bool world2img(cv::Mat rotateMat,cv::Mat tranVector,double focalLength,cv::Point3d wP, cv::Point2d &iP)
{
//CvMat *originalPos=cvCreateMat(3,1,CV_32FC1);
cv::Mat originalPos(3,1,CV_64F);
originalPos.at<double>(0,0)=wP.x;
originalPos.at<double>(1,0)=wP.y;
originalPos.at<double>(2,0)=wP.z;
//cvmSet(originalPos,0,0,wP.x);
//cvmSet(originalPos,1,0,wP.y);
//cvmSet(originalPos,2,0,wP.z);
cv::Mat rotationPos(3,1,CV_64F);
rotationPos=rotateMat*originalPos;
//CvMat *rotationPos=cvCreateMat(3,1,CV_32FC1); //旋转变换
cv::Mat translationPos(3,1,CV_64F);
translationPos=rotationPos+tranVector;
//CvMat *translationPos=cvCreateMat(3,1,CV_32FC1); //位移变换
//std::cout<<"test img2world:"<<std::endl;
//std::cout<<translationPos.at<double>(0,0)<<", "<<translationPos.at<double>(1,0)<<", "<<translationPos.at<double>(2,0)<<std::endl;
cv::Point2f imgPos; //透视变换
iP.x=0.5*width+translationPos.at<double>(0,0)*focalLength/translationPos.at<double>(2,0);
iP.y=0.5*height+translationPos.at<double>(1,0)*focalLength/translationPos.at<double>(2,0);
//iP.x=0.5*width+cvmGet(translationPos,0,0)*focalLength/cvmGet(translationPos,2,0);
//iP.y=0.5*height+cvmGet(translationPos,1,0)*focalLength/cvmGet(translationPos,2,0);
//if(cvmGet(translationPos,2,0)<=focalLength)
if(translationPos.at<double>(2,0)<=focalLength)
{
//cvReleaseMat(&originalPos);
//cvReleaseMat(&translationPos);
//cvReleaseMat(&rotationPos);
return false;
}
//cvReleaseMat(&originalPos);
//cvReleaseMat(&translationPos);
//cvReleaseMat(&rotationPos);
return true;
}
Mesh Model::processMesh(aiMesh *mesh, const aiScene *scene, std::string name)
{
calcScalingFactors();
// calc positions of important vertices in resized model
glm::vec4 posLeftEye = glm::vec4(m_ModelInfo.leftEye,1.0f)*m_fx;
std::vector<Vertex> vertices;
std::vector<GLuint> indices;
/* if (mesh->mNumVertices > 0) {
maxY = mesh->mVertices[0].y;
minY = mesh->mVertices[0].y;
}
*/
for (GLuint a = 0; a < mesh->mNumVertices; a++)
{
Vertex vertex;
// Position
glm::vec3 originalPos(mesh->mVertices[a].x, mesh->mVertices[a].y, mesh->mVertices[a].z);
vertex.position = glm::vec4(moveGenericVertex(originalPos), 1.0f);
// Find min and maxY;
// maxY = maxY < vertex.position.y ? vertex.position.y : maxY;
// minY = minY > vertex.position.y ? vertex.position.y : minY;
// Normal
vertex.normal = glm::vec4(mesh->mNormals[a].x, mesh->mNormals[a].y, mesh->mNormals[a].z,1.0f);
// save new vertex
vertices.push_back(vertex);
}
// Collect all the indices from the faces of the mesh
for (GLuint a = 0; a < mesh->mNumFaces; a++)
{
aiFace face = mesh->mFaces[a];
for (GLuint b = 0; b < face.mNumIndices; b++)
{
indices.push_back(face.mIndices[b]);
}
}
// y is scaled upside down
float maxY = 2.62698f * m_fy; // taken from blender
float minY = -1.50149f * m_fy; // taken from blender
float eyeY = (m_ModelInfo.leftEye.y) * m_fy; // Eye is more than just the middle point
float chinY = m_ModelInfo.chin.y * m_fy;
float top = m_FaceCoords.getPoint(FaceCoordinates3d::TextureLeftEye).y; // this is in percent
float bot = m_FaceCoords.getPoint(FaceCoordinates3d::TextureChin).y;
float factor = ((eyeY - chinY) * (1 + top)) / (maxY - chinY);
float factorBot = ((eyeY - chinY) * (1 + bot)) / (eyeY - minY);
for (size_t i = 0; i < vertices.size(); i++) {
Vertex& vertex = vertices[i];
if (vertex.position.y < (eyeY - 0.002)) {
vertex.position.y = vertex.position.y * factor ;
}
else if(vertex.position.y > chinY) {
vertex.position.y = vertex.position.y * factorBot;
}
}
return Mesh(vertices, indices);
}
