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add ApplySimilarity - version with vcg::Similarity is unfinished

This commit is contained in:
Massimiliano Corsini 2011-05-24 21:13:05 +00:00
parent ad6866f1a3
commit 2a450c7c46
1 changed files with 39 additions and 2 deletions
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41
vcg/math/shot.h
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@ -203,9 +203,15 @@ public:
*/
void RescalingWorld(S scalefactor);
/// Given a pure roto-translation (4-by-4) modify the reference frame accordingly.
/// Given a pure roto-translation (4-by-4) modifies the reference frame accordingly.
void ApplyRigidTransformation(const Matrix44<S> & M);
/// Given a similarity transformation such that p' = s R p + T modifies the reference frame accordingly.
void ApplySimilarity(const Matrix44<S> & M);
/// Given a similarity transformation such that p' = s R p + T modifies the reference frame accordingly.
void ApplySimilarity(const Similarity<S> & S);
/// convert a 3d point from world to camera coordinates (do not confuse with the Shot reference frame)
vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
@ -469,7 +475,6 @@ void Shot<S, RotationType>::RescalingWorld(S scalefactor)
template <class S, class RotationType>
void Shot<S, RotationType>::ApplyRigidTransformation(const Matrix44<S> & M)
{
Matrix44<S> currentM;
Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM);
@ -483,6 +488,38 @@ void Shot<S, RotationType>::ApplyRigidTransformation(const Matrix44<S> & M)
Extrinsics.rot.ElementAt(3,2) = 0;
}
/// Given a similarity transformation such that p' = s R p + T modifies the reference frame accordingly.
template <class S, class RotationType>
void Shot<S, RotationType>::ApplySimilarity(const Matrix44<S> & M)
{
Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM);
// obtain scale factor
Point3<S> p = M.GetRow3(0);
ScalarType scalefactor = 1.0 / p.Norm();
// roto-translate the viewpoint
Extrinsics.tra = M * Extrinsics.tra;
vcg::Matrix44<S> M2 = M;
M2 = M2 * scalefactor;
Extrinsics.rot = rotM * M2.transpose();
Extrinsics.rot.ElementAt(3,0) = 0;
Extrinsics.rot.ElementAt(3,1) = 0;
Extrinsics.rot.ElementAt(3,2) = 0;
}
/// Given a similarity transformation such that p' = s R p + T modifies the reference frame accordingly.
template <class S, class RotationType>
void Shot<S, RotationType>::ApplySimilarity(const Similarity<S> & S)
{
//...TODO...
}
//--------------------------------