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initial setCamera implementation

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This commit is contained in:
ozantonkal 2013-08-03 16:33:11 +02:00
parent 4953786de1
commit f445f76213
5 changed files with 17 additions and 1 deletions
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1
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -39,6 +39,7 @@ namespace cv
void updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const;
void setCamera(const Camera2 &camera);
Affine3f getViewerPose();
void setViewerPose(const Affine3f &pose);

2
modules/viz/src/types.cpp
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@ -167,7 +167,7 @@ cv::viz::Camera2::Camera2(const Vec2f &fov, const Size &window_size)
setClip(Vec2d(0.01, 1000.01)); // Default clipping
window_size_ = window_size;
fov_ = fov;
principal_point_ = Vec2f(-1.0f, -1.0f); // Symmetric lens
principal_point_ = Vec2f(-1.0f, -1.0f); // Default symmetric lens
focal_ = Vec2f(-1.0f, -1.0f);
}

1
modules/viz/src/viz3d.cpp
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@ -46,5 +46,6 @@ void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose) { imp
void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) { impl_->updateWidgetPose(id, pose); }
cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
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(); }

12
modules/viz/src/viz3d_impl.cpp
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@ -591,6 +591,18 @@ void cv::viz::Viz3d::VizImpl::getCameras (cv::viz::Camera& camera)
camera.window_pos = cv::Vec2d::all(0);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setCamera(const Camera2 &camera)
{
vtkCamera& active_camera = *renderer_->GetActiveCamera();
// Set the intrinsic parameters of the camera
active_camera.SetUseHorizontalViewAngle (0); // Horizontal view angle is set based on the window size
active_camera.SetViewAngle (camera.getFov()[1] * 180.0f / CV_PI);
active_camera.SetClippingRange (camera.getClip()[0], camera.getClip()[1]);
window_->SetSize (static_cast<int> (camera.getWindowSize().width), static_cast<int> (camera.getWindowSize().height));
}
/////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose)
{

2
modules/viz/src/viz3d_impl.hpp
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@ -109,6 +109,8 @@ public:
// ////////////////////////////////////////////////////////////////////////////////////
// All camera methods to refactor into set/getViewwerPose, setCamera()
// and 'Camera' class itself with various constructors/fields
void setCamera(const Camera2 &camera);
void initCameraParameters (); /** \brief Initialize camera parameters with some default values. */
bool cameraParamsSet () const; /** \brief Checks whether the camera parameters were manually loaded from file.*/