fix some comments about the assumption made by the Shot
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324
vcg/math/shot.h
324
vcg/math/shot.h
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@ -94,23 +94,31 @@ creation
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****************************************************************************/
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/** class Shot
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The shot is made of two things:
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* the Instrinsics paramaters, which are stored as a Camera type (check vcg/math/camera) and that
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Shot is made of two elements:
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* the Instrinsics paramaters, which are stored as a Camera type (see vcg/math/camera) and that
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determines how a point in the frame of the camera is projected in the 2D projection plane
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* the Extrinsics parameters, which are stored in the class Shot (che the type ReferenceFrame)
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and that tell viewpoint and view direction.
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* the Extrinsics parameters, which are stored in the class Shot (type ReferenceFrame)
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and that describe viewpoint and view direction.
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The Extrinsics parameters are kept as a rotation matrix "rot" and a translation vector "tra"
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NOTE: the translation matrix "tra" corresponds to -viewpoint while the rotation matrix
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"rot" corresponds to the axis of the reference frame by row, i.e.
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rot[0][0|1|2] == X axis
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rot[1][0|1|2] == Y axis
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rot[2][0|1|2] == Z axis
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Some important notes about the usage of this class:
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It follows that the matrix made with the upper left 3x3 equal to rot and the 4th colum equal to tra
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and (0,0,0,1) in the bottom row transform a point from world coordiantes to the reference frame
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of the shot.
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* The World coordinates system is assumed to be RIGHT-HANDED.
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* The Shot reference frame is assumed to be RIGHT-HANDED.
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* The associated Camera is assumed to point in the negative direction of the Z axis of the Shot coordinates system (reference frame).
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As a consequence, the Camera coordinates system is LEFT-HANDED.
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* The Extrinsics parameters are kept as a rotation matrix "rot" and a translation vector "tra"
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The translation matrix "tra" corresponds to the viewpoint of the Shot while the rotation matrix
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"rot" corresponds to the axis of the reference frame by row, i.e.
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rot[0][0|1|2] == X axis
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rot[1][0|1|2] == Y axis
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rot[2][0|1|2] == Z axis
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It follows that the matrix made with the upper left 3x3 equal to rot and the 4th colum equal to tra
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and (0,0,0,1) in the bottom row transform a point from world coordiantes to the reference frame
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of the shot.
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@ -129,129 +137,129 @@ namespace vcg{
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template <class S, class RotationType = Matrix44<S> >
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class Shot {
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public:
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typedef Camera<S> CameraType;
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typedef S ScalarType;
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typedef Camera<S> CameraType;
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typedef S ScalarType;
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template <class ScalarType, class RotoType >
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class ReferenceFrame {
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friend class Shot<ScalarType, RotoType>;
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RotoType rot; // rotation
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Point3<S> tra; // viewpoint
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public:
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void SetIdentity(){ rot.SetIdentity(); tra = Point3<S>(0.0,0.0,0.0);}
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void SetTra(const Point3<S> & tr) {tra = tr;}
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void SetRot(const RotoType & rt) {rot = rt;}
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Point3<ScalarType> Tra() const { return tra;}
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RotoType Rot() const { return rot;}
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};
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template <class ScalarType, class RotoType >
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class ReferenceFrame {
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friend class Shot<ScalarType, RotoType>;
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RotoType rot; // rotation
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Point3<S> tra; // viewpoint
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public:
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void SetIdentity(){ rot.SetIdentity(); tra = Point3<S>(0.0,0.0,0.0);}
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void SetTra(const Point3<S> & tr) {tra = tr;}
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void SetRot(const RotoType & rt) {rot = rt;}
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Point3<ScalarType> Tra() const { return tra;}
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RotoType Rot() const { return rot;}
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};
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Camera<S> Intrinsics; // the camera that made the shot
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ReferenceFrame<S,RotationType> Extrinsics; // the position and orientation of the camera
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Camera<S> Intrinsics; // the camera that made the shot
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ReferenceFrame<S,RotationType> Extrinsics; // the position and orientation of the camera
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Shot(Camera<S> c)
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{
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Intrinsics = c;
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Extrinsics.SetIdentity();
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}
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Shot(Camera<S> c)
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{
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Intrinsics = c;
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Extrinsics.SetIdentity();
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}
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Shot()
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{
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Extrinsics.SetIdentity();
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}
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Shot()
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{
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Extrinsics.SetIdentity();
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}
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/// GET the i-th axis of the coordinate system of the camera
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vcg::Point3<S> Axis(const int & i)const;
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/// GET the i-th axis of the coordinate system of the camera
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vcg::Point3<S> Axis(const int & i)const;
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/// GET the viewdir
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const vcg::Point3<S> GetViewDir()const;
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/// GET the viewpoint
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const vcg::Point3<S> GetViewPoint()const;
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/// SET the viewpoint
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void SetViewPoint(const vcg::Point3<S> & viewpoint);
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void SetViewPoint(const vcg::Point3<S> & viewpoint);
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/// GET fov from focal
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float GetFovFromFocal();
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/// GET fov from focal
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float GetFovFromFocal();
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/// look at (point+up)
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void LookAt(const vcg::Point3<S> & point,const vcg::Point3<S> & up);
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/// look at (point+up)
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void LookAt(const vcg::Point3<S> & point,const vcg::Point3<S> & up);
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/// look at (opengl-like)
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void LookAt(const S & eye_x,const S & eye_y,const S & eye_z,
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const S & at_x,const S & at_y,const S & at_z,
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const S & up_x,const S & up_y,const S & up_z);
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/// look at (opengl-like)
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void LookAt(const S & eye_x,const S & eye_y,const S & eye_z,
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const S & at_x,const S & at_y,const S & at_z,
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const S & up_x,const S & up_y,const S & up_z);
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/// look towards (dir+up)
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void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
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/// look towards (dir+up)
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void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
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/// convert a 3d point from world to camera coordinates
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vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from world to camera coordinates (do not confuse with the Shot reference frame)
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vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from camera to world coordinates
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vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from camera (do not confuse with the Shot reference frame) to world coordinates
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vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
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/// convert a 3d point from camera to world coordinates, uses inverse instead of trranspose
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/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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vcg::Point3<S> ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const;
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/* convert a 3d point from camera (do not confuse with the Shot reference frame) to world coordinates
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* it uses inverse instead of transpose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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*/
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vcg::Point3<S> ConvertCameraToWorldCoordinates_Substitute(const vcg::Point3<S> & p) const;
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/// project a 3d point from world coordinates to 2d camera viewport (pixel)
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vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
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/// project a 3d point from world coordinates to 2d camera viewport (the value returned is in pixels)
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vcg::Point2<S> Project(const vcg::Point3<S> & p) const;
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/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
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vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
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/// inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
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vcg::Point3<S> UnProject(const vcg::Point2<S> & p, const S & d) const;
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/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates, uses inverse instead of trranspose
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/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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vcg::Point3<S> UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const;
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/* inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
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* uses inverse instead of trranspose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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*/
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vcg::Point3<S> UnProject_Substitute(const vcg::Point2<S> & p, const S & d) const;
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/// returns distance of point p from camera plane (z depth), used for unprojection
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S Depth(const vcg::Point3<S> & p)const;
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/// returns the distance of point p from camera plane (z depth), required for unprojection operation
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S Depth(const vcg::Point3<S> & p)const;
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// accessors
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public:
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/* Returns the matrix M such that
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3dpoint_in_world_coordinates = M * 3dpoint_in_local_coordinates
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*/
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Matrix44<S> GetExtrinsicsToWorldMatrix() const {
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Matrix44<S> rotM ;
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Extrinsics.rot.ToMatrix(rotM);
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return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM.transpose();
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}
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/* Returns the matrix M such that
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3dpoint_in_world_coordinates = M * 3dpoint_in_local_coordinates
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*/
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Matrix44<S> GetExtrinsicsToWorldMatrix() const {
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Matrix44<S> rotM ;
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Extrinsics.rot.ToMatrix(rotM);
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return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM.transpose();
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}
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/* Returns the matrix M such that
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3dpoint_in_local_coordinates = M * 3dpoint_in_world_coordinates
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*/
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Matrix44<S> GetWorldToExtrinsicsMatrix() const {
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Matrix44<S> rotM ;
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Extrinsics.rot.ToMatrix(rotM);
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return rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra) ;
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}
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/* Returns the matrix M such that
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3dpoint_in_local_coordinates = M * 3dpoint_in_world_coordinates
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*/
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Matrix44<S> GetWorldToExtrinsicsMatrix() const {
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Matrix44<S> rotM ;
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Extrinsics.rot.ToMatrix(rotM);
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return rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra) ;
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}
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/* multiply the current reference frame for the matrix passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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the matrix can have a scaling component, but is assumed uniform over the rows
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*/
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/* multiply the current reference frame for the matrix passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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void MultMatrix( vcg::Matrix44<S> m44)
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{
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Extrinsics.tra = m44 * Extrinsics.tra;
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m44[0][3] = m44[1][3] = m44[2][3] = 0.0; //set no translation
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const S k = m44.GetRow3(0).Norm(); //compute scaling (assumed uniform)
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Extrinsics.rot = Extrinsics.rot * m44.transpose() * (1/k);
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Extrinsics.rot.ElementAt(3,3)=S(1.0); //fix back after scaling
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}
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/* multiply the current reference frame for the similarity passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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void MultSimilarity( const Similarity<S> & s){ MultMatrix(s.Matrix());}
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bool IsValid() const
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{
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return Intrinsics.PixelSizeMm[0]>0 && Intrinsics.PixelSizeMm[1]>0;
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}
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/* multiply the current reference frame for the similarity passed
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note: it is up to the caller to check the the matrix passed is a pure rototraslation
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*/
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void MultSimilarity( const Similarity<S> & s){ MultMatrix(s.Matrix());}
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bool IsValid() const
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{
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return Intrinsics.PixelSizeMm[0]>0 && Intrinsics.PixelSizeMm[1]>0;
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}
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}; // end class definition
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@ -270,13 +278,13 @@ const vcg::Point3<S> Shot<S,RotationType>::GetViewDir() const
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template <class S, class RotationType>
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const vcg::Point3<S> Shot<S,RotationType>::GetViewPoint() const
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{
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return Extrinsics.tra;
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return Extrinsics.tra;
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}
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/// SET the viewpoint
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template <class S, class RotationType>
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void Shot<S,RotationType>::SetViewPoint(const vcg::Point3<S> & viewpoint)
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{
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Extrinsics.SetTra( viewpoint );
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Extrinsics.SetTra( viewpoint );
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}
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//---
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@ -284,8 +292,8 @@ void Shot<S,RotationType>::SetViewPoint(const vcg::Point3<S> & viewpoint)
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template <class S, class RotationType>
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float Shot<S,RotationType>::GetFovFromFocal()
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{
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double viewportYMm= Intrinsics.PixelSizeMm[1]* Intrinsics.ViewportPx[1];
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return 2*(vcg::math::ToDeg(atanf(viewportYMm/(2*Intrinsics.FocalMm))));
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double viewportYMm= Intrinsics.PixelSizeMm[1]* Intrinsics.ViewportPx[1];
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return 2*(vcg::math::ToDeg(atanf(viewportYMm/(2*Intrinsics.FocalMm))));
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}
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//---
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@ -294,119 +302,119 @@ float Shot<S,RotationType>::GetFovFromFocal()
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::Axis(const int & i) const
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{
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vcg::Matrix44<S> m;
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Extrinsics.rot.ToMatrix(m);
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vcg::Point3<S> aa = m.GetRow3(i);
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return aa;
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vcg::Matrix44<S> m;
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Extrinsics.rot.ToMatrix(m);
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vcg::Point3<S> aa = m.GetRow3(i);
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return aa;
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}
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/// look at (point+up)
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookAt(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
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{
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LookTowards(z_dir-GetViewPoint(),up);
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LookTowards(z_dir-GetViewPoint(),up);
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}
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/// look at (opengl-like)
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookAt(const S & eye_x, const S & eye_y, const S & eye_z,
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const S & at_x, const S & at_y, const S & at_z,
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const S & up_x,const S & up_y,const S & up_z)
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const S & at_x, const S & at_y, const S & at_z,
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const S & up_x,const S & up_y,const S & up_z)
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{
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SetViewPoint(Point3<S>(eye_x,eye_y,eye_z));
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LookAt(Point3<S>(at_x,at_y,at_z),Point3<S>(up_x,up_y,up_z));
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SetViewPoint(Point3<S>(eye_x,eye_y,eye_z));
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LookAt(Point3<S>(at_x,at_y,at_z),Point3<S>(up_x,up_y,up_z));
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}
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/// look towards
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template <class S, class RotationType>
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void Shot<S,RotationType>::LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up)
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{
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vcg::Point3<S> x_dir = up ^-z_dir;
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vcg::Point3<S> y_dir = -z_dir ^x_dir;
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vcg::Point3<S> x_dir = up ^-z_dir;
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vcg::Point3<S> y_dir = -z_dir ^x_dir;
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Matrix44<S> m;
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m.SetIdentity();
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*(vcg::Point3<S> *)&m[0][0] = x_dir/x_dir.Norm();
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*(vcg::Point3<S> *)&m[1][0] = y_dir/y_dir.Norm();
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*(vcg::Point3<S> *)&m[2][0] = -z_dir/z_dir.Norm();
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Matrix44<S> m;
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m.SetIdentity();
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*(vcg::Point3<S> *)&m[0][0] = x_dir/x_dir.Norm();
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*(vcg::Point3<S> *)&m[1][0] = y_dir/y_dir.Norm();
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*(vcg::Point3<S> *)&m[2][0] = -z_dir/z_dir.Norm();
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Extrinsics.rot.FromMatrix(m);
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Extrinsics.rot.FromMatrix(m);
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}
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//--- Space transformation methods
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/// convert a 3d point from world to camera coordinates
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/// convert a 3d point from world to camera coordinates (do not confuse with the Shot reference frame)
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const
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{
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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vcg::Point3<S> cp = rotM * (p - GetViewPoint() );
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cp[2]=-cp[2]; // note: camera reference system is right handed
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return cp;
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}
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Matrix44<S> rotM;
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Extrinsics.rot.ToMatrix(rotM);
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vcg::Point3<S> cp = rotM * (p - GetViewPoint() );
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cp[2]=-cp[2];
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return cp;
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}
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/// convert a 3d point from camera to world coordinates
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/// convert a 3d point from camera coordinates (do not confuse with the Shot reference frame) to world coordinates
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template <class S, class RotationType>
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vcg::Point3<S> Shot<S,RotationType>::ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const
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{
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2]=-cp[2]; // note: World reference system is left handed
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Extrinsics.rot.ToMatrix(rotM);
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cp = rotM.transpose() * cp + GetViewPoint();
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return cp;
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Matrix44<S> rotM;
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vcg::Point3<S> cp = p;
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cp[2]=-cp[2];
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Extrinsics.rot.ToMatrix(rotM);
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cp = rotM.transpose() * cp + GetViewPoint();
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return cp;
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}
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/// convert a 3d point from camera to world coordinates, uses inverse instead of trranspose
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/// for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
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/// 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)
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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;
|
||||
Matrix44<S> rotM;
|
||||
vcg::Point3<S> cp = p;
|
||||
cp[2]=-cp[2];
|
||||
Extrinsics.rot.ToMatrix(rotM);
|
||||
cp = Inverse(rotM) * cp + GetViewPoint();
|
||||
return cp;
|
||||
}
|
||||
|
||||
/// project a 3d point from world coordinates to 2d camera viewport (pixel)
|
||||
/// project a 3d point from world coordinates to 2d camera viewport (the value returned is in pixel)
|
||||
template <class S, class RotationType>
|
||||
vcg::Point2<S> Shot<S,RotationType>::Project(const vcg::Point3<S> & p) const
|
||||
{
|
||||
Point3<S> cp = ConvertWorldToCameraCoordinates(p);
|
||||
Point2<S> pp = Intrinsics.Project(cp);
|
||||
Point2<S> vp = Intrinsics.LocalToViewportPx(pp);
|
||||
return vp;
|
||||
Point3<S> cp = ConvertWorldToCameraCoordinates(p);
|
||||
Point2<S> pp = Intrinsics.Project(cp);
|
||||
Point2<S> vp = Intrinsics.LocalToViewportPx(pp);
|
||||
return vp;
|
||||
}
|
||||
|
||||
/// inverse projection from 2d camera viewport (pixel) + Zdepth to 3d world coordinates
|
||||
/// inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the point to unproject)
|
||||
template <class S, class RotationType>
|
||||
vcg::Point3<S> Shot<S,RotationType>::UnProject(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(cp);
|
||||
return wp;
|
||||
Point2<S> lp = Intrinsics.ViewportPxToLocal(p);
|
||||
Point3<S> cp = Intrinsics.UnProject(lp,d);
|
||||
Point3<S> wp = ConvertCameraToWorldCoordinates(cp);
|
||||
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)
|
||||
/* inverse projection from 2d camera viewport (in pixels) to 3d world coordinates (it requires the original depth of the projected point)
|
||||
* 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;
|
||||
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
|
||||
/// returns the distance of point p from camera plane (z depth), required for unprojection operation
|
||||
template <class S, class RotationType>
|
||||
S Shot<S,RotationType>::Depth(const vcg::Point3<S> & p)const
|
||||
{
|
||||
return ConvertWorldToCameraCoordinates(p).Z();
|
||||
return ConvertWorldToCameraCoordinates(p).Z();
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue