+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/// Calib3DWindow.cpp: implementation of the CCalib3DWindow class.
-//
-//////////////////////////////////////////////////////////////////////
-
-//#include "CalibFilterprop.h"
-//#include "calibfilterprop.h"
-#include "CV.h"
-#include "Calib3DWindow.h"
-#include <stdio.h >
-
-#ifdef _DEBUG
-#define new DEBUG_NEW
-#endif
-
-extern HINSTANCE g_hInst;
-
-static LRESULT CALLBACK MyWindowProc( HWND m_hwnd, UINT uMsg, WPARAM wParam, LPARAM lParam )
-{
- long data = ::GetWindowLong(m_hwnd,GWL_USERDATA);
- if( data == 0)
- {
- return DefWindowProc( m_hwnd, uMsg, wParam, lParam);
- }
- else
- {
- return ((CCalib3DWindow*)data)->WindowProc( m_hwnd, uMsg, wParam, lParam);
- }
-}
-
-//////////////////////////////////////////////////////////////////////
-// Construction/Destruction
-//////////////////////////////////////////////////////////////////////
-static const char* _3DWindowClass = "3DWindow";
-
-CCalib3DWindow::CCalib3DWindow()
-{
- /* Create window and show it */
- m_haveParams = false;
- m_alpha = 0;
- m_beta = 0;
-
- m_baseAlpha = 0;
- m_baseBeta = 0;
- m_holdLMouse = 0;
- m_holdRMouse = 0;
-
- m_baseScale = 0.02f;
- m_scale = 0.0;
-
- /* Register window class */
- WNDCLASSEX wndclass;
-
- wndclass.cbSize = sizeof(WNDCLASSEX);
- wndclass.style = CS_DBLCLKS;
- wndclass.lpfnWndProc = MyWindowProc;
- wndclass.cbClsExtra = 0;
- wndclass.cbWndExtra = 0;
- wndclass.hInstance = g_hInst;
- wndclass.hIcon = 0;
- wndclass.hCursor = 0;
- wndclass.hbrBackground = 0;
- wndclass.lpszMenuName = 0;
- wndclass.lpszClassName = _3DWindowClass;
- wndclass.hIconSm = 0;
-
- m_hwnd = 0;
- m_hdc = 0;
- m_hglrc = 0;
-
- RegisterClassEx(&wndclass);
-
- DWORD dwStyle = WS_BORDER |
- WS_CAPTION |
- WS_MAXIMIZEBOX |
- WS_MINIMIZEBOX |
- WS_VISIBLE |
- WS_THICKFRAME |
- WS_CLIPCHILDREN |
- WS_CLIPSIBLINGS;
-
- m_hwnd = CreateWindowEx( 0, // extended window style
- _3DWindowClass, // pointer to registered class name
- "3D Window", // pointer to window name
- dwStyle, // window style
- 100, // horizontal position of window
- 100, // vertical position of window
- 200, // window width
- 200, // window height
- 0, // handle to parent or owner window
- 0, // handle to menu, or child-window identifier
- g_hInst, // handle to application instance
- 0 ); // pointer to window-creation data
-
- if( m_hwnd == 0 )
- {
- int error = GetLastError();
- char st[100];
- sprintf(st,"Can't create window.\nError = %d",error);
- MessageBox(0,st,"Error",MB_OK);
- }
- else
- {
- /* Set OpenGL Formats */
- int iPixelType = PFD_TYPE_RGBA;
-
- DWORD dwFlag = PFD_DOUBLEBUFFER |
- PFD_SUPPORT_OPENGL |
- PFD_DRAW_TO_WINDOW;
-
- PIXELFORMATDESCRIPTOR pfd;
- memset(&pfd,0,sizeof(PIXELFORMATDESCRIPTOR));
-
- pfd.nSize = sizeof(PIXELFORMATDESCRIPTOR);
- pfd.nVersion = 1;
- pfd.dwFlags = dwFlag;
- pfd.iPixelType = (uchar)iPixelType;
-
- pfd.cColorBits = 24;
- pfd.cAlphaBits = 32;
- pfd.cAccumBits = 32;
- pfd.cDepthBits = 32;
- pfd.cStencilBits = 32;
- pfd.iLayerType = PFD_MAIN_PLANE;
-
- m_hdc = GetDC( m_hwnd );
-
- int nPixelFormat = ChoosePixelFormat( m_hdc, &pfd );
-
- if (nPixelFormat == 0) {
- MessageBox(0,"Error Choose pixel formar","Info",MB_OK);
- }
-
- BOOL dResult = SetPixelFormat( m_hdc, nPixelFormat, &pfd );
-
- if ( !dResult) {
- MessageBox(0,"Error Set pixel formar","Info",MB_OK);
- }
-
- m_hglrc = wglCreateContext( m_hdc );
-
- if( m_hglrc == 0 ) {
- MessageBox(0,"Error Create wgl Context","Info",MB_OK);
- }
-
- BOOL err = wglMakeCurrent(m_hdc,m_hglrc);
-
- if (err==FALSE) {
- MessageBox(0,"Error Make wgl Context","Info",MB_OK);
- }
- /*---------------------*/
-
- ::SetWindowLong(m_hwnd,GWL_USERDATA,(long)this);
- }
-}
-
-CCalib3DWindow::~CCalib3DWindow()
-{
- int result, error;
- result = wglMakeCurrent( 0, 0 );
- error = GetLastError();
- result = wglDeleteContext( m_hglrc );
- error = GetLastError();
- result = ReleaseDC( m_hwnd, m_hdc );
- error = GetLastError();
- result = ShowWindow( m_hwnd, SW_HIDE );
- error = GetLastError();
- result = DestroyWindow( m_hwnd );
- error = GetLastError();
- if( !result )
- {
- char st[100];
- sprintf(st,"Can't register class.\nError = %d",error);
- MessageBox(0,st,"Error",MB_OK);
- }
- m_hglrc = 0;
- m_hdc = 0;
- m_hwnd = 0;
-}
-
-LRESULT CALLBACK CCalib3DWindow::WindowProc( HWND /*hwnd*/, UINT uMsg,
- WPARAM wParam, LPARAM lParam )
-{
- int fwKeys = wParam; /* key flags */
- CvPoint pt = cvPoint( LOWORD(lParam), HIWORD(lParam)); /* cursor position */
- //int width = LOWORD(lParam);
- //int height = HIWORD(lParam);
-
- switch( uMsg )
- {
- case WM_PAINT:
- {
- OnPaint();
- return 0;
- }
-
- case WM_SIZE:
- {
- Resize();
- ///OnPaint();
- return 0;
- }
-
- case WM_LBUTTONDOWN:
- {
- OnLButtonDown( pt, fwKeys );
- return 0;
- }
- case WM_LBUTTONUP:
- {
- OnLButtonUp( pt, fwKeys );
- return 0;
- }
- case WM_RBUTTONDOWN:
- {
- OnRButtonDown( pt, fwKeys );
- return 0;
- }
- case WM_RBUTTONUP:
- {
- OnRButtonUp( pt, fwKeys );
- return 0;
- }
- case WM_MOUSEMOVE:
- {
- OnMouseMove( pt, fwKeys );
- return 0;
- }
- case WM_CLOSE:
- {
- CloseWindow( m_hwnd );
- PostQuitMessage(0);
- return 0;
- }
- }
-
- return DefWindowProc( m_hwnd, uMsg, wParam, lParam);
-}
-
-
-void CCalib3DWindow::SetParams( CvCameraParams* camera,
- CvSize etalonSize, float squareSize )
-{
- if( camera )
- {
- m_camera = *camera;
- m_etalonSize = etalonSize;
- m_squareSize = squareSize;
- }
- m_haveParams = camera != 0;
-
- InvalidateRect( m_hwnd, 0, FALSE );
- UpdateWindow( m_hwnd );
-}
-
-void CCalib3DWindow::OnPaint()
-{
- PAINTSTRUCT ps;
-
- BeginPaint( m_hwnd, &ps );
-
- /* 115 180 251*/
- glClearColor(0.45f,0.705f,0.984f,1.0f);
- glEnable(GL_DEPTH_TEST);
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- /* ========= Begin draw the etalon position ========= */
- if( m_hwnd && m_haveParams && IsWindowVisible( m_hwnd ))
- {
- int numX = m_etalonSize.width - 1;
- int numY = m_etalonSize.height - 1;
-
- //float minX,minY,minZ,maxZ;
- float floorHeight = 6;
-
-/* minX = -20;
- minY = -20;
- minZ = 0;
-
- maxX = 20;
- maxY = 20;
- maxZ = 80;*/
-
- float x1,y1,z1;
- float x2,y2,z2;
- float x3,y3,z3;
- float x4,y4,z4;
- float x5,y5,z5;
- float x6,y6,z6;
- float x7,y7,z7;
- float x8,y8,z8;
- float yfloor;
-
- float Box_W;
- float Box_H;
- float Box_L;
-
- CvMat Points = cvMat( numX * numY, 3, CV_MAT32F, 0 );
- CvMat objPoint = cvMat( 3, 1, CV_MAT32F, 0 );
- CvMat objPoints = cvMat( numX * numY, 3, CV_MAT32F, 0 );
- CvMat tmp3 = cvMat( 3, 1, CV_MAT32F, 0 );
- CvMat Point = cvMat( 3, 1, CV_MAT32F, 0 );
- CvMat cameraMatr = cvMat( 3, 3, CV_MAT32F, m_camera.rotMatr );
- CvMat transVect = cvMat( 3, 1, CV_MAT32F, m_camera.transVect );
-
- int t,k,index;
- int etalonNum;
-
- cvmAlloc( &objPoints );
- cvmAlloc( &Points );
- cvmAlloc( &objPoint );
- cvmAlloc( &tmp3 );
- cvmAlloc( &Point );
-
- etalonNum = numX * numY;
- /* Fill etalon coordinates */
- for( t = 0; t < numY; t++ )
- {
- for ( k = 0; k < numX; k++)
- {
- index = t * numX + k;
- objPoints.data.fl[index * 3 + 0] = k * m_squareSize;
- objPoints.data.fl[index * 3 + 1] = t * m_squareSize;
- objPoints.data.fl[index * 3 + 2] = 0;
- }
- }
-
- Box_W = 40;
- Box_H = 40;
- Box_L = 80;
-
- x1 = Box_W / 2;
- y1 = -Box_H / 2;
- z1 = 0;
-
- x2 = -Box_W / 2;
- y2 = -Box_H / 2;
- z2 = 0;
-
- x3 = Box_W / 2;
- y3 = Box_H / 2;
- z3 = 0;
-
- x4 = -Box_W / 2;
- y4 = Box_H / 2;
- z4 = 0;
-
- x5 = Box_W / 2;
- y5 = -Box_H / 2;
- z5 = Box_L;
-
- x6 = -Box_W / 2;
- y6 = -Box_H / 2;
- z6 = Box_L;
-
- x7 = Box_W / 2;
- y7 = Box_H / 2;
- z7 = Box_L;
-
- x8 = -Box_W / 2;
- y8 = Box_H / 2;
- z8 = Box_L;
-
- floorHeight = Box_H / 6;
-
- yfloor = - Box_H /2 - floorHeight;
-
- glMatrixMode(GL_PROJECTION);
-
- glLoadIdentity();
- glDepthRange(0,1.0);
-
- glOrtho( -1,1,
- -1,1,
- -10,10);
-
- glRotatef(m_baseAlpha + m_alpha,0,1,0);
- glRotatef(m_baseBeta + m_beta,1,0,0);
-
- float setScale;
- setScale = m_baseScale + m_scale;
-
- glScalef( setScale,
- setScale,
- setScale);
-
- glTranslatef(0, 0,- Box_L / 2.0f);
-
- /* Draw the room */
-
- glBegin(GL_LINE_STRIP);
- glColor3f(1,0,0);
- glVertex3f(x1,y1,z1);
- glVertex3f(x3,y3,z3);
- glVertex3f(x4,y4,z4);
- glVertex3f(x2,y2,z2);
- glVertex3f(x1,y1,z1);
- glVertex3f(x5,y5,z5);
- glVertex3f(x6,y6,z6);
- glVertex3f(x8,y8,z8);
- glVertex3f(x7,y7,z7);
- glVertex3f(x5,y5,z5);
-
- glEnd();
-
- glBegin(GL_LINES);
-
- glVertex3f(x3,y3,z3);
- glVertex3f(x7,y7,z7);
-
- glVertex3f(x4,y4,z4);
- glVertex3f(x8,y8,z8);
-
- glVertex3f(x2,y2,z2);
- glVertex3f(x6,y6,z6);
-
- glEnd();
-
- /* Draw floor for the room */
-
- /* First draw the lines */
- glBegin(GL_LINES);
- glColor3f(0.0,1.0,0.0);
- glVertex3f(x1,y1,z1);
- glVertex3f(x5,y5,z5);
-
- glVertex3f(x5,y5,z5);
- glVertex3f(x6,y6,z6);
-
- glVertex3f(x6,y6,z6);
- glVertex3f(x2,y2,z2);
-
- glVertex3f(x2,y2,z2);
- glVertex3f(x1,y1,z1);
-
- glVertex3f(x1,y1,z1);
- glVertex3f(x1,yfloor,z1);
-
- glVertex3f(x1,yfloor,z1);
- glVertex3f(x5,yfloor,z5);
-
- glVertex3f(x5,yfloor,z5);
- glVertex3f(x6,yfloor,z6);
-
- glVertex3f(x6,yfloor,z6);
- glVertex3f(x2,yfloor,z2);
-
- glVertex3f(x2,yfloor,z2);
- glVertex3f(x1,yfloor,z1);
- glVertex3f(x2,y2,z2);
- glVertex3f(x2,yfloor,z2);
- glVertex3f(x6,y6,z6);
- glVertex3f(x6,yfloor,z6);
- glVertex3f(x5,y5,z5);
- glVertex3f(x5,yfloor,z5);
- glEnd();
-
- /* Draw floor under floor */
- glBegin(GL_QUADS);
- glColor3f(0.0f, 0.6f, 1.1f);
-
- glVertex3f(x1,yfloor,z1);
- glVertex3f(x5,yfloor,z5);
- glVertex3f(x6,yfloor,z6);
- glVertex3f(x2,yfloor,z2);
- glEnd();
-
- /* Draw walls under floor */
- glBegin(GL_QUADS);
- glColor3f(0.0f,0.3f,0.5f);
-
- glVertex3f(x1,y1,z1);
- glVertex3f(x5,y5,z5);
- glVertex3f(x5,yfloor,z5);
- glVertex3f(x1,yfloor,z1);
-
- glVertex3f(x5,y5,z5);
- glVertex3f(x6,y6,z6);
- glVertex3f(x6,yfloor,z6);
- glVertex3f(x5,yfloor,z5);
-
- glVertex3f(x2,y2,z2);
- glVertex3f(x6,y6,z6);
- glVertex3f(x6,yfloor,z6);
- glVertex3f(x2,yfloor,z2);
-
- glVertex3f(x1,y1,z1);
- glVertex3f(x2,y2,z2);
- glVertex3f(x2,yfloor,z2);
- glVertex3f(x1,yfloor,z1);
-
- glEnd();
-
-
- /* Draw the camera */
- float camX0,camX1,camX2,camX3,camX4;
- float camY0,camY1,camY2,camY3,camY4;
- float camZ0,camZ1,camZ2,camZ3,camZ4;
-
- camX0 = 0.0; camY0 = 0.0; camZ0 = 0.0;
- camX1 = -1.0; camY1 = 1.0; camZ1 = 4.0;
- camX2 = 1.0; camY2 = 1.0; camZ2 = 4.0;
- camX3 = 1.0; camY3 = -1.0; camZ3 = 4.0;
- camX4 = -1.0; camY4 = -1.0; camZ4 = 4.0;
-/*
- glBegin(GL_TRIANGLE_FAN);
- glVertex3f(camX0,camY0,camZ0);
- glVertex3f(camX1,camY1,camZ1);
- glVertex3f(camX2,camY2,camZ2);
- glVertex3f(camX3,camY3,camZ3);
- glVertex3f(camX4,camY4,camZ4);
- glEnd();
-*/
- glBegin(GL_LINE_STRIP);
- glColor3f(1.0,0.0,0.0);
- glVertex3f(camX0,camY0,camZ0);
- glVertex3f(camX1,camY1,camZ1);
- glVertex3f(camX2,camY2,camZ2);
- glVertex3f(camX3,camY3,camZ3);
- glVertex3f(camX4,camY4,camZ4);
- glVertex3f(camX1,camY1,camZ1);
- glEnd();
-
- glBegin(GL_LINES);
- glVertex3f(camX0,camY0,camZ0);
- glVertex3f(camX2,camY2,camZ2);
- glVertex3f(camX0,camY0,camZ0);
- glVertex3f(camX3,camY3,camZ3);
- glVertex3f(camX0,camY0,camZ0);
- glVertex3f(camX4,camY4,camZ4);
- glEnd();
-
- /* draw direct to ground */
-
- glBegin(GL_LINES);
- glVertex3f(0,0,0);
- glVertex3f(0,-Box_H/2,0);
- glEnd();
-
- /* Draw flat ground */
-
- glBegin(GL_QUADS);
- glColor3f(1.0f, 0.6f, 0.1f);
-
- //glShadeModel(GL_FLAT);
-
- glVertex3f(x1,y1,z1);
- glVertex3f(x5,y5,z5);
- glVertex3f(x6,y6,z6);
- glVertex3f(x2,y2,z2);
- glEnd();
-
- /* Convert Points */
-
- for( t = 0; t < etalonNum; t++) {
-
- objPoint.data.fl[0] = objPoints.data.fl[t * 3 + 0];
- objPoint.data.fl[1] = objPoints.data.fl[t * 3 + 1];
- objPoint.data.fl[2] = objPoints.data.fl[t * 3 + 2];
-
- cvmMul( &cameraMatr, &objPoint, &tmp3 );
-
- cvmAdd( &tmp3, &transVect, &Point );
-
- // MirrorPoints !!!
- Points.data.fl[t*3+0] = -Point.data.fl[0];
- Points.data.fl[t*3+1] = -Point.data.fl[1];
- Points.data.fl[t*3+2] = Point.data.fl[2];
- }
-
-
- /* Draw Object */
- glBegin(GL_QUADS);
-
- /* Draw black and white quads */
- float xq[4];//1,xq2,xq3,xq4;
- float yq[4];//1,yq2,yq3,yq4;
- float zq[4];//,zq2,zq3,zq4;
-
- int inds[4];//1,ind2,ind3,ind4;
- int curr;
-
- for(t = 0; t < numY - 1; t++)
- {
- for(k = 0; k < numX - 1; k++)
- {
- inds[0] = t * numX + k;
- inds[1] = inds[0] + 1;
- inds[2] = inds[0] + numX + 1;
- inds[3] = inds[0] + numX;
-
- for( curr = 0; curr < 4; curr++ )
- {
- xq[curr] = Points.data.fl[inds[curr] * 3 + 0];
- yq[curr] = Points.data.fl[inds[curr] * 3 + 1];
- zq[curr] = Points.data.fl[inds[curr] * 3 + 2];
- }
-
- if( (t + k & 1) == 1 )
- {
- glColor3f(0.1f, 0.1f, 0.1f);
- }
- else
- {
- glColor3f(1.0f, 1.0f, 1.0f);
- }
-
- for( curr = 0; curr < 4; curr++ )
- {
- glVertex3f(xq[curr],yq[curr],zq[curr]);
- }
- }
- }
-
- glEnd();
-
- cvmFree(&objPoints);
-
- cvmFree(&Points );
- cvmFree(&objPoint );
- cvmFree(&tmp3 );
- cvmFree(&Point );
- }
-
- glFinish();
- glFlush();
-
- SwapBuffers(m_hdc);
-
- EndPaint( m_hwnd, &ps );
-
-}/* OnPaint */
-
-
-void CCalib3DWindow::OnLButtonDown( CvPoint pt, int /*fwKeys*/)
-{
- m_oldLPoint = pt;
- SetCapture(m_hwnd);
-
- m_alpha = 0.0;
- m_beta = 0.0;
-
- m_holdLMouse = true;
- InvalidateRect( m_hwnd, 0, FALSE );
- UpdateWindow( m_hwnd );
-}
-
-void CCalib3DWindow::OnLButtonUp( CvPoint /*pt*/, int /*fwKeys*/)
-{
- ReleaseCapture();
- m_holdLMouse = false;
- m_baseAlpha += m_alpha;
- m_baseBeta += m_beta;
- m_alpha = 0.0;
- m_beta = 0.0;
- InvalidateRect( m_hwnd, 0, FALSE );
- UpdateWindow( m_hwnd );
-}
-
-void CCalib3DWindow::OnRButtonDown( CvPoint pt, int /*fwKeys*/)
-{
- m_oldRPoint = pt;
- SetCapture(m_hwnd);
-
- m_holdRMouse = true;
-
- m_scale = 0.0;
- InvalidateRect( m_hwnd, 0, FALSE );
- UpdateWindow( m_hwnd );
-}
-
-void CCalib3DWindow::OnRButtonUp( CvPoint /*pt*/, int /*fwKeys*/)
-{
- ReleaseCapture();
- m_holdRMouse = false;
-
- m_baseScale += m_scale;
- if( m_baseScale <= 0.0) m_baseScale = 0.0;
- m_scale = 0.0;
- InvalidateRect( m_hwnd, 0, FALSE );
- UpdateWindow( m_hwnd );
-}
-
-void CCalib3DWindow::OnMouseMove( CvPoint pt, int /*fwKeys*/)
-{
- if( m_holdLMouse )
- {
- RECT rect;
- GetClientRect( m_hwnd, &rect );
- float width = (float)(rect.right - rect.left);
- float height = (float)(rect.bottom - rect.top);
-
- float dx = (float)( pt.x - m_oldLPoint.x );
- float dy = (float)( pt.y - m_oldLPoint.y );
- m_alpha = (dx / width) * 360;
- m_beta = (dy / height) * 360;
- }
-
- if( m_holdRMouse )
- {
- RECT rect;
- GetClientRect( m_hwnd, &rect );
- float height = (float)(rect.bottom - rect.top);
- float dy = (float)(pt.y - m_oldRPoint.y);
- m_scale = (float)((dy/height)*0.1);
- }
-
- InvalidateRect( m_hwnd, 0, FALSE );
- UpdateWindow( m_hwnd );
-}
-
-void CCalib3DWindow::Show( bool show )
-{
- ShowWindow( m_hwnd, show ? SW_SHOWNORMAL : SW_HIDE );
-}
-
-/* End of file. */
-
-void CCalib3DWindow::Resize()
-{
- RECT rect;
- GetClientRect( m_hwnd, &rect );
-
- glViewport(0,0,rect.right - rect.left,rect.bottom - rect.top);
- OnPaint();
-}
projects / opencv / blobdiff