ref: 7beafefd16b9d41eaf0bfc09e6bbb843ada9e952
dir: /tools/3D-Reconstruction/sketch_3D_reconstruction/Camera.pde/
class Camera { // camera's field of view float fov; // camera's position, look at point and axis PVector pos, center, axis; PVector init_pos, init_center, init_axis; float move_speed; float rot_speed; Camera(float fov, PVector pos, PVector center, PVector axis) { this.fov = fov; this.pos = pos; this.center = center; this.axis = axis; this.axis.normalize(); move_speed = 0.001; rot_speed = 0.01 * PI; init_pos = pos.copy(); init_center = center.copy(); init_axis = axis.copy(); } Camera copy() { Camera cam = new Camera(fov, pos.copy(), center.copy(), axis.copy()); return cam; } PVector project(PVector pos) { PVector proj = MatxVec3(getCameraMat(), PVector.sub(pos, this.pos)); proj.x = (float)height / 2.0 * proj.x / proj.z / tan(fov / 2.0f); proj.y = (float)height / 2.0 * proj.y / proj.z / tan(fov / 2.0f); proj.z = proj.z; return proj; } float[] getCameraMat() { float[] mat = new float[9]; PVector dir = PVector.sub(center, pos); dir.normalize(); PVector left = dir.cross(axis); left.normalize(); // processing camera system does not follow right hand rule mat[0] = -left.x; mat[1] = -left.y; mat[2] = -left.z; mat[3] = axis.x; mat[4] = axis.y; mat[5] = axis.z; mat[6] = dir.x; mat[7] = dir.y; mat[8] = dir.z; return mat; } void run() { PVector dir, left; if (mousePressed) { float angleX = (float)mouseX / width * PI - PI / 2; float angleY = (float)mouseY / height * PI - PI; PVector diff = PVector.sub(center, pos); float radius = diff.mag(); pos.x = radius * sin(angleY) * sin(angleX) + center.x; pos.y = radius * cos(angleY) + center.y; pos.z = radius * sin(angleY) * cos(angleX) + center.z; dir = PVector.sub(center, pos); dir.normalize(); PVector up = new PVector(0, 1, 0); left = up.cross(dir); left.normalize(); axis = dir.cross(left); axis.normalize(); } if (keyPressed) { switch (key) { case 'w': dir = PVector.sub(center, pos); dir.normalize(); pos = PVector.add(pos, PVector.mult(dir, move_speed)); center = PVector.add(center, PVector.mult(dir, move_speed)); break; case 's': dir = PVector.sub(center, pos); dir.normalize(); pos = PVector.sub(pos, PVector.mult(dir, move_speed)); center = PVector.sub(center, PVector.mult(dir, move_speed)); break; case 'a': dir = PVector.sub(center, pos); dir.normalize(); left = axis.cross(dir); left.normalize(); pos = PVector.add(pos, PVector.mult(left, move_speed)); center = PVector.add(center, PVector.mult(left, move_speed)); break; case 'd': dir = PVector.sub(center, pos); dir.normalize(); left = axis.cross(dir); left.normalize(); pos = PVector.sub(pos, PVector.mult(left, move_speed)); center = PVector.sub(center, PVector.mult(left, move_speed)); break; case 'r': dir = PVector.sub(center, pos); dir.normalize(); float[] mat = getRotationMat3x3(rot_speed, dir.x, dir.y, dir.z); axis = MatxVec3(mat, axis); axis.normalize(); break; case 'b': pos = init_pos.copy(); center = init_center.copy(); axis = init_axis.copy(); break; case '+': move_speed *= 2.0f; break; case '-': move_speed /= 2.0; break; case CODED: if (keyCode == UP) { pos = PVector.add(pos, PVector.mult(axis, move_speed)); center = PVector.add(center, PVector.mult(axis, move_speed)); } else if (keyCode == DOWN) { pos = PVector.sub(pos, PVector.mult(axis, move_speed)); center = PVector.sub(center, PVector.mult(axis, move_speed)); } } } } void open() { perspective(fov, float(width) / height, 1e-6, 1e5); camera(pos.x, pos.y, pos.z, center.x, center.y, center.z, axis.x, axis.y, axis.z); } void close() { ortho(-width, 0, -height, 0); camera(0, 0, 0, 0, 0, 1, 0, 1, 0); } }