feature/render-mesh

- Fixed bug in pointAt()
- OrbitAroundPoint has much better behavior and actually shows the mesh
- MeshViewerApp can now cycle through different colorization methods with texture on

applications/src/main/java/boofcv/app/MeshViewerApp.java

@@ -72,23 +72,39 @@ private static void loadFile( File file ) {
 		}
 
 		// See if there should be a texture mapped file
-		InterleavedU8 rgb = null;
-		if (mesh.texture.size() > 0) {
+		InterleavedU8 textureImage = null;
+		escape:if (mesh.texture.size() > 0) {
 			System.out.println("Loading texture image");
 			String name = FilenameUtils.getBaseName(file.getName());
-			File textureFile = new File(file.getParentFile(), name + ".jpg");
-			rgb = UtilImageIO.loadImage(textureFile, true, ImageType.IL_U8);
-			if (rgb == null)
-				System.err.println("Failed to load texture image");
+			// try to load an image with the same basename
+			File[] children = file.getParentFile().listFiles();
+			if (children == null) {
+				break escape;
+			}
+
+			for (File child : children) {
+				// see if this file starts with the same name as the mesh file
+				if (!child.getName().startsWith(name))
+					continue;
+
+				// skip if it's not an image
+				if (!UtilImageIO.isImage(child))
+					continue;
+
+				textureImage = UtilImageIO.loadImage(child, true, ImageType.IL_U8);
+				if (textureImage != null)
+					break;
+			}
 		}
-		InterleavedU8 _rgb = rgb;
+
+		InterleavedU8 _image = textureImage;
 		SwingUtilities.invokeLater(() -> {
 			var panel = new MeshViewerPanel();
 			panel.setMesh(mesh, false);
 			if (colors.size > 0)
 				panel.setVertexColors("RGB", colors.data);
-			if (_rgb != null)
-				panel.setTextureImage(_rgb);
+			if (_image != null)
+				panel.setTextureImage(_image);
 			panel.setPreferredSize(new Dimension(500, 500));
 			ShowImages.showWindow(panel, "Mesh Viewer", true);
 		});

integration/boofcv-swing/src/main/java/boofcv/gui/mesh/MeshViewerPanel.java

@@ -281,7 +281,7 @@ private void renderLoop() {
 			}
 
 			// Stop it from sucking up all the CPU
-			Thread.yield();
+			BoofMiscOps.sleep(10);
 
 			// Can't sleep or wait here. That requires interrupting the thread to wake it up, unfortunately
 			// that conflicts with the concurrency code and interrupts that too
@@ -374,17 +374,31 @@ public void setHorizontalFov( double degrees ) {
 	 * Each time this is called it will change the colorizer being used, if more than one has been specified
 	 */
 	public void cycleColorizer() {
+		int totalColors = colorizers.size();
+		if (mesh.isTextured()) {
+			totalColors++;
+		}
+
 		synchronized (colorizers) {
 			var list = new ArrayList<>(colorizers.keySet());
 
 			// go to the next one and make sure it's valid
 			activeColorizer++;
-			if (activeColorizer >= list.size()) {
+			if (activeColorizer >= totalColors) {
 				activeColorizer = 0;
 			}
 
-			// Change the colorizer
-			renderer.surfaceColor = Objects.requireNonNull(colorizers.get(list.get(activeColorizer)));
+			// If it has texture then that is the first possible colorizer
+			if (mesh.isTextured()) {
+				if (activeColorizer == 0) {
+					renderer.forceColorizer = false;
+				} else {
+					renderer.forceColorizer = true;
+					renderer.surfaceColor = Objects.requireNonNull(colorizers.get(list.get(activeColorizer - 1)));
+				}
+			} else {
+				renderer.surfaceColor = Objects.requireNonNull(colorizers.get(list.get(activeColorizer)));
+			}
 
 			// Re-render the image
 			requestRender();

integration/boofcv-swing/src/main/java/boofcv/gui/mesh/OrbitAroundPoint.java

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -21,16 +21,12 @@
 import boofcv.alg.geo.PerspectiveOps;
 import boofcv.struct.calib.CameraPinhole;
 import georegression.geometry.ConvertRotation3D_F64;
-import georegression.geometry.GeometryMath_F64;
 import georegression.metric.UtilAngle;
 import georegression.struct.EulerType;
 import georegression.struct.point.Point2D_F64;
 import georegression.struct.point.Point3D_F64;
-import georegression.struct.point.Vector3D_F64;
 import georegression.struct.se.Se3_F64;
 import lombok.Getter;
-import org.ejml.data.DMatrixRMaj;
-import org.ejml.dense.row.CommonOps_DDRM;
 
 /**
  * Contains the mathematics for controlling a camera by orbiting around a point in 3D space
@@ -44,54 +40,73 @@ public class OrbitAroundPoint {
 	/** Transform from world to camera view reference frames */
 	Se3_F64 worldToView = new Se3_F64();
 
-	DMatrixRMaj localRotation = new DMatrixRMaj(3, 3);
-	DMatrixRMaj rotationAroundTarget = new DMatrixRMaj(3, 3);
-	DMatrixRMaj tmp = new DMatrixRMaj(3, 3);
-
-	// Translation applied after the orbit has been done
-	Vector3D_F64 translateWorld = new Vector3D_F64();
-
-	// Point it's orbiting around
-	Point3D_F64 targetPoint = new Point3D_F64();
-
-	// Adjustment applied to distance from target point in final transform
-	double radiusScale = 1.0;
-
-	Point3D_F64 cameraLoc = new Point3D_F64();
+	// Point it's orbiting around in world coordinates
+	private Point3D_F64 targetWorld = new Point3D_F64();
 
 	// Storage for normalized image coordinates
 	Point2D_F64 norm1 = new Point2D_F64();
 	Point2D_F64 norm2 = new Point2D_F64();
 
+	Point3D_F64 targetInView = new Point3D_F64();
+	Point3D_F64 targetInOld = new Point3D_F64();
+	Se3_F64 viewToPoint = new Se3_F64();
+	Se3_F64 viewToPoint2 = new Se3_F64();
+	Se3_F64 worldToPoint = new Se3_F64();
+	Se3_F64 pointToRot = new Se3_F64();
+	Se3_F64 oldToNew = new Se3_F64();
+
 	public OrbitAroundPoint() {
 		resetView();
 	}
 
+	public void setTarget( double x, double y, double z ) {
+		targetWorld.setTo(x, y, z);
+
+		updateAfterExternalChange();
+	}
+
 	public void resetView() {
-		radiusScale = 1.0;
-		translateWorld.zero();
-		CommonOps_DDRM.setIdentity(rotationAroundTarget);
+		worldToView.reset();
+
+		// See if the principle point and the target are on top of each other
+		updateAfterExternalChange();
+	}
+
+	/**
+	 * After an external change to the transform or target, make sure it's pointed at the target and a reasonable
+	 * distance.
+	 */
+	private void updateAfterExternalChange() {
+		// See if the principle point and the target are on top of each other
+		if (Math.abs(worldToView.T.distance(targetWorld)) < 1e-16) {
+			// back the camera off a little bit
+			worldToView.T.z += 0.1;
+		}
+
+		pointAtTarget();
 	}
 
-	public void updateTransform() {
-		// Compute location of camera principle point with no rotation in target point reference frame
-		cameraLoc.x = -targetPoint.x*radiusScale;
-		cameraLoc.y = -targetPoint.y*radiusScale;
-		cameraLoc.z = -targetPoint.z*radiusScale;
-
-		// Apply rotation
-		GeometryMath_F64.mult(rotationAroundTarget, cameraLoc, cameraLoc);
-
-		// Compute the full transform
-		worldToView.T.setTo(
-				cameraLoc.x + targetPoint.x + translateWorld.x,
-				cameraLoc.y + targetPoint.y + translateWorld.y,
-				cameraLoc.z + targetPoint.z + translateWorld.z);
-		worldToView.R.setTo(rotationAroundTarget);
+	/**
+	 * Points the camera at the target point
+	 */
+	private void pointAtTarget() {
+		oldToNew.reset();
+
+		worldToView.transform(targetWorld, targetInView);
+		PerspectiveOps.pointAt(targetInView.x, targetInView.y, targetInView.z, oldToNew.R);
+
+		Se3_F64 tmp = pointToRot;
+		worldToView.concatInvert(oldToNew, tmp);
+		worldToView.setTo(tmp);
 	}
 
 	public void mouseWheel( double ticks, double scale ) {
-		radiusScale = Math.max(0.005, radiusScale*(1.0 + 0.02*ticks*scale));
+		worldToView.transform(targetWorld, targetInView);
+
+		// How much it will move towards or away from the target
+		worldToView.T.z += targetInView.norm()*0.02*ticks*scale;
+
+		// Because it's moving towards the point it won't need to adjust its angle
 	}
 
 	public void mouseDragRotate( double x0, double y0, double x1, double y1 ) {
@@ -107,31 +122,29 @@ public void mouseDragRotate( double x0, double y0, double x1, double y1 ) {
 		double rotX = UtilAngle.minus(Math.atan(norm1.x), Math.atan(norm2.x));
 		double rotY = UtilAngle.minus(Math.atan(norm1.y), Math.atan(norm2.y));
 
-		// Set the local rotation
-		ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, -rotY, rotX, 0, localRotation);
-
-		// Update the global rotation
-		CommonOps_DDRM.mult(localRotation, rotationAroundTarget, tmp);
-		rotationAroundTarget.setTo(tmp);
+		applyLocalEuler(rotX, -rotY, 0.0);
 	}
 
 	/**
-	 * Uses mouse drag motion to translate the view
+	 * Applies a X Y Z Euler rotation in the point's reference frame so that it will appear to be rotating
+	 * around that point
 	 */
-	public void mouseDragTranslate( double x0, double y0, double x1, double y1 ) {
-		// do nothing if the camera isn't configured yet
-		if (camera.fx == 0.0 || camera.fy == 0.0)
-			return;
+	private void applyLocalEuler( double rotX, double rotY, double rotZ ) {
+		pointToRot.reset();
 
-		// convert into normalize image coordinates
-		PerspectiveOps.convertPixelToNorm(camera, x0, y0, norm1);
-		PerspectiveOps.convertPixelToNorm(camera, x1, y1, norm2);
+		worldToView.transform(targetWorld, targetInOld);
+
+		viewToPoint.T.setTo(-targetInOld.x, -targetInOld.y, -targetInOld.z);
 
-		// Figure out the distance along the projection at the plane at the distance of the target point
-		double z = targetPoint.plus(translateWorld).norm()*radiusScale;
+		worldToView.concat(viewToPoint, worldToPoint);
 
-		translateWorld.x += (norm2.x - norm1.x)*z;
-		translateWorld.y += (norm2.y - norm1.y)*z;
+		// Set the local rotation
+		ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, rotY, rotX, rotZ, pointToRot.R);
+
+		viewToPoint.concat(pointToRot, viewToPoint2);
+		worldToPoint.concatInvert(viewToPoint2, worldToView);
+
+		pointAtTarget();
 	}
 
 	/**
@@ -147,14 +160,11 @@ public void mouseDragZoomRoll( double x0, double y0, double x1, double y1 ) {
 		PerspectiveOps.convertPixelToNorm(camera, x1, y1, norm2);
 
 		// Zoom in and out using the mouse
-		double z = targetPoint.plus(translateWorld).norm()*radiusScale;
-		translateWorld.z += (norm2.y - norm1.y)*z;
+		worldToView.transform(targetWorld, targetInView);
+		worldToView.T.z += (norm2.y - norm1.y)*targetInView.norm();
 
-		// Perform roll around the z-axis
+		// Roll the camera
 		double rotX = UtilAngle.minus(Math.atan(norm1.x), Math.atan(norm2.x));
-		ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, 0, 0, -rotX, localRotation);
-		CommonOps_DDRM.mult(localRotation, rotationAroundTarget, tmp);
-		rotationAroundTarget.setTo(tmp);
-
+		applyLocalEuler(0, 0, rotX);
 	}
 }

integration/boofcv-swing/src/main/java/boofcv/gui/mesh/OrbitAroundPointControl.java

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -76,7 +76,7 @@ public class OrbitAroundPointControl extends MouseAdapter implements Swing3dCame
 
 		// Give tell it to look in front of the camera if there is nothing to look at
 		if (N == 0) {
-			orbit.targetPoint.setTo(0, 0, 1);
+			orbit.setTarget(0, 0, 1);
 			return;
 		}
 
@@ -94,12 +94,14 @@ public class OrbitAroundPointControl extends MouseAdapter implements Swing3dCame
 		values.resize(sampled.size);
 
 		synchronized (orbit) {
+			var target = new Point3D_F64();
 			for (int axis = 0; axis < 3; axis++) {
 				int _axis = axis;
 				sampled.forIdx(( idx, v ) -> values.set(idx, v.getIdx(_axis)));
 				values.sort();
-				orbit.targetPoint.setIdx(axis, values.getFraction(0.5));
+				target.setIdx(axis, values.getFraction(0.5));
 			}
+			orbit.setTarget(target.x, target.y, target.z);
 		}
 	}
 
@@ -111,7 +113,6 @@ public class OrbitAroundPointControl extends MouseAdapter implements Swing3dCame
 
 	@Override public Se3_F64 getWorldToCamera() {
 		synchronized (orbit) {
-			orbit.updateTransform();
 			return orbit.worldToView.copy();
 		}
 	}
@@ -134,9 +135,7 @@ public class OrbitAroundPointControl extends MouseAdapter implements Swing3dCame
 
 	@Override public void mouseDragged( MouseEvent e ) {
 		synchronized (orbit) {
-			if (e.isShiftDown() || SwingUtilities.isMiddleMouseButton(e))
-				orbit.mouseDragTranslate(prevX, prevY, e.getX(), e.getY());
-			else if (e.isControlDown() || SwingUtilities.isRightMouseButton(e))
+			if (e.isControlDown() || SwingUtilities.isRightMouseButton(e))
 				orbit.mouseDragZoomRoll(prevX, prevY, e.getX(), e.getY());
 			else
 				orbit.mouseDragRotate(prevX, prevY, e.getX(), e.getY());

main/boofcv-geo/src/main/java/boofcv/alg/geo/PerspectiveOps.java

@@ -1178,19 +1178,27 @@ public static DMatrixRMaj pointAt( double x, double y, double z, @Nullable DMatr
 		// There's a pathological case. Pick the option which if farthest from it
 		if (Math.abs(GeometryMath_F64.dot(axisX, axisZ)) < Math.abs(GeometryMath_F64.dot(axisY, axisZ))) {
 			GeometryMath_F64.cross(axisX, axisZ, axisY);
+			// There are two options here, pick the one that will result in the smallest rotation
+			if (dot(axisY,0,1,0) < 0)
+				axisY.scale(-1);
+
 			axisY.divideIP(axisY.norm());
 			GeometryMath_F64.cross(axisY, axisZ, axisX);
 			axisX.divideIP(axisX.norm());
 		} else {
 			GeometryMath_F64.cross(axisY, axisZ, axisX);
 			axisX.divideIP(axisX.norm());
-			GeometryMath_F64.cross(axisX, axisZ, axisY);
+			if (dot(axisX,1,0,0) < 0)
+				axisX.scale(-1);
+
+			GeometryMath_F64.cross(axisZ, axisX, axisY);
 			axisY.divideIP(axisY.norm());
 		}
 
+
 		if (R == null)
-			R = new DMatrixRMaj(3,3);
-		
+			R = new DMatrixRMaj(3, 3);
+
 		R.set(0, 0, axisX.x);
 		R.set(1, 0, axisX.y);
 		R.set(2, 0, axisX.z);
@@ -1203,4 +1211,8 @@ public static DMatrixRMaj pointAt( double x, double y, double z, @Nullable DMatr
 
 		return R;
 	}
+
+	private static double dot(Point3D_F64 p, double x, double y , double z) {
+		return p.x*x + p.y*y + p.z*z;
+	}
 }