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add a method to roto-translate the camera frame 

add a service method to adjust the camera-shot when the World coordinates are scaled
This commit is contained in:
Massimiliano Corsini 2011-05-19 16:28:51 +00:00
parent e99b67e72a
commit eec4f43178
1 changed files with 65 additions and 13 deletions
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78
vcg/math/shot.h
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@ -193,11 +193,19 @@ public:
/// look towards (dir+up)
void LookTowards(const vcg::Point3<S> & z_dir,const vcg::Point3<S> & up);
/* 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.
*/
void RescalingWorld(S scalefactor);
/// Given a pure roto-translation (4-by-4) modify the reference frame accordingly.
void ApplyRigidTransformation(Matrix44<S> & M);
/// convert a 3d point from world to camera coordinates (do not confuse with the Shot reference frame)
vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
vcg::Point3<S> ConvertWorldToCameraCoordinates(const vcg::Point3<S> & p) const;
/// convert a 3d point from camera (do not confuse with the Shot reference frame) to world coordinates
vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
vcg::Point3<S> ConvertCameraToWorldCoordinates(const vcg::Point3<S> & p) const;
/* convert a 3d point from camera (do not confuse with the Shot reference frame) to world coordinates
* it uses inverse instead of transpose for non-exactly-rigid rotation matrices (such as calculated by tsai and garcia)
@ -222,22 +230,20 @@ public:
// accessors
public:
/* Returns the matrix M such that
3dpoint_in_world_coordinates = M * 3dpoint_in_local_coordinates
*/
Matrix44<S> GetExtrinsicsToWorldMatrix() const {
Matrix44<S> rotM ;
/// Returns the (4-by-4) matrix M such that 3dpoint_in_world_coordinates = M * 3dpoint_in_local_coordinates
Matrix44<S> GetExtrinsicsToWorldMatrix() const
{
Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM);
return Matrix44<S>().SetTranslate(Extrinsics.tra) * rotM.transpose();
}
/* Returns the matrix M such that
3dpoint_in_local_coordinates = M * 3dpoint_in_world_coordinates
*/
Matrix44<S> GetWorldToExtrinsicsMatrix() const {
Matrix44<S> rotM ;
/// Returns the (4-by-4) 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) ;
return rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra) ;
}
/* multiply the current reference frame for the matrix passed
@ -417,6 +423,52 @@ S Shot<S,RotationType>::Depth(const vcg::Point3<S> & p)const
return ConvertWorldToCameraCoordinates(p).Z();
}
/* 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.
*/
template <class S, class RotationType>
void Shot<S, RotationType>::RescalingWorld(S scalefactor)
{
// adjust INTRINSICS
Intrinsics.FocalMm = Intrinsics.FocalMm * scalefactor;
double ccdwidth = static_cast<double>(Intrinsics.ViewportPx[0] * Intrinsics.PixelSizeMm[0]);
double ccdheight = static_cast<double>(Intrinsics.ViewportPx[1] * Intrinsics.PixelSizeMm[1]);
Intrinsics.PixelSizeMm[0] = (ccdwidth * scalefactor) / Intrinsics.ViewportPx[0];
Intrinsics.PixelSizeMm[1] = (ccdheight * scalefactor) / Intrinsics.ViewportPx[1];
// adjust EXTRINSICS
// rotation remains the same (!)
// nothing to do..
// the viewpoint should be modified according to the scale factor
Extrinsics.tra *= scalefactor;
}
/// Given a pure roto-translation matrix (4-by-4) modify the reference frame accordingly.
template <class S, class RotationType>
void Shot<S, RotationType>::ApplyRigidTransformation(Matrix44<S> & M)
{
Matrix44<S> currentM;
Matrix44<S> rotM;
Extrinsics.rot.ToMatrix(rotM);
currentM = rotM * Matrix44<S>().SetTranslate(-Extrinsics.tra);
currentM = M * currentM; // roto-translate the current frame according to the given roto-translation
// 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;
}
//--------------------------------