NViewDataSet NRealisticCamerasCardioid(size_t nviews, size_t npoints,
const nViewDatasetConfigurator config)
{
//-- Setup a camera circle rig.
NViewDataSet d;
d._n = nviews;
d._K.resize(nviews);
d._R.resize(nviews);
d._t.resize(nviews);
d.C.resize(nviews);
d._x.resize(nviews);
d._x_ids.resize(nviews);
d.X.resize(3, npoints);
d.X.setRandom();
d.X *= 0.6;
Vecu all_point_ids(npoints);
for (size_t j = 0; j < npoints; ++j)
all_point_ids[j] = j;
for (size_t i = 0; i < nviews; ++i) {
Vec3 camera_center, t, jitter, lookdir;
const double theta = i * 2 * M_PI / nviews;
//-- Cardioid
camera_center <<
2*sin(theta)-(sin(2*theta)),
0.0,
2*cos(theta)-(cos(2*theta)); // Y axis UP
camera_center *= config._dist;
d.C[i] = camera_center;
jitter.setRandom();
jitter *= config._jitter_amount / camera_center.norm();
lookdir = -camera_center + jitter;
d._K[i] << config._fx, 0, config._cx,
0, config._fy, config._cy,
0, 0, 1;
d._R[i] = LookAt(lookdir); // Y axis UP
d._t[i] = -d._R[i] * camera_center; // [t]=[-RC] Cf HZ.
d._x[i] = Project(d.P(i), d.X);
d._x_ids[i] = all_point_ids;
}
return d;
}
NViewDataSet NRealisticCamerasCardioid(size_t nviews, size_t npoints,
const NViewDatasetConfigurator config)
{
// 设置相机参数
NViewDataSet d;
d.actual_camera_num_ = nviews;
d.camera_matrix_.resize(nviews);
d.rotation_matrix_.resize(nviews);
d.translation_vector_.resize(nviews);
d.camera_center_.resize(nviews);
d.projected_points_.resize(nviews);
d.projected_point_ids_.resize(nviews);
d.point_3d_.resize(3, npoints);
d.point_3d_.setRandom();
d.point_3d_ *= 0.6;
Vecu all_point_ids(npoints);
for (size_t j = 0; j < npoints; ++j)
all_point_ids[j] = j;
for (size_t i = 0; i < nviews; ++i) {
Vec3 camera_center, t, jitter, lookdir;
const double theta = i * 2 * M_PI / nviews;
// 心形方程式，确定中点
camera_center <<
2 * sin(theta) - (sin(2 * theta)),
0.0,
2 * cos(theta) - (cos(2 * theta)); // Y axis UP
camera_center *= config._dist;
d.camera_center_[i] = camera_center;
jitter.setRandom();
jitter *= config._jitter_amount / camera_center.norm();
lookdir = -camera_center + jitter;
d.camera_matrix_[i] << config._fx, 0, config._cx,
0, config._fy, config._cy,
0, 0, 1;
d.rotation_matrix_[i] = LookAt(lookdir); // Y axis UP
d.translation_vector_[i] = -d.rotation_matrix_[i] * camera_center; // [t]=[-RC] Cf HZ.
d.projected_points_[i] = Project(d.P(i), d.point_3d_);
d.projected_point_ids_[i] = all_point_ids;
}
return d;
}