223 lines
8.1 KiB
C++
223 lines
8.1 KiB
C++
/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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#ifndef __VCGLIB_IMPORTERNVM
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#define __VCGLIB_IMPORTERNVM
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#include <stddef.h>
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#include <stdio.h>
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#include <vcg/complex/complex.h>
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//#include <vcg/complex/allocate.h>
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#include <vcg/complex/algorithms/update/bounding.h>
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#include <wrap/callback.h>
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#include <wrap/io_trimesh/io_mask.h>
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#include <QString>
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#include <QImageReader>
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namespace vcg {
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namespace tri {
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namespace io {
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/*struct Correspondence{
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Correspondence(unsigned int id_img_,unsigned int key_,float x_,float y_):id_img(id_img_),key(key_),x(x_),y(y_){}
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unsigned int id_img,key;
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float x;
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float y;
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};*/
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typedef std::vector<Correspondence> CorrVec;
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/**
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This class encapsulate a filter for opening bundler file
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*/
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template <class OpenMeshType>
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class ImporterNVM
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{
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public:
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typedef typename OpenMeshType::VertexPointer VertexPointer;
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typedef typename OpenMeshType::ScalarType ScalarType;
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typedef typename OpenMeshType::CoordType CoordType;
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typedef typename OpenMeshType::VertexType VertexType;
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typedef typename OpenMeshType::FaceType FaceType;
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typedef typename OpenMeshType::VertexIterator VertexIterator;
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typedef typename OpenMeshType::FaceIterator FaceIterator;
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typedef typename OpenMeshType::EdgeIterator EdgeIterator;
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static void readline(FILE *fp, char *line, int max=1000){
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int i=0;
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char c;
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fscanf(fp, "%c", &c);
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while( (c!=10) && (c!=13) && (i<max-1) ){
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line[i++] = c;
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fscanf(fp, "%c", &c);
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}
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line[i] = '\0'; //end of string
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}
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static bool ReadHeader(FILE *fp,unsigned int &num_cams){
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char line[1000];
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readline(fp, line);
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if( (line[0]=='\0') || (0!=strcmp("NVM_V3 ", line)) ) return false;
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readline(fp, line);
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readline(fp, line); if(line[0]=='\0') return false;
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sscanf(line, "%d", &num_cams);
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return true;
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}
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static bool ReadHeader(const char * filename,unsigned int &/*num_cams*/, unsigned int &/*num_points*/){
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FILE *fp = fopen(filename, "r");
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if(!fp) return false;
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ReadHeader(fp);
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fclose(fp);
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return true;
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}
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static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> > & shots,
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std::vector<std::string > & image_filenames,
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const char * filename, CallBackPos *cb=0)
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{
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unsigned int num_cams,num_points;
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FILE *fp = fopen(filename,"r");
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if(!fp) return false;
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ReadHeader(fp, num_cams);
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char line[1000], name[1000];
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/* if(cb) cb(0,"Reading images");
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ReadImagesFilenames(filename_images, image_filenames);*/
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if(cb) cb(50,"Reading cameras");
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//image_filenames.resize(num_cams);
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shots.resize(num_cams);
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for(uint i = 0; i < num_cams;++i)
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{
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float f, k1;
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vcg::Point4f R;
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vcg::Point3f t;
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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);
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std::string n(name);
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image_filenames.push_back(n);
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/*readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &f, &k1, &k2);
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2])); R[3] = 0;
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6])); R[7] = 0;
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])); R[11] = 0;
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2]));*/
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//vcg::Matrix44f mat = vcg::Matrix44<vcg::Shotf::ScalarType>::Construct<float>(R);
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vcg::Quaternion<ScalarType> qfrom; qfrom.Import(R);
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vcg::Matrix44<ScalarType> mat; qfrom.ToMatrix(mat);
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/*vcg::Matrix33f Rt = vcg::Matrix33f( vcg::Matrix44f(mat), 3);
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Rt.Transpose();
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vcg::Point3f pos = Rt * vcg::Point3f(t[0], t[1], t[2]);*/
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mat[1][0]=-mat[1][0];
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mat[1][1]=-mat[1][1];
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mat[1][2]=-mat[1][2];
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mat[2][0]=-mat[2][0];
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mat[2][1]=-mat[2][1];
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mat[2][2]=-mat[2][2];
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shots[i].Extrinsics.SetTra(CoordType(t[0],t[1],t[2]));
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shots[i].Extrinsics.SetRot(mat);
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shots[i].Intrinsics.FocalMm = f/100.0f;
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shots[i].Intrinsics.k[0] = 0.0;//k1; To be uncommented when distortion is taken into account reliably
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shots[i].Intrinsics.k[1] = 0.0;//k2;
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shots[i].Intrinsics.PixelSizeMm = vcg::Point2<ScalarType>(0.01,0.01);
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QImageReader sizeImg(QString::fromStdString(image_filenames[i]));
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QSize size=sizeImg.size();
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shots[i].Intrinsics.ViewportPx = vcg::Point2i(size.width(),size.height());
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shots[i].Intrinsics.CenterPx[0] = (int)((double)shots[i].Intrinsics.ViewportPx[0]/2.0f);
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shots[i].Intrinsics.CenterPx[1] = (int)((double)shots[i].Intrinsics.ViewportPx[1]/2.0f);
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}
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readline(fp, line);
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readline(fp, line); if(line[0]=='\0') return false;
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sscanf(line, "%d", &num_points);
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// load all correspondences
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typename OpenMeshType::template PerVertexAttributeHandle<CorrVec> ch = vcg::tri::Allocator<OpenMeshType>::template GetPerVertexAttribute<CorrVec>(m,"correspondences");
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typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
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for(uint i = 0; i < num_points;++i,++vi){
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float x,y,z;
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unsigned int r,g,b,i_cam, key_sift,n_corr;
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fscanf(fp,"%f %f %f ",&x,&y,&z);
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(*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
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fscanf(fp,"%d %d %d ",&r,&g,&b);
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(*vi).C() = vcg::Color4b(r,g,b,255);
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fscanf(fp,"%d ",&n_corr);
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for(uint j = 0; j < n_corr; ++j){
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fscanf(fp,"%d %d %f %f ",&i_cam,&key_sift,&x,&y);
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Correspondence corr(i_cam,key_sift,x,y);
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ch[i].push_back(corr);
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}
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}
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vcg::tri::UpdateBounding<OpenMeshType>::Box(m);
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fclose(fp);
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return (shots.size() == 0);
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}
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static bool ReadImagesFilenames(const char * filename,std::vector<std::string> &image_filenames)
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{
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FILE * fp = fopen(filename,"r");
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if (!fp) return false;
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else
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{
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char line[1000], name[1000];
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while(!feof(fp)){
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readline(fp, line, 1000);
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if(line[0] == '\0') continue; //ignore empty lines (in theory, might happen only at end of file)
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sscanf(line, "%s", name);
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std::string n(name);
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image_filenames.push_back(n);
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}
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}
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fclose(fp);
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return true;
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}
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}; // end class
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} // end namespace tri
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} // end namespace io
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} // end namespace vcg
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#endif
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