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field of views are in radians

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This commit is contained in:
ozantonkal 2013-08-05 19:35:20 +02:00
parent 32985aa724
commit 731a931c0c
1 changed files with 5 additions and 4 deletions
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9
modules/viz/src/types.cpp
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@ -175,8 +175,8 @@ void cv::viz::Camera::init(float f_x, float f_y, float c_x, float c_y, const Siz
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 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_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x));
fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y)) * 180 / CV_PI; fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y));
principal_point_[0] = c_x; principal_point_[0] = c_x;
principal_point_[1] = c_y; principal_point_[1] = c_y;
@ -198,7 +198,7 @@ void cv::viz::Camera::setWindowSize(const Size &window_size)
if (principal_point_[0] < 0.0f) if (principal_point_[0] < 0.0f)
fov_[0] = 2.f * atan(tan(fov_[1] * 0.5) * aspect_ratio_new); // This assumes that the lens is symmetric! fov_[0] = 2.f * atan(tan(fov_[1] * 0.5) * aspect_ratio_new); // This assumes that the lens is symmetric!
else else
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])) * 180 / CV_PI; fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])); // TODO I need to check this
window_size_ = window_size; window_size_ = window_size;
} }
@ -228,7 +228,8 @@ void cv::viz::Camera::computeProjectionMatrix(Matx44f &proj) const
cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size) cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
{ {
// Without distortion // Without distortion, RGB Camera
// Received from http://nicolas.burrus.name/index.php/Research/KinectCalibration
Matx33f K = Matx33f::zeros(); Matx33f K = Matx33f::zeros();
K(0,0) = 5.2921508098293293e+02; K(0,0) = 5.2921508098293293e+02;
K(0,2) = 3.2894272028759258e+02; K(0,2) = 3.2894272028759258e+02;