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added support function (_substitute) to umproject 2D points + depth when the rotation matrix is not exactly rigid (such as the one calculated by Textailor, Tsai and Garcia)

This commit is contained in:
Marco Callieri 2009-09-08 14:05:49 +00:00
parent 88ef8fa03b
commit 0ccb9e8992
1 changed files with 32 additions and 0 deletions
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32
vcg/math/shot.h
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@ -186,12 +186,20 @@ public:
/// convert a 3d point from camera to world coordinates
vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
/// convert a 3d point from camera to world coordinates, uses inverse instead of trranspose
/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
vcg::Point3<S> ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const;
/// project a 3d point from world coordinates to 2d camera viewport (pixel)
vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates, uses inverse instead of trranspose
/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
vcg::Point3<S> UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const;
/// returns distance of point p from camera plane (z depth), used for unprojection
S Depth(const vcg::Point3<S> & p)const;
@ -324,6 +332,19 @@ vcg::Point3<S> Shot<S,RotationType>::ConvertCameraToWorldCoordinates(const vcg::
return cp;
}
/// convert a 3d point from camera to world coordinates, uses inverse instead of trranspose
/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
template <class S, class RotationType>
vcg::Point3<S> Shot<S,RotationType>::ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const
{
Matrix44<S> rotM;
vcg::Point3<S> cp = p;
cp[2]=-cp[2]; // note: World reference system is left handed
Extrinsics.rot.ToMatrix(rotM);
cp = Inverse(rotM) * cp + GetViewPoint(); // use invert istead of transpose to dela with non-rigid cases
return cp;
}
/// project a 3d point from world coordinates to 2d camera viewport (pixel)
template <class S, class RotationType>
vcg::Point2<S> Shot<S,RotationType>::Project(const vcg::Point3<S> & p) const
@ -344,6 +365,17 @@ vcg::Point3<S> Shot<S,RotationType>::UnProject(const vcg::Point2<S> & p, const S
return wp;
}
/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates, uses inverse instead of trranspose
/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
template <class S, class RotationType>
vcg::Point3<S> Shot<S,RotationType>::UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const
{
Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
Point3<S> cp = Intrinsics.UnProject(lp,d);
Point3<S> wp = ConvertCameraToWorldCoordinates_Substitute(cp);
return wp;
}
/// returns distance of point p from camera plane (z depth), used for unprojection
template <class S, class RotationType>
S Shot<S,RotationType>::Depth(const vcg::Point3<S> & p)const