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apps/Viewer/Common.h

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+/*
+ * Common.h
+ *
+ * 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.
+ */
+
+#ifndef _VIEWER_COMMON_H_
+#define _VIEWER_COMMON_H_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#include <GL/glew.h>
+#include "../../libs/MVS/Common.h"
+#include "../../libs/MVS/Scene.h"
+
+#if defined(_MSC_VER)
+#include <gl/GLU.h>
+#elif defined(__APPLE__)
+#include <OpenGL/glu.h>
+#else
+#include <GL/glu.h>
+#endif
+#include <GLFW/glfw3.h>
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// P R O T O T Y P E S /////////////////////////////////////////////
+
+using namespace SEACAVE;
+
+namespace VIEWER {
+
+// the conversion matrix from OpenGL default coordinate system
+//  to the camera coordinate system (NADIR orientation):
+// [ 1  0  0  0] * [ x ] = [ x ]
+//   0 -1  0  0      y      -y
+//   0  0 -1  0      z      -z
+//   0  0  0  1      1       1
+static const Eigen::Matrix4d gs_convert = [] {
+	Eigen::Matrix4d tmp; tmp <<
+		1,  0,  0,  0,
+		0, -1,  0,  0,
+		0,  0, -1,  0,
+		0,  0,  0,  1;
+	return tmp;
+}();
+
+/// given rotation matrix R and translation vector t,
+/// column-major matrix m is equal to:
+/// [ R11 R12 R13 t.x ]
+/// | R21 R22 R23 t.y |
+/// | R31 R32 R33 t.z |
+/// [ 0.0 0.0 0.0 1.0 ]
+//
+// World to Local
+inline Eigen::Matrix4d TransW2L(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)
+{
+	Eigen::Matrix4d m(Eigen::Matrix4d::Identity());
+	m.block(0,0,3,3) = R;
+	m.block(0,3,3,1) = t;
+	return m;
+}
+// Local to World
+// same as above, but with the inverse of the two
+inline Eigen::Matrix4d TransL2W(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)
+{
+	Eigen::Matrix4d m(Eigen::Matrix4d::Identity());
+	m.block(0,0,3,3) = R.transpose();
+	m.block(0,3,3,1) = -t;
+	return m;
+}
+/*----------------------------------------------------------------*/
+
+} // namespace MVS
+
+#endif // _VIEWER_COMMON_H_