2004-09-16 00:58:05 +02:00
|
|
|
/****************************************************************************
|
|
|
|
* 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 $
|
2006-12-18 17:02:57 +01:00
|
|
|
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.
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
Revision 1.19 2006/01/22 17:01:40 cignoni
|
|
|
|
Corrected intialization of flag, must be zero.
|
|
|
|
|
2006-01-22 18:01:40 +01:00
|
|
|
Revision 1.18 2005/12/12 16:53:43 callieri
|
|
|
|
corrected UnProject, it's necessary also a ZDepth value to perform inverse projection
|
|
|
|
|
2005-12-12 17:53:43 +01:00
|
|
|
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
|
|
|
|
|
2005-12-07 11:57:52 +01:00
|
|
|
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
|
|
|
|
|
2005-12-02 17:14:35 +01:00
|
|
|
Revision 1.15 2005/12/01 01:03:37 cignoni
|
|
|
|
Removed excess ';' from end of template functions, for gcc compiling
|
|
|
|
|
2005-12-01 02:03:37 +01:00
|
|
|
Revision 1.14 2005/11/23 14:18:35 ganovelli
|
|
|
|
added access to similarity (just for symmetry with Camera() )
|
|
|
|
|
2005-11-23 15:18:35 +01:00
|
|
|
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
|
|
|
|
|
2005-11-23 12:58:52 +01:00
|
|
|
Revision 1.12 2005/07/11 13:12:35 cignoni
|
|
|
|
small gcc-related compiling issues (typenames,ending cr, initialization order)
|
|
|
|
|
2005-07-11 15:16:34 +02:00
|
|
|
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.
|
|
|
|
|
2005-01-05 14:26:15 +01:00
|
|
|
Revision 1.9 2004/12/15 18:45:50 tommyfranken
|
|
|
|
*** empty log message ***
|
|
|
|
|
2004-10-22 16:29:40 +02:00
|
|
|
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
|
|
|
|
|
2005-07-11 15:16:34 +02:00
|
|
|
****************************************************************************/
|
2004-09-16 00:58:05 +02:00
|
|
|
|
|
|
|
|
|
|
|
#ifndef __VCGLIB_SHOT
|
|
|
|
#define __VCGLIB_SHOT
|
|
|
|
|
2005-01-22 12:20:20 +01:00
|
|
|
#include <vcg/space/point2.h>
|
|
|
|
#include <vcg/space/point3.h>
|
2004-09-16 00:58:05 +02:00
|
|
|
#include <vcg/math/similarity.h>
|
|
|
|
#include <vcg/math/camera.h>
|
|
|
|
|
|
|
|
namespace vcg{
|
|
|
|
|
|
|
|
template <class S>
|
|
|
|
class Shot {
|
2005-11-23 12:58:52 +01:00
|
|
|
public:
|
2004-09-16 00:58:05 +02:00
|
|
|
typedef Camera<S> CameraType;
|
|
|
|
typedef S ScalarType;
|
2004-10-07 16:24:53 +02:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
Camera<S> Intrinsics; // the camera that made the shot
|
|
|
|
Similarity<S,vcg::Matrix44<S> > Extrinsics; // the position and orientation of the camera
|
2005-11-23 12:58:52 +01:00
|
|
|
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
Shot(Camera<S> c)
|
|
|
|
{
|
|
|
|
Intrinsics = c;
|
|
|
|
Extrinsics.SetIdentity();
|
|
|
|
}
|
2004-09-16 00:58:05 +02:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
Shot()
|
|
|
|
{
|
|
|
|
Extrinsics.SetIdentity();
|
|
|
|
}
|
2004-09-16 00:58:05 +02:00
|
|
|
|
2005-11-23 15:18:35 +01:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// GET the i-th axis of the coordinate system of the camera
|
2004-10-07 16:24:53 +02:00
|
|
|
vcg::Point3<S> Axis(const int & i)const;
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// GET the viewpoint
|
|
|
|
const vcg::Point3<S> GetViewPoint()const;
|
|
|
|
/// SET the viewpoint
|
2004-10-07 16:24:53 +02:00
|
|
|
void SetViewPoint(const vcg::Point3<S> & viewpoint);
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// look at (dir+up)
|
2004-10-07 16:24:53 +02:00
|
|
|
void LookAt(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// 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);
|
2004-11-03 10:25:52 +01:00
|
|
|
|
|
|
|
/// look towards
|
2004-10-07 16:24:53 +02:00
|
|
|
void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
|
2004-09-16 00:58:05 +02:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// convert a 3d point from world to camera coordinates
|
|
|
|
vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
|
2004-09-16 00:58:05 +02:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// convert a 3d point from camera to world coordinates
|
|
|
|
vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
|
2004-12-15 19:45:50 +01:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// project a 3d point from world coordinates to 2d camera viewport (pixel)
|
2004-10-05 21:04:25 +02:00
|
|
|
vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
|
2004-09-16 00:58:05 +02:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
|
2005-12-12 17:53:43 +01:00
|
|
|
vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
|
2004-12-15 19:45:50 +01:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// returns distance of point p from camera plane (z depth), used for unprojection
|
2004-09-16 00:58:05 +02:00
|
|
|
S Depth(const vcg::Point3<S> & p)const;
|
2004-11-03 10:25:52 +01:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
}; // end class definition
|
2005-12-07 11:57:52 +01:00
|
|
|
|
|
|
|
|
2004-09-16 00:58:05 +02:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
//---
|
|
|
|
/// GET the viewpoint
|
2004-09-16 00:58:05 +02:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
const vcg::Point3<S> Shot<S>::GetViewPoint() const
|
|
|
|
{
|
|
|
|
return -Extrinsics.tra;
|
2004-10-07 16:24:53 +02:00
|
|
|
}
|
2006-12-18 10:46:39 +01:00
|
|
|
/// SET the viewpoint
|
2004-10-07 16:24:53 +02:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
void Shot<S>::SetViewPoint(const vcg::Point3<S> & viewpoint)
|
|
|
|
{
|
|
|
|
Extrinsics.tra = -viewpoint;
|
|
|
|
}
|
|
|
|
//---
|
2004-10-07 16:24:53 +02:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// GET the i-th axis of the coordinate system of the camera
|
2004-10-07 16:24:53 +02:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
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;
|
2004-10-07 16:24:53 +02:00
|
|
|
}
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// look at (dir+up)
|
2004-10-07 16:24:53 +02:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
void Shot<S>::LookAt(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
|
|
|
|
{
|
2006-12-18 17:02:57 +01:00
|
|
|
LookTowards(z_dir-GetViewPoint(),up);
|
2004-10-07 16:24:53 +02:00
|
|
|
}
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// look at (opengl-like)
|
2004-11-03 10:25:52 +01:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
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)
|
|
|
|
{
|
2004-12-15 19:45:50 +01:00
|
|
|
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));
|
|
|
|
}
|
2004-11-03 10:25:52 +01:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// look towards
|
2004-10-07 16:24:53 +02:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
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;
|
2004-12-15 19:45:50 +01:00
|
|
|
|
|
|
|
Matrix44<S> m;
|
|
|
|
m.SetIdentity();
|
2006-12-18 10:46:39 +01:00
|
|
|
*(vcg::Point3<S> *)&m[0][0] = x_dir/x_dir.Norm();
|
|
|
|
*(vcg::Point3<S> *)&m[1][0] = y_dir/y_dir.Norm();
|
2004-12-15 19:45:50 +01:00
|
|
|
*(vcg::Point3<S> *)&m[2][0] = -z_dir/z_dir.Norm();
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
Extrinsics.rot.FromMatrix(m);
|
2004-09-16 00:58:05 +02:00
|
|
|
}
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
//--- Space transformation methods
|
|
|
|
|
|
|
|
/// convert a 3d point from world to camera coordinates
|
2004-09-16 00:58:05 +02:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
vcg::Point3<S> Shot<S>::ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const
|
|
|
|
{
|
2005-01-05 14:26:15 +01:00
|
|
|
Matrix44<S> rotM;
|
2006-12-18 10:46:39 +01:00
|
|
|
Extrinsics.rot.ToMatrix(rotM);
|
|
|
|
vcg::Point3<S> cp = rotM * (p + Extrinsics.tra);
|
|
|
|
cp[2]=-cp[2]; // note: camera reference system is right handed
|
2004-10-07 16:24:53 +02:00
|
|
|
return cp;
|
2004-09-16 00:58:05 +02:00
|
|
|
}
|
2006-12-18 10:46:39 +01:00
|
|
|
|
|
|
|
/// convert a 3d point from camera to world coordinates
|
2004-12-15 19:45:50 +01:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
vcg::Point3<S> Shot<S>::ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const
|
|
|
|
{
|
2005-01-05 14:26:15 +01:00
|
|
|
Matrix44<S> rotM;
|
|
|
|
vcg::Point3<S> cp = p;
|
2006-12-18 10:46:39 +01:00
|
|
|
cp[2]=-cp[2]; // note: World reference system is left handed
|
|
|
|
Extrinsics.rot.ToMatrix(rotM);
|
|
|
|
cp = Inverse(rotM) * cp-Extrinsics.tra;
|
2004-12-15 19:45:50 +01:00
|
|
|
return cp;
|
|
|
|
}
|
2006-12-18 10:46:39 +01:00
|
|
|
|
|
|
|
/// project a 3d point from world coordinates to 2d camera viewport (pixel)
|
2004-09-16 00:58:05 +02:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
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;
|
2004-12-15 19:45:50 +01:00
|
|
|
}
|
2006-12-18 10:46:39 +01:00
|
|
|
|
|
|
|
/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
|
2004-09-16 00:58:05 +02:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
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;
|
2004-09-16 00:58:05 +02:00
|
|
|
}
|
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
/// returns distance of point p from camera plane (z depth), used for unprojection
|
2005-12-07 11:57:52 +01:00
|
|
|
template <class S>
|
2006-12-18 10:46:39 +01:00
|
|
|
S Shot<S>::Depth(const vcg::Point3<S> & p)const
|
2005-12-07 11:57:52 +01:00
|
|
|
{
|
2006-12-18 10:46:39 +01:00
|
|
|
return ConvertWorldToCameraCoordinates(p).Z();
|
2005-12-07 11:57:52 +01:00
|
|
|
}
|
2004-09-16 00:58:05 +02:00
|
|
|
|
2006-12-18 10:46:39 +01:00
|
|
|
|
|
|
|
|
|
|
|
//--------------------------------
|
|
|
|
|
|
|
|
|
|
|
|
//--- utility definitions
|
2005-11-23 12:58:52 +01:00
|
|
|
class Shotf: public Shot<float>{};
|
|
|
|
class Shotd: public Shot<double>{};
|
2006-12-18 10:46:39 +01:00
|
|
|
//-----------------------
|
2004-09-16 00:58:05 +02:00
|
|
|
|
2005-12-01 02:03:37 +01:00
|
|
|
} // end name space
|
2005-11-23 12:58:52 +01:00
|
|
|
|
|
|
|
#endif
|
2004-09-16 00:58:05 +02:00
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|