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Changed GetIntrinsics into: 

GetExtrinsicsToWorldMatrix and
GetWorldToExtrinsicsMatrix
This commit is contained in:
ganovelli 2008-10-07 10:57:09 +00:00
parent b58cabc1b6
commit d0d580c4ae
1 changed files with 40 additions and 7 deletions
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47
vcg/math/shot.h
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@ -93,6 +93,28 @@ creation
****************************************************************************/ ****************************************************************************/
/** class Shot
The shot is made of two things:
* the Instrinsics paramaters, which are stored as a Camera type (check vcg/math/camera) and that
determines how a point in the frame of the camera is projected in the 2D projection plane
* the Extrinsics parameters, which are stored in the class Shot (che the type ReferenceFrame)
and that tell viewpoint and view direction.
The Extrinsics parameters are kept as a rotation matrix "rot" and a translation vector "tra"
NOTE: the translation matrix "tra" corresponds to -viewpoint while the rotation matrix
"rot" corresponds to the axis of the reference frame by row, i.e.
rot[0][0|1|2] == X axis
rot[1][0|1|2] == Y axis
rot[2][0|1|2] == Z axis
It follows that the matrix made with the upper left 3x3 equal to rot and the 4th colum equal to tra
and (0,0,0,1) in the bottom row transform a point from world coordiantes to the reference frame
of the shot.
**/
#ifndef __VCGLIB_SHOT #ifndef __VCGLIB_SHOT
#define __VCGLIB_SHOT #define __VCGLIB_SHOT
@ -177,14 +199,25 @@ public:
// accessors // accessors
public: public:
/* returns a matrix which contains the reference frame of the shot /* Returns the matrix M such that
On the first three rows the axes (x,y,z) and on the 4th colum the viewpoint */ 3dpoint_in_world_coordinates = M * 3dpoint_in_local_coordinates
Matrix44<S> GetExtrinsics() const { */
Matrix44<S> GetExtrinsicsToWorldMatrix() const {
Matrix44<S> rotM ; Matrix44<S> rotM ;
Extrinsics.rot.ToMatrix(rotM); Extrinsics.rot.ToMatrix(rotM);
Transpose(rotM);
return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM; return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM;
} }
/* Returns the matrix M such that
3dpoint_in_local_coordinates = M * 3dpoint_in_world_coordinates
*/
Matrix44<S> GetWorldToExtrinsicsMatrix() const {
Matrix44<S> rotM ;
Extrinsics.rot.ToMatrix(rotM);
return rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra) ;
}
/* multiply the current reference frame for the matrix passed /* multiply the current reference frame for the matrix passed
note: it is up to the caller to check the the matrix passed is a pure rototraslation note: it is up to the caller to check the the matrix passed is a pure rototraslation
*/ */
@ -215,7 +248,7 @@ const vcg::Point3<S> Shot<S,RotationType>::GetViewPoint() const
template <class S, class RotationType> template <class S, class RotationType>
void Shot<S,RotationType>::SetViewPoint(const vcg::Point3<S> & viewpoint) void Shot<S,RotationType>::SetViewPoint(const vcg::Point3<S> & viewpoint)
{ {
Extrinsics.tra = viewpoint; Extrinsics.SetTra( viewpoint );
} }
//--- //---
@ -270,7 +303,7 @@ vcg::Point3<S> Shot<S,RotationType>::ConvertWorldToCameraCoordinates(const vcg::
{ {
Matrix44<S> rotM; Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM); Extrinsics.rot.ToMatrix(rotM);
vcg::Point3<S> cp = rotM * (p - Extrinsics.tra); vcg::Point3<S> cp = rotM * (p - GetViewPoint() );
cp[2]=-cp[2]; // note: camera reference system is right handed cp[2]=-cp[2]; // note: camera reference system is right handed
return cp; return cp;
} }
@ -283,8 +316,8 @@ vcg::Point3<S> Shot<S,RotationType>::ConvertCameraToWorldCoordinates(const vcg::
vcg::Point3<S> cp = p; vcg::Point3<S> cp = p;
cp[2]=-cp[2]; // note: World reference system is left handed cp[2]=-cp[2]; // note: World reference system is left handed
Extrinsics.rot.ToMatrix(rotM); Extrinsics.rot.ToMatrix(rotM);
Invert(rotM); Transpose(rotM);
cp = rotM * cp+Extrinsics.tra; cp = rotM * cp+ GetViewPoint();
return cp; return cp;
} }