S>::Project(const vcg::Point3<S> & p) const
{
Point3<S> cp = ConvertWorldToCameraCoordinates(p);
Point2<S> pp = Intrinsics.Project(cp);
Point2<S> vp = Intrinsics.LocalToViewportPx(pp);
return vp;
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}
/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
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template <class S>
vcg::Point3<S> Shot<S>::UnProject(const vcg::Point2<S> & p, const S & d) const
{
Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
Point3<S> cp = Intrinsics.UnProject(lp,d);
Point3<S> wp = ConvertCameraToWorldCoordinates(cp);
return wp;
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}
/// returns distance of point p from camera plane (z depth), used for unprojection
template <class S>
S Shot<S>::Depth(const vcg::Point3<S> & p)const
{
return ConvertWorldToCameraCoordinates(p).Z();
}
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//--------------------------------
//--- utility definitions
class Shotf: public Shot<float>{};
class Shotd: public Shot<double>{};
//-----------------------
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} // end name space
#endif
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