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104 lines
2.7 KiB
104 lines
2.7 KiB
/* |
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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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