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This commit is contained in:
Massimiliano Corsini 2011-05-23 14:09:16 +00:00
parent 779e6d2dc5
commit b31fc9ddec
1 changed files with 25 additions and 11 deletions
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36
vcg/math/shot.h
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@ -193,6 +193,11 @@ public:
/// look towards (dir+up)
void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
/* Sometimes the focal is given in pixels. In this case, this function can be used to convert it in millimiters.
* NOTE: This method should be moved in vcg::Camera.
*/
void ConvertFocalToMM();
/* Sometimes the 3D World coordinates are known up to a scale factor. This method adjust the camera/shot parameters
* to account for the re-scaling of the World.
*/
@ -423,6 +428,19 @@ S Shot<S,RotationType>::Depth(const vcg::Point3<S> & p)const
return ConvertWorldToCameraCoordinates(p).Z();
}
/* Sometimes the focal is given in pixels. In this case, this function can be used to convert it in millimiters.
* This method should be moved in vcg::Camera()
*/
template <class S, class RotationType>
void Shot<S, RotationType>::ConvertFocalToMM()
{
double ccd_width = 35.0; // ccd is assumed conventionally to be 35mm
double ccd_height = (ccd_width * Intrinsics.ViewportPx[1]) / Intrinsics.ViewportPx[0];
Intrinsics.PixelSizeMm[0] = (ccd_width / Intrinsics.ViewportPx[0]);
Intrinsics.PixelSizeMm[1] = (ccd_height / Intrinsics.ViewportPx[1]);
Intrinsics.FocalMm = (ccd_width * Intrinsics.FocalMm) / Intrinsics.ViewportPx[0]; // NOW FOCAL IS IN MM
}
/* Sometimes the 3D World coordinates are known up to a scale factor. This method adjust the camera/shot parameters
* to account for the re-scaling of the World.
*/
@ -455,19 +473,15 @@ void Shot<S, RotationType>::ApplyRigidTransformation(Matrix44<S> & M)
Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM);
currentM = rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra);
// roto-translate the viewpoint
Extrinsics.tra = M * Extrinsics.tra;
currentM = M * currentM; // roto-translate the current frame according to the given roto-translation
// nullify translation
//M.ElementAt(0,3) = 0;
//M.ElementAt(1,3) = 0;
//M.ElementAt(2,3) = 0;
// decompose the result into a viewpoint and an orientation
Point3<S> p(currentM.ElementAt(0,3), currentM.ElementAt(1,3), currentM.ElementAt(2,3));
currentM.ElementAt(0,3) = 0;
currentM.ElementAt(1,3) = 0;
currentM.ElementAt(2,3) = 0;
Extrinsics.tra = -(currentM.transpose() * p);
Extrinsics.rot = currentM;
Extrinsics.rot = M.transpose() * rotM;
}