public static Vector3 GetCornerPointToAxis(CameraPosition cameraPosition, Quaternion axis, Direction direction)
{
// Orientation in Viewing direction
var a1 = cameraPosition.Width / 2;
var a2 = cameraPosition.Height / 2;
var a3 = (double)cameraPosition.FocalLength;
var angleY = Math.Atan(a1 / a3);
var angleX = Math.Atan(a2 / a3);
// Set sign for corner
switch (direction)
{
default:
case Direction.TopLeft:
break;
case Direction.TopRight:
angleX = -angleX;
break;
case Direction.BottomLeft:
angleY = -angleY;
break;
case Direction.BottomRight:
angleX = -angleX;
angleY = -angleY;
break;
}
// Rotation matrices
var xm = new SharpDX.Matrix
{
M11 = 1,
M22 = (float)Math.Cos(angleX),
M32 = (float)Math.Sin(angleX),
M23 = (float)-Math.Sin(angleX),
M33 = (float)Math.Cos(angleX)
};
var ym = new SharpDX.Matrix
{
M11 = (float)Math.Cos(angleY),
M31 = (float)-Math.Sin(angleY),
M22 = 1,
M13 = (float)Math.Sin(angleY),
M33 = (float)Math.Cos(angleY)
};
// Rotate the point by multiplying with quaternion and conjugate of quaternion
var rot = Quaternion.RotationMatrix(xm) * Quaternion.RotationMatrix(ym) * axis;
return Rotate(rot, new Vector3(0, 0, 1));
}
public static List<CameraPosition> ReadScannerPositions(string file)
{
var retList = new List<CameraPosition>();
string line;
using (StreamReader reader = new StreamReader(file))
{
do
{
line = reader.ReadLine();
} while (!line.StartsWith("Scans") );
line = reader.ReadLine();
do
{
if (line.StartsWith("#"))
{
line = reader.ReadLine();
continue;
}
var vals = line.Split(' ');
var cp = new CameraPosition
{
Type = CameraPosition.CameraType.Spherical,
CameraCenter = new Vector3(float.Parse(vals[1]), float.Parse(vals[3]), -float.Parse(vals[2])),
Name = vals[0].Trim('"'),
OpeningAngleVerticalTo = -Math.PI/2.0 * 2.0/3.0
};
cp.Orientation = Quaternion.RotationAxis(
new Vector3(
float.Parse(vals[4]),
float.Parse(vals[6]),
-float.Parse(vals[5])),
(float)((float.Parse(vals[7])) * Math.PI / 180.0));
retList.Add(cp);
line = reader.ReadLine();
} while (!line.StartsWith("}"));
}
return retList;
}