generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix computeProjectionMatrix in Camera class, also check if there is principal point defined

Browse Source
This commit is contained in:
ozantonkal 2013-08-07 15:52:24 +02:00
parent 5335489daa
commit 422b967e9a
2 changed files with 25 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
modules/viz/src/types.cpp
View File

@ -195,35 +195,53 @@ void cv::viz::Camera::setWindowSize(const Size &window_size)
// Horizontal field of view is expandable based on the aspect ratio
float aspect_ratio_new = static_cast<float>(window_size.width) / static_cast<float>(window_size.height);
// Get the scale factor and update the principal points
if (window_size_.height != 0)
{
float aspect_ratio_old = window_size_.width / window_size_.height;
float expected_width = aspect_ratio_old * window_size.height;
float scale = window_size_.width / expected_width;
principal_point_[0] *= scale;
principal_point_[1] *= static_cast<float>(window_size.height) / static_cast<float>(window_size_.height);
}
if (principal_point_[0] < 0.0f)
fov_[0] = 2.f * atan(tan(fov_[1] * 0.5f) * aspect_ratio_new); // This assumes that the lens is symmetric!
else
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])); // TODO I need to check this
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
window_size_ = window_size;
}
void cv::viz::Camera::computeProjectionMatrix(Matx44f &proj) const
{
// Symmetric case
double top = clip_[0] * tan (0.5 * fov_[1]);
double left = -(top * window_size_.width) / window_size_.height;
double right = -left;
double bottom = -top;
// If principal point is defined
if (principal_point_[0] > 0.0f)
{
top = clip_[0] * principal_point_[1] / focal_[1];
left = -clip_[0] * principal_point_[0] / focal_[0];
right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0];
bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1];
}
double temp1 = 2.0 * clip_[0];
double temp2 = 1.0 / (right - left);
double temp3 = 1.0 / (top - bottom);
double temp4 = 1.0 / clip_[1] - clip_[0];
double temp4 = 1.0 / (clip_[0] - clip_[1]);
proj = Matx44d::zeros();
proj(0,0) = temp1 * temp2;
proj(1,1) = temp1 * temp3;
proj(0,2) = (right + left) * temp2;
proj(1,2) = (top + bottom) * temp3;
proj(2,2) = (-clip_[1] - clip_[0]) * temp4;
proj(2,2) = (clip_[1]+clip_[0]) * temp4;
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)

2
modules/viz/src/viz3d_impl.cpp
View File

@ -572,7 +572,7 @@ void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
active_camera.SetUseHorizontalViewAngle (0); // Horizontal view angle is set based on the window size
active_camera.SetViewAngle (camera.getFov()[1] * 180.0f / CV_PI);
active_camera.SetClippingRange (camera.getClip()[0], camera.getClip()[1]);
window_->SetSize (static_cast<int> (camera.getWindowSize().width), static_cast<int> (camera.getWindowSize().height));
window_->SetSize (camera.getWindowSize().width, camera.getWindowSize().height);
}
/////////////////////////////////////////////////////////////////////////////////////////////