426 lines
14 KiB
C++
426 lines
14 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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/****************************************************************************
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History
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$Log: not supported by cvs2svn $
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Revision 1.24 2008/02/22 17:41:48 ponchio
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Changed to reflect quaternion toMatrix inversion.
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Revision 1.23 2007/02/06 08:54:07 corsini
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fix names
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Revision 1.22 2007/02/05 14:17:21 corsini
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add extrinsic parameters accessors
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Revision 1.21 2006/12/18 16:02:55 matteodelle
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minor eroor correction on variable names
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Revision 1.20 2006/12/18 09:46:39 callieri
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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.
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Revision 1.19 2006/01/22 17:01:40 cignoni
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Corrected intialization of flag, must be zero.
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Revision 1.18 2005/12/12 16:53:43 callieri
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corrected UnProject, it's necessary also a ZDepth value to perform inverse projection
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Revision 1.17 2005/12/07 10:57:52 callieri
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added commodity function ProjectWorldtoViewport() to obtain directly pixel indices without calling two separate function of two different objects
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Revision 1.16 2005/12/02 16:14:35 callieri
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in Shot<S>::Axis changed Row3 to GetRow3 . row3 was the old method name of Matrix44
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Revision 1.15 2005/12/01 01:03:37 cignoni
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Removed excess ';' from end of template functions, for gcc compiling
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Revision 1.14 2005/11/23 14:18:35 ganovelli
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added access to similarity (just for symmetry with Camera() )
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Revision 1.13 2005/11/23 11:58:52 ganovelli
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Empty constructor added, untemplated class Shotf and Shotd added
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usage: Shotf myShot;
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corrected member access rights
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Revision 1.12 2005/07/11 13:12:35 cignoni
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small gcc-related compiling issues (typenames,ending cr, initialization order)
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Revision 1.11 2005/01/22 11:20:20 ponchio
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<...Point3.h> -> <...point3.h>
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Revision 1.10 2005/01/05 13:26:15 ganovelli
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corretto cambiamento di sistema di rif.
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Revision 1.9 2004/12/15 18:45:50 tommyfranken
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*** empty log message ***
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Revision 1.4 2004/10/07 14:41:31 fasano
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Little fix on ViewPoint() method
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Revision 1.3 2004/10/07 14:24:53 ganovelli
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added LookAt,LookToward
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Revision 1.2 2004/10/05 19:04:25 ganovelli
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version 5-10-2004 in progress
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Revision 1.1 2004/09/15 22:58:05 ganovelli
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re-creation
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Revision 1.2 2004/09/06 21:41:30 ganovelli
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*** empty log message ***
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Revision 1.1 2004/09/03 13:01:51 ganovelli
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creation
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****************************************************************************/
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/** class Shot
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The shot is made of two things:
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* the Instrinsics paramaters, which are stored as a Camera type (check vcg/math/camera) and that
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determines how a point in the frame of the camera is projected in the 2D projection plane
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* the Extrinsics parameters, which are stored in the class Shot (che the type ReferenceFrame)
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and that tell viewpoint and view direction.
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The Extrinsics parameters are kept as a rotation matrix "rot" and a translation vector "tra"
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NOTE: the translation matrix "tra" corresponds to -viewpoint while the rotation matrix
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"rot" corresponds to the axis of the reference frame by row, i.e.
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rot[0][0|1|2] == X axis
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rot[1][0|1|2] == Y axis
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rot[2][0|1|2] == Z axis
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It follows that the matrix made with the upper left 3x3 equal to rot and the 4th colum equal to tra
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and (0,0,0,1) in the bottom row transform a point from world coordiantes to the reference frame
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of the shot.
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**/
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#ifndef __VCGLIB_SHOT
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#define __VCGLIB_SHOT
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#include <vcg/space/point2.h>
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#include <vcg/space/point3.h>
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#include <vcg/math/similarity.h>
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#include <vcg/math/camera.h>
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namespace vcg{
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template <class S, class RotationType = Matrix44<S> >
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class Shot {
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public:
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typedef Camera<S> CameraType;
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typedef S ScalarType;
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template <class ScalarType, class RotoType >
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class ReferenceFrame {
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friend class Shot<ScalarType, RotoType>;
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RotoType rot; // rotation
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Point3<S> tra; // viewpoint
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public:
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void SetIdentity(){ rot.SetIdentity(); tra = Point3<S>(0.0,0.0,0.0);}
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void SetTra(const Point3<S> & tr) {tra = tr;}
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void SetRot(const RotoType & rt) {rot = rt;}
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Point3<ScalarType> Tra() const { return tra;}
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RotoType Rot() const { return rot;}
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};
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Camera<S> Intrinsics; // the camera that made the shot
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ReferenceFrame<S,RotationType> Extrinsics; // the position and orientation of the camera
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Shot(Camera<S> c)
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{
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Intrinsics = c;
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Extrinsics.SetIdentity();
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}
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Shot()
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{
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Extrinsics.SetIdentity();
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}
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/// GET the i-th axis of the coordinate system of the camera
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vcg::Point3<S> Axis(const int & i)const;
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/// GET the viewdir
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const vcg::Point3<S> GetViewDir()const;
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/// GET the viewpoint
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const vcg::Point3<S> GetViewPoint()const;
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/// SET the viewpoint
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void SetViewPoint(const vcg::Point3<S> & viewpoint);
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/// GET fov from focal
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float GetFovFromFocal();
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/// look at (point+up)
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void LookAt(const vcg::Point3<S> & point,const vcg::Point3<S> & up);
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/// look at (opengl-like)
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void LookAt(const S & eye_x,const S & eye_y,const S & eye_z,
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const S & at_x,const S & at_y,const S & at_z,
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const S & up_x,const S & up_y,const S & up_z);
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/// look towards (dir+up)
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void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
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/// convert a 3d point from world to camera coordinates
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vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from camera to world coordinates
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vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from camera to world coordinates, uses inverse instead of trranspose
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/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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vcg::Point3<S> ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const;
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/// project a 3d point from world coordinates to 2d camera viewport (pixel)
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vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
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/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
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vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
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/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates, uses inverse instead of trranspose
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/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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vcg::Point3<S> UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const;
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/// returns distance of point p from camera plane (z depth), used for unprojection
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S Depth(const vcg::Point3<S> & p)const;
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// accessors
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public:
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/* Returns the matrix M such that
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3dpoint_in_world_coordinates = M * 3dpoint_in_local_coordinates
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*/
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Matrix44<S> GetExtrinsicsToWorldMatrix() const {
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Matrix44<S> rotM ;
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Extrinsics.rot.ToMatrix(rotM);
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return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM.transpose();
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}
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/* Returns the matrix M such that
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3dpoint_in_local_coordinates = M * 3dpoint_in_world_coordinates
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*/
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Matrix44<S> GetWorldToExtrinsicsMatrix() const {
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Matrix44<S> rotM ;
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Extrinsics.rot.ToMatrix(rotM);
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return rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra) ;
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}
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/* multiply the current reference frame for the matrix passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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void MultMatrix( vcg::Matrix44<S> m44)
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{
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Extrinsics.tra = m44 * Extrinsics.tra;
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m44[0][3] = m44[1][3] = m44[2][3] = 0.0;
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Extrinsics.rot = m44 * Extrinsics.rot ;
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}
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/* multiply the current reference frame for the similarity passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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void MultSimilarity( const Similarity<S> & s){ MultMatrix(s.Matrix());}
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bool IsValid() const
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{
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return Intrinsics.PixelSizeMm[0]>0 && Intrinsics.PixelSizeMm[1]>0;
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}
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}; // end class definition
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template <class S, class RotationType>
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const vcg::Point3<S> Shot<S,RotationType>::GetViewDir() const
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{
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return Extrinsics.Rot().GetRow3(2);
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}
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//---
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/// GET the viewpoint
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template <class S, class RotationType>
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const vcg::Point3<S> Shot<S,RotationType>::GetViewPoint() const
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{
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return Extrinsics.tra;
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}
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/// SET the viewpoint
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template <class S, class RotationType>
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void Shot<S,RotationType>::SetViewPoint(const vcg::Point3<S> & viewpoint)
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{
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Extrinsics.SetTra( viewpoint );
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}
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//---
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/// GET fov from focal
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template <class S, class RotationType>
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float Shot<S,RotationType>::GetFovFromFocal()
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{
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double viewportYMm= Intrinsics.PixelSizeMm[1]* Intrinsics.ViewportPx[1];
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return 2*(vcg::math::ToDeg(atanf(viewportYMm/(2*Intrinsics.FocalMm))));
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}
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//---
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/// GET the i-th axis of the coordinate system of the camera
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::Axis(const int & i) const
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{
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vcg::Matrix44<S> m;
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Extrinsics.rot.ToMatrix(m);
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vcg::Point3<S> aa = m.GetRow3(i);
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return aa;
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}
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/// look at (point+up)
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookAt(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
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{
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LookTowards(z_dir-GetViewPoint(),up);
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}
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/// look at (opengl-like)
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookAt(const S & eye_x, const S & eye_y, const S & eye_z,
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const S & at_x, const S & at_y, const S & at_z,
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const S & up_x,const S & up_y,const S & up_z)
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{
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SetViewPoint(Point3<S>(eye_x,eye_y,eye_z));
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LookAt(Point3<S>(at_x,at_y,at_z),Point3<S>(up_x,up_y,up_z));
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}
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/// look towards
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
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{
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vcg::Point3<S> x_dir = up ^-z_dir;
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vcg::Point3<S> y_dir = -z_dir ^x_dir;
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Matrix44<S> m;
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m.SetIdentity();
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*(vcg::Point3<S> *)&m[0][0] = x_dir/x_dir.Norm();
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*(vcg::Point3<S> *)&m[1][0] = y_dir/y_dir.Norm();
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*(vcg::Point3<S> *)&m[2][0] = -z_dir/z_dir.Norm();
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Extrinsics.rot.FromMatrix(m);
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}
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//--- Space transformation methods
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/// convert a 3d point from world to camera coordinates
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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vcg::Point3<S> cp = rotM * (p - GetViewPoint() );
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cp[2]=-cp[2]; // note: camera reference system is right handed
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return cp;
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}
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/// convert a 3d point from camera to world coordinates
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const
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{
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2]=-cp[2]; // note: World reference system is left handed
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Extrinsics.rot.ToMatrix(rotM);
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cp = rotM.transpose() * cp + GetViewPoint();
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return cp;
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}
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/// convert a 3d point from camera to world coordinates, uses inverse instead of trranspose
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/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const
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{
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2]=-cp[2]; // note: World reference system is left handed
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Extrinsics.rot.ToMatrix(rotM);
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cp = Inverse(rotM) * cp + GetViewPoint(); // use invert istead of transpose to dela with non-rigid cases
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return cp;
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}
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/// project a 3d point from world coordinates to 2d camera viewport (pixel)
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template <class S, class RotationType>
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vcg::Point2<S> Shot<S,RotationType>::Project(const vcg::Point3<S> & p) const
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{
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Point3<S> cp = ConvertWorldToCameraCoordinates(p);
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Point2<S> pp = Intrinsics.Project(cp);
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Point2<S> vp = Intrinsics.LocalToViewportPx(pp);
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return vp;
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}
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/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::UnProject(const vcg::Point2<S> & p, const S & d) const
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{
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Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
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Point3<S> cp = Intrinsics.UnProject(lp,d);
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Point3<S> wp = ConvertCameraToWorldCoordinates(cp);
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return wp;
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}
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/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates, uses inverse instead of trranspose
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/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const
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{
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Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
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Point3<S> cp = Intrinsics.UnProject(lp,d);
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Point3<S> wp = ConvertCameraToWorldCoordinates_Substitute(cp);
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return wp;
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}
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/// returns distance of point p from camera plane (z depth), used for unprojection
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template <class S, class RotationType>
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S Shot<S,RotationType>::Depth(const vcg::Point3<S> & p)const
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{
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return ConvertWorldToCameraCoordinates(p).Z();
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}
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//--------------------------------
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//--- utility definitions
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typedef Shot<float> Shotf;
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typedef Shot<double> Shotd;
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//-----------------------
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} // end name space
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#endif
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