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refactored camera position - simplified frustum creation

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This commit is contained in:
Anatoly Baksheev 2014-01-07 22:21:42 +04:00
parent 45879fb9db
commit 42dc90295d
1 changed files with 40 additions and 54 deletions
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94
modules/viz/src/shapes.cpp
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@ -942,6 +942,32 @@ namespace cv { namespace viz { namespace
actor->SetMapper(planeMapper); actor->SetMapper(planeMapper);
actor->SetTexture(texture); actor->SetTexture(texture);
} }
static vtkSmartPointer<vtkPolyData> createFrustrum(double aspect_ratio, double fovy, double scale)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
camera->SetViewAngle(fovy);
camera->SetPosition(0.0, 0.0, 0.0);
camera->SetViewUp(0.0, 1.0, 0.0);
camera->SetFocalPoint(0.0, 0.0, 1.0);
camera->SetClippingRange(0.01, scale);
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
vtkSmartPointer<vtkExtractEdges> extract_edges = vtkSmartPointer<vtkExtractEdges>::New();
extract_edges->SetInputConnection(frustumSource->GetOutputPort());
extract_edges->Update();
return extract_edges->GetOutput();
}
}; };
}}} }}}
@ -960,36 +986,16 @@ cv::viz::WCameraPosition::WCameraPosition(double scale)
cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const Color &color) cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const Color &color)
{ {
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New(); double f_x = K(0,0), f_y = K(1,1), c_y = K(1,2);
double f_x = K(0,0);
double f_y = K(1,1);
double c_y = K(1,2);
double aspect_ratio = f_y / f_x;
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image) // Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
double fovy = 2.0 * atan2(c_y,f_y) * 180 / CV_PI; double fovy = 2.0 * atan2(c_y, f_y) * 180 / CV_PI;
double aspect_ratio = f_y / f_x;
camera->SetViewAngle(fovy); vtkSmartPointer<vtkPolyData> polydata = CameraPositionUtils::createFrustrum(aspect_ratio, fovy, scale);
camera->SetPosition(0.0, 0.0, 0.0);
camera->SetViewUp(0.0, 1.0, 0.0);
camera->SetFocalPoint(0.0, 0.0, 1.0);
camera->SetClippingRange(0.01, scale);
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
frustumSource->Update();
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInputConnection(frustumSource->GetOutputPort());
filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(filter->GetOutputPort()); mapper->SetInputConnection(polydata->GetProducerPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New(); vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
@ -1000,34 +1006,13 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const
cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const Color &color) cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const Color &color)
{ {
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
camera->SetViewAngle(fov[1] * 180 / CV_PI); // Vertical field of view
camera->SetPosition(0.0, 0.0, 0.0);
camera->SetViewUp(0.0, 1.0, 0.0);
camera->SetFocalPoint(0.0, 0.0, 1.0);
camera->SetClippingRange(0.01, scale);
double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5); double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
double fovy = fov[1] * 180 / CV_PI;
double planesArray[24]; vtkSmartPointer<vtkPolyData> polydata = CameraPositionUtils::createFrustrum(aspect_ratio, fovy, scale);
camera->GetFrustumPlanes(aspect_ratio, planesArray);
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
planes->SetFrustumPlanes(planesArray);
vtkSmartPointer<vtkFrustumSource> frustumSource =
vtkSmartPointer<vtkFrustumSource>::New();
frustumSource->SetPlanes(planes);
frustumSource->Update();
// Extract the edges so we have the grid
vtkSmartPointer<vtkExtractEdges> filter = vtkSmartPointer<vtkExtractEdges>::New();
filter->SetInputConnection(frustumSource->GetOutputPort());
filter->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(filter->GetOutputPort()); mapper->SetInputConnection(polydata->GetProducerPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New(); vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
@ -1039,11 +1024,12 @@ cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const
cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, const Mat &image, double scale, const Color &color) cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, const Mat &image, double scale, const Color &color)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
double f_y = K(1,1);
double c_y = K(1,2); double f_y = K(1,1), c_y = K(1,2);
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image) // Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
double fovy = 2.0 * atan2(c_y,f_y) * 180.0 / CV_PI; double fovy = 2.0 * atan2(c_y, f_y) * 180.0 / CV_PI;
double far_end_height = 2.0f * c_y * scale / f_y; double far_end_height = 2.00 * c_y * scale / f_y;
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New(); vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
CameraPositionUtils::projectImage(fovy, far_end_height, image, scale, color, actor); CameraPositionUtils::projectImage(fovy, far_end_height, image, scale, color, actor);