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create camera from projection matrix (used for getCamera in viz)

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This commit is contained in:
ozantonkal 2013-08-08 12:14:27 +02:00
parent 71dc5f8291
commit bb057491ea
3 changed files with 44 additions and 6 deletions
modules/viz
include/opencv2/viz
types.hpp
src
types.cppviz3d_impl.cpp

1
modules/viz/include/opencv2/viz/types.hpp

@ -100,6 +100,7 @@ namespace cv
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 cv::Matx33f &K, const Size &window_size);
Camera(const cv::Matx44f &proj, const Size &window_size);
inline const Vec2d & getClip() const { return clip_; }
inline void setClip(const Vec2d &clip) { clip_ = clip; }

41
modules/viz/src/types.cpp

@ -170,6 +170,43 @@ cv::viz::Camera::Camera(const cv::Matx33f & K, const Size &window_size)
init(f_x, f_y, c_x, c_y, window_size);
}
cv::viz::Camera::Camera(const Matx44f &proj, const Size &window_size)
{
double near = proj(2,3) / (proj(2,2) - 1.0);
double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
double left = near * (proj(0,2)-1) / proj(0,0);
double right = 2.0 * near / proj(0,0) + left;
double bottom = near * (proj(1,2)-1) / proj(1,1);
double top = 2.0 * near / proj(1,1) + bottom;
if (fabs(left-right) < std::numeric_limits<double>::epsilon())
{
principal_point_[0] = -1.0f;
focal_[0] = -1.0f;
}
else
{
principal_point_[0] = (left * static_cast<float>(window_size.width)) / (left - right);
focal_[0] = - near * principal_point_[0] / left;
}
if (fabs(top-bottom) < std::numeric_limits<double>::epsilon())
{
principal_point_[1] = -1.0f;
focal_[1] = -1.0f;
}
else
{
principal_point_[1] = (top * static_cast<float>(window_size.height)) / (top - bottom);
focal_[1] = near * principal_point_[1] / top;
}
setClip(Vec2d(near, far));
// Set the vertical field of view
fov_[1] = (atan2(principal_point_[1],focal_[1]) + atan2(window_size.height-principal_point_[1],focal_[1]));
setWindowSize(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(window_size.width > 0 && window_size.height > 0);
@ -220,7 +257,7 @@ void cv::viz::Camera::computeProjectionMatrix(Matx44f &proj) const
double left = -(top * window_size_.width) / window_size_.height;
double right = -left;
double bottom = -top;
// If principal point is defined
// If principal point is defined (i.e intrinsic parameters are known)
if (principal_point_[0] > 0.0f)
{
top = clip_[0] * principal_point_[1] / focal_[1];
@ -233,7 +270,7 @@ void cv::viz::Camera::computeProjectionMatrix(Matx44f &proj) const
double temp2 = 1.0 / (right - left);
double temp3 = 1.0 / (top - bottom);
double temp4 = 1.0 / (clip_[0] - clip_[1]);
proj = Matx44d::zeros();
proj(0,0) = temp1 * temp2;
proj(1,1) = temp1 * temp3;

8
modules/viz/src/viz3d_impl.cpp

@ -577,7 +577,7 @@ void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
// Use the intrinsic parameters of the camera to simulate more realistically
Matx44f proj_matrix;
camera.computeProjectionMatrix(proj_matrix);
Matx44f old_proj_matrix = convertToMatx(active_camera.GetProjectionTransformMatrix(((float)camera.getWindowSize().width) / camera.getWindowSize().height, -1.0f, 1.0f));
Matx44f old_proj_matrix = convertToMatx(active_camera.GetProjectionTransformMatrix(static_cast<float>(camera.getWindowSize().width) / static_cast<float>(camera.getWindowSize().height), -1.0f, 1.0f));
vtkTransform * transform = vtkTransform::New();
// This is a hack around not being able to set Projection Matrix
transform->SetMatrix(convertToVtkMatrix(proj_matrix * old_proj_matrix.inv()));
@ -594,9 +594,9 @@ cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
Vec2d clip(active_camera.GetClippingRange());
Size window_size(renderer_->GetRenderWindow()->GetSize()[0],
renderer_->GetRenderWindow()->GetSize()[1]);
Camera camera(fov, window_size);
camera.setClip(clip);
Matx44f old_proj_matrix = convertToMatx(active_camera.GetProjectionTransformMatrix(((float)window_size.width) / window_size.height, -1.0f, 1.0f));
Camera camera(old_proj_matrix, window_size);
// camera.setClip(clip);
return camera;
}