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1 /*M///////////////////////////////////////////////////////////////////////////////////////
2 //
3 //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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5 //  By downloading, copying, installing or using the software you agree to this license.
6 //  If you do not agree to this license, do not download, install,
7 //  copy or use the software.
8 //
9 //
10 //                           License Agreement
11 //                For Open Source Computer Vision Library
12 //
13 // Copyright (C) 2013, OpenCV Foundation, all rights reserved.
14 // Third party copyrights are property of their respective owners.
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16 // Redistribution and use in source and binary forms, with or without modification,
17 // are permitted provided that the following conditions are met:
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19 //   * Redistribution's of source code must retain the above copyright notice,
20 //     this list of conditions and the following disclaimer.
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40 // Authors:
41 //  * Ozan Tonkal, ozantonkal@gmail.com
42 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
43 //
44 //M*/
45 
46 #include "precomp.hpp"
47 
48 ////////////////////////////////////////////////////////////////////
49 /// Events
50 
KeyboardEvent(Action _action,const String & _symbol,unsigned char _code,int _modifiers)51 cv::viz::KeyboardEvent::KeyboardEvent(Action _action, const String& _symbol, unsigned char _code, int _modifiers)
52   : action(_action), symbol(_symbol), code(_code), modifiers(_modifiers) {}
53 
MouseEvent(const Type & _type,const MouseButton & _button,const Point & _pointer,int _modifiers)54 cv::viz::MouseEvent::MouseEvent(const Type& _type, const MouseButton& _button, const Point& _pointer, int _modifiers)
55     : type(_type), button(_button), pointer(_pointer), modifiers(_modifiers) {}
56 
57 ////////////////////////////////////////////////////////////////////
58 /// cv::viz::Mesh3d
59 
load(const String & file)60 cv::viz::Mesh cv::viz::Mesh::load(const String& file)
61 {
62     vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
63     reader->SetFileName(file.c_str());
64     reader->Update();
65 
66     vtkSmartPointer<vtkPolyData> polydata = reader->GetOutput();
67     CV_Assert("File does not exist or file format is not supported." && polydata);
68 
69     Mesh mesh;
70     vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
71     sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
72     sink->SetInputConnection(reader->GetOutputPort());
73     sink->Write();
74 
75     // Now handle the polygons
76     vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys();
77     mesh.polygons.create(1, polygons->GetSize(), CV_32SC1);
78     int* poly_ptr = mesh.polygons.ptr<int>();
79 
80     polygons->InitTraversal();
81     vtkIdType nr_cell_points, *cell_points;
82     while (polygons->GetNextCell(nr_cell_points, cell_points))
83     {
84         *poly_ptr++ = nr_cell_points;
85         for (vtkIdType i = 0; i < nr_cell_points; ++i)
86             *poly_ptr++ = (int)cell_points[i];
87     }
88 
89     return mesh;
90 }
91 
92 ////////////////////////////////////////////////////////////////////
93 /// Camera implementation
94 
Camera(double fx,double fy,double cx,double cy,const Size & window_size)95 cv::viz::Camera::Camera(double fx, double fy, double cx, double cy, const Size &window_size)
96 {
97     init(fx, fy, cx, cy, window_size);
98 }
99 
Camera(const Vec2d & fov,const Size & window_size)100 cv::viz::Camera::Camera(const Vec2d &fov, const Size &window_size)
101 {
102     CV_Assert(window_size.width > 0 && window_size.height > 0);
103     setClip(Vec2d(0.01, 1000.01)); // Default clipping
104     setFov(fov);
105     window_size_ = window_size;
106     // Principal point at the center
107     principal_point_ = Vec2f(static_cast<float>(window_size.width)*0.5f, static_cast<float>(window_size.height)*0.5f);
108     focal_ = Vec2f(principal_point_[0] / tan(fov_[0]*0.5f), principal_point_[1] / tan(fov_[1]*0.5f));
109 }
110 
Camera(const cv::Matx33d & K,const Size & window_size)111 cv::viz::Camera::Camera(const cv::Matx33d & K, const Size &window_size)
112 {
113     double f_x = K(0,0);
114     double f_y = K(1,1);
115     double c_x = K(0,2);
116     double c_y = K(1,2);
117     init(f_x, f_y, c_x, c_y, window_size);
118 }
119 
Camera(const Matx44d & proj,const Size & window_size)120 cv::viz::Camera::Camera(const Matx44d &proj, const Size &window_size)
121 {
122     CV_Assert(window_size.width > 0 && window_size.height > 0);
123 
124     double near = proj(2,3) / (proj(2,2) - 1.0);
125     double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
126     double left = near * (proj(0,2)-1) / proj(0,0);
127     double right = 2.0 * near / proj(0,0) + left;
128     double bottom = near * (proj(1,2)-1) / proj(1,1);
129     double top = 2.0 * near / proj(1,1) + bottom;
130 
131     double epsilon = 2.2204460492503131e-16;
132 
133     principal_point_[0] = fabs(left-right) < epsilon ? window_size.width  * 0.5 : (left * window_size.width) / (left - right);
134     principal_point_[1] = fabs(top-bottom) < epsilon ? window_size.height * 0.5 : (top * window_size.height) / (top - bottom);
135 
136     focal_[0] = -near * principal_point_[0] / left;
137     focal_[1] =  near * principal_point_[1] / top;
138 
139     setClip(Vec2d(near, far));
140     fov_[0] = atan2(principal_point_[0], focal_[0]) + atan2(window_size.width-principal_point_[0],  focal_[0]);
141     fov_[1] = atan2(principal_point_[1], focal_[1]) + atan2(window_size.height-principal_point_[1], focal_[1]);
142 
143     window_size_ = window_size;
144 }
145 
init(double fx,double fy,double cx,double cy,const Size & window_size)146 void cv::viz::Camera::init(double fx, double fy, double cx, double cy, const Size &window_size)
147 {
148     CV_Assert(window_size.width > 0 && window_size.height > 0);
149     setClip(Vec2d(0.01, 1000.01));// Default clipping
150 
151     fov_[0] = atan2(cx, fx) + atan2(window_size.width  - cx, fx);
152     fov_[1] = atan2(cy, fy) + atan2(window_size.height - cy, fy);
153 
154     principal_point_[0] = cx;
155     principal_point_[1] = cy;
156 
157     focal_[0] = fx;
158     focal_[1] = fy;
159 
160     window_size_ = window_size;
161 }
162 
setWindowSize(const Size & window_size)163 void cv::viz::Camera::setWindowSize(const Size &window_size)
164 {
165     CV_Assert(window_size.width > 0 && window_size.height > 0);
166 
167     // Get the scale factor and update the principal points
168     float scalex = static_cast<float>(window_size.width) / static_cast<float>(window_size_.width);
169     float scaley = static_cast<float>(window_size.height) / static_cast<float>(window_size_.height);
170 
171     principal_point_[0] *= scalex;
172     principal_point_[1] *= scaley;
173     focal_ *= scaley;
174     // Vertical field of view is fixed!  Update horizontal field of view
175     fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
176 
177     window_size_ = window_size;
178 }
179 
computeProjectionMatrix(Matx44d & proj) const180 void cv::viz::Camera::computeProjectionMatrix(Matx44d &proj) const
181 {
182     double top = clip_[0] * principal_point_[1] / focal_[1];
183     double left = -clip_[0] * principal_point_[0] / focal_[0];
184     double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0];
185     double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1];
186 
187     double temp1 = 2.0 * clip_[0];
188     double temp2 = 1.0 / (right - left);
189     double temp3 = 1.0 / (top - bottom);
190     double temp4 = 1.0 / (clip_[0] - clip_[1]);
191 
192     proj = Matx44d::zeros();
193     proj(0,0) = temp1 * temp2;
194     proj(1,1) = temp1 * temp3;
195     proj(0,2) = (right + left) * temp2;
196     proj(1,2) = (top + bottom) * temp3;
197     proj(2,2) = (clip_[1]+clip_[0]) * temp4;
198     proj(3,2) = -1.0;
199     proj(2,3) = (temp1 * clip_[1]) * temp4;
200 }
201 
KinectCamera(const Size & window_size)202 cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
203 {
204     Matx33d K(525.0, 0.0, 320.0, 0.0, 525.0, 240.0, 0.0, 0.0, 1.0);
205     return Camera(K, window_size);
206 }
207