PerspectiveCamera::PerspectiveCamera(float fieldOfView, float aspectRatio, float nearPlane, float farPlane) :
Camera(),
m_fieldOfView(fieldOfView),
m_aspectRatio(aspectRatio),
m_nearPlane(nearPlane),
m_farPlane(farPlane)
{
calculateProjectionMatrix();
}
/**
* Projects a point in real world coordinates against the image
* Output: image coordinate in pixels
*/
CvPoint MultipleViewGeomOld::getProjectionOf(float angle, CvPoint3D32f point) {
//
map<float, CvMat*>::iterator iter = projMatList.find(angle);
CvMat *projMat = cvCreateMat(4, 3, CV_32FC1);
if (iter == projMatList.end()) {
// project matrix does not exist!!
// Calculate rotation matrix
CvMat* rtMat = calculateRotationMatrix(angle);
// Calculate projection matrix
projMat = calculateProjectionMatrix(rtMat);
projMat = cvCloneMat(projMat);
projMatList.insert(pair<float, CvMat*> (angle, projMat));
} else {
// otherwise it exists
projMat = iter->second;
}
LOG4CPLUS_DEBUG(myLogger,"Projection matrix for angle: " << radToDegree(angle) << " and points: " << point << endl << printCvMat(projMat));
// [u v 1] = proj * [X Y Z 1]
float uvContents[3];
//CvMat* uvMat = cvMat(3, 1, CV_32F, uvContents);
CvMat* uvMat = cvCreateMat(3, 1, CV_32F);
cvInitMatHeader(uvMat, 3, 1, CV_32F, uvContents);
float xyzContents[] = { point.x, point.y, point.z, 1 };
//CvMat* xyzMat = cvMat(4, 1, CV_32F, xyzContents);
CvMat* xyzMat = cvCreateMat(4, 1, CV_32F);
cvInitMatHeader(xyzMat, 4, 1, CV_32F, xyzContents);
cvMatMul (projMat, xyzMat,uvMat);
LOG4CPLUS_DEBUG(myLogger, "Result [u v 1] = proj * [X Y Z 1]: " << endl << printCvMat(uvMat));
return cvPoint(cvRound(cvmGet(uvMat, 0, 0)), cvRound(cvmGet(uvMat, 1, 0)));
}
Camera::Camera(glm::vec3 sceneDimensions):
_angX(0),
_angY(0),
_locked(true),
_interpolate(false),
_attached(nullptr),
_radius(2.0f)
{
_model = glm::scale(glm::mat4(), glm::vec3(2 / sceneDimensions[0], 2 / sceneDimensions[1], 2 / sceneDimensions[2]));
_vup = glm::vec3(0, 1, 0);
_dir = glm::vec3(-1, -1, 0); // _vrp = (0, 0, 0) = (1, 1, 0) + (-1, -1, 0)
_obs = glm::vec3(1, 1, 0);
_aspect = 4.0f/ 3.0f;
calculateViewMatrix();
calculateProjectionMatrix();
}
void PerspectiveCamera::setFarPlane(float farPlane)
{
m_farPlane = farPlane;
calculateProjectionMatrix();
}
void PerspectiveCamera::setNearPlane(float nearPlane)
{
m_nearPlane = nearPlane;
calculateProjectionMatrix();
}
void PerspectiveCamera::setAspectRatio(float aspectRatio)
{
m_aspectRatio = aspectRatio;
calculateProjectionMatrix();
}
void PerspectiveCamera::setFieldOfView(float angle)
{
m_fieldOfView = angle;
calculateProjectionMatrix();
}
//==============================================================================
Mat4 PerspectiveFrustum::calculateProjectionMatrix() const
{
Mat4 projectionMat;
calculateProjectionMatrix(m_fovX, m_fovY, m_near, m_far, projectionMat);
return projectionMat;
}
glm::mat4 Camera::getProjectionMatrix(){
return calculateProjectionMatrix();
}
