495 lines
15 KiB
C++
495 lines
15 KiB
C++
/*****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004-2022 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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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 General Public License as published by *
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* the Free Software Foundation; either version 2 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 General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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#include "shot.h"
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namespace vcg {
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template<class S, class RotationType>
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Shot<S, RotationType>::Shot() : Intrinsics(), Extrinsics()
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{
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Extrinsics.SetIdentity();
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}
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template<class S, class RotationType>
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Shot<S, RotationType>::Shot(const Camera<S>& i, const ReferenceFrame& e) :
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Intrinsics(), Extrinsics()
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{
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Intrinsics = i;
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Extrinsics = e;
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}
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template<class S, class RotationType>
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Shot<S, RotationType>::Shot(const Camera<S>& c) : Intrinsics(), Extrinsics()
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{
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Intrinsics = c;
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Extrinsics.SetIdentity();
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}
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template<class S, class RotationType>
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template<class Q>
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Shot<S, RotationType> Shot<S, RotationType>::Construct(const Shot<Q>& b)
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{
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ReferenceFrame r;
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r.SetRot(Matrix44<S>::Construct(b.Extrinsics.Rot()));
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r.SetTra(Point3<S>::Construct(b.Extrinsics.Tra()));
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return Shot(Camera<S>::Construct(b.Intrinsics), r);
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}
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/**
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* @brief get the i-th axis of the coordinate system of the camera
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*/
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template<class S, class RotationType>
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vcg::Point3<S> Shot<S, RotationType>::Axis(const int& i) const
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{
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vcg::Matrix44<S> m;
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Extrinsics.rot.ToMatrix(m);
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vcg::Point3<S> aa = m.GetRow3(i);
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return aa;
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}
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/**
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* @brief Get the viewdir
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*/
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template<class S, class RotationType>
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const vcg::Point3<S> Shot<S, RotationType>::GetViewDir() const
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{
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return Extrinsics.Rot().GetRow3(2);
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}
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/**
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* @brief Get the viewpoint
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*/
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template<class S, class RotationType>
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const vcg::Point3<S> Shot<S, RotationType>::GetViewPoint() const
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{
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return Extrinsics.tra;
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}
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/**
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* @brief set the viewpoint
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::SetViewPoint(const vcg::Point3<S>& viewpoint)
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{
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Extrinsics.SetTra(viewpoint);
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}
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/**
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* @brief get fov from focal
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*/
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template<class S, class RotationType>
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float Shot<S, RotationType>::GetFovFromFocal() const
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{
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double viewportYMm = Intrinsics.PixelSizeMm[1] * Intrinsics.ViewportPx[1];
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return 2 * (vcg::math::ToDeg(atanf(viewportYMm / (2 * Intrinsics.FocalMm))));
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}
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/**
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* @brief look at (point+up)
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::LookAt(const vcg::Point3<S>& z_dir, const vcg::Point3<S>& up)
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{
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LookTowards(z_dir - GetViewPoint(), up);
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}
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/**
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* @brief look at (opengl-like)
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::LookAt(
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const S& eye_x,
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const S& eye_y,
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const S& eye_z,
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const S& at_x,
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const S& at_y,
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const S& at_z,
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const S& up_x,
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const S& up_y,
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const S& up_z)
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{
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SetViewPoint(Point3<S>(eye_x, eye_y, eye_z));
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LookAt(Point3<S>(at_x, at_y, at_z), Point3<S>(up_x, up_y, up_z));
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}
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/**
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* @brief look towards (dir+up)
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::LookTowards(const vcg::Point3<S>& z_dir, const vcg::Point3<S>& up)
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{
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vcg::Point3<S> x_dir = up ^ -z_dir;
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vcg::Point3<S> y_dir = -z_dir ^ x_dir;
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Matrix44<S> m;
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m.SetIdentity();
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*(vcg::Point3<S>*) &m[0][0] = x_dir / x_dir.Norm();
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*(vcg::Point3<S>*) &m[1][0] = y_dir / y_dir.Norm();
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*(vcg::Point3<S>*) &m[2][0] = -z_dir / z_dir.Norm();
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Extrinsics.rot.FromMatrix(m);
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}
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/**
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* @brief Sometimes the focal is given in pixels. In this case, this function can be used to convert
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* it in millimiters given the CCD width (in mm). This method should be moved in vcg::Camera().
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* Equivalent focal length is obtained by setting the ccd width to 35 mm.
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::ConvertFocalToMM(S ccdwidth)
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{
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double ccd_width = ccdwidth; // ccd is assumed conventionally to be 35mm
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double ccd_height = (ccd_width * Intrinsics.ViewportPx[1]) / Intrinsics.ViewportPx[0];
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Intrinsics.PixelSizeMm[0] = (ccd_width / Intrinsics.ViewportPx[0]);
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Intrinsics.PixelSizeMm[1] = (ccd_height / Intrinsics.ViewportPx[1]);
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Intrinsics.FocalMm =
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(ccd_width * Intrinsics.FocalMm) / Intrinsics.ViewportPx[0]; // NOW FOCAL IS IN MM
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}
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/**
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* @brief Sometimes the 3D World coordinates are known up to a scale factor. This method adjust the
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* camera/shot parameters to account for the re-scaling of the World. If the intrisic parameters are
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* just reasonable values the cameras need only a re-positioning.
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::RescalingWorld(S scalefactor, bool adjustIntrinsics)
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{
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// adjust INTRINSICS (if required)
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if (adjustIntrinsics) {
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Intrinsics.FocalMm = Intrinsics.FocalMm * scalefactor;
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double ccdwidth = static_cast<double>(Intrinsics.ViewportPx[0] * Intrinsics.PixelSizeMm[0]);
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double ccdheight =
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static_cast<double>(Intrinsics.ViewportPx[1] * Intrinsics.PixelSizeMm[1]);
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Intrinsics.PixelSizeMm[0] = (ccdwidth * scalefactor) / Intrinsics.ViewportPx[0];
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Intrinsics.PixelSizeMm[1] = (ccdheight * scalefactor) / Intrinsics.ViewportPx[1];
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}
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// adjust EXTRINSICS
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// rotation remains the same (!)
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// nothing to do..
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// the viewpoint should be modified according to the scale factor
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Extrinsics.tra *= scalefactor;
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}
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/**
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* @brief Given a pure roto-translation matrix (4-by-4) modify the reference frame accordingly.
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::ApplyRigidTransformation(const Matrix44<S>& M)
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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// roto-translate the viewpoint
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Extrinsics.tra = M * Extrinsics.tra;
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Matrix44<S> newRot = rotM * M.transpose();
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newRot[3][0] = newRot[3][1] = newRot[3][2] = 0.0;
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Extrinsics.SetRot(newRot);
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}
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/**
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* @brief Given a similarity transformation modifies the reference frame accordingly.
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::ApplySimilarity(Matrix44<S> M)
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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// normalize
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M = M * (1 / M.ElementAt(3, 3));
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M[3][3] = 1; // just for numeric precision
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// compute scale factor
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ScalarType scalefactor = 1.0 / pow(ScalarType(M.Determinant()), 1 / ScalarType(3.0));
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// roto-translate the viewpoint
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Extrinsics.tra = M * Extrinsics.tra;
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vcg::Matrix44<S> M2 = M;
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M2 = M2 * scalefactor; // remove the scaling
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M2[3][3] = 1.0;
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M2[0][3] = M2[1][3] = M2[2][3] = 0; // remove the translation
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rotM = rotM * M2.transpose();
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Extrinsics.SetRot(rotM);
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}
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/**
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* @brief Given a similarity transformation modifies the reference frame accordingly.
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::ApplySimilarity(const Similarity<S>& Sm)
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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// similarity decomposition
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vcg::Matrix44<S> R;
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Sm.rot.ToMatrix(R);
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vcg::Matrix44<S> T;
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T.SetIdentity();
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T.ElementAt(0, 3) = Sm.tra[0];
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T.ElementAt(1, 3) = Sm.tra[1];
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T.ElementAt(2, 3) = Sm.tra[2];
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vcg::Matrix44d S44;
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S44.SetIdentity();
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S44 *= Sm.sca;
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S44.ElementAt(3, 3) = 1.0;
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vcg::Matrix44<S> M = T * R * S44;
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// roto-translate the viewpoint
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Extrinsics.tra = M * Extrinsics.tra;
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vcg::Matrix44<S> M2 = M;
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M2 = M2 * (1.0 / Sm.sca);
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Extrinsics.rot = rotM * M2.transpose();
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Extrinsics.rot.ElementAt(3, 0) = 0;
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Extrinsics.rot.ElementAt(3, 1) = 0;
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Extrinsics.rot.ElementAt(3, 2) = 0;
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Extrinsics.rot.ElementAt(3, 3) = 1;
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}
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/**
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* @brief Convert a 3d point from world to camera coordinates (do not confuse with the Shot
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* reference frame)
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*/
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template<class S, class RotationType>
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vcg::Point3<S> Shot<S, RotationType>::ConvertWorldToCameraCoordinates(const vcg::Point3<S>& p) const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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vcg::Point3<S> cp = rotM * (p - GetViewPoint());
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cp[2] = -cp[2];
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return cp;
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}
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/**
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* @brief Convert a 3d point from camera coordinates (do not confuse with the Shot reference frame)
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* to world coordinates
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*/
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template<class S, class RotationType>
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vcg::Point3<S> Shot<S, RotationType>::ConvertCameraToWorldCoordinates(const vcg::Point3<S>& p) const
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{
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2] = -cp[2];
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Extrinsics.rot.ToMatrix(rotM);
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cp = rotM.transpose() * cp + GetViewPoint();
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return cp;
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}
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/**
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* @brief Convert a 3d point from camera to world coordinates, uses inverse instead of trranspose
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* for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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*/
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template<class S, class RotationType>
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vcg::Point3<S>
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Shot<S, RotationType>::ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S>& p) const
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{
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2] = -cp[2];
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Extrinsics.rot.ToMatrix(rotM);
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cp = Inverse(rotM) * cp + GetViewPoint();
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return cp;
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}
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/**
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* @brief Project a 3d point from world coordinates to 2d camera viewport (the value returned is in
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* pixel)
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*/
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template<class S, class RotationType>
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vcg::Point2<S> Shot<S, RotationType>::Project(const vcg::Point3<S>& p) const
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{
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Point3<S> cp = ConvertWorldToCameraCoordinates(p);
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Point2<S> pp = Intrinsics.Project(cp);
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Point2<S> vp = Intrinsics.LocalToViewportPx(pp);
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return vp;
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}
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/**
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* @brief Inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it
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* requires the original depth of the point to unproject)
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*/
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template<class S, class RotationType>
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vcg::Point3<S> Shot<S, RotationType>::UnProject(const vcg::Point2<S>& p, const S& d) const
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{
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Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
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Point3<S> cp = Intrinsics.UnProject(lp, d);
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Point3<S> wp = ConvertCameraToWorldCoordinates(cp);
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return wp;
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}
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/**
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* @brief Inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it
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* requires the original depth of the projected point) uses inverse instead of trranspose for
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* non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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*/
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template<class S, class RotationType>
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vcg::Point3<S>
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Shot<S, RotationType>::UnProject_Substitute(const vcg::Point2<S>& p, const S& d) const
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{
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Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
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Point3<S> cp = Intrinsics.UnProject(lp, d);
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Point3<S> wp = ConvertCameraToWorldCoordinates_Substitute(cp);
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return wp;
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}
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/**
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* @brief Returns the distance of point p from camera plane (z depth), required for unprojection
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* operation
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*/
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template<class S, class RotationType>
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S Shot<S, RotationType>::Depth(const vcg::Point3<S>& p) const
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{
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return ConvertWorldToCameraCoordinates(p).Z();
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}
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/**
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* @brief Returns the (4-by-4) matrix M such that 3dpoint_in_world_coordinates = M *
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* 3dpoint_in_local_coordinates
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*/
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template<class S, class RotationType>
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Matrix44<S> Shot<S, RotationType>::GetExtrinsicsToWorldMatrix() const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM.transpose();
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}
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/**
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* @brief Returns the (4-by-4) matrix M such that 3dpoint_in_local_coordinates = M *
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* 3dpoint_in_world_coordinates
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*/
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template<class S, class RotationType>
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Matrix44<S> Shot<S, RotationType>::GetWorldToExtrinsicsMatrix() const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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return rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra);
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}
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/**
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* @brief multiply the current reference frame for the matrix passed
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* note: it is up to the caller to check the the matrix passed is a pure rototranslation
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::MultMatrix(vcg::Matrix44<S> m44)
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{
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Extrinsics.tra = m44 * Extrinsics.tra;
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m44[0][3] = m44[1][3] = m44[2][3] = 0.0; // set no translation
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const S k = m44.GetRow3(0).Norm(); // compute scaling (assumed uniform)
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Extrinsics.rot = Extrinsics.rot * m44.transpose() * (1 / k);
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}
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/**
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* @brief Multiply the current reference frame for the similarity passed
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* note: it is up to the caller to check the the matrix passed is a pure rototranslation
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*/
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template<class S, class RotationType>
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void Shot<S, RotationType>::MultSimilarity(const Similarity<S>& s)
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{
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MultMatrix(s.Matrix());
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}
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template<class S, class RotationType>
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bool Shot<S, RotationType>::IsValid() const
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{
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return Intrinsics.PixelSizeMm[0] > 0 && Intrinsics.PixelSizeMm[1] > 0;
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}
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template<class S, class RotationType>
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bool Shot<S, RotationType>::operator==(const Shot<S, RotationType> &oth) const
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{
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return Intrinsics == oth.Intrinsics && Extrinsics == oth.Extrinsics;
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}
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template<class S, class RotationType>
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bool Shot<S, RotationType>::operator!=(const Shot<S, RotationType> &oth) const
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{
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return !(*this == oth);
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}
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template<class S, class RotationType>
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Shot<S, RotationType>::ReferenceFrame::ReferenceFrame() : rot(), tra()
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{
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}
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template<class S, class RotationType>
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void Shot<S, RotationType>::ReferenceFrame::SetIdentity()
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{
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rot.SetIdentity();
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tra = Point3<S>(0.0, 0.0, 0.0);
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}
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template<class S, class RotationType>
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void vcg::Shot<S, RotationType>::ReferenceFrame::SetTra(const Point3<S> &tr)
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{
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tra = tr;
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}
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template<class S, class RotationType>
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void vcg::Shot<S, RotationType>::ReferenceFrame::SetRot(const RotationType &rt)
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{
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rot = rt;
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}
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template<class S, class RotationType>
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Point3<S> vcg::Shot<S, RotationType>::ReferenceFrame::Tra() const
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{
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return tra;
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}
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template<class S, class RotationType>
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RotationType vcg::Shot<S, RotationType>::ReferenceFrame::Rot() const
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{
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return rot;
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}
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template<class S, class RotationType>
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bool vcg::Shot<S, RotationType>::ReferenceFrame::operator==(
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const Shot<S, RotationType>::ReferenceFrame& oth) const
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{
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return rot == oth.rot && tra == oth.tra;
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}
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template<class S, class RotationType>
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bool vcg::Shot<S, RotationType>::ReferenceFrame::operator!=(
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const Shot<S, RotationType>::ReferenceFrame& oth) const
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{
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return !(*this == oth);
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}
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} // namespace vcg
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