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initial camera implementation (camera2), fix bug (zeros method)

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This commit is contained in:
ozantonkal 2013-08-02 16:33:30 +02:00
parent 8fa6b6a6ef
commit a76cc9ef88
2 changed files with 79 additions and 0 deletions
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25
modules/viz/include/opencv2/viz/types.hpp
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@ -1,6 +1,7 @@
#pragma once
#include <string>
#include <boost/concept_check.hpp>
#include <opencv2/core.hpp>
#include <opencv2/core/affine.hpp>
@ -93,6 +94,30 @@ namespace cv
Point pointer;
unsigned int key_state;
};
class CV_EXPORTS Camera2
{
public:
Camera2(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
Camera2(const Vec2f &fov, const Size &window_size);
Camera2(const cv::Mat &K, const Size &window_size);
inline const Vec2d & getClip() const { return clip_; }
inline void setClip(const Vec2d &clip) { clip_ = clip; }
inline const Size & getWindowSize() const { return window_size_; }
void setWindowSize(const Size &window_size);
inline const Vec2f & getFov() const { return fov_; }
inline void setFov(const Vec2f & fov) { fov_ = fov; }
private:
Vec2d clip_;
Vec2f fov_;
Size window_size_;
Vec2f principal_point_;
Vec2f focal_;
};
} /* namespace viz */
} /* namespace cv */

54
modules/viz/src/types.cpp
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@ -142,3 +142,57 @@ cv::viz::Mesh3d cv::viz::Mesh3d::loadMesh(const String& file)
{
return loadMeshImpl::loadMesh(file);
}
////////////////////////////////////////////////////////////////////
/// Camera implementation
cv::viz::Camera2::Camera2(float f_x, float f_y, float c_x, float c_y, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01));// Default clipping
fov_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x)) * 180 / CV_PI;
fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y)) * 180 / CV_PI;
principal_point_[0] = c_x;
principal_point_[1] = c_y;
focal_[0] = f_x;
focal_[1] = f_y;
}
cv::viz::Camera2::Camera2(const Vec2f &fov, const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01)); // Default clipping
window_size_ = window_size;
fov_ = fov;
principal_point_ = Vec2f(-1.0f, -1.0f); // Symmetric lens
focal_ = Vec2f(-1.0f, -1.0f);
}
cv::viz::Camera2::Camera2(const cv::Mat & K, const Size &window_size)
{
CV_Assert(K.rows == 3 && K.cols == 3);
CV_Assert(window_size.width > 0 && window_size.height > 0);
float f_x = K.at<float>(0,0);
float f_y = K.at<float>(1,1);
float c_x = K.at<float>(0,2);
float c_y = K.at<float>(1,2);
Camera2(f_x, f_y, c_x, c_y, window_size);
}
void cv::viz::Camera2::setWindowSize(const Size &window_size)
{
CV_Assert(window_size.width > 0 && window_size.height > 0);
// Vertical field of view is fixed!
// Horizontal field of view is expandable based on the aspect ratio
float aspect_ratio_new = window_size.width / window_size.height;
if (principal_point_[0] < 0.0f)
fov_[0] = 2 * atan2(tan(fov_[0] * 0.5), aspect_ratio_new); // This assumes that the lens is symmetric!
else
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])) * 180 / CV_PI;
}