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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
//M*/
#include "precomp.hpp"
////////////////////////////////////////////////////////////////////
/// Events
cv::viz::KeyboardEvent::KeyboardEvent(Action _action, const String& _symbol, unsigned char _code, int _modifiers)
: action(_action), symbol(_symbol), code(_code), modifiers(_modifiers) {}
cv::viz::MouseEvent::MouseEvent(const Type& _type, const MouseButton& _button, const Point& _pointer, int _modifiers)
: type(_type), button(_button), pointer(_pointer), modifiers(_modifiers) {}
////////////////////////////////////////////////////////////////////
/// cv::viz::Mesh3d
cv::viz::Mesh cv::viz::Mesh::load(const String& file)
{
vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
reader->SetFileName(file.c_str());
reader->Update();
vtkSmartPointer<vtkPolyData> polydata = reader->GetOutput();
CV_Assert("File does not exist or file format is not supported." && polydata);
Mesh mesh;
vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
sink->SetInputConnection(reader->GetOutputPort());
sink->Write();
// Now handle the polygons
vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys();
mesh.polygons.create(1, polygons->GetSize(), CV_32SC1);
int* poly_ptr = mesh.polygons.ptr<int>();
polygons->InitTraversal();
vtkIdType nr_cell_points, *cell_points;
while (polygons->GetNextCell(nr_cell_points, cell_points))
{
*poly_ptr++ = nr_cell_points;
for (vtkIdType i = 0; i < nr_cell_points; ++i)
*poly_ptr++ = (int)cell_points[i];
}
return mesh;
}
////////////////////////////////////////////////////////////////////
/// Camera implementation
cv::viz::Camera::Camera(double fx, double fy, double cx, double cy, const Size &window_size)
{
init(fx, fy, cx, cy, window_size);
}
cv::viz::Camera::Camera(const Vec2d &fov, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01)); // Default clipping
setFov(fov);
window_size_ = window_size;
// Principal point at the center
principal_point_ = Vec2f(static_cast<float>(window_size.width)*0.5f, static_cast<float>(window_size.height)*0.5f);
focal_ = Vec2f(principal_point_[0] / tan(fov_[0]*0.5f), principal_point_[1] / tan(fov_[1]*0.5f));
}
cv::viz::Camera::Camera(const cv::Matx33d & K, const Size &window_size)
{
double f_x = K(0,0);
double f_y = K(1,1);
double c_x = K(0,2);
double c_y = K(1,2);
init(f_x, f_y, c_x, c_y, window_size);
}
cv::viz::Camera::Camera(const Matx44d &proj, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
double near = proj(2,3) / (proj(2,2) - 1.0);
double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
double left = near * (proj(0,2)-1) / proj(0,0);
double right = 2.0 * near / proj(0,0) + left;
double bottom = near * (proj(1,2)-1) / proj(1,1);
double top = 2.0 * near / proj(1,1) + bottom;
double epsilon = 2.2204460492503131e-16;
principal_point_[0] = fabs(left-right) < epsilon ? window_size.width * 0.5 : (left * window_size.width) / (left - right);
principal_point_[1] = fabs(top-bottom) < epsilon ? window_size.height * 0.5 : (top * window_size.height) / (top - bottom);
focal_[0] = -near * principal_point_[0] / left;
focal_[1] = near * principal_point_[1] / top;
setClip(Vec2d(near, far));
fov_[0] = atan2(principal_point_[0], focal_[0]) + atan2(window_size.width-principal_point_[0], focal_[0]);
fov_[1] = atan2(principal_point_[1], focal_[1]) + atan2(window_size.height-principal_point_[1], focal_[1]);
window_size_ = window_size;
}
void cv::viz::Camera::init(double fx, double fy, double cx, double cy, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01));// Default clipping
fov_[0] = atan2(cx, fx) + atan2(window_size.width - cx, fx);
fov_[1] = atan2(cy, fy) + atan2(window_size.height - cy, fy);
principal_point_[0] = cx;
principal_point_[1] = cy;
focal_[0] = fx;
focal_[1] = fy;
window_size_ = window_size;
}
void cv::viz::Camera::setWindowSize(const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
// Get the scale factor and update the principal points
float scalex = static_cast<float>(window_size.width) / static_cast<float>(window_size_.width);
float scaley = static_cast<float>(window_size.height) / static_cast<float>(window_size_.height);
principal_point_[0] *= scalex;
principal_point_[1] *= scaley;
focal_ *= scaley;
// Vertical field of view is fixed! Update horizontal field of view
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
window_size_ = window_size;
}
void cv::viz::Camera::computeProjectionMatrix(Matx44d &proj) const
{
double top = clip_[0] * principal_point_[1] / focal_[1];
double left = -clip_[0] * principal_point_[0] / focal_[0];
double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0];
double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1];
double temp1 = 2.0 * clip_[0];
double temp2 = 1.0 / (right - left);
double temp3 = 1.0 / (top - bottom);
double temp4 = 1.0 / (clip_[0] - clip_[1]);
proj = Matx44d::zeros();
proj(0,0) = temp1 * temp2;
proj(1,1) = temp1 * temp3;
proj(0,2) = (right + left) * temp2;
proj(1,2) = (top + bottom) * temp3;
proj(2,2) = (clip_[1]+clip_[0]) * temp4;
proj(3,2) = -1.0;
proj(2,3) = (temp1 * clip_[1]) * temp4;
}
cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
{
Matx33d K(525.0, 0.0, 320.0, 0.0, 525.0, 240.0, 0.0, 0.0, 1.0);
return Camera(K, window_size);
}
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