提交scripts
This commit is contained in:
hesuicong committed
1 parent
82caf72036
commit
07dabbd186
224 files changed
+130146
No files matched your search
@@ -0,0 +1,180 @@
|
||||
/*
|
||||
* Camera.cpp
|
||||
*
|
||||
* Copyright (c) 2014-2015 SEACAVE
|
||||
*
|
||||
* Author(s):
|
||||
*
|
||||
* cDc <cdc.seacave@gmail.com>
|
||||
*
|
||||
*
|
||||
* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU Affero General Public License as published by
|
||||
* the Free Software Foundation, either version 3 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 Affero General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Affero General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*
|
||||
* Additional Terms:
|
||||
*
|
||||
* You are required to preserve legal notices and author attributions in
|
||||
* that material or in the Appropriate Legal Notices displayed by works
|
||||
* containing it.
|
||||
*/
|
||||
|
||||
#include "Common.h"
|
||||
#include "Camera.h"
|
||||
|
||||
using namespace VIEWER;
|
||||
|
||||
|
||||
// D E F I N E S ///////////////////////////////////////////////////
|
||||
|
||||
|
||||
// S T R U C T S ///////////////////////////////////////////////////
|
||||
|
||||
Camera::Camera(const AABB3d& _box, const Point3d& _center, float _scaleF, float _fov)
|
||||
:
|
||||
boxScene(_box),
|
||||
centerScene(_center),
|
||||
rotation(Eigen::Quaterniond::Identity()),
|
||||
center(Eigen::Vector3d::Zero()),
|
||||
dist(0), radius(100),
|
||||
fovDef(_fov), scaleFDef(_scaleF),
|
||||
prevCamID(NO_ID), currentCamID(NO_ID), maxCamID(0)
|
||||
{
|
||||
Reset();
|
||||
}
|
||||
|
||||
void Camera::Reset()
|
||||
{
|
||||
if (boxScene.IsEmpty()) {
|
||||
center = Point3d::ZERO;
|
||||
radius = 1;
|
||||
} else {
|
||||
center = centerScene;
|
||||
radius = boxScene.GetSize().norm()*0.5;
|
||||
}
|
||||
rotation = Eigen::Quaterniond::Identity();
|
||||
scaleF = scaleFDef;
|
||||
prevCamID = currentCamID = NO_ID;
|
||||
fov = fovDef;
|
||||
dist = radius*0.5 / SIN(D2R((double)fov));
|
||||
if (size.area())
|
||||
Resize(size);
|
||||
}
|
||||
|
||||
void Camera::Resize(const cv::Size& _size)
|
||||
{
|
||||
ASSERT(MINF(_size.width, _size.height) > 0);
|
||||
size = _size;
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
const GLfloat zNear = 1e-3f;
|
||||
const GLfloat zFar = (float)boxScene.GetSize().norm()*10;
|
||||
const GLfloat aspect = float(size.width)/float(size.height);
|
||||
if (fov == 5.f) {
|
||||
// orthographic projection
|
||||
const GLfloat fH = (float)boxScene.GetSize().norm()*0.5f;
|
||||
const GLfloat fW = fH * aspect;
|
||||
glOrtho(-fW, fW, -fH, fH, zNear, zFar);
|
||||
} else {
|
||||
// perspective projection
|
||||
const GLfloat fH = TAN(FD2R(fov)) * zNear;
|
||||
const GLfloat fW = fH * aspect;
|
||||
glFrustum(-fW, fW, -fH, fH, zNear, zFar);
|
||||
}
|
||||
}
|
||||
|
||||
void Camera::SetFOV(float _fov)
|
||||
{
|
||||
fov = MAXF(_fov, 5.f);
|
||||
Resize(size);
|
||||
}
|
||||
|
||||
|
||||
Eigen::Vector3d Camera::GetPosition() const
|
||||
{
|
||||
const Eigen::Matrix3d R(GetRotation());
|
||||
return center + R.col(2) * dist;
|
||||
}
|
||||
|
||||
Eigen::Matrix3d Camera::GetRotation() const
|
||||
{
|
||||
return rotation.toRotationMatrix();
|
||||
}
|
||||
|
||||
Eigen::Matrix4d Camera::GetLookAt() const
|
||||
{
|
||||
const Eigen::Matrix3d R(GetRotation());
|
||||
const Eigen::Vector3d eye(center + R.col(2) * dist);
|
||||
const Eigen::Vector3d up(R.col(1));
|
||||
|
||||
const Eigen::Vector3d n((center-eye).normalized());
|
||||
const Eigen::Vector3d s(n.cross(up));
|
||||
const Eigen::Vector3d v(s.cross(n));
|
||||
|
||||
Eigen::Matrix4d m; m <<
|
||||
s(0), s(1), s(2), -eye.dot(s),
|
||||
v(0), v(1), v(2), -eye.dot(v),
|
||||
-n(0), -n(1), -n(2), eye.dot(n),
|
||||
0.0, 0.0, 0.0, 1.0;
|
||||
return m;
|
||||
}
|
||||
void Camera::GetLookAt(Eigen::Vector3d& _eye, Eigen::Vector3d& _center, Eigen::Vector3d& _up) const
|
||||
{
|
||||
const Eigen::Matrix3d R(GetRotation());
|
||||
_eye = center + R.col(2) * dist;
|
||||
_center = center;
|
||||
_up = R.col(1);
|
||||
}
|
||||
|
||||
|
||||
void Camera::Rotate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos)
|
||||
{
|
||||
if (pos.isApprox(prevPos, ZEROTOLERANCE<double>()))
|
||||
return;
|
||||
|
||||
Eigen::Vector3d oldp(prevPos.x(), prevPos.y(), 0);
|
||||
Eigen::Vector3d newp(pos.x(), pos.y(), 0);
|
||||
const double radiusSphere(0.9);
|
||||
ProjectOnSphere(radiusSphere, oldp);
|
||||
ProjectOnSphere(radiusSphere, newp);
|
||||
rotation *= Eigen::Quaterniond().setFromTwoVectors(newp, oldp);
|
||||
|
||||
// disable camera view mode
|
||||
prevCamID = currentCamID;
|
||||
}
|
||||
|
||||
void Camera::Translate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos)
|
||||
{
|
||||
if (pos.isApprox(prevPos, ZEROTOLERANCE<double>()))
|
||||
return;
|
||||
|
||||
Eigen::Matrix<double,4,4,Eigen::ColMajor> P, V;
|
||||
glGetDoublev(GL_MODELVIEW_MATRIX, V.data());
|
||||
glGetDoublev(GL_PROJECTION_MATRIX, P.data());
|
||||
Eigen::Vector3d centerScreen((P*V*center.homogeneous().eval()).hnormalized());
|
||||
centerScreen.head<2>() += prevPos - pos;
|
||||
center = (V.inverse()*P.inverse()*centerScreen.homogeneous().eval()).hnormalized();
|
||||
|
||||
// disable camera view mode
|
||||
prevCamID = currentCamID;
|
||||
}
|
||||
|
||||
void Camera::ProjectOnSphere(double radius, Eigen::Vector3d& p) const
|
||||
{
|
||||
p.z() = 0;
|
||||
const double d = p.x()* p.x()+ p.y() * p.y();
|
||||
const double r = radius * radius;
|
||||
if (d < r) p.z() = SQRT(r - d);
|
||||
else p *= radius / p.norm();
|
||||
}
|
||||
/*----------------------------------------------------------------*/
|
||||
Reference in new issue
Block a user