void Save::render()
{
reset();
tStart = QTime::currentTime();
lwProgess->addItem(tr("Rendering started at %1.").arg(tStart.toString("hh:mm:ss")));
QSize size(finalRes());
lwProgess->addItem(tr("Allocating memory (%1x%2)...").arg(size.width()).arg(size.height()));
img = new QImage(finalRes(), QImage::Format_RGB888);
lwProgess->addItem(tr("Waiting for rendering..."));
emit startRender();
}
void CProxyCamera::GetGLMatrices(double glprojmatrix[],
double glmodelviewmatrix[],
const int glvpmatrix[], double znear, double zfar) const
{
double mat[3][4];
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
mat[i][j] = m_KR(i,j);
}
}
mat[0][3] = m_KT[0];
mat[1][3] = m_KT[1];
mat[2][3] = m_KT[2];
Matrix3d LHC = Matrix3d::Zero();
LHC(0, 0) = LHC(1, 1) = LHC(2, 2) = -1;
LHC(0, 0) = 1;
double icpara[3][4], trans[3][4];
if (arParamDecompMat(mat, icpara, trans) < 0)
{
printf("Fatal error: proj decompose failed!\n");
exit(0);
}
Matrix3d R;
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
R(i, j) = trans[i][j];
}
}
Matrix3d LHCR = LHC * R;
Matrix4d modelViewMatrix = Matrix4d::Identity();
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
modelViewMatrix(i, j) = LHCR(i,j);
}
}
modelViewMatrix(0, 3) = trans[0][3];
modelViewMatrix(1, 3) = trans[1][3];
modelViewMatrix(2, 3) = trans[2][3];
modelViewMatrix(1, 3) = modelViewMatrix(1, 3) * (-1);
modelViewMatrix(2, 3) = modelViewMatrix(2, 3) * (-1);
modelViewMatrix(3, 3) = 1.0;
Matrix4d finalModelM=modelViewMatrix;
for (int i=0;i<16;i++)
{
glmodelviewmatrix[i]=finalModelM(i);
}
double w = glvpmatrix[2];
double h = glvpmatrix[3];
Matrix4d H_inv = Matrix4d::Identity();
H_inv(0, 0) = 2.0 / w;
H_inv(0, 2) = -1;
H_inv(1, 1) = -2.0 / h;
H_inv(1, 2) = 1.0;
H_inv(3, 2) = 1.0;
Matrix3d K = Matrix3d::Zero();
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
K(i, j) = icpara[i][j] / icpara[2][2];
}
}
Matrix3d y = K * LHC;
Matrix4d y_ = Matrix4d::Zero();
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
y_(i, j) = y(i,j);
}
}
Matrix4d result = H_inv * (y_);
double C_ = -(zfar + znear) / (zfar - znear);
double D_ = -(2 * zfar * znear) / (zfar - znear);
result(2, 2) = C_;
result(2, 3) = D_;
Matrix4d finalRes=result;
for (int i=0;i<16;i++)
{
glprojmatrix[i]=finalRes(i);
}
}
void Save::updateRes()
{
QSize res = finalRes();
lFinalRes->setText(tr("Final resolution: %1 x %2").arg(res.width()).arg(res.height()));
}
