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fix camera constructor, add tentative KinectCamera method

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This commit is contained in:
ozantonkal 2013-08-05 19:22:43 +02:00
parent 9c20e77013
commit 32985aa724
2 changed files with 39 additions and 19 deletions
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6
modules/viz/include/opencv2/viz/types.hpp
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@ -99,7 +99,7 @@ namespace cv
public: public:
Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size); Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
Camera(const Vec2f &fov, const Size &window_size); Camera(const Vec2f &fov, const Size &window_size);
Camera(const cv::Mat &K, const Size &window_size); Camera(const cv::Matx33f &K, const Size &window_size);
inline const Vec2d & getClip() const { return clip_; } inline const Vec2d & getClip() const { return clip_; }
inline void setClip(const Vec2d &clip) { clip_ = clip; } inline void setClip(const Vec2d &clip) { clip_ = clip; }
@ -112,7 +112,11 @@ namespace cv
void computeProjectionMatrix(Matx44f &proj) const; void computeProjectionMatrix(Matx44f &proj) const;
static Camera KinectCamera(const Size &window_size);
private: private:
void init(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
Vec2d clip_; Vec2d clip_;
Vec2f fov_; Vec2f fov_;
Size window_size_; Size window_size_;

52
modules/viz/src/types.cpp
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@ -148,17 +148,7 @@ cv::viz::Mesh3d cv::viz::Mesh3d::loadMesh(const String& file)
cv::viz::Camera::Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size) cv::viz::Camera::Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size)
{ {
CV_Assert(window_size.width > 0 && window_size.height > 0); init(f_x, f_y, c_x, c_y, window_size);
setClip(Vec2d(0.01, 1000.01));// Default clipping
fov_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x)) * 180 / CV_PI;
fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y)) * 180 / CV_PI;
principal_point_[0] = c_x;
principal_point_[1] = c_y;
focal_[0] = f_x;
focal_[1] = f_y;
} }
cv::viz::Camera::Camera(const Vec2f &fov, const Size &window_size) cv::viz::Camera::Camera(const Vec2f &fov, const Size &window_size)
@ -171,16 +161,30 @@ cv::viz::Camera::Camera(const Vec2f &fov, const Size &window_size)
setWindowSize(window_size); setWindowSize(window_size);
} }
cv::viz::Camera::Camera(const cv::Mat & K, const Size &window_size) cv::viz::Camera::Camera(const cv::Matx33f & K, const Size &window_size)
{
float f_x = K(0,0);
float f_y = K(1,1);
float c_x = K(0,2);
float c_y = K(1,2);
init(f_x, f_y, c_x, c_y, window_size);
}
void cv::viz::Camera::init(float f_x, float f_y, float c_x, float c_y, const Size &window_size)
{ {
CV_Assert(K.rows == 3 && K.cols == 3);
CV_Assert(window_size.width > 0 && window_size.height > 0); CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01));// Default clipping
float f_x = K.at<float>(0,0); fov_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x)) * 180 / CV_PI;
float f_y = K.at<float>(1,1); fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y)) * 180 / CV_PI;
float c_x = K.at<float>(0,2);
float c_y = K.at<float>(1,2); principal_point_[0] = c_x;
Camera(f_x, f_y, c_x, c_y, window_size); principal_point_[1] = c_y;
focal_[0] = f_x;
focal_[1] = f_y;
setWindowSize(window_size);
} }
void cv::viz::Camera::setWindowSize(const Size &window_size) void cv::viz::Camera::setWindowSize(const Size &window_size)
@ -220,4 +224,16 @@ void cv::viz::Camera::computeProjectionMatrix(Matx44f &proj) const
proj(2,2) = (-clip_[1] - clip_[0]) * temp4; proj(2,2) = (-clip_[1] - clip_[0]) * temp4;
proj(3,2) = -1.0; proj(3,2) = -1.0;
proj(2,3) = (-temp1 * clip_[1]) * temp4; proj(2,3) = (-temp1 * clip_[1]) * temp4;
}
cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
{
// Without distortion
Matx33f K = Matx33f::zeros();
K(0,0) = 5.2921508098293293e+02;
K(0,2) = 3.2894272028759258e+02;
K(1,1) = 5.2556393630057437e+02;
K(1,2) = 2.6748068171871557e+02;
K(2,2) = 1.0f;
return Camera(K, window_size);
} }