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Tried to compute camera rotation and translation taking into account a calibration matrix.

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It seems a fail.
This commit is contained in:
Paolo Cignoni cignoni 2010-11-16 20:16:43 +00:00
parent 8143567529
commit e83db616a9
2 changed files with 80 additions and 0 deletions
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76
src/fgt/filter_photosynth/filter_photosynth.cpp
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@ -17,6 +17,8 @@
#include <unistd.h>
#include "jhead/jhead.h"
#define CALIBRATED 1
using namespace vcg;
extern ImageInfo_t ImageInfo;
@ -114,12 +116,15 @@ bool FilterPhotosynthPlugin::applyFilter(QAction */*filter*/, MeshDocument &md,
//Hangs on active wait until data are available from the server
while(!synthData->_dataReady)
{
//allows qt main loop to process the events relative to the response from the server,
//triggering the signals that cause the invocation of the slots that process the response
//and set the control variable that stops this active wait.
//Note that a call to the function usleep() causes an infinite loop, because when the process awakes,
//the control remains inside this loop and doesn't reach qt main loop that this way can't process events.
QApplication::processEvents();
cb(synthData->progressInfo(),synthData->_info.toStdString().data());
}
if(!synthData->isValid())
{
@ -178,6 +183,9 @@ bool FilterPhotosynthPlugin::applyFilter(QAction */*filter*/, MeshDocument &md,
s.Intrinsics.PixelSizeMm = Point2f(cam._pixelSizeMm,cam._pixelSizeMm);
s.Intrinsics.ViewportPx = Point2i(img._exifWidth,img._exifHeight);
s.Intrinsics.CenterPx = Point2f(img._exifWidth/2,img._exifHeight/2);
#ifdef CALIBRATED
setShotCalibratedExtrinsics(s,computeProjectionMatrix(img._exifWidth,img._exifHeight,cam));
#endif
if(success)
outputToFile(out, s, img, cam);
//add a new raster
@ -207,6 +215,74 @@ QString FilterPhotosynthPlugin::filterScriptFunctionName(FilterIDType filterID)
return QString();
}
void FilterPhotosynthPlugin::matrixScale(int m, int n, float *A, float s, float *R)
{
int i;
int entries = m * n;
for (i = 0; i < entries; i++)
{
R[i] = A[i] * s;
}
}
void FilterPhotosynthPlugin::matrixProduct(int Am, int An, int Bm, int Bn, const float *A, const float *B, float *R)
{
int r = Am;
int c = Bn;
int m = An;
int i, j, k;
for (i = 0; i < r; i++)
{
for (j = 0; j < c; j++)
{
R[i * c + j] = 0.0;
for (k = 0; k < m; k++)
{
R[i * c + j] += A[i * An + k] * B[k * Bn + j];
}
}
}
}
float *FilterPhotosynthPlugin::computeProjectionMatrix(int width, int height, CameraParameters &cam)
{
float focal = cam[CameraParameters::FOCAL_LENGTH] * qMax(width,height);
float R[9];
float t[3];
Matrix44f rot = cam.getRotation();
Point3f tra = cam.getTranslation();
for(int row = 0; row < 3; ++row)
for(int col = 0; col < 3; ++col)
R[row * 3 + col] = rot.ElementAt(row,col);
for(int i = 0; i < 3; ++i)
t[i] = tra[i];
float K[9] = { -focal, 0.0, 0.5 * width - 0.5,
0.0, focal, 0.5 * height - 0.5,
0.0, 0.0, 1.0 };
float Ptmp[12] = { R[0], R[1], R[2], t[0],
R[3], R[4], R[5], t[1],
R[6], R[7], R[8], t[2] };
float *P = (float*)calloc(12,sizeof(float));
matrixProduct(3, 3, 3, 4, K, Ptmp, P);
matrixScale(3, 4, P, -1.0, P);
return P;
}
void FilterPhotosynthPlugin::setShotCalibratedExtrinsics(Shotf &shot, float *projectionMatrix)
{
float r[] = {projectionMatrix[0], projectionMatrix[1], projectionMatrix[2], 0,
projectionMatrix[4], projectionMatrix[5], projectionMatrix[6], 0,
projectionMatrix[8], projectionMatrix[9], projectionMatrix[10], 0,
0, 0, 0, 1};
Matrix44f rot(r);
shot.Extrinsics.SetRot(rot);
Point3f tra(projectionMatrix[3],projectionMatrix[7],projectionMatrix[11]);
shot.Extrinsics.SetTra(tra);
}
void FilterPhotosynthPlugin::readExifData(Image &img, CameraParameters &cam, QDir &root)
{
const char *FileName = root.filePath("IMG_%1.jpg").arg(img._ID).toStdString().data();

4
src/fgt/filter_photosynth/filter_photosynth.h
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@ -39,6 +39,10 @@ public:
QString filterScriptFunctionName(FilterIDType filterID);
void readExifData(Image &img, CameraParameters &cam, QDir &root);
void outputToFile(QTextStream &out, Shotf &s, Image &img, CameraParameters &cam);
void matrixScale(int m, int n, float *A, float s, float *R);
void matrixProduct(int Am, int An, int Bm, int Bn, const float *A, const float *B, float *R);
float *computeProjectionMatrix(int width, int height, CameraParameters &cam);
void setShotCalibratedExtrinsics(Shotf &shot, float *projectionMatrix);
};
#endif /* FILTER_PHOTOSYNTH_PLUGIN_H */