cloudcompare/qCC/ccCamSensorProjectionDlg.cpp

//##########################################################################
//#                                                                        #
//#                              CLOUDCOMPARE                              #
//#                                                                        #
//#  This program is free software; you can redistribute it and/or modify  #
//#  it under the terms of the GNU General Public License as published by  #
//#  the Free Software Foundation; version 2 or later of the License.      #
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//#  This program is distributed in the hope that it will be useful,       #
//#  but WITHOUT ANY WARRANTY; without even the implied warranty of        #
//#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the          #
//#  GNU General Public License for more details.                          #
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//#          COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI)             #
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//##########################################################################

#include "ccCamSensorProjectionDlg.h"

//local
#include "ccCustomDoubleValidator.h"

//qCC_db
#include <ccCameraSensor.h>

//persistent parameters
static bool s_inCameraCS = true;

ccCamSensorProjectionDlg::ccCamSensorProjectionDlg(QWidget* parent)
	: QDialog(parent)
	, Ui::CamSensorProjectDialog()
{
	setupUi(this);

	posXEdit->setValidator(new ccCustomDoubleValidator(this));
	posYEdit->setValidator(new ccCustomDoubleValidator(this));
	posZEdit->setValidator(new ccCustomDoubleValidator(this));

	x1rot->setValidator(new ccCustomDoubleValidator(this));
	x2rot->setValidator(new ccCustomDoubleValidator(this));
	x3rot->setValidator(new ccCustomDoubleValidator(this));
	y1rot->setValidator(new ccCustomDoubleValidator(this));
	y2rot->setValidator(new ccCustomDoubleValidator(this));
	y3rot->setValidator(new ccCustomDoubleValidator(this));
	z1rot->setValidator(new ccCustomDoubleValidator(this));
	z2rot->setValidator(new ccCustomDoubleValidator(this));
	z3rot->setValidator(new ccCustomDoubleValidator(this));

	inWorldCSCheckBox->setChecked(s_inCameraCS);
}

void ccCamSensorProjectionDlg::initWithCamSensor(const ccCameraSensor* sensor)
{
	if( !sensor)
		return;

	const int precision = sizeof(PointCoordinateType) == 8 ? 12 : 8;


	/*** Position + Orientation ***/
	{
		//center
		const ccGLMatrix& mat = sensor->getRigidTransformation();
		CCVector3d C = mat.getTranslationAsVec3D();
		if (inWorldCSCheckBox->isChecked())
		{
			mat.applyRotation(C);
		}

		posXEdit->setText(QString::number(C.x, 'f', precision));
		posYEdit->setText(QString::number(C.y, 'f', precision));
		posZEdit->setText(QString::number(C.z, 'f', precision));

		//rotation matrix
		const ccGLMatrix& rot = sensor->getRigidTransformation();
		{
			const float* mat = rot.data();
			x1rot->setText(QString::number(mat[0], 'f', precision));
			y1rot->setText(QString::number(mat[1], 'f', precision));
			z1rot->setText(QString::number(mat[2], 'f', precision));

			x2rot->setText(QString::number(mat[4], 'f', precision));
			y2rot->setText(QString::number(mat[5], 'f', precision));
			z2rot->setText(QString::number(mat[6], 'f', precision));

			x3rot->setText(QString::number(mat[8], 'f', precision));
			y3rot->setText(QString::number(mat[9], 'f', precision));
			z3rot->setText(QString::number(mat[10], 'f', precision));
		}
	}

	/*** Intrinsic parameters ***/
	{
		const ccCameraSensor::IntrinsicParameters& iParams = sensor->getIntrinsicParameters();

		focalDoubleSpinBox->setValue(iParams.vertFocal_pix);
		fovDoubleSpinBox->setValue(CCCoreLib::RadiansToDegrees(iParams.vFOV_rad));
		arrayWSpinBox->setValue(iParams.arrayWidth);
		arrayHSpinBox->setValue(iParams.arrayHeight);
		pixWDoubleSpinBox->setValue(iParams.pixelSize_mm[0]);
		pixHDoubleSpinBox->setValue(iParams.pixelSize_mm[1]);
		zNearDoubleSpinBox->setValue(iParams.zNear_mm);
		zFarDoubleSpinBox->setValue(iParams.zFar_mm);
		skewDoubleSpinBox->setValue(iParams.skew);
		cxDoubleSpinBox->setValue(iParams.principal_point[0]);
		cyDoubleSpinBox->setValue(iParams.principal_point[1]);
	}

	/*** Distortion / uncertainty ***/
	{
		QString distInfo;
		const ccCameraSensor::LensDistortionParameters::Shared& distParams = sensor->getDistortionParameters();

		if (!distParams)
		{
			distInfo = "No associated distortion /uncertainty model.";
		}
		else if (distParams->getModel() == ccCameraSensor::SIMPLE_RADIAL_DISTORTION)
		{
			const ccCameraSensor::RadialDistortionParameters* rdParams = static_cast<ccCameraSensor::RadialDistortionParameters*>(distParams.data());
			distInfo = "Radial distortion model:\n";
			distInfo += QString("k1 = %1\n").arg(rdParams->k1);
			distInfo += QString("k2 = %1\n").arg(rdParams->k2);
		}
		else if (distParams->getModel() == ccCameraSensor::BROWN_DISTORTION)
		{
			const ccCameraSensor::BrownDistortionParameters* bParams = static_cast<ccCameraSensor::BrownDistortionParameters*>(distParams.data());
			distInfo = "Brown distortion / uncertainty model:\n";
			distInfo += "* Radial distortion:\n";
			distInfo += QString("\tK1 = %1\n").arg(bParams->K_BrownParams[0]);
			distInfo += QString("\tK2 = %1\n").arg(bParams->K_BrownParams[1]);
			distInfo += QString("\tK3 = %1\n").arg(bParams->K_BrownParams[2]);
			distInfo += "* Tangential distortion:\n";
			distInfo += QString("\tP1 = %1\n").arg(bParams->P_BrownParams[0]);
			distInfo += QString("\tP2 = %1\n").arg(bParams->P_BrownParams[1]);
			distInfo += "* Linear disparity:\n";
			distInfo += QString("\tA = %1\n").arg(bParams->linearDisparityParams[0]);
			distInfo += QString("\tB = %1\n").arg(bParams->linearDisparityParams[1]);
			distInfo += "* Principal point offset:\n";
			distInfo += QString("\tX = %1\n").arg(bParams->principalPointOffset[0]);
			distInfo += QString("\tY = %1\n").arg(bParams->principalPointOffset[1]);
		}
		else
		{
			assert(false);
			distInfo = "Unhandled distortion /uncertainty model!";
		}

		distInfoTextEdit->setText(distInfo);
	}
}

void ccCamSensorProjectionDlg::updateCamSensor(ccCameraSensor* sensor)
{
	if (!sensor)
		return;

	/*** Position + Orientation ***/
	{
		//orientation matrix
		ccGLMatrixd rot;
		{
			double* mat = rot.data();
			mat[0]  = x1rot->text().toDouble();
			mat[1]  = y1rot->text().toDouble();
			mat[2]  = z1rot->text().toDouble();

			mat[4]  = x2rot->text().toDouble();
			mat[5]  = y2rot->text().toDouble();
			mat[6]  = z2rot->text().toDouble();

			mat[8]  = x3rot->text().toDouble();
			mat[9]  = y3rot->text().toDouble();
			mat[10] = z3rot->text().toDouble();
		}

		//center
		CCVector3d C(static_cast<PointCoordinateType>(posXEdit->text().toDouble()),
					static_cast<PointCoordinateType>(posYEdit->text().toDouble()),
					static_cast<PointCoordinateType>(posZEdit->text().toDouble()));

		if (inWorldCSCheckBox->isChecked())
		{
			rot.inverse().apply(C);
		}

		rot.setTranslation(C);

		sensor->setRigidTransformation(ccGLMatrix(rot.data()));
	}

	/*** Intrinsic parameters ***/
	{
		ccCameraSensor::IntrinsicParameters iParams;

		iParams.vertFocal_pix = static_cast<float>(focalDoubleSpinBox->value());
		iParams.vFOV_rad = static_cast<float>( CCCoreLib::DegreesToRadians( fovDoubleSpinBox->value() ) );
		iParams.arrayWidth = arrayWSpinBox->value();
		iParams.arrayHeight = arrayHSpinBox->value();
		iParams.pixelSize_mm[0] = static_cast<float>(pixWDoubleSpinBox->value());
		iParams.pixelSize_mm[1] = static_cast<float>(pixHDoubleSpinBox->value());
		iParams.zNear_mm = static_cast<float>(zNearDoubleSpinBox->value());
		iParams.zFar_mm = static_cast<float>(zFarDoubleSpinBox->value());
		iParams.skew = static_cast<float>(skewDoubleSpinBox->value());
		iParams.principal_point[0] = static_cast<float>(cxDoubleSpinBox->value());
		iParams.principal_point[1] = static_cast<float>(cyDoubleSpinBox->value());

		sensor->setIntrinsicParameters(iParams);
	}

	/*** Distortion / uncertainty ***/

	//read only for now

	//it's a good time to save the persistent parameter(s)
	s_inCameraCS = inWorldCSCheckBox->isChecked();
}