/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004-2016 \/)\/ *
* 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. *
* *
****************************************************************************/
#ifndef __VCGLIB_IMPORTERNVM
#define __VCGLIB_IMPORTERNVM
#include <stddef.h>
#include <stdio.h>
#include <vcg/complex/complex.h>
//#include <vcg/complex/allocate.h>
#include <vcg/complex/algorithms/update/bounding.h>
#include <wrap/callback.h>
#include <wrap/io_trimesh/io_mask.h>
#include <QString>
#include <QImageReader>
namespace vcg {
namespace tri {
namespace io {
/*struct Correspondence{
Correspondence(unsigned int id_img_,unsigned int key_,float x_,float y_):id_img(id_img_),key(key_),x(x_),y(y_){}
unsigned int id_img,key;
float x;
float y;
};*/
typedef std::vector<Correspondence> CorrVec;
/**
This class encapsulate a filter for opening bundler file
*/
template <class OpenMeshType>
class ImporterNVM
{
public:
typedef typename OpenMeshType::VertexPointer VertexPointer;
typedef typename OpenMeshType::ScalarType ScalarType;
typedef typename OpenMeshType::CoordType CoordType;
typedef typename OpenMeshType::VertexType VertexType;
typedef typename OpenMeshType::FaceType FaceType;
typedef typename OpenMeshType::VertexIterator VertexIterator;
typedef typename OpenMeshType::FaceIterator FaceIterator;
typedef typename OpenMeshType::EdgeIterator EdgeIterator;
static void readline(FILE *fp, char *line, int max=1000){
int i=0;
char c;
fscanf(fp, "%c", &c);
while( (c!=10) && (c!=13) && (i<max-1) ){
line[i++] = c;
fscanf(fp, "%c", &c);
}
line[i] = '\0'; //end of string
}
static bool ReadHeader(FILE *fp,unsigned int &num_cams){
char line[1000];
readline(fp, line);
if( (line[0]=='\0') || (0!=strcmp("NVM_V3 ", line)) ) return false;
readline(fp, line);
readline(fp, line); if(line[0]=='\0') return false;
sscanf(line, "%d", &num_cams);
return true;
}
static bool ReadHeader(const char * filename,unsigned int &/*num_cams*/, unsigned int &/*num_points*/){
FILE *fp = fopen(filename, "r");
if(!fp) return false;
ReadHeader(fp);
fclose(fp);
return true;
}
static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> > & shots,
std::vector<std::string > & image_filenames,
const char * filename, CallBackPos *cb=0)
{
unsigned int num_cams,num_points;
FILE *fp = fopen(filename,"r");
if(!fp) return false;
ReadHeader(fp, num_cams);
char line[1000], name[1000];
/* if(cb) cb(0,"Reading images");
ReadImagesFilenames(filename_images, image_filenames);*/
if(cb) cb(50,"Reading cameras");
//image_filenames.resize(num_cams);
shots.resize(num_cams);
for(uint i = 0; i < num_cams;++i)
{
float f, k1;
vcg::Point4f R;
vcg::Point3f t;
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%s %f %f %f %f %f %f %f %f %f", name, &f, &(R[0]), &(R[1]), &(R[2]), &(R[3]), &(t[0]), &(t[1]), &(t[2]), &k1);
std::string n(name);
image_filenames.push_back(n);
/*readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &f, &k1, &k2);
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2])); R[3] = 0;
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6])); R[7] = 0;
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])); R[11] = 0;
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2]));*/
//vcg::Matrix44f mat = vcg::Matrix44<vcg::Shotf::ScalarType>::Construct<float>(R);
vcg::Quaternion<ScalarType> qfrom; qfrom.Import(R);
vcg::Matrix44<ScalarType> mat; qfrom.ToMatrix(mat);
/*vcg::Matrix33f Rt = vcg::Matrix33f( vcg::Matrix44f(mat), 3);
Rt.Transpose();
vcg::Point3f pos = Rt * vcg::Point3f(t[0], t[1], t[2]);*/
mat[1][0]=-mat[1][0];
mat[1][1]=-mat[1][1];
mat[1][2]=-mat[1][2];
mat[2][0]=-mat[2][0];
mat[2][1]=-mat[2][1];
mat[2][2]=-mat[2][2];
shots[i].Extrinsics.SetTra(CoordType(t[0],t[1],t[2]));
shots[i].Extrinsics.SetRot(mat);
shots[i].Intrinsics.FocalMm = f/100.0f;
shots[i].Intrinsics.k[0] = 0.0;//k1; To be uncommented when distortion is taken into account reliably
shots[i].Intrinsics.k[1] = 0.0;//k2;
shots[i].Intrinsics.PixelSizeMm = vcg::Point2<ScalarType>(0.01,0.01);
QImageReader sizeImg(QString::fromStdString(image_filenames[i]));
QSize size=sizeImg.size();
shots[i].Intrinsics.ViewportPx = vcg::Point2i(size.width(),size.height());
shots[i].Intrinsics.CenterPx[0] = (int)((double)shots[i].Intrinsics.ViewportPx[0]/2.0f);
shots[i].Intrinsics.CenterPx[1] = (int)((double)shots[i].Intrinsics.ViewportPx[1]/2.0f);
}
readline(fp, line);
readline(fp, line); if(line[0]=='\0') return false;
sscanf(line, "%d", &num_points);
// load all correspondences
typename OpenMeshType::template PerVertexAttributeHandle<CorrVec> ch = vcg::tri::Allocator<OpenMeshType>::template GetPerVertexAttribute<CorrVec>(m,"correspondences");
typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
for(uint i = 0; i < num_points;++i,++vi){
float x,y,z;
unsigned int r,g,b,i_cam, key_sift,n_corr;
fscanf(fp,"%f %f %f ",&x,&y,&z);
(*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
fscanf(fp,"%d %d %d ",&r,&g,&b);
(*vi).C() = vcg::Color4b(r,g,b,255);
fscanf(fp,"%d ",&n_corr);
for(uint j = 0; j < n_corr; ++j){
fscanf(fp,"%d %d %f %f ",&i_cam,&key_sift,&x,&y);
Correspondence corr(i_cam,key_sift,x,y);
ch[i].push_back(corr);
}
}
vcg::tri::UpdateBounding<OpenMeshType>::Box(m);
fclose(fp);
return (shots.size() == 0);
}
static bool ReadImagesFilenames(const char * filename,std::vector<std::string> &image_filenames)
{
FILE * fp = fopen(filename,"r");
if (!fp) return false;
else
{
char line[1000], name[1000];
while(!feof(fp)){
readline(fp, line, 1000);
if(line[0] == '\0') continue; //ignore empty lines (in theory, might happen only at end of file)
sscanf(line, "%s", name);
std::string n(name);
image_filenames.push_back(n);
}
}
fclose(fp);
return true;
}
}; // end class
} // end namespace tri
} // end namespace io
} // end namespace vcg
#endif