add vcglib
This commit is contained in:
yuanlin zhong committed
1 parent
6f6c0c8eb7
commit
af8100f851
1537 files changed
+634197
No files matched your search
@@ -0,0 +1,173 @@
|
||||
/*****************************************************************************
|
||||
* VCGLib o o *
|
||||
* Visual and Computer Graphics Library o o *
|
||||
* _ O _ *
|
||||
* Copyright(C) 2004-2022 \/)\/ *
|
||||
* 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. *
|
||||
* *
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __VCGLIB_SHOT
|
||||
#define __VCGLIB_SHOT
|
||||
|
||||
#include <vcg/math/camera.h>
|
||||
#include <vcg/math/similarity.h>
|
||||
#include <vcg/space/point2.h>
|
||||
#include <vcg/space/point3.h>
|
||||
|
||||
namespace vcg {
|
||||
|
||||
/**
|
||||
* @class Shot
|
||||
*
|
||||
* Shot is made of two elements:
|
||||
* - the Instrinsics paramaters, which are stored as a Camera type (see vcg/math/camera) and that
|
||||
* determines how a point in the frame of the camera is projected in the 2D projection plane
|
||||
* - the Extrinsics parameters, which are stored in the class Shot (type ReferenceFrame)
|
||||
* and that describe viewpoint and view direction.
|
||||
*
|
||||
* Some important notes about the usage of this class:
|
||||
* - The World coordinates system is assumed to be RIGHT-HANDED.
|
||||
* - The Shot reference frame is assumed to be RIGHT-HANDED.
|
||||
* - The associated Camera is assumed to point in the negative direction of the Z axis of the Shot
|
||||
* coordinates system (reference frame). As a consequence, the Camera coordinates system is
|
||||
* LEFT-HANDED.
|
||||
* - The Extrinsics parameters are kept as a rotation matrix "rot" and a translation vector "tra"
|
||||
* The translation matrix "tra" corresponds to the viewpoint of the Shot while the rotation
|
||||
* matrix "rot" corresponds to the axis of the reference frame by row, i.e.
|
||||
* rot[0][0|1|2] == X axis
|
||||
* rot[1][0|1|2] == Y axis
|
||||
* rot[2][0|1|2] == Z axis
|
||||
*
|
||||
* It follows that the matrix made with the upper left 3x3 equal to rot and the 4th colum equal to
|
||||
* tra and (0,0,0,1) in the bottom row transform a point from world coordiantes to the reference
|
||||
* frame of the shot.
|
||||
*/
|
||||
template<class S, class RotationType = Matrix44<S>>
|
||||
class Shot
|
||||
{
|
||||
public:
|
||||
typedef Camera<S> CameraType;
|
||||
typedef S ScalarType;
|
||||
|
||||
class ReferenceFrame;
|
||||
|
||||
Camera<S> Intrinsics; // the camera that made the shot
|
||||
ReferenceFrame Extrinsics; // the position and orientation of the camera
|
||||
|
||||
Shot();
|
||||
|
||||
Shot(const Camera<S>& i, const ReferenceFrame& e);
|
||||
|
||||
Shot(const Camera<S>& c);
|
||||
|
||||
template<class Q>
|
||||
static inline Shot Construct(const Shot<Q>& b);
|
||||
|
||||
vcg::Point3<S> Axis(const int& i) const;
|
||||
|
||||
const vcg::Point3<S> GetViewDir() const;
|
||||
const vcg::Point3<S> GetViewPoint() const;
|
||||
|
||||
void SetViewPoint(const vcg::Point3<S>& viewpoint);
|
||||
|
||||
float GetFovFromFocal() const;
|
||||
|
||||
void LookAt(const vcg::Point3<S>& point, const vcg::Point3<S>& up);
|
||||
|
||||
void LookAt(
|
||||
const S& eye_x,
|
||||
const S& eye_y,
|
||||
const S& eye_z,
|
||||
const S& at_x,
|
||||
const S& at_y,
|
||||
const S& at_z,
|
||||
const S& up_x,
|
||||
const S& up_y,
|
||||
const S& up_z);
|
||||
|
||||
void LookTowards(const vcg::Point3<S>& z_dir, const vcg::Point3<S>& up);
|
||||
|
||||
void ConvertFocalToMM(S ccdwidth);
|
||||
|
||||
void RescalingWorld(S scalefactor, bool adjustIntrinsics);
|
||||
|
||||
void ApplyRigidTransformation(const Matrix44<S>& M);
|
||||
|
||||
void ApplySimilarity(Matrix44<S> M);
|
||||
|
||||
void ApplySimilarity(const Similarity<S>& Sim);
|
||||
|
||||
vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S>& p) const;
|
||||
|
||||
vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S>& p) const;
|
||||
|
||||
vcg::Point3<S> ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S>& p) const;
|
||||
|
||||
vcg::Point2<S> Project(const vcg::Point3<S>& p) const;
|
||||
|
||||
vcg::Point3<S> UnProject(const vcg::Point2<S>& p, const S& d) const;
|
||||
|
||||
vcg::Point3<S> UnProject_Substitute(const vcg::Point2<S>& p, const S& d) const;
|
||||
|
||||
S Depth(const vcg::Point3<S>& p) const;
|
||||
|
||||
Matrix44<S> GetExtrinsicsToWorldMatrix() const;
|
||||
|
||||
Matrix44<S> GetWorldToExtrinsicsMatrix() const;
|
||||
|
||||
void MultMatrix(vcg::Matrix44<S> m44);
|
||||
|
||||
void MultSimilarity(const Similarity<S>& s);
|
||||
|
||||
bool IsValid() const;
|
||||
|
||||
bool operator==(const Shot<S, RotationType>& oth) const;
|
||||
bool operator!=(const Shot<S, RotationType>& oth) const;
|
||||
};
|
||||
|
||||
template<class S, class RotationType>
|
||||
class Shot<S, RotationType>::ReferenceFrame
|
||||
{
|
||||
friend class Shot<S, RotationType>;
|
||||
|
||||
public:
|
||||
ReferenceFrame();
|
||||
|
||||
void SetIdentity();
|
||||
void SetTra(const Point3<S>& tr);
|
||||
void SetRot(const RotationType& rt);
|
||||
Point3<S> Tra() const;
|
||||
RotationType Rot() const;
|
||||
|
||||
bool operator==(const Shot<S, RotationType>::ReferenceFrame& oth) const;
|
||||
bool operator!=(const Shot<S, RotationType>::ReferenceFrame& oth) const;
|
||||
|
||||
private:
|
||||
RotationType rot; // rotation
|
||||
Point3<S> tra; // viewpoint
|
||||
};
|
||||
|
||||
//--- utility definitions
|
||||
typedef Shot<float> Shotf;
|
||||
typedef Shot<double> Shotd;
|
||||
|
||||
} // namespace vcg
|
||||
|
||||
#include "shot.ipp"
|
||||
|
||||
#endif // __VCGLIB_SHOT
|
||||
Reference in new issue
Block a user