105 lines
2.7 KiB
C++
105 lines
2.7 KiB
C++
/*
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* Common.h
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*
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* Copyright (c) 2014-2015 SEACAVE
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*
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* Author(s):
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*
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* cDc <cdc.seacave@gmail.com>
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*
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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 Affero General Public License as published by
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* the Free Software Foundation, either version 3 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 Affero General Public License for more details.
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*
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* You should have received a copy of the GNU Affero General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*
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* Additional Terms:
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*
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* You are required to preserve legal notices and author attributions in
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* that material or in the Appropriate Legal Notices displayed by works
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* containing it.
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*/
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#ifndef _VIEWER_COMMON_H_
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#define _VIEWER_COMMON_H_
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// I N C L U D E S /////////////////////////////////////////////////
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#include <GL/glew.h>
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#include "../../libs/MVS/Common.h"
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#include "../../libs/MVS/Scene.h"
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#if defined(_MSC_VER)
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#include <gl/GLU.h>
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#elif defined(__APPLE__)
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#include <OpenGL/glu.h>
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#else
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#include <GL/glu.h>
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#endif
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#include <GLFW/glfw3.h>
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// D E F I N E S ///////////////////////////////////////////////////
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// P R O T O T Y P E S /////////////////////////////////////////////
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using namespace SEACAVE;
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namespace VIEWER {
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// the conversion matrix from OpenGL default coordinate system
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// to the camera coordinate system (NADIR orientation):
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// [ 1 0 0 0] * [ x ] = [ x ]
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// 0 -1 0 0 y -y
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// 0 0 -1 0 z -z
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// 0 0 0 1 1 1
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static const Eigen::Matrix4d gs_convert = [] {
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Eigen::Matrix4d tmp; tmp <<
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1, 0, 0, 0,
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0, -1, 0, 0,
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0, 0, -1, 0,
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0, 0, 0, 1;
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return tmp;
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}();
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/// given rotation matrix R and translation vector t,
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/// column-major matrix m is equal to:
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/// [ R11 R12 R13 t.x ]
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/// | R21 R22 R23 t.y |
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/// | R31 R32 R33 t.z |
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/// [ 0.0 0.0 0.0 1.0 ]
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//
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// World to Local
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inline Eigen::Matrix4d TransW2L(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)
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{
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Eigen::Matrix4d m(Eigen::Matrix4d::Identity());
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m.block(0,0,3,3) = R;
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m.block(0,3,3,1) = t;
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return m;
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}
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// Local to World
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// same as above, but with the inverse of the two
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inline Eigen::Matrix4d TransL2W(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)
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{
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Eigen::Matrix4d m(Eigen::Matrix4d::Identity());
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m.block(0,0,3,3) = R.transpose();
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m.block(0,3,3,1) = -t;
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return m;
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}
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/*----------------------------------------------------------------*/
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} // namespace MVS
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#endif // _VIEWER_COMMON_H_
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