added method to get Projection matrix given near and far.
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f16b821dc0
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0ac7034397
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@ -8,7 +8,7 @@
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* \ *
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* \ *
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* All rights reserved. *
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* All rights reserved. *
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* *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* (at your option) any later version. *
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@ -141,106 +141,109 @@ template<class S>
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class Camera
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class Camera
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{
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{
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public:
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public:
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typedef S ScalarType;
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typedef S ScalarType;
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enum {
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enum {
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PERSPECTIVE = 0,
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PERSPECTIVE = 0,
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ORTHO = 1,
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ORTHO = 1,
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ISOMETRIC = 2,
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ISOMETRIC = 2,
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CAVALIERI = 3
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CAVALIERI = 3
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};
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};
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Camera():
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Camera():
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FocalMm(0.f),
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FocalMm(0.f),
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ViewportPx(vcg::Point2<int>(0,0)),
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ViewportPx(vcg::Point2<int>(0,0)),
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PixelSizeMm(vcg::Point2<S>(0.0,0.0)),
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PixelSizeMm(vcg::Point2<S>(0.0,0.0)),
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CenterPx(vcg::Point2<S>(0.0,0.0)),
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CenterPx(vcg::Point2<S>(0.0,0.0)),
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DistorCenterPx(vcg::Point2<S>(0.0,0.0)),
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DistorCenterPx(vcg::Point2<S>(0.0,0.0)),
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cameraType(0)
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cameraType(0)
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{
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{
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k[0] = k[1] = k[2] = k[3] = 0;
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k[0] = k[1] = k[2] = k[3] = 0;
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}
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}
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//------ camera intrinsics
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//------ camera intrinsics
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ScalarType FocalMm; /// Focal Distance: the distance between focal center and image plane. Expressed in mm
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ScalarType FocalMm; /// Focal Distance: the distance between focal center and image plane. Expressed in mm
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Point2<int> ViewportPx; /// Dimension of the Image Plane (in pixels)
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Point2<int> ViewportPx; /// Dimension of the Image Plane (in pixels)
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Point2<S> PixelSizeMm; /// Dimension in mm of a single pixel
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Point2<S> PixelSizeMm; /// Dimension in mm of a single pixel
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Point2<S> CenterPx; /// Position of the projection of the focal center on the image plane. Expressed in pixels
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Point2<S> CenterPx; /// Position of the projection of the focal center on the image plane. Expressed in pixels
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Point2<S> DistorCenterPx; /// Position of the radial distortion center on the image plane in pixels
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Point2<S> DistorCenterPx; /// Position of the radial distortion center on the image plane in pixels
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S k[4]; /// 1st & 2nd order radial lens distortion coefficient (only the first 2 terms are used)
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S k[4]; /// 1st & 2nd order radial lens distortion coefficient (only the first 2 terms are used)
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//------------------------
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//------------------------
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int cameraType; /// Type of camera: PERSPECTIVE,ORTHO,ISOMETRIC,CAVALIERI
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int cameraType; /// Type of camera: PERSPECTIVE,ORTHO,ISOMETRIC,CAVALIERI
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void SetOrtho( S l,S r, S b, S t, vcg::Point2<int> viewport)
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void SetOrtho( S l,S r, S b, S t, vcg::Point2<int> viewport)
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{
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{
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cameraType = ORTHO;
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cameraType = ORTHO;
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ViewportPx = viewport;
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ViewportPx = viewport;
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PixelSizeMm[0] = (r-l) / (S)ViewportPx[0];
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PixelSizeMm[0] = (r-l) / (S)ViewportPx[0];
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PixelSizeMm[1] = (t-b) / (S)ViewportPx[1];
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PixelSizeMm[1] = (t-b) / (S)ViewportPx[1];
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CenterPx[0] = -l/(r-l) * (S)ViewportPx[0];
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CenterPx[0] = -l/(r-l) * (S)ViewportPx[0];
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CenterPx[1] = -b/(t-b) * (S)ViewportPx[1];
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CenterPx[1] = -b/(t-b) * (S)ViewportPx[1];
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};
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};
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bool IsOrtho() const
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bool IsOrtho() const
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{
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{
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return ( cameraType == ORTHO );
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return ( cameraType == ORTHO );
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}
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}
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//--- Set-up methods
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//--- Set-up methods
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/// set the camera specifying the perspecive view
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/// set the camera specifying the perspecive view
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inline void SetPerspective(S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport);
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inline void SetPerspective(S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport);
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/// set the camera specifying the cavalieri view
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/// set the camera specifying the cavalieri view
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inline void SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
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inline void SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
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/// set the camera specifying the isometric view
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/// set the camera specifying the isometric view
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inline void SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
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inline void SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
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/// set the camera specifying the frustum view
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/// set the camera specifying the frustum view
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inline void SetFrustum(S dx, S sx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
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inline void SetFrustum(S dx, S sx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
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//------------------
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//------------------
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/// returns the frustum
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/// returns the projection matrix
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inline void GetFrustum(S & sx, S & dx, S & bt, S & tp, S & nr);
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vcg::Matrix44<S> GetMatrix(S nearVal, S farVal);
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//--- Space transformation methods
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/// returns the frustum
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inline void GetFrustum(S & sx, S & dx, S & bt, S & tp, S & nr);
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/// project a point from 3d CAMERA space to the camera local plane
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inline vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
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/// unproject a point from the camera local plane (plus depth) to 3d CAMERA space
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//--- Space transformation methods
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inline vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
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/// transforms local plane coords to vieport (pixel) coords
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/// project a point from 3d CAMERA space to the camera local plane
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inline vcg::Point2<S> LocalToViewportPx(const vcg::Point2<S> & p) const;
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inline vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
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/// transforms vieport (pixel) coords to local plane coords
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inline vcg::Point2<S> ViewportPxToLocal(const vcg::Point2<S> & p) const;
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/// transforms vieport (pixel) coords to [-1 1] coords
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/// unproject a point from the camera local plane (plus depth) to 3d CAMERA space
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inline vcg::Point2<S> ViewportPxTo_neg1_1(const vcg::Point2<S> & p) const;
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inline vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
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/// transforms [-1 1] coords to vieport (pixel) coords MICHELE IO
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/// transforms local plane coords to vieport (pixel) coords
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inline vcg::Point2<S> Neg1_1ToViewportPx(const vcg::Point2<S> & p) const;
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inline vcg::Point2<S> LocalToViewportPx(const vcg::Point2<S> & p) const;
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/// transforms local plane coords to [0 1] coords
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/// transforms vieport (pixel) coords to local plane coords
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inline vcg::Point2<S> LocalTo_0_1(const vcg::Point2<S> & p) const;
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inline vcg::Point2<S> ViewportPxToLocal(const vcg::Point2<S> & p) const;
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/// transforms local plane coords to [-1 1] coords
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/// transforms vieport (pixel) coords to [-1 1] coords
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inline vcg::Point2<S> LocalTo_neg1_1(const vcg::Point2<S> & p) const;
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inline vcg::Point2<S> ViewportPxTo_neg1_1(const vcg::Point2<S> & p) const;
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/// transforms an undistorted 2D camera plane point in a distorted 2D camera plane point
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/// transforms [-1 1] coords to vieport (pixel) coords MICHELE IO
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vcg::Point2<S> UndistortedToDistorted(vcg::Point2<S> u) const;
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inline vcg::Point2<S> Neg1_1ToViewportPx(const vcg::Point2<S> & p) const;
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/// transforms a distorted 2D camera plane point in an undistorted 2D camera plane point
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/// transforms local plane coords to [0 1] coords
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vcg::Point2<S> DistortedToUndistorted(vcg::Point2<S> d) const;
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inline vcg::Point2<S> LocalTo_0_1(const vcg::Point2<S> & p) const;
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//--------------------------------
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/// transforms local plane coords to [-1 1] coords
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inline vcg::Point2<S> LocalTo_neg1_1(const vcg::Point2<S> & p) const;
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/// transforms an undistorted 2D camera plane point in a distorted 2D camera plane point
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vcg::Point2<S> UndistortedToDistorted(vcg::Point2<S> u) const;
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/// transforms a distorted 2D camera plane point in an undistorted 2D camera plane point
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vcg::Point2<S> DistortedToUndistorted(vcg::Point2<S> d) const;
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//--------------------------------
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};
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};
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@ -249,189 +252,224 @@ public:
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template<class S>
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template<class S>
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vcg::Point2<S> Camera<S>::Project(const vcg::Point3<S> & p) const
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vcg::Point2<S> Camera<S>::Project(const vcg::Point3<S> & p) const
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{
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{
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vcg::Point2<S> q = Point2<S>(p[0],p[1]);
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vcg::Point2<S> q = Point2<S>(p[0],p[1]);
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vcg::Point2<S> d = Point2<S>(p[0],p[1]);
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vcg::Point2<S> d = Point2<S>(p[0],p[1]);
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if(!IsOrtho())
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if(!IsOrtho())
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{
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{
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q[0] *= FocalMm/p.Z();
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q[0] *= FocalMm/p.Z();
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q[1] *= FocalMm/p.Z();
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q[1] *= FocalMm/p.Z();
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if(k[0]!=0)
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if(k[0]!=0)
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{
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{
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vcg::Point2<S> d;
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vcg::Point2<S> d;
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d=UndistortedToDistorted(q);
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d=UndistortedToDistorted(q);
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q=d;
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q=d;
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}
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}
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}
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}
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return q;
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return q;
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}
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}
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/// unproject a point from the camera 2d plane [-1,-1]x[1,1] (plus depth) to 3d CAMERA space
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template <class S> vcg::Matrix44<S> Camera<S>::GetMatrix(S nearVal, S farVal) {
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S left, right, bottom, top, nr;
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GetFrustum(left, right, bottom,top, nr);
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if(cameraType == PERSPECTIVE) {
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S ratio = nearVal/nr;
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left *= ratio;
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right *= ratio;
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bottom *= ratio;
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top *= ratio;
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}
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vcg::Matrix44<S> m;
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m[0][0] = 2.0*nearVal/(right - left);
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m[0][1] = 0;
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m[0][2] = (right + left)/(right - left);
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m[0][3] = 0;
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m[1][0] = 0;
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m[1][1] = 2*nearVal/(top - bottom);
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m[1][2] = (top + bottom)/(top - bottom);
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m[1][3] = 0;
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m[2][0] = 0;
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m[2][1] = 0;
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m[2][2] = -(farVal + nearVal)/(farVal - nearVal);
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m[2][3] = - 2*farVal*nearVal/(farVal - nearVal);
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m[3][0] = 0;
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m[3][1] = 0;
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m[3][2] = -1;
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m[3][3] = 0;
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return m;
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}
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/// unproject a point from the camera 2d plane [-1,-1]x[1,1] (plus depth) to 3d CAMERA space
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template<class S>
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template<class S>
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vcg::Point3<S> Camera<S>::UnProject(const vcg::Point2<S> & p, const S & d) const
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vcg::Point3<S> Camera<S>::UnProject(const vcg::Point2<S> & p, const S & d) const
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{
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{
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vcg::Point3<S> np = Point3<S>(p[0], p[1], d);
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vcg::Point3<S> np = Point3<S>(p[0], p[1], d);
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if(!IsOrtho())
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if(!IsOrtho())
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{
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{
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if(k[0]!=0)
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if(k[0]!=0)
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{
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{
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vcg::Point2<S> d = Point2<S>(p[0], p[1]);
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vcg::Point2<S> d = Point2<S>(p[0], p[1]);
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vcg::Point2<S> u=DistortedToUndistorted(d);
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vcg::Point2<S> u=DistortedToUndistorted(d);
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np[0]=u[0];
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np[0]=u[0];
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np[1]=u[1];
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np[1]=u[1];
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}
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}
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np[0] /= FocalMm/d;
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np[1] /= FocalMm/d;
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}
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return np;
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np[0] /= FocalMm/d;
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np[1] /= FocalMm/d;
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}
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return np;
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}
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}
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/// transforms local plane coords to vieport (pixel) coords
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/// transforms local plane coords to vieport (pixel) coords
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template<class S>
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template<class S>
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vcg::Point2<S> Camera<S>::LocalToViewportPx(const vcg::Point2<S> & p) const
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vcg::Point2<S> Camera<S>::LocalToViewportPx(const vcg::Point2<S> & p) const
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{
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{
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vcg::Point2<S> np;
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vcg::Point2<S> np;
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np[0] = (p[0] / PixelSizeMm.X()) + CenterPx.X();
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np[0] = (p[0] / PixelSizeMm.X()) + CenterPx.X();
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np[1] = (p[1] / PixelSizeMm.Y()) + CenterPx.Y();
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np[1] = (p[1] / PixelSizeMm.Y()) + CenterPx.Y();
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return np;
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return np;
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}
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}
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/// transforms vieport (pixel) coords to local plane coords
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/// transforms vieport (pixel) coords to local plane coords
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template<class S>
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template<class S>
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vcg::Point2<S> Camera<S>::ViewportPxToLocal(const vcg::Point2<S> & p) const
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vcg::Point2<S> Camera<S>::ViewportPxToLocal(const vcg::Point2<S> & p) const
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{
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{
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vcg::Point2<S> ps;
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vcg::Point2<S> ps;
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ps[0] = (p[0]-CenterPx.X()) * PixelSizeMm.X();
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ps[0] = (p[0]-CenterPx.X()) * PixelSizeMm.X();
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ps[1] = (p[1]-CenterPx.Y()) * PixelSizeMm.Y();
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ps[1] = (p[1]-CenterPx.Y()) * PixelSizeMm.Y();
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return ps;
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return ps;
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}
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}
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/// transforms vieport (pixel) coords to [-1 1] coords
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/// transforms vieport (pixel) coords to [-1 1] coords
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template<class S>
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template<class S>
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vcg::Point2<S> Camera<S>::ViewportPxTo_neg1_1(const vcg::Point2<S> & p) const
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vcg::Point2<S> Camera<S>::ViewportPxTo_neg1_1(const vcg::Point2<S> & p) const
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{
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{
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vcg::Point2<S> ps;
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vcg::Point2<S> ps;
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ps[0] = 2.0f * ((p[0]-CenterPx.X()) * PixelSizeMm.X())/ ( PixelSizeMm.X() * (S)ViewportPx[0] );
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ps[0] = 2.0f * ((p[0]-CenterPx.X()) * PixelSizeMm.X())/ ( PixelSizeMm.X() * (S)ViewportPx[0] );
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ps[1] = 2.0f * ((p[1]-CenterPx.Y()) * PixelSizeMm.Y())/ ( PixelSizeMm.Y() * (S)ViewportPx[1] );
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ps[1] = 2.0f * ((p[1]-CenterPx.Y()) * PixelSizeMm.Y())/ ( PixelSizeMm.Y() * (S)ViewportPx[1] );
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return ps;
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return ps;
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}
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}
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/// transforms [-1 1] coords to vieport (pixel) coords MICHELE IO
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/// transforms [-1 1] coords to vieport (pixel) coords MICHELE IO
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template<class S>
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template<class S>
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vcg::Point2<S> Camera<S>::Neg1_1ToViewportPx(const vcg::Point2<S> & p) const
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vcg::Point2<S> Camera<S>::Neg1_1ToViewportPx(const vcg::Point2<S> & p) const
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{
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{
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vcg::Point2<S> ps;
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vcg::Point2<S> ps;
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ps[0] = ((PixelSizeMm.X() * (S)ViewportPx[0] *p[0])/(2.0f * PixelSizeMm.X()))+CenterPx.X();
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ps[0] = ((PixelSizeMm.X() * (S)ViewportPx[0] *p[0])/(2.0f * PixelSizeMm.X()))+CenterPx.X();
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ps[1] = ((PixelSizeMm.Y() * (S)ViewportPx[1] *p[1])/(2.0f * PixelSizeMm.Y()))+CenterPx.Y();
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ps[1] = ((PixelSizeMm.Y() * (S)ViewportPx[1] *p[1])/(2.0f * PixelSizeMm.Y()))+CenterPx.Y();
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||||||
return ps;
|
return ps;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// transforms local plane coords to [0-1] coords
|
/// transforms local plane coords to [0-1] coords
|
||||||
template<class S>
|
template<class S>
|
||||||
vcg::Point2<S> Camera<S>::LocalTo_0_1(const vcg::Point2<S> & p) const
|
vcg::Point2<S> Camera<S>::LocalTo_0_1(const vcg::Point2<S> & p) const
|
||||||
{
|
{
|
||||||
vcg::Point2<S> ps;
|
vcg::Point2<S> ps;
|
||||||
ps[0] = ( p[0]/PixelSizeMm.X() + CenterPx.X() ) / (S)ViewportPx[0];
|
ps[0] = ( p[0]/PixelSizeMm.X() + CenterPx.X() ) / (S)ViewportPx[0];
|
||||||
ps[1] = ( p[1]/PixelSizeMm.Y() + CenterPx.Y() ) / (S)ViewportPx[1];
|
ps[1] = ( p[1]/PixelSizeMm.Y() + CenterPx.Y() ) / (S)ViewportPx[1];
|
||||||
return ps;
|
return ps;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// transforms local plane coords to [-1 1] coords
|
/// transforms local plane coords to [-1 1] coords
|
||||||
template<class S>
|
template<class S>
|
||||||
vcg::Point2<S> Camera<S>::LocalTo_neg1_1(const vcg::Point2<S> & p) const
|
vcg::Point2<S> Camera<S>::LocalTo_neg1_1(const vcg::Point2<S> & p) const
|
||||||
{
|
{
|
||||||
vcg::Point2<S> ps;
|
vcg::Point2<S> ps;
|
||||||
ps[0] = 2.0f * p[0] / ( PixelSizeMm.X() * (S)ViewportPx[0] );
|
ps[0] = 2.0f * p[0] / ( PixelSizeMm.X() * (S)ViewportPx[0] );
|
||||||
ps[1] = 2.0f * p[1] / ( PixelSizeMm.Y() * (S)ViewportPx[1] );
|
ps[1] = 2.0f * p[1] / ( PixelSizeMm.Y() * (S)ViewportPx[1] );
|
||||||
return ps;
|
return ps;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// transforms an undistorted 2D camera plane point in a distorted 2D camera plane point
|
/// transforms an undistorted 2D camera plane point in a distorted 2D camera plane point
|
||||||
template<class Scalar>
|
template<class Scalar>
|
||||||
vcg::Point2<Scalar> Camera<Scalar>::UndistortedToDistorted(vcg::Point2<Scalar> u) const
|
vcg::Point2<Scalar> Camera<Scalar>::UndistortedToDistorted(vcg::Point2<Scalar> u) const
|
||||||
{
|
{
|
||||||
vcg::Point2<Scalar> dis;
|
vcg::Point2<Scalar> dis;
|
||||||
vcg::Point2<Scalar> dc=ViewportPxTo_neg1_1(DistorCenterPx);
|
vcg::Point2<Scalar> dc=ViewportPxTo_neg1_1(DistorCenterPx);
|
||||||
const Scalar SQRT3 = Scalar(1.732050807568877293527446341505872366943);
|
const Scalar SQRT3 = Scalar(1.732050807568877293527446341505872366943);
|
||||||
const Scalar CBRT = Scalar(0.33333333333333333333333);
|
const Scalar CBRT = Scalar(0.33333333333333333333333);
|
||||||
Scalar Ru,Rd,lambda,c,d,Q,R,D,S,T,sinT,cosT;
|
Scalar Ru,Rd,lambda,c,d,Q,R,D,S,T,sinT,cosT;
|
||||||
|
|
||||||
if(((u[0]-dc[0])==0 && (u[1]-dc[1])==0) || k[0] == 0)
|
if(((u[0]-dc[0])==0 && (u[1]-dc[1])==0) || k[0] == 0)
|
||||||
{
|
{
|
||||||
dis[0] = u[0];
|
dis[0] = u[0];
|
||||||
dis[1] = u[1];
|
dis[1] = u[1];
|
||||||
return dis;
|
return dis;
|
||||||
}
|
}
|
||||||
|
|
||||||
Ru = hypot ((u[0]-dc[0]), (u[1]-dc[1])); /* SQRT(Xu*Xu+Yu*Yu) */
|
Ru = hypot ((u[0]-dc[0]), (u[1]-dc[1])); /* SQRT(Xu*Xu+Yu*Yu) */
|
||||||
c = 1 / k[0];
|
c = 1 / k[0];
|
||||||
d = -c * Ru;
|
d = -c * Ru;
|
||||||
|
|
||||||
Q = c / 3;
|
Q = c / 3;
|
||||||
R = -d / 2;
|
R = -d / 2;
|
||||||
if (R<0)
|
if (R<0)
|
||||||
D = pow(Q,3) + sqrt(-R);
|
D = pow(Q,3) + sqrt(-R);
|
||||||
else
|
else
|
||||||
D = pow(Q,3) + sqrt(R);
|
D = pow(Q,3) + sqrt(R);
|
||||||
|
|
||||||
if (D >= 0) /* one real root */
|
if (D >= 0) /* one real root */
|
||||||
{
|
{
|
||||||
D = sqrt(D);
|
D = sqrt(D);
|
||||||
S = pow((R + D),CBRT);
|
S = pow((R + D),CBRT);
|
||||||
if (R>=D)
|
if (R>=D)
|
||||||
T = pow((R - D),CBRT);
|
T = pow((R - D),CBRT);
|
||||||
else
|
else
|
||||||
T = - pow(abs((int)(R - D)),CBRT); //MODIFICATO DA ME
|
T = - pow(abs((int)(R - D)),CBRT); //MODIFICATO DA ME
|
||||||
Rd = S + T;
|
Rd = S + T;
|
||||||
|
|
||||||
if (Rd < 0)
|
if (Rd < 0)
|
||||||
Rd = sqrt(-1 / (3 * k[0]));
|
Rd = sqrt(-1 / (3 * k[0]));
|
||||||
}
|
}
|
||||||
else /* three real roots */
|
else /* three real roots */
|
||||||
{
|
{
|
||||||
D = sqrt(-D);
|
D = sqrt(-D);
|
||||||
S = pow((Scalar)(hypot (R, D)),(Scalar)CBRT);
|
S = pow((Scalar)(hypot (R, D)),(Scalar)CBRT);
|
||||||
T = atan2 (D, R) / 3;
|
T = atan2 (D, R) / 3;
|
||||||
//SinCos(T, sinT, cosT);
|
//SinCos(T, sinT, cosT);
|
||||||
sinT=sin(T);
|
sinT=sin(T);
|
||||||
cosT=cos(T);
|
cosT=cos(T);
|
||||||
|
|
||||||
/* the larger positive root is 2*S*cos(T) */
|
/* the larger positive root is 2*S*cos(T) */
|
||||||
/* the smaller positive root is -S*cos(T) + SQRT(3)*S*sin(T) */
|
/* the smaller positive root is -S*cos(T) + SQRT(3)*S*sin(T) */
|
||||||
/* the negative root is -S*cos(T) - SQRT(3)*S*sin(T) */
|
/* the negative root is -S*cos(T) - SQRT(3)*S*sin(T) */
|
||||||
Rd = -S * cosT + SQRT3 * S * sinT; /* use the smaller positive root */
|
Rd = -S * cosT + SQRT3 * S * sinT; /* use the smaller positive root */
|
||||||
}
|
}
|
||||||
|
|
||||||
lambda = Rd / Ru;
|
lambda = Rd / Ru;
|
||||||
|
|
||||||
dis[0] = u[0] * lambda;
|
dis[0] = u[0] * lambda;
|
||||||
dis[1] = u[1] * lambda;
|
dis[1] = u[1] * lambda;
|
||||||
|
|
||||||
return dis;
|
return dis;
|
||||||
}
|
}
|
||||||
|
|
||||||
/// transforms a distorted 2D camera plane point in an undistorted 2D camera plane point
|
/// transforms a distorted 2D camera plane point in an undistorted 2D camera plane point
|
||||||
template<class S>
|
template<class S>
|
||||||
vcg::Point2<S> Camera<S>::DistortedToUndistorted(vcg::Point2<S> d) const
|
vcg::Point2<S> Camera<S>::DistortedToUndistorted(vcg::Point2<S> d) const
|
||||||
{
|
{
|
||||||
vcg::Point2<S> u;
|
vcg::Point2<S> u;
|
||||||
vcg::Point2<S> dc=ViewportPxTo_neg1_1(DistorCenterPx);
|
vcg::Point2<S> dc=ViewportPxTo_neg1_1(DistorCenterPx);
|
||||||
S r=sqrt(pow((d[0]-dc[0]),2)+pow((d[1]-dc[1]),2));
|
S r=sqrt(pow((d[0]-dc[0]),2)+pow((d[1]-dc[1]),2));
|
||||||
u[0]=d[0]*(1-k[0]*r*r);
|
u[0]=d[0]*(1-k[0]*r*r);
|
||||||
u[1]=d[1]*(1-k[0]*r*r);
|
u[1]=d[1]*(1-k[0]*r*r);
|
||||||
|
|
||||||
return u;
|
return u;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
//--- basic camera setup (GL-like)
|
//--- basic camera setup (GL-like)
|
||||||
|
|
@ -440,36 +478,36 @@ vcg::Point2<S> Camera<S>::DistortedToUndistorted(vcg::Point2<S> d) const
|
||||||
template<class S>
|
template<class S>
|
||||||
void Camera<S>::SetPerspective( S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport)
|
void Camera<S>::SetPerspective( S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport)
|
||||||
{
|
{
|
||||||
cameraType = PERSPECTIVE;
|
cameraType = PERSPECTIVE;
|
||||||
S halfsize[2];
|
S halfsize[2];
|
||||||
|
|
||||||
halfsize[1] = tan(math::ToRad(AngleDeg/2.0f)) * Focal;
|
halfsize[1] = tan(math::ToRad(AngleDeg/2.0f)) * Focal;
|
||||||
halfsize[0] = halfsize[1]*AspectRatio;
|
halfsize[0] = halfsize[1]*AspectRatio;
|
||||||
|
|
||||||
SetFrustum(-halfsize[0],halfsize[0],-halfsize[1],halfsize[1],Focal,Viewport);
|
SetFrustum(-halfsize[0],halfsize[0],-halfsize[1],halfsize[1],Focal,Viewport);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// set the camera specifying the frustum view
|
/// set the camera specifying the frustum view
|
||||||
template<class S>
|
template<class S>
|
||||||
void Camera<S>::SetFrustum( S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
void Camera<S>::SetFrustum( S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
||||||
{
|
{
|
||||||
S vp[2];
|
S vp[2];
|
||||||
vp[0] = dx-sx;
|
vp[0] = dx-sx;
|
||||||
vp[1] = tp-bt;
|
vp[1] = tp-bt;
|
||||||
|
|
||||||
ViewportPx[0] = Viewport[0];
|
ViewportPx[0] = Viewport[0];
|
||||||
if(vp[1] != -1)
|
if(vp[1] != -1)
|
||||||
ViewportPx[1] = Viewport[1]; // the user specified the viewport
|
ViewportPx[1] = Viewport[1]; // the user specified the viewport
|
||||||
else
|
else
|
||||||
ViewportPx[1] = ViewportPx[0]; // default viewport
|
ViewportPx[1] = ViewportPx[0]; // default viewport
|
||||||
|
|
||||||
PixelSizeMm[0] = vp[0] / (S)Viewport[0];
|
PixelSizeMm[0] = vp[0] / (S)Viewport[0];
|
||||||
PixelSizeMm[1] = vp[1] / (S)Viewport[1];
|
PixelSizeMm[1] = vp[1] / (S)Viewport[1];
|
||||||
|
|
||||||
CenterPx[0] = -sx/vp[0] * (S)Viewport[0];
|
CenterPx[0] = -sx/vp[0] * (S)Viewport[0];
|
||||||
CenterPx[1] = -bt/vp[1] * (S)Viewport[1];
|
CenterPx[1] = -bt/vp[1] * (S)Viewport[1];
|
||||||
|
|
||||||
FocalMm =Focal;
|
FocalMm =Focal;
|
||||||
}
|
}
|
||||||
|
|
||||||
//--- special cameras setup
|
//--- special cameras setup
|
||||||
|
|
@ -478,29 +516,29 @@ void Camera<S>::SetFrustum( S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Vi
|
||||||
template<class S>
|
template<class S>
|
||||||
void Camera<S>::SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
void Camera<S>::SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
||||||
{
|
{
|
||||||
cameraType = CAVALIERI;
|
cameraType = CAVALIERI;
|
||||||
SetFrustum(sx, dx, bt, tp, Focal,Viewport);
|
SetFrustum(sx, dx, bt, tp, Focal,Viewport);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// set the camera specifying the isometric view
|
/// set the camera specifying the isometric view
|
||||||
template<class S>
|
template<class S>
|
||||||
void Camera<S>::SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
void Camera<S>::SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
||||||
{
|
{
|
||||||
cameraType = ISOMETRIC;
|
cameraType = ISOMETRIC;
|
||||||
SetFrustum(sx, dx, bt, tp, Focal,Viewport);
|
SetFrustum(sx, dx, bt, tp, Focal,Viewport);
|
||||||
}
|
}
|
||||||
|
|
||||||
/// returns the frustum
|
/// returns the frustum
|
||||||
template<class S>
|
template<class S>
|
||||||
void Camera<S>:: GetFrustum( S & sx, S & dx, S & bt, S & tp, S & nr)
|
void Camera<S>:: GetFrustum( S & sx, S & dx, S & bt, S & tp, S & nr)
|
||||||
{
|
{
|
||||||
dx = CenterPx.X()* PixelSizeMm.X(); //scaled center
|
dx = CenterPx.X()* PixelSizeMm.X(); //scaled center
|
||||||
sx = -( (S)ViewportPx.X() - CenterPx.X() ) * PixelSizeMm.X();
|
sx = -( (S)ViewportPx.X() - CenterPx.X() ) * PixelSizeMm.X();
|
||||||
|
|
||||||
bt = -CenterPx.Y()* PixelSizeMm.Y();
|
bt = -CenterPx.Y()* PixelSizeMm.Y();
|
||||||
tp = ( (S)ViewportPx.Y() - CenterPx.Y() ) * PixelSizeMm.Y();
|
tp = ( (S)ViewportPx.Y() - CenterPx.Y() ) * PixelSizeMm.Y();
|
||||||
|
|
||||||
nr = FocalMm;
|
nr = FocalMm;
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue