];
this._propertiesSpatial = [
"atomic_scale",
+ "c_rotation",
"ca",
"calt",
+ "camera_projection_type",
"cca",
"cfocal",
"ck1",
"height",
"merge_cc",
"merge_version",
- "c_rotation",
"orientation",
"width",
];
fragment: "#ifdef GL_FRAGMENT_PRECISION_HIGH\nprecision highp float;\n#else\nprecision mediump float;\n#endif\n\nuniform sampler2D projectorTex;\nuniform float opacity;\nuniform float focal;\nuniform float k1;\nuniform float k2;\nuniform float scale_x;\nuniform float scale_y;\nuniform float radial_peak;\nuniform float curtain;\n\nvarying vec4 vRstq;\n\nvoid main()\n{\n float x = vRstq.x / vRstq.z;\n float y = vRstq.y / vRstq.z;\n float r2 = x * x + y * y;\n\n if (radial_peak > 0. && r2 > radial_peak * sqrt(r2)) {\n r2 = radial_peak * radial_peak;\n }\n\n float d = 1.0 + k1 * r2 + k2 * r2 * r2;\n float u = scale_x * focal * d * x + 0.5;\n float v = - scale_y * focal * d * y + 0.5;\n\n vec4 baseColor;\n if ((u < curtain || curtain >= 1.0) && u >= 0. && u <= 1. && v >= 0. && v <= 1.) {\n baseColor = texture2D(projectorTex, vec2(u, v));\n baseColor.a = opacity;\n } else {\n baseColor = vec4(0.0, 0.0, 0.0, 0.0);\n }\n\n gl_FragColor = baseColor;\n}\n",
vertex: "#ifdef GL_ES\nprecision highp float;\n#endif\n\nuniform mat4 projectorMat;\n\nvarying vec4 vRstq;\n\nvoid main()\n{\n vRstq = projectorMat * vec4(position, 1.0);\n gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0);\n}",
};
+ Shaders.fisheye = {
+ fragment: "#ifdef GL_FRAGMENT_PRECISION_HIGH\nprecision highp float;\n#else\nprecision mediump float;\n#endif\n\nuniform sampler2D projectorTex;\nuniform float opacity;\nuniform float focal;\nuniform float k1;\nuniform float k2;\nuniform float scale_x;\nuniform float scale_y;\nuniform float radial_peak;\n\nvarying vec4 vRstq;\n\nvoid main()\n{\n float x = vRstq.x;\n float y = vRstq.y;\n float z = vRstq.z;\n\n float r = sqrt(x * x + y * y);\n float theta = atan(r, z);\n\n if (radial_peak > 0. && theta > radial_peak) {\n theta = radial_peak;\n }\n\n float theta2 = theta * theta;\n float theta_d = theta * (1.0 + theta2 * (k1 + theta2 * k2));\n float s = focal * theta_d / r;\n\n float u = scale_x * s * x + 0.5;\n float v = -scale_y * s * y + 0.5;\n\n vec4 baseColor;\n if (u >= 0. && u <= 1. && v >= 0. && v <= 1.) {\n baseColor = texture2D(projectorTex, vec2(u, v));\n baseColor.a = opacity;\n } else {\n baseColor = vec4(0.0, 0.0, 0.0, 0.0);\n }\n\n gl_FragColor = baseColor;\n}\n",
+ vertex: "#ifdef GL_ES\nprecision highp float;\n#endif\n\nuniform mat4 projectorMat;\n\nvarying vec4 vRstq;\n\nvoid main()\n{\n vRstq = projectorMat * vec4(position, 1.0);\n gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0);\n}",
+ };
+ Shaders.fisheyeCurtain = {
+ fragment: "#ifdef GL_FRAGMENT_PRECISION_HIGH\nprecision highp float;\n#else\nprecision mediump float;\n#endif\n\nuniform sampler2D projectorTex;\nuniform float opacity;\nuniform float focal;\nuniform float k1;\nuniform float k2;\nuniform float scale_x;\nuniform float scale_y;\nuniform float radial_peak;\nuniform float curtain;\n\nvarying vec4 vRstq;\n\nvoid main()\n{\n float x = vRstq.x;\n float y = vRstq.y;\n float z = vRstq.z;\n\n float r2 = sqrt(x * x + y * y);\n float theta = atan(r2, z);\n\n if (radial_peak > 0. && theta > radial_peak) {\n theta = radial_peak;\n }\n\n float theta2 = theta * theta;\n float theta_d = theta * (1.0 + theta2 * (k1 + theta2 * k2));\n float s = focal * theta_d / r2;\n\n float u = scale_x * s * x + 0.5;\n float v = -scale_y * s * y + 0.5;\n\n vec4 baseColor;\n if ((u < curtain || curtain >= 1.0) && u >= 0. && u <= 1. && v >= 0. && v <= 1.) {\n baseColor = texture2D(projectorTex, vec2(u, v));\n baseColor.a = opacity;\n } else {\n baseColor = vec4(0.0, 0.0, 0.0, 0.0);\n }\n\n gl_FragColor = baseColor;\n}\n",
+ vertex: "#ifdef GL_ES\nprecision highp float;\n#endif\n\nuniform mat4 projectorMat;\n\nvarying vec4 vRstq;\n\nvoid main()\n{\n vRstq = projectorMat * vec4(position, 1.0);\n gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0);\n}",
+ };
Shaders.perspectiveDistorted = {
fragment: "#ifdef GL_FRAGMENT_PRECISION_HIGH\nprecision highp float;\n#else\nprecision mediump float;\n#endif\n\nuniform sampler2D projectorTex;\nuniform float opacity;\n\nvarying vec4 vRstq;\n\nvoid main()\n{\n float u = vRstq.x / vRstq.w;\n float v = vRstq.y / vRstq.w;\n\n vec4 baseColor;\n if (u >= 0. && u <= 1. && v >= 0. && v <= 1.) {\n baseColor = texture2D(projectorTex, vec2(u, v));\n baseColor.a = opacity;\n } else {\n baseColor = vec4(0.0, 0.0, 0.0, 0.0);\n }\n\n gl_FragColor = baseColor;\n}\n",
vertex: "#ifdef GL_ES\nprecision highp float;\n#endif\n\nuniform mat4 projectorMat;\n\nvarying vec4 vRstq;\n\nvoid main()\n{\n vRstq = projectorMat * vec4(position, 1.0);\n gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0);\n}\n",
SpatialDataCache.prototype._createNodeData = function (node) {
return {
alt: node.alt,
+ cameraProjection: node.cameraProjection,
focal: node.focal,
gpano: node.gpano,
height: node.height,
};
SpatialDataComponent.prototype._createTransform = function (data, reference) {
var translation = Geo_1.Geo.computeTranslation({ alt: data.alt, lat: data.lat, lon: data.lon }, data.rotation, reference);
- var transform = new Geo_1.Transform(data.orientation, data.width, data.height, data.focal, data.scale, data.gpano, data.rotation, translation, undefined, undefined, data.k1, data.k2);
+ var transform = new Geo_1.Transform(data.orientation, data.width, data.height, data.focal, data.scale, data.gpano, data.rotation, translation, undefined, undefined, data.k1, data.k2, data.cameraProjection);
return transform;
};
SpatialDataComponent.prototype._computeTiles = function (hash, direction) {
this._imageSphereRadius = imageSphereRadius != null ? imageSphereRadius : 200;
}
MeshFactory.prototype.createMesh = function (node, transform) {
- var mesh = node.pano ?
- this._createImageSphere(node, transform) :
- this._createImagePlane(node, transform);
- return mesh;
+ if (node.pano) {
+ return this._createImageSphere(node, transform);
+ }
+ else if (transform.cameraProjection === "fisheye") {
+ return this._createImagePlaneFisheye(node, transform);
+ }
+ else {
+ return this._createImagePlane(node, transform);
+ }
};
MeshFactory.prototype.createFlatMesh = function (node, transform, basicX0, basicX1, basicY0, basicY1) {
var texture = this._createTexture(node.image);
if (node.pano && !node.fullPano) {
throw new Error("Cropped panoramas cannot have curtain.");
}
- return node.pano ?
- this._createSphereCurtainMesh(node, transform) :
- this._createCurtainMesh(node, transform);
+ if (node.pano) {
+ return this._createSphereCurtainMesh(node, transform);
+ }
+ else if (transform.cameraProjection === "fisheye") {
+ return this._createCurtainMeshFisheye(node, transform);
+ }
+ else {
+ return this._createCurtainMesh(node, transform);
+ }
};
MeshFactory.prototype.createDistortedCurtainMesh = function (node, transform) {
if (node.pano) {
this._getRegularFlatImagePlaneGeo(transform);
return new THREE.Mesh(geometry, material);
};
+ MeshFactory.prototype._createCurtainMeshFisheye = function (node, transform) {
+ var texture = this._createTexture(node.image);
+ var materialParameters = this._createCurtainPlaneMaterialParametersFisheye(transform, texture);
+ var material = new THREE.ShaderMaterial(materialParameters);
+ var geometry = this._useMesh(transform, node) ?
+ this._getImagePlaneGeoFisheye(transform, node) :
+ this._getRegularFlatImagePlaneGeo(transform);
+ return new THREE.Mesh(geometry, material);
+ };
MeshFactory.prototype._createDistortedCurtainMesh = function (node, transform) {
var texture = this._createTexture(node.image);
var materialParameters = this._createDistortedCurtainPlaneMaterialParameters(transform, texture);
this._getRegularFlatImagePlaneGeo(transform);
return new THREE.Mesh(geometry, material);
};
+ MeshFactory.prototype._createImagePlaneFisheye = function (node, transform) {
+ var texture = this._createTexture(node.image);
+ var materialParameters = this._createPlaneMaterialParametersFisheye(transform, texture);
+ var material = new THREE.ShaderMaterial(materialParameters);
+ var geometry = this._useMesh(transform, node) ?
+ this._getImagePlaneGeoFisheye(transform, node) :
+ this._getRegularFlatImagePlaneGeoFisheye(transform);
+ return new THREE.Mesh(geometry, material);
+ };
MeshFactory.prototype._createSphereMaterialParameters = function (transform, texture) {
var gpano = transform.gpano;
var halfCroppedWidth = (gpano.FullPanoWidthPixels - gpano.CroppedAreaImageWidthPixels) / 2;
};
return materialParameters;
};
+ MeshFactory.prototype._createPlaneMaterialParametersFisheye = function (transform, texture) {
+ var materialParameters = {
+ depthWrite: false,
+ fragmentShader: Component_1.Shaders.fisheye.fragment,
+ side: THREE.DoubleSide,
+ transparent: true,
+ uniforms: {
+ focal: {
+ type: "f",
+ value: transform.focal,
+ },
+ k1: {
+ type: "f",
+ value: transform.ck1,
+ },
+ k2: {
+ type: "f",
+ value: transform.ck2,
+ },
+ opacity: {
+ type: "f",
+ value: 1,
+ },
+ projectorMat: {
+ type: "m4",
+ value: transform.basicRt,
+ },
+ projectorTex: {
+ type: "t",
+ value: texture,
+ },
+ radial_peak: {
+ type: "f",
+ value: !!transform.radialPeak ? transform.radialPeak : 0,
+ },
+ scale_x: {
+ type: "f",
+ value: Math.max(transform.basicHeight, transform.basicWidth) / transform.basicWidth,
+ },
+ scale_y: {
+ type: "f",
+ value: Math.max(transform.basicWidth, transform.basicHeight) / transform.basicHeight,
+ },
+ },
+ vertexShader: Component_1.Shaders.fisheye.vertex,
+ };
+ return materialParameters;
+ };
+ MeshFactory.prototype._createCurtainPlaneMaterialParametersFisheye = function (transform, texture) {
+ var materialParameters = {
+ depthWrite: false,
+ fragmentShader: Component_1.Shaders.fisheyeCurtain.fragment,
+ side: THREE.DoubleSide,
+ transparent: true,
+ uniforms: {
+ curtain: {
+ type: "f",
+ value: 1,
+ },
+ focal: {
+ type: "f",
+ value: transform.focal,
+ },
+ k1: {
+ type: "f",
+ value: transform.ck1,
+ },
+ k2: {
+ type: "f",
+ value: transform.ck2,
+ },
+ opacity: {
+ type: "f",
+ value: 1,
+ },
+ projectorMat: {
+ type: "m4",
+ value: transform.basicRt,
+ },
+ projectorTex: {
+ type: "t",
+ value: texture,
+ },
+ radial_peak: {
+ type: "f",
+ value: !!transform.radialPeak ? transform.radialPeak : 0,
+ },
+ scale_x: {
+ type: "f",
+ value: Math.max(transform.basicHeight, transform.basicWidth) / transform.basicWidth,
+ },
+ scale_y: {
+ type: "f",
+ value: Math.max(transform.basicWidth, transform.basicHeight) / transform.basicHeight,
+ },
+ },
+ vertexShader: Component_1.Shaders.fisheyeCurtain.vertex,
+ };
+ return materialParameters;
+ };
MeshFactory.prototype._createCurtainPlaneMaterialParameters = function (transform, texture) {
var materialParameters = {
depthWrite: false,
geometry.setIndex(new THREE.BufferAttribute(indices, 1));
return geometry;
};
+ MeshFactory.prototype._getImagePlaneGeoFisheye = function (transform, node) {
+ var t = new THREE.Matrix4().getInverse(transform.srt);
+ // push everything at least 5 meters in front of the camera
+ var minZ = 5.0 * transform.scale;
+ var maxZ = this._imagePlaneDepth * transform.scale;
+ var vertices = node.mesh.vertices;
+ var numVertices = vertices.length / 3;
+ var positions = new Float32Array(vertices.length);
+ for (var i = 0; i < numVertices; ++i) {
+ var index = 3 * i;
+ var x = vertices[index + 0];
+ var y = vertices[index + 1];
+ var z = vertices[index + 2];
+ var l = Math.sqrt(x * x + y * y + z * z);
+ var boundedL = Math.max(minZ, Math.min(l, maxZ));
+ var factor = boundedL / l;
+ var p = new THREE.Vector3(x * factor, y * factor, z * factor);
+ p.applyMatrix4(t);
+ positions[index + 0] = p.x;
+ positions[index + 1] = p.y;
+ positions[index + 2] = p.z;
+ }
+ var faces = node.mesh.faces;
+ var indices = new Uint16Array(faces.length);
+ for (var i = 0; i < faces.length; ++i) {
+ indices[i] = faces[i];
+ }
+ var geometry = new THREE.BufferGeometry();
+ geometry.addAttribute("position", new THREE.BufferAttribute(positions, 3));
+ geometry.setIndex(new THREE.BufferAttribute(indices, 1));
+ return geometry;
+ };
MeshFactory.prototype._getFlatImageSphereGeo = function (transform) {
var gpano = transform.gpano;
var phiStart = 2 * Math.PI * gpano.CroppedAreaLeftPixels / gpano.FullPanoWidthPixels;
vertices.push(transform.unprojectSfM([-dx, dy], this._imagePlaneDepth));
return this._createFlatGeometry(vertices);
};
+ MeshFactory.prototype._getRegularFlatImagePlaneGeoFisheye = function (transform) {
+ var width = transform.width;
+ var height = transform.height;
+ var size = Math.max(width, height);
+ var dx = width / 2.0 / size;
+ var dy = height / 2.0 / size;
+ return this._getFlatImagePlaneGeoFisheye(transform, dx, dy);
+ };
+ MeshFactory.prototype._getFlatImagePlaneGeoFisheye = function (transform, dx, dy) {
+ var vertices = [];
+ vertices.push(transform.unprojectSfM([-dx, -dy], this._imagePlaneDepth));
+ vertices.push(transform.unprojectSfM([dx, -dy], this._imagePlaneDepth));
+ vertices.push(transform.unprojectSfM([dx, dy], this._imagePlaneDepth));
+ vertices.push(transform.unprojectSfM([-dx, dy], this._imagePlaneDepth));
+ return this._createFlatGeometry(vertices);
+ };
MeshFactory.prototype._getFlatImagePlaneGeoFromBasic = function (transform, basicX0, basicX1, basicY0, basicY1) {
var vertices = [];
vertices.push(transform.unprojectBasic([basicX0, basicY0], this._imagePlaneDepth));
* @param {Array<number>} translation - Translation vector in three dimensions.
* @param {HTMLImageElement} image - Image for fallback size calculations.
*/
- function Transform(orientation, width, height, focal, scale, gpano, rotation, translation, image, textureScale, ck1, ck2) {
+ function Transform(orientation, width, height, focal, scale, gpano, rotation, translation, image, textureScale, ck1, ck2, cameraProjection) {
this._orientation = this._getValue(orientation, 1);
var imageWidth = image != null ? image.width : 4;
var imageHeight = image != null ? image.height : 3;
this._textureScale = !!textureScale ? textureScale : [1, 1];
this._ck1 = !!ck1 ? ck1 : 0;
this._ck2 = !!ck2 ? ck2 : 0;
+ this._cameraProjection = !!cameraProjection ?
+ cameraProjection :
+ !!gpano ?
+ "equirectangular" :
+ "perspective";
this._radialPeak = this._getRadialPeak(this._ck1, this._ck2);
}
Object.defineProperty(Transform.prototype, "ck1", {
enumerable: true,
configurable: true
});
+ Object.defineProperty(Transform.prototype, "cameraProjection", {
+ get: function () {
+ return this._cameraProjection;
+ },
+ enumerable: true,
+ configurable: true
+ });
Object.defineProperty(Transform.prototype, "basicAspect", {
/**
* Get basic aspect.
var z = Math.cos(lat) * Math.cos(lon);
return [x, y, z];
}
- else {
+ else if (this._cameraProjection === "fisheye") {
var _a = [sfm[0] / this._focal, sfm[1] / this._focal], dxn = _a[0], dyn = _a[1];
- var rp = this._radialPeak;
+ var dTheta = Math.sqrt(dxn * dxn + dyn * dyn);
+ var d = this._distortionFromDistortedRadius(dTheta, this._ck1, this._ck2, this._radialPeak);
+ var theta = dTheta / d;
+ var z = Math.cos(theta);
+ var r = Math.sin(theta);
+ var x = r * dxn / dTheta;
+ var y = r * dyn / dTheta;
+ return [x, y, z];
+ }
+ else {
+ var _b = [sfm[0] / this._focal, sfm[1] / this._focal], dxn = _b[0], dyn = _b[1];
var dr = Math.sqrt(dxn * dxn + dyn * dyn);
- var d = 1.0;
- for (var i = 0; i < 10; i++) {
- var r = dr / d;
- if (r > rp) {
- r = rp;
- }
- d = 1 + this._ck1 * Math.pow(r, 2) + this._ck2 * Math.pow(r, 4);
- }
+ var d = this._distortionFromDistortedRadius(dr, this._ck1, this._ck2, this._radialPeak);
var xn = dxn / d;
var yn = dyn / d;
var v = new THREE.Vector3(xn, yn, 1);
return [v.x, v.y, v.z];
}
};
+ /** Compute distortion given the distorted radius.
+ *
+ * Solves for d in the equation
+ * y = d(x, k1, k2) * x
+ * given the distorted radius, y.
+ */
+ Transform.prototype._distortionFromDistortedRadius = function (distortedRadius, k1, k2, radialPeak) {
+ var d = 1.0;
+ for (var i = 0; i < 10; i++) {
+ var radius = distortedRadius / d;
+ if (radius > radialPeak) {
+ radius = radialPeak;
+ }
+ d = 1 + k1 * Math.pow(radius, 2) + k2 * Math.pow(radius, 4);
+ }
+ return d;
+ };
/**
* Transform bearing vector (3D cartesian coordiantes on the unit sphere) to
* SfM coordinates.
(fullPanoPixel[1] - this.gpano.CroppedAreaTopPixels - this.gpano.CroppedAreaImageHeightPixels / 2) / size,
];
}
+ else if (this._cameraProjection === "fisheye") {
+ if (bearing[2] > 0) {
+ var x = bearing[0], y = bearing[1], z = bearing[2];
+ var r = Math.sqrt(x * x + y * y);
+ var theta = Math.atan2(r, z);
+ if (theta > this._radialPeak) {
+ theta = this._radialPeak;
+ }
+ var distortion = 1.0 + Math.pow(theta, 2) * (this._ck1 + Math.pow(theta, 2) * this._ck2);
+ var s = this._focal * distortion * theta / r;
+ return [s * x, s * y];
+ }
+ else {
+ return [
+ bearing[0] < 0 ? Number.NEGATIVE_INFINITY : Number.POSITIVE_INFINITY,
+ bearing[1] < 0 ? Number.NEGATIVE_INFINITY : Number.POSITIVE_INFINITY,
+ ];
+ }
+ }
else {
if (bearing[2] > 0) {
var _a = [bearing[0] / bearing[2], bearing[1] / bearing[2]], xn = _a[0], yn = _a[1];
enumerable: true,
configurable: true
});
+ Object.defineProperty(Node.prototype, "cameraProjection", {
+ /**
+ * Get cameraProjection.
+ *
+ * @description Will be undefined if SfM has not been run.
+ *
+ * @returns {number} The camera projection of the image.
+ */
+ get: function () {
+ return this._fill.camera_projection_type;
+ },
+ enumerable: true,
+ configurable: true
+ });
Object.defineProperty(Node.prototype, "capturedAt", {
/**
* Get capturedAt.
for (var _i = 0, _a = this._trajectory; _i < _a.length; _i++) {
var node = _a[_i];
var translation = this._nodeToTranslation(node, this._reference);
- var transform = new Geo_1.Transform(node.orientation, node.width, node.height, node.focal, node.scale, node.gpano, node.rotation, translation, node.image, undefined, node.ck1, node.ck2);
+ var transform = new Geo_1.Transform(node.orientation, node.width, node.height, node.focal, node.scale, node.gpano, node.rotation, translation, node.image, undefined, node.ck1, node.ck2, node.cameraProjection);
this._trajectoryTransforms.push(transform);
this._trajectoryCameras.push(new Geo_1.Camera(transform));
}
throw new Error_1.ArgumentMapillaryError("Assets must be cached when node is added to trajectory");
}
var translation = this._nodeToTranslation(node, this.reference);
- var transform = new Geo_1.Transform(node.orientation, node.width, node.height, node.focal, node.scale, node.gpano, node.rotation, translation, node.image, undefined, node.ck1, node.ck2);
+ var transform = new Geo_1.Transform(node.orientation, node.width, node.height, node.focal, node.scale, node.gpano, node.rotation, translation, node.image, undefined, node.ck1, node.ck2, node.cameraProjection);
this._trajectoryTransforms.push(transform);
this._trajectoryCameras.push(new Geo_1.Camera(transform));
}
throw new Error_1.ArgumentMapillaryError("Assets must be cached when added to trajectory");
}
var translation = this._nodeToTranslation(node, this.reference);
- var transform = new Geo_1.Transform(node.orientation, node.width, node.height, node.focal, node.scale, node.gpano, node.rotation, translation, node.image, undefined, node.ck1, node.ck2);
+ var transform = new Geo_1.Transform(node.orientation, node.width, node.height, node.focal, node.scale, node.gpano, node.rotation, translation, node.image, undefined, node.ck1, node.ck2, node.cameraProjection);
this._trajectoryTransforms.unshift(transform);
this._trajectoryCameras.unshift(new Geo_1.Camera(transform));
}
projects / rails.git / blobdiff