public:
CameraPositionWidget(double scale = 1.0);
CameraPositionWidget(const Vec3f &position, const Vec3f &look_at, const Vec3f &up_vector, double scale = 1.0);
- CameraPositionWidget(const Matx33f &K, const Color &color = Color::white());
+ CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
};
class CV_EXPORTS CloudWidget : public Widget3D
WidgetAccessor::setProp(*this, actor);
}
-cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Color &color)
+cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, double scale, const Color &color)
{
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
- float focal_length = K(0,0);
- float c_x = K(0,2);
+ float f_x = K(0,0);
+ float f_y = K(1,1);
float c_y = K(1,2);
- float aspect_ratio = c_x / c_y;
- float img_width = c_x * 2;
- float img_height = c_y * 2;
+ float aspect_ratio = f_y / f_x;
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
- float fovy = 2.0f * atan2(c_y,focal_length) * 180 / CV_PI;
+ float fovy = 2.0f * atan2(c_y,f_y) * 180 / CV_PI;
camera->SetViewAngle(fovy);
camera->SetPosition(0.0,0.0,0.0);
camera->SetViewUp(0.0,1.0,0.0);
camera->SetFocalPoint(0.0,0.0,1.0);
+ camera->SetClippingRange(0.01, scale * f_y * 0.001);
double planesArray[24];
camera->GetFrustumPlanes(aspect_ratio, planesArray);
viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
viz::CameraPositionWidget cpw2(0.5);
- viz::CameraPositionWidget frustum(K, viz::Color::green());
+ viz::CameraPositionWidget frustum(K, 2.0, viz::Color::green());
+ viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
viz::Text3DWidget t3w2("Camera2", Point3f(0,0,0), 0.1);
viz.showWidget("camera_label", t3w1);
viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
+ viz.showWidget("frustrum2", frustum2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("CameraPositionWidget2", cpw2);
// viz.showWidget("CameraPositionWidget3", cpw3);