raw
This commit is contained in:
PodmogilnyjIvan
446
Thirdparty/Pangolin/include/pangolin/display/opengl_render_state.h
vendored
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446
Thirdparty/Pangolin/include/pangolin/display/opengl_render_state.h
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/* This file is part of the Pangolin Project.
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* http://github.com/stevenlovegrove/Pangolin
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*
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* Copyright (c) 2011 Steven Lovegrove
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <pangolin/platform.h>
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#include <pangolin/utils/simple_math.h>
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#include <vector>
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#if defined(HAVE_EIGEN) && !defined(__CUDACC__) //prevent including Eigen in cuda files
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#define USE_EIGEN
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#endif
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#ifdef USE_EIGEN
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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#endif
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#ifdef HAVE_TOON
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#include <cstring>
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#include <TooN/TooN.h>
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#include <TooN/se3.h>
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#endif
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#ifdef HAVE_OCULUS
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#include <pangolin/compat/ovr.h>
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#endif
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namespace pangolin {
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#ifdef HAVE_GLES
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typedef float GLprecision;
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#else
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typedef double GLprecision;
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#endif
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/// Capture OpenGL matrix types in enum to typing.
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enum OpenGlStack {
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GlModelViewStack = 0x1700, // GL_MODELVIEW
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GlProjectionStack = 0x1701, // GL_PROJECTION
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GlTextureStack = 0x1702 // GL_TEXTURE
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};
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enum AxisDirection
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{
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AxisNone,
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AxisNegX, AxisX,
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AxisNegY, AxisY,
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AxisNegZ, AxisZ
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};
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struct CameraSpec {
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GLprecision forward[3];
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GLprecision up[3];
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GLprecision right[3];
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GLprecision img_up[2];
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GLprecision img_right[2];
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};
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const static CameraSpec CameraSpecOpenGl = {{0,0,-1},{0,1,0},{1,0,0},{0,1},{1,0}};
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const static CameraSpec CameraSpecYDownZForward = {{0,0,1},{0,-1,0},{1,0,0},{0,-1},{1,0}};
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/// Direction vector for each AxisDirection enum
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const static GLprecision AxisDirectionVector[7][3] = {
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{0,0,0},
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{-1,0,0}, {1,0,0},
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{0,-1,0}, {0,1,0},
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{0,0,-1}, {0,0,1}
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};
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/// Object representing OpenGl Matrix.
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struct PANGOLIN_EXPORT OpenGlMatrix {
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static OpenGlMatrix Translate(GLprecision x, GLprecision y, GLprecision z);
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static OpenGlMatrix Scale(GLprecision x, GLprecision y, GLprecision z);
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static OpenGlMatrix RotateX(GLprecision theta_rad);
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static OpenGlMatrix RotateY(GLprecision theta_rad);
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static OpenGlMatrix RotateZ(GLprecision theta_rad);
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template<typename P>
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static OpenGlMatrix ColMajor4x4(const P* col_major_4x4);
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OpenGlMatrix();
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#ifdef USE_EIGEN
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template<typename P>
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OpenGlMatrix(const Eigen::Matrix<P,4,4>& mat);
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template<typename P>
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OpenGlMatrix(const Eigen::Transform<P,3,Eigen::Affine>& mat) : OpenGlMatrix(mat.matrix()) { }
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template<typename P>
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operator Eigen::Matrix<P,4,4>() const;
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template<typename P>
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operator Eigen::Transform<P,3,Eigen::Affine>() const;
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#endif // USE_EIGEN
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#ifdef HAVE_TOON
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OpenGlMatrix(const TooN::SE3<>& T);
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OpenGlMatrix(const TooN::Matrix<4,4>& M);
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operator const TooN::SE3<>() const;
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operator const TooN::Matrix<4,4>() const;
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#endif // HAVE_TOON
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#ifdef HAVE_OCULUS
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OpenGlMatrix(const OVR::Matrix4f& M);
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operator const OVR::Matrix4f() const;
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#endif // HAVE_OCULUS
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// Load matrix on to OpenGl stack
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void Load() const;
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void Multiply() const;
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void SetIdentity();
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OpenGlMatrix Transpose() const;
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OpenGlMatrix Inverse() const;
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GLprecision& operator()(int r, int c) {
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return m[4*c +r];
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}
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GLprecision operator()(int r, int c) const {
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return m[4 * c + r];
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}
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// Column major Internal buffer
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GLprecision m[16];
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};
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PANGOLIN_EXPORT
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OpenGlMatrix operator*(const OpenGlMatrix& lhs, const OpenGlMatrix& rhs);
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PANGOLIN_EXPORT
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std::ostream& operator<<(std::ostream& os, const OpenGlMatrix& mat);
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/// Deprecated.
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struct PANGOLIN_EXPORT OpenGlMatrixSpec : public OpenGlMatrix {
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// Specify which stack this refers to
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OpenGlStack type;
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};
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/// Object representing attached OpenGl Matrices / transforms.
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class PANGOLIN_EXPORT OpenGlRenderState
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{
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public:
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OpenGlRenderState();
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OpenGlRenderState(const OpenGlMatrix& projection_matrix);
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OpenGlRenderState(const OpenGlMatrix& projection_matrix, const OpenGlMatrix& modelview_matrix);
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static void ApplyIdentity();
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void Apply() const;
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OpenGlRenderState& SetProjectionMatrix(OpenGlMatrix m);
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OpenGlRenderState& SetModelViewMatrix(OpenGlMatrix m);
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OpenGlMatrix& GetProjectionMatrix();
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OpenGlMatrix GetProjectionMatrix() const;
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OpenGlMatrix& GetModelViewMatrix();
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OpenGlMatrix GetModelViewMatrix() const;
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OpenGlMatrix GetProjectionModelViewMatrix() const;
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OpenGlMatrix GetProjectiveTextureMatrix() const;
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void EnableProjectiveTexturing() const;
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void DisableProjectiveTexturing() const;
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//! Seemlessly move OpenGl camera relative to changes in T_wc,
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//! whilst still enabling interaction
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void Follow(const OpenGlMatrix& T_wc, bool follow = true);
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void Unfollow();
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// Experimental - subject to change
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OpenGlMatrix& GetProjectionMatrix(unsigned int view);
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OpenGlMatrix GetProjectionMatrix(unsigned int view) const;
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OpenGlMatrix& GetViewOffset(unsigned int view);
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OpenGlMatrix GetViewOffset(unsigned int view) const;
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OpenGlMatrix GetModelViewMatrix(int i) const;
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void ApplyNView(int view) const;
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PANGOLIN_DEPRECATED
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OpenGlRenderState& Set(OpenGlMatrixSpec spec);
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protected:
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OpenGlMatrix modelview;
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std::vector<OpenGlMatrix> projection;
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std::vector<OpenGlMatrix> modelview_premult;
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OpenGlMatrix T_cw;
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bool follow;
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};
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PANGOLIN_EXPORT
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OpenGlMatrixSpec ProjectionMatrixRUB_BottomLeft(int w, int h, GLprecision fu, GLprecision fv, GLprecision u0, GLprecision v0, GLprecision zNear, GLprecision zFar );
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PANGOLIN_EXPORT
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OpenGlMatrixSpec ProjectionMatrixRUB_TopLeft(int w, int h, GLprecision fu, GLprecision fv, GLprecision u0, GLprecision v0, GLprecision zNear, GLprecision zFar );
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PANGOLIN_EXPORT
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OpenGlMatrixSpec ProjectionMatrixRDF_TopLeft(int w, int h, GLprecision fu, GLprecision fv, GLprecision u0, GLprecision v0, GLprecision zNear, GLprecision zFar );
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PANGOLIN_EXPORT
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OpenGlMatrixSpec ProjectionMatrixRDF_TopRight(int w, int h, GLprecision fu, GLprecision fv, GLprecision u0, GLprecision v0, GLprecision zNear, GLprecision zFar );
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PANGOLIN_EXPORT
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OpenGlMatrixSpec ProjectionMatrixRDF_BottomLeft(int w, int h, GLprecision fu, GLprecision fv, GLprecision u0, GLprecision v0, GLprecision zNear, GLprecision zFar );
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PANGOLIN_EXPORT
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OpenGlMatrixSpec ProjectionMatrixRDF_BottomRight(int w, int h, GLprecision fu, GLprecision fv, GLprecision u0, GLprecision v0, GLprecision zNear, GLprecision zFar );
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//! Use OpenGl's default frame RUB_BottomLeft
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PANGOLIN_EXPORT
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OpenGlMatrixSpec ProjectionMatrix(int w, int h, GLprecision fu, GLprecision fv, GLprecision u0, GLprecision v0, GLprecision zNear, GLprecision zFar );
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PANGOLIN_EXPORT
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OpenGlMatrixSpec ProjectionMatrixOrthographic(GLprecision l, GLprecision r, GLprecision b, GLprecision t, GLprecision n, GLprecision f );
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//! Generate glulookat style model view matrix, looking at (lx,ly,lz)
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//! X-Right, Y-Up, Z-Back
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PANGOLIN_EXPORT
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OpenGlMatrix ModelViewLookAtRUB(GLprecision ex, GLprecision ey, GLprecision ez, GLprecision lx, GLprecision ly, GLprecision lz, GLprecision ux, GLprecision uy, GLprecision uz);
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//! Generate glulookat style model view matrix, looking at (lx,ly,lz)
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//! X-Right, Y-Down, Z-Forward
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PANGOLIN_EXPORT
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OpenGlMatrix ModelViewLookAtRDF(GLprecision ex, GLprecision ey, GLprecision ez, GLprecision lx, GLprecision ly, GLprecision lz, GLprecision ux, GLprecision uy, GLprecision uz);
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//! Generate glulookat style model view matrix, OpenGL Default camera convention (XYZ=RUB), looking at (lx,ly,lz)
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PANGOLIN_EXPORT
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OpenGlMatrix ModelViewLookAt(GLprecision x, GLprecision y, GLprecision z, GLprecision lx, GLprecision ly, GLprecision lz, AxisDirection up);
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PANGOLIN_EXPORT
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OpenGlMatrix ModelViewLookAt(GLprecision ex, GLprecision ey, GLprecision ez, GLprecision lx, GLprecision ly, GLprecision lz, GLprecision ux, GLprecision uy, GLprecision uz);
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PANGOLIN_EXPORT
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OpenGlMatrix IdentityMatrix();
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PANGOLIN_EXPORT
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OpenGlMatrixSpec IdentityMatrix(OpenGlStack type);
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PANGOLIN_EXPORT
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OpenGlMatrixSpec negIdentityMatrix(OpenGlStack type);
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#ifdef HAVE_TOON
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OpenGlMatrixSpec FromTooN(const TooN::SE3<>& T_cw);
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OpenGlMatrixSpec FromTooN(OpenGlStack type, const TooN::Matrix<4,4>& M);
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TooN::Matrix<4,4> ToTooN(const OpenGlMatrixSpec& ms);
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TooN::SE3<> ToTooN_SE3(const OpenGlMatrixSpec& ms);
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#endif
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#ifdef HAVE_EIGEN
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template<typename P>
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Eigen::Matrix<P,4,4> ToEigen(const OpenGlMatrix& ms);
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#endif
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}
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// Inline definitions
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namespace pangolin
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{
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template<typename P>
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inline OpenGlMatrix OpenGlMatrix::ColMajor4x4(const P* col_major_4x4)
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{
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OpenGlMatrix mat;
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std::copy(col_major_4x4, col_major_4x4 + 16, mat.m);
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return mat;
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}
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inline OpenGlMatrix::OpenGlMatrix() {
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}
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#ifdef USE_EIGEN
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template<typename P> inline
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OpenGlMatrix::OpenGlMatrix(const Eigen::Matrix<P,4,4>& mat)
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{
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for(int r=0; r<4; ++r ) {
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for(int c=0; c<4; ++c ) {
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m[c*4+r] = mat(r,c);
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}
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}
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}
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template<typename P>
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OpenGlMatrix::operator Eigen::Matrix<P,4,4>() const
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{
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return ToEigen<P>(*this);
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}
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template<typename P>
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OpenGlMatrix::operator Eigen::Transform<P,3,Eigen::Affine>() const
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{
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return Eigen::Transform<P,3,Eigen::Affine>(ToEigen<P>(*this));
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}
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template<typename P> inline
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Eigen::Matrix<P,4,4> ToEigen(const OpenGlMatrix& ms)
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{
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Eigen::Matrix<P,4,4> mat;
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for(int r=0; r<4; ++r ) {
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for(int c=0; c<4; ++c ) {
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mat(r,c) = (P)ms.m[c*4+r];
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}
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}
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return mat;
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}
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#endif // USE_EIGEN
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#ifdef HAVE_TOON
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inline OpenGlMatrix::OpenGlMatrix(const TooN::SE3<>& T)
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{
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TooN::Matrix<4,4,GLprecision,TooN::ColMajor> M;
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M.slice<0,0,3,3>() = T.get_rotation().get_matrix();
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M.T()[3].slice<0,3>() = T.get_translation();
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M[3] = TooN::makeVector(0,0,0,1);
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std::memcpy(m, &(M[0][0]),16*sizeof(GLprecision));
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}
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inline OpenGlMatrix::OpenGlMatrix(const TooN::Matrix<4,4>& M)
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{
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// Read in remembering col-major convension for our matrices
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int el = 0;
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for(int c=0; c<4; ++c)
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for(int r=0; r<4; ++r)
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m[el++] = M[r][c];
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}
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inline OpenGlMatrix::operator const TooN::SE3<>() const
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{
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const TooN::Matrix<4,4> m = *this;
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const TooN::SO3<> R(m.slice<0,0,3,3>());
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const TooN::Vector<3> t = m.T()[3].slice<0,3>();
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return TooN::SE3<>(R,t);
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}
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inline OpenGlMatrix::operator const TooN::Matrix<4,4>() const
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{
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TooN::Matrix<4,4> M;
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int el = 0;
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for( int c=0; c<4; ++c )
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for( int r=0; r<4; ++r )
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M(r,c) = m[el++];
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return M;
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}
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PANGOLIN_DEPRECATED
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inline OpenGlMatrixSpec FromTooN(const TooN::SE3<>& T_cw)
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{
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TooN::Matrix<4,4,GLprecision,TooN::ColMajor> M;
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M.slice<0,0,3,3>() = T_cw.get_rotation().get_matrix();
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M.T()[3].slice<0,3>() = T_cw.get_translation();
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M[3] = TooN::makeVector(0,0,0,1);
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OpenGlMatrixSpec P;
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P.type = GlModelViewStack;
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std::memcpy(P.m, &(M[0][0]),16*sizeof(GLprecision));
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return P;
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}
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PANGOLIN_DEPRECATED
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inline OpenGlMatrixSpec FromTooN(OpenGlStack type, const TooN::Matrix<4,4>& M)
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{
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// Read in remembering col-major convension for our matrices
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OpenGlMatrixSpec P;
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P.type = type;
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int el = 0;
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for(int c=0; c<4; ++c)
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for(int r=0; r<4; ++r)
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P.m[el++] = M[r][c];
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return P;
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}
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PANGOLIN_DEPRECATED
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inline TooN::Matrix<4,4> ToTooN(const OpenGlMatrix& ms)
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{
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TooN::Matrix<4,4> m;
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int el = 0;
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for( int c=0; c<4; ++c )
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for( int r=0; r<4; ++r )
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m(r,c) = ms.m[el++];
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return m;
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}
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PANGOLIN_DEPRECATED
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inline TooN::SE3<> ToTooN_SE3(const OpenGlMatrix& ms)
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{
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TooN::Matrix<4,4> m = ms;
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const TooN::SO3<> R(m.slice<0,0,3,3>());
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const TooN::Vector<3> t = m.T()[3].slice<0,3>();
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return TooN::SE3<>(R,t);
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}
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#endif // HAVE_TOON
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#ifdef HAVE_OCULUS
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inline OpenGlMatrix::OpenGlMatrix(const OVR::Matrix4f& mat)
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{
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for(int r=0; r<4; ++r )
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for(int c=0; c<4; ++c )
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m[c*4+r] = mat.M[r][c];
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}
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inline OpenGlMatrix::operator const OVR::Matrix4f() const
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{
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OVR::Matrix4f mat;
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for(int r=0; r<4; ++r )
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for(int c=0; c<4; ++c )
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mat.M[r][c] = m[c*4+r];
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return mat;
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}
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#endif // HAVE_OCULUS
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}
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