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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 $
Revision 1.28 2008/09/09 11:13:27 dellepiane
new functions to handle distortion: should not affect previous stuff. tested but still error prone...
Revision 1.28 2006/12/21 00:13:27 cignoni
Corrected a syntax error detected only by gcc.
Corrected the order of initialization in the constructor to match the declaration order
Revision 1.27 2006/12/18 16:02:55 matteodelle
minor eroor correction on variable names
Revision 1.26 2006/12/18 09:46:38 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 1.25 2005/12/12 16:52:55 callieri
Added Unproject, from 2D local space + Zdepth to 3D camera space. Added ViewportToLocal, inverse of LocalToViewport
Revision 1.24 2005/12/01 01:03:37 cignoni
Removed excess ';' from end of template functions, for gcc compiling
Revision 1.23 2005/10/12 16:43:32 ponchio
Added IsOrtho...
Revision 1.22 2005/07/11 13:12:34 cignoni
small gcc-related compiling issues (typenames,ending cr, initialization order)
Revision 1.21 2005/07/01 10:55:42 cignoni
Removed default values from the implementation of SetCavalieri and SetIsometric
Revision 1.20 2005/06/29 14:59:03 spinelli
aggiunto:
- l' enum dei tipi PERSPECTIVE, ORTHO, ISOMETRIC, CAVALIERI
- inline void SetCavalieri(...)
- inline void SetIsometric(...)
- modificato
- void SetOrtho( .. )
Revision 1.19 2005/02/22 10:57:58 tommyfranken
Corrected declaration and some syntax errors in GetFrustum
Revision 1.18 2005/02/21 18:11:07 ganovelli
GetFrustum moved from gl/camera to math/camera.h
Revision 1.17 2005/02/15 14:55:52 tommyfranken
added principal point
Revision 1.16 2005/01/18 16:40:50 ricciodimare
*** empty log message ***
Revision 1.15 2005/01/18 15:14:22 ponchio
Far and end are reserved.
Revision 1.14 2005/01/14 15:28:33 ponchio
vcg/Point.h -> vcg/point.h (again!)
Revision 1.13 2005/01/05 13:25:29 ganovelli
aggiunte conversione di coordinate
Revision 1.12 2004/12/16 11:22:30 ricciodimare
*** empty log message ***
Revision 1.11 2004/12/16 11:21:03 ricciodimare
*** empty log message ***
Revision 1.10 2004/12/15 18:45:50 tommyfranken
*** empty log message ***
<<<<<<< camera.h
=======
Revision 1.8 2004/11/23 10:15:38 cignoni
removed comment in comment gcc warning
Revision 1.7 2004/11/03 09:40:53 ganovelli
Point?.h to point?.h
Revision 1.6 2004/11/03 09:32:50 ganovelli
SetPerspective and SetFrustum added (same parameters as in opengl)
>>>>>>> 1.8
Revision 1.4 2004/10/07 14:39:57 fasano
Remove glew.h include
Revision 1.3 2004/10/07 14:22:38 ganovelli
y axis reverse in projecting (!)
Revision 1.2 2004/10/05 19:04:25 ganovelli
version 5-10-2004 in progress
Revision 1.1 2004/09/15 22:58:05 ganovelli
re-creation
Revision 1.2 2004/09/06 21:41:30 ganovelli
*** empty log message ***
Revision 1.1 2004/09/03 13:01:51 ganovelli
creation
****************************************************************************/
#ifndef __VCGLIB_CAMERA
#define __VCGLIB_CAMERA
// VCG
#include <vcg/space/point3.h>
#include <vcg/space/point2.h>
#include <vcg/math/similarity.h>
namespace vcg{
template<class S>
class Camera
{
public:
typedef S ScalarType;
enum {
PERSPECTIVE = 0,
ORTHO = 1,
ISOMETRIC = 2,
CAVALIERI = 3
};
Camera():
FocalMm(0.f),
ViewportPx(vcg::Point2<int>(0,0)),
PixelSizeMm(vcg::Point2<S>(0.0,0.0)),
CenterPx(vcg::Point2<S>(0.0,0.0)),
DistorCenterPx(vcg::Point2<S>(0.0,0.0)),
cameraType(0)
{
k[0] = k[1] = k[2] = k[3] = 0;
}
//------ camera intrinsics
ScalarType FocalMm; /// Focal Distance: the distance between focal center and image plane. Expressed in mm
Point2<int> ViewportPx; /// Dimension of the Image Plane (in pixels)
Point2<S> PixelSizeMm; /// Dimension in mm of a single pixel
Point2<S> CenterPx; /// Position of the projection of the focal center on the image plane. Expressed in pixels
Point2<S> DistorCenterPx; /// Position of the radial distortion center on the image plane in pixels
S k[4]; /// 1st & 2nd order radial lens distortion coefficient (only the first 2 terms are used)
//------------------------
int cameraType; /// Type of camera: PERSPECTIVE,ORTHO,ISOMETRIC,CAVALIERI
template <class Q>
static inline Camera Construct( const Camera<Q> &t)
{
Camera n;
n.FocalMm = t.FocalMm;
n.ViewportPx.Import(t.ViewportPx);
n.PixelSizeMm.Import(t.PixelSizeMm);
n.CenterPx.Import(t.CenterPx);
n.DistorCenterPx.Import(t.DistorCenterPx);
n.cameraType =t.cameraType;
n.k[0] = t.k[0];
n.k[1] = t.k[1];
n.k[2] = t.k[2];
n.k[3] = t.k[3];
return n;
}
void SetOrtho( S l,S r, S b, S t, vcg::Point2<int> viewport)
{
cameraType = ORTHO;
ViewportPx = viewport;
PixelSizeMm[0] = (r-l) / (S)ViewportPx[0];
PixelSizeMm[1] = (t-b) / (S)ViewportPx[1];
CenterPx[0] = -l/(r-l) * (S)ViewportPx[0];
CenterPx[1] = -b/(t-b) * (S)ViewportPx[1];
};
bool IsOrtho() const
{
return ( cameraType == ORTHO );
}
//--- Set-up methods
/// set the camera specifying the perspecive view
inline void SetPerspective(S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport);
/// set the camera specifying the cavalieri view
inline void SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
/// set the camera specifying the isometric view
inline void SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
/// set the camera specifying the frustum view
inline void SetFrustum(S dx, S sx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
//------------------
/// returns the projection matrix
vcg::Matrix44<S> GetMatrix(S nearVal, S farVal);
/// returns the frustum
inline void GetFrustum(S & sx, S & dx, S & bt, S & tp, S & nr);
//--- Space transformation methods
/// project a point from 3d CAMERA space to the camera local plane
inline vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
/// unproject a point from the camera local plane (plus depth) to 3d CAMERA space
inline vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
/// transforms local plane coords to vieport (pixel) coords
inline vcg::Point2<S> LocalToViewportPx(const vcg::Point2<S> & p) const;
/// transforms vieport (pixel) coords to local plane coords
inline vcg::Point2<S> ViewportPxToLocal(const vcg::Point2<S> & p) const;
/// transforms vieport (pixel) coords to [-1 1] coords
inline vcg::Point2<S> ViewportPxTo_neg1_1(const vcg::Point2<S> & p) const;
/// transforms [-1 1] coords to vieport (pixel) coords MICHELE IO
inline vcg::Point2<S> Neg1_1ToViewportPx(const vcg::Point2<S> & p) const;
/// transforms local plane coords to [0 1] coords
inline vcg::Point2<S> LocalTo_0_1(const vcg::Point2<S> & p) const;
/// transforms local plane coords to [-1 1] coords
inline vcg::Point2<S> LocalTo_neg1_1(const vcg::Point2<S> & p) const;
/// transforms an undistorted 2D camera plane point in a distorted 2D camera plane point
vcg::Point2<S> UndistortedToDistorted(vcg::Point2<S> u) const;
/// transforms a distorted 2D camera plane point in an undistorted 2D camera plane point
vcg::Point2<S> DistortedToUndistorted(vcg::Point2<S> d) const;
//--------------------------------
};
/// project a point from 3d CAMERA space to the camera's plane]
template<class S>
vcg::Point2<S> Camera<S>::Project(const vcg::Point3<S> & p) const
{
vcg::Point2<S> q = Point2<S>(p[0],p[1]);
// vcg::Point2<S> d = Point2<S>(p[0],p[1]);
if(!IsOrtho())
{
q[0] *= FocalMm/p.Z();
q[1] *= FocalMm/p.Z();
if(k[0]!=0)
{
vcg::Point2<S> d;
d=UndistortedToDistorted(q);
q=d;
}
}
return q;
}
template <class S> vcg::Matrix44<S> Camera<S>::GetMatrix(S nearVal, S farVal) {
S left, right, bottom, top, nr;
GetFrustum(left, right, bottom,top, nr);
if(cameraType == PERSPECTIVE) {
S ratio = nearVal/nr;
left *= ratio;
right *= ratio;
bottom *= ratio;
top *= ratio;
}
vcg::Matrix44<S> m;
m[0][0] = 2.0*nearVal/(right - left);
m[0][1] = 0;
m[0][2] = (right + left)/(right - left);
m[0][3] = 0;
m[1][0] = 0;
m[1][1] = 2*nearVal/(top - bottom);
m[1][2] = (top + bottom)/(top - bottom);
m[1][3] = 0;
m[2][0] = 0;
m[2][1] = 0;
m[2][2] = -(farVal + nearVal)/(farVal - nearVal);
m[2][3] = - 2*farVal*nearVal/(farVal - nearVal);
m[3][0] = 0;
m[3][1] = 0;
m[3][2] = -1;
m[3][3] = 0;
return m;
}
/// unproject a point from the camera 2d plane [-1,-1]x[1,1] (plus depth) to 3d CAMERA space
template<class S>
vcg::Point3<S> Camera<S>::UnProject(const vcg::Point2<S> & p, const S & d) const
{
vcg::Point3<S> np = Point3<S>(p[0], p[1], d);
if(!IsOrtho())
{
if(k[0]!=0)
{
vcg::Point2<S> d = Point2<S>(p[0], p[1]);
vcg::Point2<S> u=DistortedToUndistorted(d);
np[0]=u[0];
np[1]=u[1];
}
np[0] /= FocalMm/d;
np[1] /= FocalMm/d;
}
return np;
}
/// transforms local plane coords to vieport (pixel) coords
template<class S>
vcg::Point2<S> Camera<S>::LocalToViewportPx(const vcg::Point2<S> & p) const
{
vcg::Point2<S> np;
np[0] = (p[0] / PixelSizeMm.X()) + CenterPx.X();
np[1] = (p[1] / PixelSizeMm.Y()) + CenterPx.Y();
return np;
}
/// transforms vieport (pixel) coords to local plane coords
template<class S>
vcg::Point2<S> Camera<S>::ViewportPxToLocal(const vcg::Point2<S> & p) const
{
vcg::Point2<S> ps;
ps[0] = (p[0]-CenterPx.X()) * PixelSizeMm.X();
ps[1] = (p[1]-CenterPx.Y()) * PixelSizeMm.Y();
return ps;
}
/// transforms vieport (pixel) coords to [-1 1] coords
template<class S>
vcg::Point2<S> Camera<S>::ViewportPxTo_neg1_1(const vcg::Point2<S> & p) const
{
vcg::Point2<S> ps;
ps[0] = 2.0f * ((p[0]-CenterPx.X()) * PixelSizeMm.X())/ ( PixelSizeMm.X() * (S)ViewportPx[0] );
ps[1] = 2.0f * ((p[1]-CenterPx.Y()) * PixelSizeMm.Y())/ ( PixelSizeMm.Y() * (S)ViewportPx[1] );
return ps;
}
/// transforms [-1 1] coords to vieport (pixel) coords MICHELE IO
template<class S>
vcg::Point2<S> Camera<S>::Neg1_1ToViewportPx(const vcg::Point2<S> & p) const
{
vcg::Point2<S> ps;
ps[0] = ((PixelSizeMm.X() * (S)ViewportPx[0] *p[0])/(2.0f * PixelSizeMm.X()))+CenterPx.X();
ps[1] = ((PixelSizeMm.Y() * (S)ViewportPx[1] *p[1])/(2.0f * PixelSizeMm.Y()))+CenterPx.Y();
return ps;
}
/// transforms local plane coords to [0-1] coords
template<class S>
vcg::Point2<S> Camera<S>::LocalTo_0_1(const vcg::Point2<S> & p) const
{
vcg::Point2<S> ps;
ps[0] = ( p[0]/PixelSizeMm.X() + CenterPx.X() ) / (S)ViewportPx[0];
ps[1] = ( p[1]/PixelSizeMm.Y() + CenterPx.Y() ) / (S)ViewportPx[1];
return ps;
}
/// transforms local plane coords to [-1 1] coords
template<class S>
vcg::Point2<S> Camera<S>::LocalTo_neg1_1(const vcg::Point2<S> & p) const
{
vcg::Point2<S> ps;
ps[0] = 2.0f * p[0] / ( PixelSizeMm.X() * (S)ViewportPx[0] );
ps[1] = 2.0f * p[1] / ( PixelSizeMm.Y() * (S)ViewportPx[1] );
return ps;
}
/// transforms an undistorted 2D camera plane point in a distorted 2D camera plane point
template<class Scalar>
vcg::Point2<Scalar> Camera<Scalar>::UndistortedToDistorted(vcg::Point2<Scalar> u) const
{
vcg::Point2<Scalar> dis;
vcg::Point2<Scalar> dc=ViewportPxTo_neg1_1(DistorCenterPx);
const Scalar SQRT3 = Scalar(1.732050807568877293527446341505872366943);
const Scalar CBRT = Scalar(0.33333333333333333333333);
Scalar Ru,Rd,lambda,c,d,Q,R,D,S,T,sinT,cosT;
if(((u[0]-dc[0])==0 && (u[1]-dc[1])==0) || k[0] == 0)
{
dis[0] = u[0];
dis[1] = u[1];
return dis;
}
Ru = hypot ((u[0]-dc[0]), (u[1]-dc[1])); /* SQRT(Xu*Xu+Yu*Yu) */
c = 1 / k[0];
d = -c * Ru;
Q = c / 3;
R = -d / 2;
if (R<0)
D = pow(Q,3) + sqrt(-R);
else
D = pow(Q,3) + sqrt(R);
if (D >= 0) /* one real root */
{
D = sqrt(D);
S = pow((R + D),CBRT);
if (R>=D)
T = pow((R - D),CBRT);
else
T = - pow(abs((int)(R - D)),CBRT); //MODIFICATO DA ME
Rd = S + T;
if (Rd < 0)
Rd = sqrt(-1 / (3 * k[0]));
}
else /* three real roots */
{
D = sqrt(-D);
S = pow((Scalar)(hypot (R, D)),(Scalar)CBRT);
T = atan2 (D, R) / 3;
//SinCos(T, sinT, cosT);
sinT=sin(T);
cosT=cos(T);
/* the larger positive root is 2*S*cos(T) */
/* the smaller positive root is -S*cos(T) + SQRT(3)*S*sin(T) */
/* the negative root is -S*cos(T) - SQRT(3)*S*sin(T) */
Rd = -S * cosT + SQRT3 * S * sinT; /* use the smaller positive root */
}
lambda = Rd / Ru;
dis[0] = u[0] * lambda;
dis[1] = u[1] * lambda;
return dis;
}
/// transforms a distorted 2D camera plane point in an undistorted 2D camera plane point
template<class S>
vcg::Point2<S> Camera<S>::DistortedToUndistorted(vcg::Point2<S> d) const
{
vcg::Point2<S> u;
vcg::Point2<S> dc=ViewportPxTo_neg1_1(DistorCenterPx);
S r=sqrt(pow((d[0]-dc[0]),2)+pow((d[1]-dc[1]),2));
u[0]=d[0]*(1-k[0]*r*r);
u[1]=d[1]*(1-k[0]*r*r);
return u;
}
//--- basic camera setup (GL-like)
/// set the camera specifying the perspective view
template<class S>
void Camera<S>::SetPerspective( S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport)
{
cameraType = PERSPECTIVE;
S halfsize[2];
halfsize[1] = tan(math::ToRad(AngleDeg/2.0f)) * Focal;
halfsize[0] = halfsize[1]*AspectRatio;
SetFrustum(-halfsize[0],halfsize[0],-halfsize[1],halfsize[1],Focal,Viewport);
}
/// set the camera specifying the frustum view
template<class S>
void Camera<S>::SetFrustum( S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
{
S vp[2];
vp[0] = dx-sx;
vp[1] = tp-bt;
ViewportPx[0] = Viewport[0];
if(vp[1] != -1)
ViewportPx[1] = Viewport[1]; // the user specified the viewport
else
ViewportPx[1] = ViewportPx[0]; // default viewport
PixelSizeMm[0] = vp[0] / (S)Viewport[0];
PixelSizeMm[1] = vp[1] / (S)Viewport[1];
CenterPx[0] = -sx/vp[0] * (S)Viewport[0];
CenterPx[1] = -bt/vp[1] * (S)Viewport[1];
FocalMm =Focal;
}
//--- special cameras setup
/// set the camera specifying the cavalieri view
template<class S>
void Camera<S>::SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
{
cameraType = CAVALIERI;
SetFrustum(sx, dx, bt, tp, Focal,Viewport);
}
/// set the camera specifying the isometric view
template<class S>
void Camera<S>::SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
{
cameraType = ISOMETRIC;
SetFrustum(sx, dx, bt, tp, Focal,Viewport);
}
/// returns the frustum
template<class S>
void Camera<S>:: GetFrustum( S & sx, S & dx, S & bt, S & tp, S & nr)
{
dx = CenterPx.X()* PixelSizeMm.X(); //scaled center
sx = -( (S)ViewportPx.X() - CenterPx.X() ) * PixelSizeMm.X();
bt = -CenterPx.Y()* PixelSizeMm.Y();
tp = ( (S)ViewportPx.Y() - CenterPx.Y() ) * PixelSizeMm.Y();
nr = FocalMm;
}
}
#endif
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