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remove common.cpp, remove commented code in common.h
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ozantonkal
Ozan Tonkal
parent
ffbb5e9524
commit
2705113bc4
@ -1,265 +0,0 @@
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#include <common.h>
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#include <cstdlib>
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#include <opencv2/viz/types.hpp>
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#include "viz3d_impl.hpp"
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///////////////////////////////////////////////////////////////////////////////////////////////
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//Eigen::Vector2i cv::viz::worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height)
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//{
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// // Transform world to clipping coordinates
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// Eigen::Vector4d world (view_projection_matrix * world_pt);
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// // Normalize w-component
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// world /= world.w ();
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// // X/Y screen space coordinate
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// int screen_x = int (floor (double (((world.x () + 1) / 2.0) * width) + 0.5));
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// int screen_y = int (floor (double (((world.y () + 1) / 2.0) * height) + 0.5));
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// // Calculate -world_pt.y () because the screen Y axis is oriented top->down, ie 0 is top-left
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// //int winY = (int) floor ( (double) (((1 - world_pt.y ()) / 2.0) * height) + 0.5); // top left
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// return (Eigen::Vector2i (screen_x, screen_y));
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//}
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/////////////////////////////////////////////////////////////////////////////////////////////
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//void cv::viz::getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24])
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//{
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// // Set up the normals
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// Eigen::Vector4d normals[6];
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// for (int i=0; i < 6; i++)
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// {
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// normals[i] = Eigen::Vector4d (0.0, 0.0, 0.0, 1.0);
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// // if i is even set to -1, if odd set to +1
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// normals[i] (i/2) = 1 - (i%2)*2;
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// }
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// // Transpose the matrix for use with normals
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// Eigen::Matrix4d view_matrix = view_projection_matrix.transpose ();
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// // Transform the normals to world coordinates
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// for (int i=0; i < 6; i++)
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// {
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// normals[i] = view_matrix * normals[i];
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// double f = 1.0/sqrt (normals[i].x () * normals[i].x () +
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// normals[i].y () * normals[i].y () +
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// normals[i].z () * normals[i].z ());
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// planes[4*i + 0] = normals[i].x ()*f;
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// planes[4*i + 1] = normals[i].y ()*f;
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// planes[4*i + 2] = normals[i].z ()*f;
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// planes[4*i + 3] = normals[i].w ()*f;
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// }
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//}
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//int cv::viz::cullFrustum (double frustum[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)
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//{
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// int result = PCL_INSIDE_FRUSTUM;
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// for(int i =0; i < 6; i++){
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// double a = frustum[(i*4)];
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// double b = frustum[(i*4)+1];
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// double c = frustum[(i*4)+2];
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// double d = frustum[(i*4)+3];
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// //cout << i << ": " << a << "x + " << b << "y + " << c << "z + " << d << endl;
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// // Basic VFC algorithm
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// Eigen::Vector3d center ((max_bb.x () - min_bb.x ()) / 2 + min_bb.x (),
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// (max_bb.y () - min_bb.y ()) / 2 + min_bb.y (),
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// (max_bb.z () - min_bb.z ()) / 2 + min_bb.z ());
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// Eigen::Vector3d radius (fabs (static_cast<double> (max_bb.x () - center.x ())),
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// fabs (static_cast<double> (max_bb.y () - center.y ())),
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// fabs (static_cast<double> (max_bb.z () - center.z ())));
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// double m = (center.x () * a) + (center.y () * b) + (center.z () * c) + d;
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// double n = (radius.x () * fabs(a)) + (radius.y () * fabs(b)) + (radius.z () * fabs(c));
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// if (m + n < 0){
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// result = PCL_OUTSIDE_FRUSTUM;
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// break;
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// }
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// if (m - n < 0)
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// {
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// result = PCL_INTERSECT_FRUSTUM;
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// }
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// }
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// return result;
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//}
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//void
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//cv::viz::getModelViewPosition (Eigen::Matrix4d model_view_matrix, Eigen::Vector3d &position)
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//{
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// //Compute eye or position from model view matrix
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// Eigen::Matrix4d inverse_model_view_matrix = model_view_matrix.inverse();
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// for (int i=0; i < 3; i++)
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// {
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// position(i) = inverse_model_view_matrix(i, 3);
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// }
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//}
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// Lookup table of max 6 bounding box vertices, followed by number of vertices, ie {v0, v1, v2, v3, v4, v5, nv}
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//
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// 3--------2
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// /| /| Y 0 = xmin, ymin, zmin
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// / | / | | 6 = xmax, ymax. zmax
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// 7--------6 | |
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// | | | | |
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// | 0-----|--1 +------X
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// | / | / /
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// |/ |/ /
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// 4--------5 Z
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int hull_vertex_table[43][7] = {
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{ 0, 0, 0, 0, 0, 0, 0 }, // inside
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{ 0, 4, 7, 3, 0, 0, 4 }, // left
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{ 1, 2, 6, 5, 0, 0, 4 }, // right
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 1, 5, 4, 0, 0, 4 }, // bottom
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{ 0, 1, 5, 4, 7, 3, 6 }, // bottom, left
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{ 0, 1, 2, 6, 5, 4, 6 }, // bottom, right
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 2, 3, 7, 6, 0, 0, 4 }, // top
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{ 4, 7, 6, 2, 3, 0, 6 }, // top, left
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{ 2, 3, 7, 6, 5, 1, 6 }, // top, right
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 3, 2, 1, 0, 0, 4 }, // front
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{ 0, 4, 7, 3, 2, 1, 6 }, // front, left
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{ 0, 3, 2, 6, 5, 1, 6 }, // front, right
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 3, 2, 1, 5, 4, 6 }, // front, bottom
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{ 2, 1, 5, 4, 7, 3, 6 }, // front, bottom, left
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{ 0, 3, 2, 6, 5, 4, 6 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 3, 7, 6, 2, 1, 6 }, // front, top
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{ 0, 4, 7, 6, 2, 1, 6 }, // front, top, left
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{ 0, 3, 7, 6, 5, 1, 6 }, // front, top, right
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 4, 5, 6, 7, 0, 0, 4 }, // back
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{ 4, 5, 6, 7, 3, 0, 6 }, // back, left
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{ 1, 2, 6, 7, 4, 5, 6 }, // back, right
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 0, 1, 5, 6, 7, 4, 6 }, // back, bottom
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{ 0, 1, 5, 6, 7, 3, 6 }, // back, bottom, left
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{ 0, 1, 2, 6, 7, 4, 6 }, // back, bottom, right
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{ 0, 0, 0, 0, 0, 0, 0 },
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{ 2, 3, 7, 4, 5, 6, 6 }, // back, top
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{ 0, 4, 5, 6, 2, 3, 6 }, // back, top, left
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{ 1, 2, 3, 7, 4, 5, 6 } // back, top, right
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};
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/////////////////////////////////////////////////////////////////////////////////////////////
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//float
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//cv::viz::viewScreenArea (
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// const Eigen::Vector3d &eye,
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// const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb,
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// const Eigen::Matrix4d &view_projection_matrix, int width, int height)
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//{
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// Eigen::Vector4d bounding_box[8];
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// bounding_box[0] = Eigen::Vector4d(min_bb.x (), min_bb.y (), min_bb.z (), 1.0);
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// bounding_box[1] = Eigen::Vector4d(max_bb.x (), min_bb.y (), min_bb.z (), 1.0);
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// bounding_box[2] = Eigen::Vector4d(max_bb.x (), max_bb.y (), min_bb.z (), 1.0);
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// bounding_box[3] = Eigen::Vector4d(min_bb.x (), max_bb.y (), min_bb.z (), 1.0);
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// bounding_box[4] = Eigen::Vector4d(min_bb.x (), min_bb.y (), max_bb.z (), 1.0);
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// bounding_box[5] = Eigen::Vector4d(max_bb.x (), min_bb.y (), max_bb.z (), 1.0);
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// bounding_box[6] = Eigen::Vector4d(max_bb.x (), max_bb.y (), max_bb.z (), 1.0);
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// bounding_box[7] = Eigen::Vector4d(min_bb.x (), max_bb.y (), max_bb.z (), 1.0);
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// // Compute 6-bit code to classify eye with respect to the 6 defining planes
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// int pos = ((eye.x () < bounding_box[0].x ()) ) // 1 = left
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// + ((eye.x () > bounding_box[6].x ()) << 1) // 2 = right
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// + ((eye.y () < bounding_box[0].y ()) << 2) // 4 = bottom
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// + ((eye.y () > bounding_box[6].y ()) << 3) // 8 = top
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// + ((eye.z () < bounding_box[0].z ()) << 4) // 16 = front
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// + ((eye.z () > bounding_box[6].z ()) << 5); // 32 = back
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// // Look up number of vertices
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// int num = hull_vertex_table[pos][6];
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// if (num == 0)
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// {
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// return (float (width * height));
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// }
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// //return 0.0;
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// // cout << "eye: " << eye.x() << " " << eye.y() << " " << eye.z() << endl;
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// // cout << "min: " << bounding_box[0].x() << " " << bounding_box[0].y() << " " << bounding_box[0].z() << endl;
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// //
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// // cout << "pos: " << pos << " ";
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// // switch(pos){
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// // case 0: cout << "inside" << endl; break;
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// // case 1: cout << "left" << endl; break;
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// // case 2: cout << "right" << endl; break;
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// // case 3:
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// // case 4: cout << "bottom" << endl; break;
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// // case 5: cout << "bottom, left" << endl; break;
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// // case 6: cout << "bottom, right" << endl; break;
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// // case 7:
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// // case 8: cout << "top" << endl; break;
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// // case 9: cout << "top, left" << endl; break;
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// // case 10: cout << "top, right" << endl; break;
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// // case 11:
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// // case 12:
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// // case 13:
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// // case 14:
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// // case 15:
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// // case 16: cout << "front" << endl; break;
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// // case 17: cout << "front, left" << endl; break;
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// // case 18: cout << "front, right" << endl; break;
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// // case 19:
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// // case 20: cout << "front, bottom" << endl; break;
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// // case 21: cout << "front, bottom, left" << endl; break;
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// // case 22:
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// // case 23:
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// // case 24: cout << "front, top" << endl; break;
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// // case 25: cout << "front, top, left" << endl; break;
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// // case 26: cout << "front, top, right" << endl; break;
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// // case 27:
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// // case 28:
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// // case 29:
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// // case 30:
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// // case 31:
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// // case 32: cout << "back" << endl; break;
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// // case 33: cout << "back, left" << endl; break;
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// // case 34: cout << "back, right" << endl; break;
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// // case 35:
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// // case 36: cout << "back, bottom" << endl; break;
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// // case 37: cout << "back, bottom, left" << endl; break;
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// // case 38: cout << "back, bottom, right" << endl; break;
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// // case 39:
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// // case 40: cout << "back, top" << endl; break;
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// // case 41: cout << "back, top, left" << endl; break;
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// // case 42: cout << "back, top, right" << endl; break;
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// // }
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// //return -1 if inside
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// Eigen::Vector2d dst[8];
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// for (int i = 0; i < num; i++)
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// {
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// Eigen::Vector4d world_pt = bounding_box[hull_vertex_table[pos][i]];
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// Eigen::Vector2i screen_pt = cv::viz::worldToView(world_pt, view_projection_matrix, width, height);
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// // cout << "point[" << i << "]: " << screen_pt.x() << " " << screen_pt.y() << endl;
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// dst[i] = Eigen::Vector2d(screen_pt.x (), screen_pt.y ());
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// }
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// double sum = 0.0;
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// for (int i = 0; i < num; ++i)
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// {
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// sum += (dst[i].x () - dst[(i+1) % num].x ()) * (dst[i].y () + dst[(i+1) % num].y ());
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// }
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// return (fabsf (float (sum * 0.5f)));
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//}
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@ -8,20 +8,6 @@ namespace cv
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{
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namespace viz
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{
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//CV_EXPORTS Eigen::Matrix4d vtkToEigen (vtkMatrix4x4* vtk_matrix);
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//CV_EXPORTS Eigen::Vector2i worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
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//CV_EXPORTS void getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24]);
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// enum FrustumCull
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// {
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// PCL_INSIDE_FRUSTUM,
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// PCL_INTERSECT_FRUSTUM,
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// PCL_OUTSIDE_FRUSTUM
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// };
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//CV_EXPORTS int cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb);
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//CV_EXPORTS float viewScreenArea (const Eigen::Vector3d &eye, const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
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enum RenderingProperties
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{
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VIZ_POINT_SIZE,
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