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https://github.com/lucaspalomodevelop/meshlab.git
synced 2026-03-17 18:14:38 +00:00
resolved problems about trackball and communicating views
This commit is contained in:
Michele Sottile sottile
parent
9caaa26108
commit
82e9ae3135
@ -625,10 +625,6 @@ void GLArea::sendShot()
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double viewportYMm=shot.Intrinsics.PixelSizeMm[1]*shot.Intrinsics.ViewportPx[1];
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shot.Intrinsics.FocalMm = viewportYMm/(2*tanf(vcg::math::ToRad(fov/2)));
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//The new shot doesn't have to introduce a translation from the center
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Point3f center = meshDoc->bbox().Center();
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trackball.track.tra += center;
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// This parameter is the one that controls:
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// HOW LARGE IS THE TRACKBALL ICON ON THE SCREEN.
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float viewRatio = 1.75f;
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@ -643,23 +639,21 @@ void GLArea::sendShot()
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Shot newShot = getShotFromTrack2(shot, &trackball);
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trackball.track.tra -= center;
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////Expressing scaling as a translation along z
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////k is the ratio between default scale and new scale
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//double oldScale= 3.0f/meshDoc->bbox().Diag();
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//double k= oldScale/trackball.track.sca;
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//Expressing scaling as a translation along z
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//k is the ratio between default scale and new scale
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double oldScale= 3.0f/meshDoc->bbox().Diag();
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double k= oldScale/trackball.track.sca;
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// //Apply this formula
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//// R(t+p) = kR'(t'+p) forall p, R=R', k is a costant
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//// R(t)= kR(t')
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//// t = k*t'
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//Point3d t1 = newShot.Extrinsics.Tra();
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//
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//Matrix44d rapM = Matrix44d().SetScale(k, k, k);
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//Point3d t0 = rapM*t1;
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//Apply this formula
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// R(t+p) = kR'(t'+p) forall p, R=R', k is a costant
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// R(t)= kR(t')
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// t = k*t'
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Point3d t1 = newShot.Extrinsics.Tra();
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Matrix44d rapM = Matrix44d().SetScale(k, k, k);
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Point3d t0 = rapM*t1;
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newShot.Extrinsics.SetTra(t0);
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//newShot.Extrinsics.SetTra(t0);
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mvc->updateTrackballInViewers(newShot);
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}
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@ -1212,29 +1206,29 @@ void GLArea::loadShot(){
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//Shot test
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Shot shot;
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initializeShot(shot);
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//initializeShot(shot);
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////oppure lo leggi da file-------------------------------------------------------
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//readShotFromFile(shot);
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////resize viewport
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//int w = shot.Intrinsics.ViewportPx[0];
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//int h = shot.Intrinsics.ViewportPx[1];
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//oppure lo leggi da file-------------------------------------------------------
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readShotFromFile(shot);
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//resize viewport
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int w = shot.Intrinsics.ViewportPx[0];
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int h = shot.Intrinsics.ViewportPx[1];
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//if(w > width()) {
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// h = h*width()/w;
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// w = width();
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//}
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//if(h > height()) {
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// w = w*height()/h;
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// h = height();
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//}
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//shot.Intrinsics.DistorCenterPx[0]=w/2;
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// shot.Intrinsics.DistorCenterPx[1]=h/2;
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// shot.Intrinsics.CenterPx[0]=w/2;
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// shot.Intrinsics.CenterPx[1]=h/2;
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// shot.Intrinsics.ViewportPx[0]=w;
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// shot.Intrinsics.ViewportPx[1]=h;
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////-----------------------------------------------------------------------------------------
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/*if(w > width()) {
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h = h*width()/w;
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w = width();
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}
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if(h > height()) {
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w = w*height()/h;
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h = height();
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}*/
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shot.Intrinsics.DistorCenterPx[0]=w/2;
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shot.Intrinsics.DistorCenterPx[1]=h/2;
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shot.Intrinsics.CenterPx[0]=w/2;
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shot.Intrinsics.CenterPx[1]=h/2;
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shot.Intrinsics.ViewportPx[0]=w;
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shot.Intrinsics.ViewportPx[1]=h;
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//-----------------------------------------------------------------------------------------
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// This parameter is the one that controls:
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// HOW LARGE IS THE TRACKBALL ICON ON THE SCREEN.
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@ -1242,7 +1236,7 @@ void GLArea::loadShot(){
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float cameraDist = viewRatio / tanf(vcg::math::ToRad(fov*.5f));
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//Esempi di shot di ingresso
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shot.Extrinsics.SetTra(Point3d(0, 0, cameraDist*2));
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//shot.Extrinsics.SetTra(Point3d(0, 0, cameraDist*2));
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/*vcg::Matrix44d rot;
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rot.Identity();
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rot.SetRotateDeg(90,Point3<double>(0,1,0));
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@ -1265,23 +1259,20 @@ void GLArea::loadShot(const Shot &shot_){
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// HOW LARGE IS THE TRACKBALL ICON ON THE SCREEN.
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float viewRatio = 1.75f;
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float cameraDist = viewRatio / tanf(vcg::math::ToRad(fov*.5f));
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//correct the translation introduced by gluLookAt() (0,0,cameraDist)---------------------------------------
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//T(gl)*S*R*T(t) => SR(gl+t) => S R (S^(-1)R^(-1)gl + t)
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//To compensate S^(-1)R^(-1)gl we add to t S^(-1) R^(-1)(-gl)
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//Shot doesn't introduce scaling
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shot.Extrinsics.SetTra(shot.Extrinsics.Tra() + (Inverse(shot.Extrinsics.Rot())*Point3d(0, 0, -cameraDist)));
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//reset trackball. The point of view must be set only by the shot
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trackball.Reset();
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float newScale= 3.0f/meshDoc->bbox().Diag();
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trackball.track.sca = newScale;
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trackball.track.tra = -meshDoc->bbox().Center();
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//trackball.track.tra = -meshDoc->bbox().Center();
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Point3f point = meshDoc->bbox().Center();
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Point3f p1 = ((trackball.track.Matrix()*(point-trackball.center))- Point3f(0,0,cameraDist));
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Shot2Track(shot, cameraDist,trackball);
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//Shot test;
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//getShotFromTrack2(shot, &trackball);
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//Expressing the translation along Z with a scale factor k
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Point3f p2 = ((trackball.track.Matrix()*(point-trackball.center))- Point3f(0,0,cameraDist));
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@ -1305,7 +1296,7 @@ void GLArea::loadShot(const Shot &shot_){
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Point3f t1 = rapM*Inverse(s1)*s0*tra + rapM2*Inverse(s1)*Inverse(r)*Point3f(0,0,cameraDist);
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trackball.track.sca =sca;
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trackball.track.tra =t1;
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trackball.track.tra =t1 /*+ tb.track.rot.Inverse().Rotate(glLookAt)*/ ;
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//Test on trackball
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/*Matrix44f s_inv = Matrix44f().SetScale(1/trackball.track.sca, 1/trackball.track.sca, 1/trackball.track.sca);
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@ -1320,3 +1311,72 @@ void GLArea::loadShot(const Shot &shot_){
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updateGL();
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}
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//void GLArea::loadShot(const Shot &shot_){
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//
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// Shot shot = shot_;
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//
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// double viewportYMm=shot.Intrinsics.PixelSizeMm[1]*shot.Intrinsics.ViewportPx[1];
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// fov = 2*(vcg::math::ToDeg(atanf(viewportYMm/(2*shot.Intrinsics.FocalMm))));
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// /*fov=60;
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// float focal = viewportYMm/(2*tanf(vcg::math::ToRad(fov/2)));*/
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//
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// // This parameter is the one that controls:
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// // HOW LARGE IS THE TRACKBALL ICON ON THE SCREEN.
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// float viewRatio = 1.75f;
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// float cameraDist = viewRatio / tanf(vcg::math::ToRad(fov*.5f));
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//
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// //correct the translation introduced by gluLookAt() (0,0,cameraDist)---------------------------------------
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// //T(gl)*S*R*T(t) => SR(t)+ gl => S R (S^(-1)R^(-1)gl + t)
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// //To compensate S^(-1)R^(-1)gl we add to t S^(-1) R^(-1)(-gl)
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// //Shot doesn't introduce scaling
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// shot.Extrinsics.SetTra(shot.Extrinsics.Tra() + (Inverse(shot.Extrinsics.Rot())*Point3d(0, 0, -cameraDist)));
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//
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// //reset trackball. The point of view must be set only by the shot
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// trackball.Reset();
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// float newScale= 3.0f/meshDoc->bbox().Diag();
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// trackball.track.sca = newScale;
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// //trackball.track.tra = -meshDoc->bbox().Center();
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//
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// Point3f point = meshDoc->bbox().Center();
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// Point3f p1 = ((trackball.track.Matrix()*(point-trackball.center))- Point3f(0,0,cameraDist));
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// Shot2Track(shot, cameraDist,trackball);
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//
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// //Expressing the translation along Z with a scale factor k
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// Point3f p2 = ((trackball.track.Matrix()*(point-trackball.center))- Point3f(0,0,cameraDist));
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//
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// //k is the ratio between the distances along z of two correspondent points (before and after the traslazion)
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// //from the point of view
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// float k= abs(p2.Z()/p1.Z());
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//
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// float sca= trackball.track.sca/k;
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// Point3f tra = trackball.track.tra;
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//
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// // Apply this formula:
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// // SR(t+p) -v = k[S'R'(t'+p) -v] forall p, R=R', k is a costant
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// // SR(t) -v = k[S'R(t') -v]
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// // t' = 1/k* S'^-1St + (k-1)/k S'^-1*R^-1v
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// Matrix44f s0 = Matrix44f().SetScale(trackball.track.sca,trackball.track.sca, trackball.track.sca);
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// Matrix44f s1 = Matrix44f().SetScale(sca, sca, sca);
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// Matrix44f r;
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// trackball.track.rot.ToMatrix(r);
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// Matrix44f rapM = Matrix44f().SetScale(1/k, 1/k, 1/k);
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// Matrix44f rapM2 = Matrix44f().SetScale(1-1/k, 1-1/k, 1-1/k);
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// Point3f t1 = rapM*Inverse(s1)*s0*tra + rapM2*Inverse(s1)*Inverse(r)*Point3f(0,0,cameraDist);
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//
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// trackball.track.sca =sca;
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// trackball.track.tra =t1;
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//
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// //Test on trackball
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// /*Matrix44f s_inv = Matrix44f().SetScale(1/trackball.track.sca, 1/trackball.track.sca, 1/trackball.track.sca);
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// vcg::Matrix44f rot_inv;
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// Inverse(trackball.track.rot).ToMatrix(rot_inv);
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//
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// Shot2Track(shot, cameraDist,trackball);
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//
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// trackball.track.tra += s_inv*rot_inv*Point3f(0, 0, cameraDist);*/
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//
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// //Shot2Track(shot, cameraDist,trackball);
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//
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// updateGL();
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//}
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@ -429,7 +429,7 @@ private:
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vcg::Matrix44d imodel = model;
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vcg::Transpose(imodel);
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tra = -(imodel*tra);
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//tra *= idet; //SOTTILE
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tra *= idet;
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view.Extrinsics.SetTra(vcg::Point3<T>::Construct(tra));
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//use same current intrinsics
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@ -439,27 +439,90 @@ private:
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}
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/*
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Given a Shot "from", and a trackball "tb" replaces "tb" with a trackball "tb'" such that:
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"from" o "tb" = "tb'"
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TBD
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*/
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template <class T>
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void Shot2Track(const vcg::Shot<T> &from, const float cameraDist, vcg::Trackball &tb){
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Shot id;
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vcg::Quaterniond qto; qto.FromMatrix(id.Extrinsics.Rot());
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vcg::Quaterniond qfrom; qfrom.FromMatrix(from.Extrinsics.Rot());
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/*float sca=tb.track.sca;
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tb.track.sca=1;*/
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tb.track.tra += ( tb.track.rot.Inverse().Rotate( vcg::Point3f::Construct(-from.Extrinsics.Tra()) + tb.center ) ) / tb.track.sca;
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tb.track.rot = vcg::Quaternionf::Construct(qto.Inverse() * qfrom) * tb.track.rot;
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tb.track.tra -= ( tb.track.rot.Inverse().Rotate( vcg::Point3f::Construct(- id.Extrinsics.Tra()) + tb.center ) ) / tb.track.sca;
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Matrix44f rotFrom;
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from.Extrinsics.Rot().ToMatrix(rotFrom);
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Point3f oldC= meshDoc->bbox().Center();
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Point3f p1 = rotFrom*(vcg::Point3f::Construct(from.Extrinsics.Tra())/*+(oldC)*/);
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//Expressing the translation along Z with a scale factor k
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Point3f p2 = (/*(tb.track.Matrix()*(oldC))- */Point3f(0,0,cameraDist));
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//k is the ratio between the distances along z of two correspondent points (before and after the traslation)
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//from the point of view
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float k= abs(p2.Z()/p1.Z());
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trackball.track.sca =k;
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Point3f glLookAt = Point3f(0,0,-cameraDist);
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tb.track.rot = vcg::Quaternionf::Construct(qfrom);
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Point3d fromTra = from.Extrinsics.Tra();
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Point3d fromTraSca = from.Extrinsics.Tra()* tb.track.sca;
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Point3f fromTraScaRot = tb.track.rot.Rotate(vcg::Point3f::Construct(from.Extrinsics.Tra())* tb.track.sca);
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Point3f glLookAtRot = tb.track.rot.Rotate(glLookAt);
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tb.track.tra = (vcg::Point3f::Construct(-from.Extrinsics.Tra()) /*- tb.track.rot.Inverse().Rotate(glLookAt)*/);
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tb.track.tra += vcg::Point3f::Construct(tb.track.rot.Inverse().Rotate(Point3f(0,0,cameraDist)))*(1/tb.track.sca /*-tb.track.sca*/);
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//tb.track.tra += (vcg::Point3f::Construct(from.Extrinsics.Tra())* tb.track.sca - tb.track.rot.Inverse().Rotate(glLookAt));
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//tb.track.tra = Point3f(0,0,0);
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//aggiustare sca e tra per mettere il centro della trackball al punto giusto
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// per ora fatto fuori
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//tb.track.tra *= tb.track.sca;
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}
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};
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//
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///*
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// Given a Shot "from", and a trackball "tb" replaces "tb" with a trackball "tb'" such that:
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// "from" o "tb" = "id" o "tb'" where "id" is a shot with identic rot e no traslation
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// */
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// template <class T>
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// void Shot2Track(const vcg::Shot<T> &from, const float cameraDist, vcg::Trackball &tb){
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// Shot id;
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//
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// vcg::Quaterniond qto; qto.FromMatrix(id.Extrinsics.Rot());
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// vcg::Quaterniond qfrom; qfrom.FromMatrix(from.Extrinsics.Rot());
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//
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// Point3f oldC= meshDoc->bbox().Center();
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//
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// Matrix44f rotFrom;
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// from.Extrinsics.Rot().ToMatrix(rotFrom);
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//
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// Point3f p1 = rotFrom*(vcg::Point3f::Construct(from.Extrinsics.Tra())+(oldC));
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//
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// //Expressing the translation along Z with a scale factor k
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// Point3f p2 = ((tb.track.Matrix()*(oldC))- Point3f(0,0,cameraDist));
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//
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// //k is the ratio between the distances along z of two correspondent points (before and after the traslation)
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// //from the point of view
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// float k= abs(p2.Z()/p1.Z());
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//
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// trackball.track.sca /=k;
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//
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// /*float sca=tb.track.sca;
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// tb.track.sca=1;*/
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// tb.track.tra = (-oldC)/*/trackball.track.sca*/;
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// tb.track.tra += ( tb.track.rot.Inverse().Rotate( vcg::Point3f::Construct(-from.Extrinsics.Tra()) + oldC ) )/*/ tb.track.sca*/ ;
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// tb.track.rot = vcg::Quaternionf::Construct(qto.Inverse() * qfrom) * tb.track.rot;
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// tb.track.tra -= ( tb.track.rot.Inverse().Rotate( vcg::Point3f::Construct(- id.Extrinsics.Tra()) + tb.center ) )/ tb.track.sca;
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//
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// //aggiustare sca e tra per mettere il centro della trackball al punto giusto
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// // per ora fatto fuori
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// //tb.track.tra *= tb.track.sca;
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// }
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//};
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#endif
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