.. _transformations:

Transformations
***************

Goal
====

In this tutorial you will learn how to

.. container:: enumeratevisibleitemswithsquare

  * How to use makeTransformToGlobal to compute pose
  * How to use makeCameraPose and Viz3d::setViewerPose
  * How to visualize camera position by axes and by viewing frustum

Code
====

You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/transformations.cpp>`_.

.. code-block:: cpp

    #include <opencv2/viz.hpp>
    #include <iostream>
    #include <fstream>

    using namespace cv;
    using namespace std;

    /**
     * @function cvcloud_load
     * @brief load bunny.ply
     */
    Mat cvcloud_load()
    {
        Mat cloud(1, 1889, CV_32FC3);
        ifstream ifs("bunny.ply");

        string str;
        for(size_t i = 0; i < 12; ++i)
            getline(ifs, str);

        Point3f* data = cloud.ptr<cv::Point3f>();
        float dummy1, dummy2;
        for(size_t i = 0; i < 1889; ++i)
            ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
        
        cloud *= 5.0f;
        return cloud;
    }

    /**
     * @function main
     */
    int main(int argn, char **argv)
    {        
        if (argn < 2)
        {
            cout << "Usage: " << endl << "./transformations [ G | C ]" << endl;
            return 1;
        }
        
        bool camera_pov = (argv[1][0] == 'C');
        
        /// Create a window
        viz::Viz3d myWindow("Coordinate Frame");
        
        /// Add coordinate axes
        myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
        
        /// Let's assume camera has the following properties
        Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
        
        /// We can get the pose of the cam using makeCameraPose
        Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
        
        /// We can get the transformation matrix from camera coordinate system to global using
        /// - makeTransformToGlobal. We need the axes of the camera
        Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
        
        /// Create a cloud widget.
        Mat bunny_cloud = cvcloud_load();
        viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
        
        /// Pose of the widget in camera frame
        Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
        /// Pose of the widget in global frame
        Affine3f cloud_pose_global = transform * cloud_pose;
        
        /// Visualize camera frame
        if (!camera_pov)
        {
            viz::WCameraPosition cpw(0.5); // Coordinate axes
            viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
            myWindow.showWidget("CPW", cpw, cam_pose);
            myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
        }
        
        /// Visualize widget
        myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
        
        /// Set the viewer pose to that of camera
        if (camera_pov)
            myWindow.setViewerPose(cam_pose);
        
        /// Start event loop.
        myWindow.spin();
        
        return 0;
    }

    
Explanation
===========

Here is the general structure of the program:

* Create a visualization window.

.. code-block:: cpp

    /// Create a window
    viz::Viz3d myWindow("Transformations");
    
* Get camera pose from camera position, camera focal point and y direction.

.. code-block:: cpp

    /// Let's assume camera has the following properties
    Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
        
    /// We can get the pose of the cam using makeCameraPose
    Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
    
* Obtain transform matrix knowing the axes of camera coordinate system.

.. code-block:: cpp

    /// We can get the transformation matrix from camera coordinate system to global using
    /// - makeTransformToGlobal. We need the axes of the camera
    Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
    
* Create a cloud widget from bunny.ply file

.. code-block:: cpp

    /// Create a cloud widget.
    Mat bunny_cloud = cvcloud_load();
    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
    
* Given the pose in camera coordinate system, estimate the global pose.
    
.. code-block:: cpp

    /// Pose of the widget in camera frame
    Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
    /// Pose of the widget in global frame
    Affine3f cloud_pose_global = transform * cloud_pose;
    
* If the view point is set to be global, visualize camera coordinate frame and viewing frustum.

.. code-block:: cpp

    /// Visualize camera frame
    if (!camera_pov)
    {
        viz::WCameraPosition cpw(0.5); // Coordinate axes
        viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
        myWindow.showWidget("CPW", cpw, cam_pose);
        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
    }
    
* Visualize the cloud widget with the estimated global pose
    
.. code-block:: cpp

    /// Visualize widget
    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
    
* If the view point is set to be camera's, set viewer pose to **cam_pose**.
    
.. code-block:: cpp

    /// Set the viewer pose to that of camera
    if (camera_pov)
        myWindow.setViewerPose(cam_pose);
        
Results
=======

#. Here is the result from the camera point of view.

    .. image:: images/camera_view_point.png
        :alt: Camera Viewpoint
        :align: center

#. Here is the result from global point of view.

    .. image:: images/global_view_point.png
        :alt: Global Viewpoint
        :align: center