new functions to handle distortion: should not affect previous stuff. tested but still error prone...
This commit is contained in:
matteodelle
parent
e7c9656219
commit
0c2491e1b4
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@ -1,367 +1,485 @@
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/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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||||
* *
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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 *
|
||||
* 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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||||
* *
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* This program is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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||||
* for more details. *
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* *
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****************************************************************************/
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/****************************************************************************
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History
|
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$Log: not supported by cvs2svn $
|
||||
Revision 1.28 2006/12/21 00:13:27 cignoni
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||||
Corrected a syntax error detected only by gcc.
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Corrected the order of initialization in the constructor to match the declaration order
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Revision 1.27 2006/12/18 16:02:55 matteodelle
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minor eroor correction on variable names
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Revision 1.26 2006/12/18 09:46:38 callieri
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camera+shot revamp: changed field names to something with more sense, cleaning of various functions, correction of minor bugs/incongruences, removal of the infamous reference in shot.
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Revision 1.25 2005/12/12 16:52:55 callieri
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Added Unproject, from 2D local space + Zdepth to 3D camera space. Added ViewportToLocal, inverse of LocalToViewport
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Revision 1.24 2005/12/01 01:03:37 cignoni
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Removed excess ';' from end of template functions, for gcc compiling
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Revision 1.23 2005/10/12 16:43:32 ponchio
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Added IsOrtho...
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Revision 1.22 2005/07/11 13:12:34 cignoni
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small gcc-related compiling issues (typenames,ending cr, initialization order)
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Revision 1.21 2005/07/01 10:55:42 cignoni
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Removed default values from the implementation of SetCavalieri and SetIsometric
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Revision 1.20 2005/06/29 14:59:03 spinelli
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aggiunto:
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- l' enum dei tipi PERSPECTIVE, ORTHO, ISOMETRIC, CAVALIERI
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- inline void SetCavalieri(...)
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- inline void SetIsometric(...)
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- modificato
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- void SetOrtho( .. )
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Revision 1.19 2005/02/22 10:57:58 tommyfranken
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Corrected declaration and some syntax errors in GetFrustum
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Revision 1.18 2005/02/21 18:11:07 ganovelli
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GetFrustum moved from gl/camera to math/camera.h
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Revision 1.17 2005/02/15 14:55:52 tommyfranken
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added principal point
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Revision 1.16 2005/01/18 16:40:50 ricciodimare
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*** empty log message ***
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Revision 1.15 2005/01/18 15:14:22 ponchio
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Far and end are reserved.
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Revision 1.14 2005/01/14 15:28:33 ponchio
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vcg/Point.h -> vcg/point.h (again!)
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Revision 1.13 2005/01/05 13:25:29 ganovelli
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aggiunte conversione di coordinate
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Revision 1.12 2004/12/16 11:22:30 ricciodimare
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*** empty log message ***
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Revision 1.11 2004/12/16 11:21:03 ricciodimare
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*** empty log message ***
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Revision 1.10 2004/12/15 18:45:50 tommyfranken
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*** empty log message ***
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<<<<<<< camera.h
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=======
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Revision 1.8 2004/11/23 10:15:38 cignoni
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removed comment in comment gcc warning
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Revision 1.7 2004/11/03 09:40:53 ganovelli
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Point?.h to point?.h
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Revision 1.6 2004/11/03 09:32:50 ganovelli
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SetPerspective and SetFrustum added (same parameters as in opengl)
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>>>>>>> 1.8
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Revision 1.4 2004/10/07 14:39:57 fasano
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Remove glew.h include
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Revision 1.3 2004/10/07 14:22:38 ganovelli
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y axis reverse in projecting (!)
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Revision 1.2 2004/10/05 19:04:25 ganovelli
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version 5-10-2004 in progress
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Revision 1.1 2004/09/15 22:58:05 ganovelli
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re-creation
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Revision 1.2 2004/09/06 21:41:30 ganovelli
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*** empty log message ***
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Revision 1.1 2004/09/03 13:01:51 ganovelli
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creation
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****************************************************************************/
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#ifndef __VCGLIB_CAMERA
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#define __VCGLIB_CAMERA
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// VCG
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#include <vcg/space/point3.h>
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#include <vcg/space/point2.h>
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#include <vcg/math/similarity.h>
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namespace vcg{
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enum {
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PERSPECTIVE = 0,
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ORTHO = 1,
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ISOMETRIC = 2,
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CAVALIERI = 3
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};
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template<class S>
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class Camera
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{
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public:
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typedef S ScalarType;
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Camera():
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FocalMm(0.f),
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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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CenterPx(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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{}
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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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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> 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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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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int cameraType; /// Type of camera: PERSPECTIVE,ORTHO,ISOMETRIC,CAVALIERI
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void SetOrtho(S dist)
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{
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cameraType = ORTHO;
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ViewportPx = ( ((ViewportPx[0] * PixelSizeMm[0]) * (ViewportPx[1] * PixelSizeMm[1])) / FocalMm ) * dist;
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};
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bool IsOrtho() const
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{
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return ( cameraType == ORTHO );
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}
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//--- Set-up methods
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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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/// 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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/// 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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/// 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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//------------------
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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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//--- Space transformation methods
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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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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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inline vcg::Point2<S> LocalToViewportPx(const vcg::Point2<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 local plane coords to [0 1] coords
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inline vcg::Point2<S> LocalTo_0_1(const vcg::Point2<S> & p) const;
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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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//--------------------------------
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};
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/// project a point from 3d CAMERA space to the camera's plane]
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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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{
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vcg::Point2<S> q = Point2<S>(p[0],p[1]);
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if(!IsOrtho())
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{
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q[0] *= FocalMm/p.Z();
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q[1] *= FocalMm/p.Z();
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}
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return q;
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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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vcg::Point3<S> Camera<S>::UnProject(const vcg::Point2<S> & p, const S & d) const
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{
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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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{
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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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/// transforms local plane coords to vieport (pixel) coords
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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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{
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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[1] = (p[1] / PixelSizeMm.Y()) + CenterPx.Y();
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return np;
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}
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/// transforms vieport (pixel) coords to local plane coords
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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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{
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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[1] = (p[1]-CenterPx.Y()) * PixelSizeMm.Y();
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return ps;
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}
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/// transforms local plane coords to [0-1] coords
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template<class S>
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vcg::Point2<S> Camera<S>::LocalTo_0_1(const vcg::Point2<S> & p) const
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{
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vcg::Point2<S> ps;
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ps[0] = ( p[0]/PixelSizeMm.X() + CenterPx.X() ) / (S)ViewportPx[0];
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ps[1] = ( p[1]/PixelSizeMm.Y() + CenterPx.Y() ) / (S)ViewportPx[1];
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return ps;
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}
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/// transforms local plane coords to [-1 1] coords
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template<class S>
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vcg::Point2<S> Camera<S>::LocalTo_neg1_1(const vcg::Point2<S> & p) const
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{
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vcg::Point2<S> ps;
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ps[0] = 2.0f * p[0] / ( PixelSizeMm.X() * (S)ViewportPx[0] );
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ps[1] = 2.0f * p[1] / ( PixelSizeMm.Y() * (S)ViewportPx[1] );
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return ps;
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}
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//--- basic camera setup (GL-like)
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/// set the camera specifying the perspective view
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template<class S>
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void Camera<S>::SetPerspective( S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport)
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{
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cameraType = PERSPECTIVE;
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S halfsize[2];
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halfsize[1] = tan(math::ToRad(AngleDeg/2.0f)) * Focal;
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halfsize[0] = halfsize[1]*AspectRatio;
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SetFrustum(-halfsize[0],halfsize[0],-halfsize[1],halfsize[1],Focal,Viewport);
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}
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/// set the camera specifying the frustum view
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template<class S>
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void Camera<S>::SetFrustum( S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
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{
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S vp[2];
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vp[0] = dx-sx;
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vp[1] = tp-bt;
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ViewportPx[0] = Viewport[0];
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if(vp[1] != -1)
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ViewportPx[1] = Viewport[1]; // the user specified the viewport
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else
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ViewportPx[1] = ViewportPx[0]; // default viewport
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PixelSizeMm[0] = vp[0] / (S)Viewport[0];
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PixelSizeMm[1] = vp[1] / (S)Viewport[1];
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CenterPx[0] = -sx/vp[0] * (S)Viewport[0];
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CenterPx[1] = -bt/vp[1] * (S)Viewport[1];
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FocalMm =Focal;
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}
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//--- special cameras setup
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/// set the camera specifying the cavalieri view
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template<class S>
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void Camera<S>::SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
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{
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cameraType = CAVALIERI;
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SetFrustum(sx, dx, bt, tp, Focal,Viewport);
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}
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/// set the camera specifying the isometric view
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template<class S>
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void Camera<S>::SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
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{
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cameraType = ISOMETRIC;
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SetFrustum(sx, dx, bt, tp, Focal,Viewport);
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}
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/// returns the frustum
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template<class S>
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void Camera<S>:: GetFrustum( S & sx, S & dx, S & bt, S & tp, S & nr)
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{
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dx = CenterPx.X()* PixelSizeMm.X(); //scaled center
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sx = -( (S)ViewportPx.X() - CenterPx.X() ) * PixelSizeMm.X();
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bt = -CenterPx.Y()* PixelSizeMm.Y();
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tp = ( (S)ViewportPx.Y() - CenterPx.Y() ) * PixelSizeMm.Y();
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nr = FocalMm;
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}
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}
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#endif
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|
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/****************************************************************************
|
||||
* VCGLib o o *
|
||||
* Visual and Computer Graphics Library o o *
|
||||
* _ O _ *
|
||||
* Copyright(C) 2004 \/)\/ *
|
||||
* Visual Computing Lab /\/| *
|
||||
* ISTI - Italian National Research Council | *
|
||||
* \ *
|
||||
* All rights reserved. *
|
||||
* *
|
||||
* This program is free software; you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU General Public License as published by *
|
||||
* the Free Software Foundation; either version 2 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* This program is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
|
||||
* for more details. *
|
||||
* *
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
History
|
||||
$Log: not supported by cvs2svn $
|
||||
Revision 1.28 2006/12/21 00:13:27 cignoni
|
||||
Corrected a syntax error detected only by gcc.
|
||||
Corrected the order of initialization in the constructor to match the declaration order
|
||||
|
||||
Revision 1.27 2006/12/18 16:02:55 matteodelle
|
||||
minor eroor correction on variable names
|
||||
|
||||
Revision 1.26 2006/12/18 09:46:38 callieri
|
||||
camera+shot revamp: changed field names to something with more sense, cleaning of various functions, correction of minor bugs/incongruences, removal of the infamous reference in shot.
|
||||
|
||||
Revision 1.25 2005/12/12 16:52:55 callieri
|
||||
Added Unproject, from 2D local space + Zdepth to 3D camera space. Added ViewportToLocal, inverse of LocalToViewport
|
||||
|
||||
Revision 1.24 2005/12/01 01:03:37 cignoni
|
||||
Removed excess ';' from end of template functions, for gcc compiling
|
||||
|
||||
Revision 1.23 2005/10/12 16:43:32 ponchio
|
||||
Added IsOrtho...
|
||||
|
||||
Revision 1.22 2005/07/11 13:12:34 cignoni
|
||||
small gcc-related compiling issues (typenames,ending cr, initialization order)
|
||||
|
||||
Revision 1.21 2005/07/01 10:55:42 cignoni
|
||||
Removed default values from the implementation of SetCavalieri and SetIsometric
|
||||
|
||||
Revision 1.20 2005/06/29 14:59:03 spinelli
|
||||
aggiunto:
|
||||
- l' enum dei tipi PERSPECTIVE, ORTHO, ISOMETRIC, CAVALIERI
|
||||
- inline void SetCavalieri(...)
|
||||
- inline void SetIsometric(...)
|
||||
|
||||
- modificato
|
||||
- void SetOrtho( .. )
|
||||
|
||||
Revision 1.19 2005/02/22 10:57:58 tommyfranken
|
||||
Corrected declaration and some syntax errors in GetFrustum
|
||||
|
||||
Revision 1.18 2005/02/21 18:11:07 ganovelli
|
||||
GetFrustum moved from gl/camera to math/camera.h
|
||||
|
||||
Revision 1.17 2005/02/15 14:55:52 tommyfranken
|
||||
added principal point
|
||||
|
||||
Revision 1.16 2005/01/18 16:40:50 ricciodimare
|
||||
*** empty log message ***
|
||||
|
||||
Revision 1.15 2005/01/18 15:14:22 ponchio
|
||||
Far and end are reserved.
|
||||
|
||||
Revision 1.14 2005/01/14 15:28:33 ponchio
|
||||
vcg/Point.h -> vcg/point.h (again!)
|
||||
|
||||
Revision 1.13 2005/01/05 13:25:29 ganovelli
|
||||
aggiunte conversione di coordinate
|
||||
|
||||
Revision 1.12 2004/12/16 11:22:30 ricciodimare
|
||||
*** empty log message ***
|
||||
|
||||
Revision 1.11 2004/12/16 11:21:03 ricciodimare
|
||||
*** empty log message ***
|
||||
|
||||
Revision 1.10 2004/12/15 18:45:50 tommyfranken
|
||||
*** empty log message ***
|
||||
|
||||
<<<<<<< camera.h
|
||||
=======
|
||||
Revision 1.8 2004/11/23 10:15:38 cignoni
|
||||
removed comment in comment gcc warning
|
||||
|
||||
Revision 1.7 2004/11/03 09:40:53 ganovelli
|
||||
Point?.h to point?.h
|
||||
|
||||
Revision 1.6 2004/11/03 09:32:50 ganovelli
|
||||
SetPerspective and SetFrustum added (same parameters as in opengl)
|
||||
|
||||
>>>>>>> 1.8
|
||||
Revision 1.4 2004/10/07 14:39:57 fasano
|
||||
Remove glew.h include
|
||||
|
||||
Revision 1.3 2004/10/07 14:22:38 ganovelli
|
||||
y axis reverse in projecting (!)
|
||||
|
||||
Revision 1.2 2004/10/05 19:04:25 ganovelli
|
||||
version 5-10-2004 in progress
|
||||
|
||||
Revision 1.1 2004/09/15 22:58:05 ganovelli
|
||||
re-creation
|
||||
|
||||
Revision 1.2 2004/09/06 21:41:30 ganovelli
|
||||
*** empty log message ***
|
||||
|
||||
Revision 1.1 2004/09/03 13:01:51 ganovelli
|
||||
creation
|
||||
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
#ifndef __VCGLIB_CAMERA
|
||||
#define __VCGLIB_CAMERA
|
||||
|
||||
// VCG
|
||||
#include <vcg/space/point3.h>
|
||||
#include <vcg/space/point2.h>
|
||||
#include <vcg/math/similarity.h>
|
||||
|
||||
|
||||
|
||||
namespace vcg{
|
||||
|
||||
enum {
|
||||
PERSPECTIVE = 0,
|
||||
ORTHO = 1,
|
||||
ISOMETRIC = 2,
|
||||
CAVALIERI = 3
|
||||
};
|
||||
|
||||
|
||||
template<class S>
|
||||
class Camera
|
||||
{
|
||||
public:
|
||||
typedef S ScalarType;
|
||||
|
||||
Camera():
|
||||
FocalMm(0.f),
|
||||
ViewportPx(vcg::Point2<int>(0,0)),
|
||||
PixelSizeMm(vcg::Point2<S>(0.0,0.0)),
|
||||
CenterPx(vcg::Point2<S>(0.0,0.0)),
|
||||
DistorCenterPx(vcg::Point2<S>(0.0,0.0)),
|
||||
cameraType(0)
|
||||
{}
|
||||
|
||||
//------ camera intrinsics
|
||||
ScalarType FocalMm; /// Focal Distance: the distance between focal center and image plane. Expressed in mm
|
||||
Point2<int> ViewportPx; /// Dimension of the Image Plane (in pixels)
|
||||
Point2<S> PixelSizeMm; /// Dimension in mm of a single pixel
|
||||
Point2<S> CenterPx; /// Position of the projection of the focal center on the image plane. Expressed in pixels
|
||||
|
||||
Point2<S> DistorCenterPx; /// Position of the radial distortion center on the image plane in pixels
|
||||
S k[4]; /// 1st & 2nd order radial lens distortion coefficient (only the first 2 terms are used)
|
||||
//------------------------
|
||||
|
||||
int cameraType; /// Type of camera: PERSPECTIVE,ORTHO,ISOMETRIC,CAVALIERI
|
||||
|
||||
void SetOrtho(S dist)
|
||||
{
|
||||
cameraType = ORTHO;
|
||||
ViewportPx = ( ((ViewportPx[0] * PixelSizeMm[0]) * (ViewportPx[1] * PixelSizeMm[1])) / FocalMm ) * dist;
|
||||
};
|
||||
|
||||
bool IsOrtho() const
|
||||
{
|
||||
return ( cameraType == ORTHO );
|
||||
}
|
||||
|
||||
//--- Set-up methods
|
||||
|
||||
/// set the camera specifying the perspecive view
|
||||
inline void SetPerspective(S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport);
|
||||
|
||||
/// set the camera specifying the cavalieri view
|
||||
inline void SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
|
||||
|
||||
/// set the camera specifying the isometric view
|
||||
inline void SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
|
||||
|
||||
/// set the camera specifying the frustum view
|
||||
inline void SetFrustum(S dx, S sx, S bt, S tp, S Focal, vcg::Point2<int> Viewport);
|
||||
//------------------
|
||||
|
||||
/// returns the frustum
|
||||
inline void GetFrustum(S & sx, S & dx, S & bt, S & tp, S & nr);
|
||||
|
||||
//--- Space transformation methods
|
||||
|
||||
/// project a point from 3d CAMERA space to the camera local plane
|
||||
inline vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
|
||||
|
||||
/// unproject a point from the camera local plane (plus depth) to 3d CAMERA space
|
||||
inline vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
|
||||
|
||||
/// transforms local plane coords to vieport (pixel) coords
|
||||
inline vcg::Point2<S> LocalToViewportPx(const vcg::Point2<S> & p) const;
|
||||
|
||||
/// transforms vieport (pixel) coords to local plane coords
|
||||
inline vcg::Point2<S> ViewportPxToLocal(const vcg::Point2<S> & p) const;
|
||||
|
||||
/// transforms vieport (pixel) coords to [-1 1] coords
|
||||
inline vcg::Point2<S> Camera<S>::ViewportPxTo_neg1_1(const vcg::Point2<S> & p) const;
|
||||
|
||||
/// transforms local plane coords to [0 1] coords
|
||||
inline vcg::Point2<S> LocalTo_0_1(const vcg::Point2<S> & p) const;
|
||||
|
||||
/// transforms local plane coords to [-1 1] coords
|
||||
inline vcg::Point2<S> LocalTo_neg1_1(const vcg::Point2<S> & p) const;
|
||||
|
||||
/// transforms an undistorted 2D camera plane point in a distorted 2D camera plane point
|
||||
vcg::Point2<S> UndistortedToDistorted(vcg::Point2<S> u) const;
|
||||
|
||||
/// transforms a distorted 2D camera plane point in an undistorted 2D camera plane point
|
||||
vcg::Point2<S> DistortedToUndistorted(vcg::Point2<S> d) const;
|
||||
//--------------------------------
|
||||
};
|
||||
|
||||
|
||||
|
||||
/// project a point from 3d CAMERA space to the camera's plane]
|
||||
template<class S>
|
||||
vcg::Point2<S> Camera<S>::Project(const vcg::Point3<S> & p) const
|
||||
{
|
||||
vcg::Point2<S> q = Point2<S>(p[0],p[1]);
|
||||
vcg::Point2<S> d = Point2<S>(p[0],p[1]);
|
||||
|
||||
if(!IsOrtho())
|
||||
{
|
||||
q[0] *= FocalMm/p.Z();
|
||||
q[1] *= FocalMm/p.Z();
|
||||
|
||||
if(k[0]!=0)
|
||||
{
|
||||
vcg::Point2<S> d;
|
||||
d=UndistortedToDistorted(q);
|
||||
q=d;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
return q;
|
||||
}
|
||||
|
||||
/// unproject a point from the camera 2d plane [-1,-1]x[1,1] (plus depth) to 3d CAMERA space
|
||||
template<class S>
|
||||
vcg::Point3<S> Camera<S>::UnProject(const vcg::Point2<S> & p, const S & d) const
|
||||
{
|
||||
vcg::Point3<S> np = Point3<S>(p[0], p[1], d);
|
||||
|
||||
if(!IsOrtho())
|
||||
{
|
||||
if(k[0]!=0)
|
||||
{
|
||||
vcg::Point2<S> d = Point2<S>(p[0], p[1]);
|
||||
vcg::Point2<S> u=DistortedToUndistorted(d);
|
||||
np[0]=u[0];
|
||||
np[1]=u[1];
|
||||
}
|
||||
|
||||
np[0] /= FocalMm/d;
|
||||
np[1] /= FocalMm/d;
|
||||
}
|
||||
|
||||
return np;
|
||||
}
|
||||
|
||||
/// transforms local plane coords to vieport (pixel) coords
|
||||
template<class S>
|
||||
vcg::Point2<S> Camera<S>::LocalToViewportPx(const vcg::Point2<S> & p) const
|
||||
{
|
||||
vcg::Point2<S> np;
|
||||
|
||||
np[0] = (p[0] / PixelSizeMm.X()) + CenterPx.X();
|
||||
np[1] = (p[1] / PixelSizeMm.Y()) + CenterPx.Y();
|
||||
|
||||
return np;
|
||||
}
|
||||
|
||||
/// transforms vieport (pixel) coords to local plane coords
|
||||
template<class S>
|
||||
vcg::Point2<S> Camera<S>::ViewportPxToLocal(const vcg::Point2<S> & p) const
|
||||
{
|
||||
vcg::Point2<S> ps;
|
||||
ps[0] = (p[0]-CenterPx.X()) * PixelSizeMm.X();
|
||||
ps[1] = (p[1]-CenterPx.Y()) * PixelSizeMm.Y();
|
||||
return ps;
|
||||
}
|
||||
|
||||
/// transforms vieport (pixel) coords to [-1 1] coords
|
||||
template<class S>
|
||||
vcg::Point2<S> Camera<S>::ViewportPxTo_neg1_1(const vcg::Point2<S> & p) const
|
||||
{
|
||||
vcg::Point2<S> ps;
|
||||
ps[0] = 2.0f * ((p[0]-CenterPx.X()) * PixelSizeMm.X())/ ( PixelSizeMm.X() * (S)ViewportPx[0] );
|
||||
ps[1] = 2.0f * ((p[1]-CenterPx.Y()) * PixelSizeMm.Y())/ ( PixelSizeMm.Y() * (S)ViewportPx[1] );
|
||||
return ps;
|
||||
}
|
||||
|
||||
/// transforms local plane coords to [0-1] coords
|
||||
template<class S>
|
||||
vcg::Point2<S> Camera<S>::LocalTo_0_1(const vcg::Point2<S> & p) const
|
||||
{
|
||||
vcg::Point2<S> ps;
|
||||
ps[0] = ( p[0]/PixelSizeMm.X() + CenterPx.X() ) / (S)ViewportPx[0];
|
||||
ps[1] = ( p[1]/PixelSizeMm.Y() + CenterPx.Y() ) / (S)ViewportPx[1];
|
||||
return ps;
|
||||
}
|
||||
|
||||
/// transforms local plane coords to [-1 1] coords
|
||||
template<class S>
|
||||
vcg::Point2<S> Camera<S>::LocalTo_neg1_1(const vcg::Point2<S> & p) const
|
||||
{
|
||||
vcg::Point2<S> ps;
|
||||
ps[0] = 2.0f * p[0] / ( PixelSizeMm.X() * (S)ViewportPx[0] );
|
||||
ps[1] = 2.0f * p[1] / ( PixelSizeMm.Y() * (S)ViewportPx[1] );
|
||||
return ps;
|
||||
}
|
||||
|
||||
/// transforms an undistorted 2D camera plane point in a distorted 2D camera plane point
|
||||
template<class S>
|
||||
vcg::Point2<S> Camera<S>::UndistortedToDistorted(vcg::Point2<S> u) const
|
||||
{
|
||||
vcg::Point2<S> dis;
|
||||
vcg::Point2<S> dc=ViewportPxTo_neg1_1(DistorCenterPx);
|
||||
const S SQRT3 = S(1.732050807568877293527446341505872366943);
|
||||
const S CBRT = S(0.33333333333333333333333);
|
||||
S 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)
|
||||
{
|
||||
dis[0] = u[0];
|
||||
dis[1] = u[1];
|
||||
return dis;
|
||||
}
|
||||
|
||||
Ru = hypot ((u[0]-dc[0]), (u[1]-dc[1])); /* SQRT(Xu*Xu+Yu*Yu) */
|
||||
c = 1 / k[0];
|
||||
d = -c * Ru;
|
||||
|
||||
Q = c / 3;
|
||||
R = -d / 2;
|
||||
if (R<0)
|
||||
D = pow(Q,3) + sqrt(-R);
|
||||
else
|
||||
D = pow(Q,3) + sqrt(R);
|
||||
|
||||
if (D >= 0) /* one real root */
|
||||
{
|
||||
D = sqrt(D);
|
||||
S = pow((R + D),CBRT);
|
||||
if (R>=D)
|
||||
T = pow((R - D),CBRT);
|
||||
else
|
||||
T = - pow(abs(R - D),CBRT);
|
||||
Rd = S + T;
|
||||
|
||||
if (Rd < 0)
|
||||
Rd = sqrt(-1 / (3 * k[0]));
|
||||
}
|
||||
else /* three real roots */
|
||||
{
|
||||
D = sqrt(-D);
|
||||
S = pow((hypot (R, D)),CBRT);
|
||||
T = atan2 (D, R) / 3;
|
||||
//SinCos(T, sinT, cosT);
|
||||
sinT=sin(T);
|
||||
cosT=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 negative root is -S*cos(T) - SQRT(3)*S*sin(T) */
|
||||
Rd = -S * cosT + SQRT3 * S * sinT; /* use the smaller positive root */
|
||||
}
|
||||
|
||||
lambda = Rd / Ru;
|
||||
|
||||
dis[0] = u[0] * lambda;
|
||||
dis[1] = u[1] * lambda;
|
||||
|
||||
return dis;
|
||||
}
|
||||
|
||||
/// transforms a distorted 2D camera plane point in an undistorted 2D camera plane point
|
||||
template<class S>
|
||||
vcg::Point2<S> Camera<S>::DistortedToUndistorted(vcg::Point2<S> d) const
|
||||
{
|
||||
vcg::Point2<S> u;
|
||||
vcg::Point2<S> dc=ViewportPxTo_neg1_1(DistorCenterPx);
|
||||
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[1]=d[1]*(1-k[0]*r*r);
|
||||
|
||||
return u;
|
||||
|
||||
}
|
||||
|
||||
|
||||
//--- basic camera setup (GL-like)
|
||||
|
||||
/// set the camera specifying the perspective view
|
||||
template<class S>
|
||||
void Camera<S>::SetPerspective( S AngleDeg, S AspectRatio, S Focal, vcg::Point2<int> Viewport)
|
||||
{
|
||||
cameraType = PERSPECTIVE;
|
||||
S halfsize[2];
|
||||
|
||||
halfsize[1] = tan(math::ToRad(AngleDeg/2.0f)) * Focal;
|
||||
halfsize[0] = halfsize[1]*AspectRatio;
|
||||
|
||||
SetFrustum(-halfsize[0],halfsize[0],-halfsize[1],halfsize[1],Focal,Viewport);
|
||||
}
|
||||
|
||||
/// set the camera specifying the frustum view
|
||||
template<class S>
|
||||
void Camera<S>::SetFrustum( S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
||||
{
|
||||
S vp[2];
|
||||
vp[0] = dx-sx;
|
||||
vp[1] = tp-bt;
|
||||
|
||||
ViewportPx[0] = Viewport[0];
|
||||
if(vp[1] != -1)
|
||||
ViewportPx[1] = Viewport[1]; // the user specified the viewport
|
||||
else
|
||||
ViewportPx[1] = ViewportPx[0]; // default viewport
|
||||
|
||||
PixelSizeMm[0] = vp[0] / (S)Viewport[0];
|
||||
PixelSizeMm[1] = vp[1] / (S)Viewport[1];
|
||||
|
||||
CenterPx[0] = -sx/vp[0] * (S)Viewport[0];
|
||||
CenterPx[1] = -bt/vp[1] * (S)Viewport[1];
|
||||
|
||||
FocalMm =Focal;
|
||||
}
|
||||
|
||||
//--- special cameras setup
|
||||
|
||||
/// set the camera specifying the cavalieri view
|
||||
template<class S>
|
||||
void Camera<S>::SetCavalieri(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
||||
{
|
||||
cameraType = CAVALIERI;
|
||||
SetFrustum(sx, dx, bt, tp, Focal,Viewport);
|
||||
}
|
||||
|
||||
/// set the camera specifying the isometric view
|
||||
template<class S>
|
||||
void Camera<S>::SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> Viewport)
|
||||
{
|
||||
cameraType = ISOMETRIC;
|
||||
SetFrustum(sx, dx, bt, tp, Focal,Viewport);
|
||||
}
|
||||
|
||||
/// returns the frustum
|
||||
template<class S>
|
||||
void Camera<S>:: GetFrustum( S & sx, S & dx, S & bt, S & tp, S & nr)
|
||||
{
|
||||
dx = CenterPx.X()* PixelSizeMm.X(); //scaled center
|
||||
sx = -( (S)ViewportPx.X() - CenterPx.X() ) * PixelSizeMm.X();
|
||||
|
||||
bt = -CenterPx.Y()* PixelSizeMm.Y();
|
||||
tp = ( (S)ViewportPx.Y() - CenterPx.Y() ) * PixelSizeMm.Y();
|
||||
|
||||
nr = FocalMm;
|
||||
}
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue