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initial implementation of projection matrix, 3D to window coordinates, window coordinates to 3D ray (not yet tested)

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This commit is contained in:
ozantonkal 2013-08-05 13:01:21 +02:00
parent 0bb89e767a
commit 439ba98e0a
6 changed files with 73 additions and 8 deletions
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2
modules/viz/include/opencv2/viz/types.hpp
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@ -110,6 +110,8 @@ namespace cv
inline const Vec2f & getFov() const { return fov_; }
inline void setFov(const Vec2f & fov) { fov_ = fov; }
void computeProjectionMatrix(Matx44f &proj) const;
private:
Vec2d clip_;
Vec2f fov_;

3
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -42,6 +42,9 @@ namespace cv
void setCamera(const Camera2 &camera);
Affine3f getViewerPose();
void setViewerPose(const Affine3f &pose);
void convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord);
void converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction);
void spin();
void spinOnce(int time = 1, bool force_redraw = false);

23
modules/viz/src/types.cpp
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@ -196,3 +196,26 @@ void cv::viz::Camera2::setWindowSize(const Size &window_size)
else
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])) * 180 / CV_PI;
}
void cv::viz::Camera2::computeProjectionMatrix(Matx44f &proj) const
{
double top = clip_[0] * tan (0.5 * fov_[1]);
double left = -(top * window_size_.width) / window_size_.height;
double right = -left;
double bottom = -top;
double temp1 = 2.0 * clip_[0];
double temp2 = 1.0 / (right - left);
double temp3 = 1.0 / (top - bottom);
double temp4 = 1.0 / clip_[1] - clip_[0];
proj = Matx44d::zeros();
proj(0,0) = temp1 * temp2;
proj(1,1) = temp1 * temp3;
proj(0,2) = (right + left) * temp2;
proj(1,2) = (top + bottom) * temp3;
proj(2,2) = (-clip_[1] - clip_[0]) * temp4;
proj(3,2) = -1.0;
proj(2,3) = (-temp1 * clip_[1]) * temp4;
}

3
modules/viz/src/viz3d.cpp
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@ -49,3 +49,6 @@ cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl
void cv::viz::Viz3d::setCamera(const Camera2 &camera) { impl_->setCamera(camera); }
void cv::viz::Viz3d::setViewerPose(const Affine3f &pose) { impl_->setViewerPose(pose); }
cv::Affine3f cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); }
void cv::viz::Viz3d::convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); }
void cv::viz::Viz3d::converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction) { impl_->converTo3DRay(window_coord, origin, direction); }

44
modules/viz/src/viz3d_impl.cpp
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@ -604,13 +604,18 @@ void cv::viz::Viz3d::VizImpl::setCamera(const Camera2 &camera)
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::getCamera(viz::Camera2 &camera)
cv::viz::Camera2 cv::viz::Viz3d::VizImpl::getCamera() const
{
vtkCamera& active_camera = *renderer_->GetActiveCamera();
camera.setFov(Vec2f(0.0, active_camera.GetViewAngle() * CV_PI / 180.0f));
camera.setClip(Vec2d(active_camera.GetClippingRange()));
camera.setWindowSize(Size(renderer_->GetRenderWindow()->GetSize()[0],
renderer_->GetRenderWindow()->GetSize()[1]));
Vec2f fov(0.0, active_camera.GetViewAngle() * CV_PI / 180.0f);
Vec2d clip(active_camera.GetClippingRange());
Size window_size(renderer_->GetRenderWindow()->GetSize()[0],
renderer_->GetRenderWindow()->GetSize()[1]);
Camera2 camera(fov, window_size);
camera.setClip(clip);
return camera;
}
/////////////////////////////////////////////////////////////////////////////////////////////
@ -664,6 +669,35 @@ cv::Affine3f cv::viz::Viz3d::VizImpl::getViewerPose ()
return cv::Affine3f(R, pos);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord)
{
// Use the built in function of renderer
double point_wcs[3] = {pt.x, pt.y, pt.z};
renderer_->WorldToView(point_wcs[0], point_wcs[1], point_wcs[2]);
window_coord.x = point_wcs[0];
window_coord.y = point_wcs[1];
window_coord.z = point_wcs[2];
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction)
{
// Use the built in function of renderer
double point_view[3] = {window_coord.x, window_coord.y, window_coord.z};
renderer_->ViewToWorld(point_view[0], point_view[1], point_view[2]);
vtkCamera &active_camera = *renderer_->GetActiveCamera();
double *cam_pos = active_camera.GetPosition();
origin.x = cam_pos[0];
origin.y = cam_pos[1];
origin.z = cam_pos[2];
direction[0] = point_view[0] - cam_pos[0];
direction[1] = point_view[1] - cam_pos[1];
direction[2] = point_view[2] - cam_pos[2];
normalize(direction);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::resetCamera ()
{

6
modules/viz/src/viz3d_impl.hpp
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@ -111,7 +111,7 @@ public:
// and 'Camera' class itself with various constructors/fields
void setCamera(const Camera2 &camera);
void getCamera(Camera2 &camera);
Camera2 getCamera() const;
void initCameraParameters (); /** \brief Initialize camera parameters with some default values. */
bool cameraParamsSet () const; /** \brief Checks whether the camera parameters were manually loaded from file.*/
@ -146,8 +146,8 @@ public:
void setViewerPose(const Affine3f &pose);
Affine3f getViewerPose();
void convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord);
void converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction);