types.cpp

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#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, int type)
{
    vtkSmartPointer<vtkPolyDataAlgorithm> reader = vtkSmartPointer<vtkPolyDataAlgorithm>::New();
    switch (type) {
      case LOAD_AUTO:
      {
        CV_Error(Error::StsError, "cv::viz::Mesh::LOAD_AUTO: Not implemented yet");
      }
      case LOAD_PLY:
      {
        vtkSmartPointer<vtkPLYReader> ply_reader = vtkSmartPointer<vtkPLYReader>::New();
        ply_reader->SetFileName(file.c_str());
        ply_reader->Update();
        reader = ply_reader;
        break;
      }
      case LOAD_OBJ:
      {
        vtkSmartPointer<vtkOBJReader> obj_reader = vtkSmartPointer<vtkOBJReader>::New();
        obj_reader->SetFileName(file.c_str());
        obj_reader->Update();
        reader = obj_reader;
        break;
      }
      default:
        CV_Error(Error::StsError, "cv::viz::Mesh::load: Unknown file type");
    }

    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);
}