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ccCamSensorProjectionDlg.cpp
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ccCamSensorProjectionDlg.cpp
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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#include "ccCamSensorProjectionDlg.h"
//local
#include "ccCustomDoubleValidator.h"
//qCC_db
#include <ccCameraSensor.h>
ccCamSensorProjectionDlg::ccCamSensorProjectionDlg(QWidget* parent)
: QDialog(parent)
, Ui::CamSensorProjectDialog()
{
setupUi(this);
posXEdit->setValidator(new ccCustomDoubleValidator(this));
posYEdit->setValidator(new ccCustomDoubleValidator(this));
posZEdit->setValidator(new ccCustomDoubleValidator(this));
x1rot->setValidator(new ccCustomDoubleValidator(this));
x2rot->setValidator(new ccCustomDoubleValidator(this));
x3rot->setValidator(new ccCustomDoubleValidator(this));
y1rot->setValidator(new ccCustomDoubleValidator(this));
y2rot->setValidator(new ccCustomDoubleValidator(this));
y3rot->setValidator(new ccCustomDoubleValidator(this));
z1rot->setValidator(new ccCustomDoubleValidator(this));
z2rot->setValidator(new ccCustomDoubleValidator(this));
z3rot->setValidator(new ccCustomDoubleValidator(this));
}
//=====================================initWithCamSensor==========================================//
//已知相机，对对话框进行初始化
void ccCamSensorProjectionDlg::initWithCamSensor(const ccCameraSensor* sensor)
{
if( !sensor) return;
const int precision = sizeof(PointCoordinateType) == 8 ? 12 : 8;
/*** Position + Orientation ***/
{
//center
const float* C = sensor->getRigidTransformation().getTranslation();
posXEdit->setText(QString::number(C[0],'f',precision));
posYEdit->setText(QString::number(C[1],'f',precision));
posZEdit->setText(QString::number(C[2],'f',precision));
//rotation matrix
const ccGLMatrix& rot = sensor->getRigidTransformation();
{
const float* mat = rot.data();
x1rot->setText(QString::number(mat[0] ,'f',precision));
y1rot->setText(QString::number(mat[1] ,'f',precision));
z1rot->setText(QString::number(mat[2] ,'f',precision));
x2rot->setText(QString::number(mat[4] ,'f',precision));
y2rot->setText(QString::number(mat[5] ,'f',precision));
z2rot->setText(QString::number(mat[6] ,'f',precision));
x3rot->setText(QString::number(mat[8] ,'f',precision));
y3rot->setText(QString::number(mat[9] ,'f',precision));
z3rot->setText(QString::number(mat[10],'f',precision));
}
}
/*** Intrinsic parameters ***/
{
const ccCameraSensor::IntrinsicParameters& iParams = sensor->getIntrinsicParameters();
focalDoubleSpinBox->setValue(iParams.focal_pix);
fovDoubleSpinBox->setValue(iParams.vFOV_rad * CC_RAD_TO_DEG);
arrayWSpinBox->setValue(iParams.arrayWidth);
arrayHSpinBox->setValue(iParams.arrayHeight);
pixWDoubleSpinBox->setValue(iParams.pixelSize_mm[0]);
pixHDoubleSpinBox->setValue(iParams.pixelSize_mm[1]);
zNearDoubleSpinBox->setValue(iParams.zNear_mm);
zFarDoubleSpinBox->setValue(iParams.zFar_mm);
skewDoubleSpinBox->setValue(iParams.skew);
}
/*** Distortion / uncertainty ***/
{
QString distInfo;
const ccCameraSensor::LensDistortionParameters::Shared& distParams = sensor->getDistortionParameters();
if (!distParams){
distInfo = "No associated distortion /uncertainty model."; //没有相关的畸变/不确定 模型
}
else if (distParams->getModel() == ccCameraSensor::SIMPLE_RADIAL_DISTORTION){ //简单径向畸变系数
const ccCameraSensor::RadialDistortionParameters* rdParams = static_cast<ccCameraSensor::RadialDistortionParameters*>(distParams.data());
distInfo = "Radial distortion model:\n";
distInfo += QString("k1 = %1\n").arg(rdParams->k1);
distInfo += QString("k2 = %1\n").arg(rdParams->k2);
}
else if (distParams->getModel() == ccCameraSensor::BROWN_DISTORTION){ //BROWN 径向畸变系数
const ccCameraSensor::BrownDistortionParameters* bParams = static_cast<ccCameraSensor::BrownDistortionParameters*>(distParams.data());
distInfo = "Brown distortion / uncertainty model:\n";
distInfo += "* Radial distortion:\n";
distInfo += QString("\tK1 = %1\n").arg(bParams->K_BrownParams[0]);
distInfo += QString("\tK2 = %1\n").arg(bParams->K_BrownParams[1]);
distInfo += QString("\tK3 = %1\n").arg(bParams->K_BrownParams[2]);
distInfo += "* Tangential distortion:\n";
distInfo += QString("\tP1 = %1\n").arg(bParams->P_BrownParams[0]);
distInfo += QString("\tP2 = %1\n").arg(bParams->P_BrownParams[1]);
distInfo += "* Linear disparity:\n";
distInfo += QString("\tA = %1\n").arg(bParams->linearDisparityParams[0]);
distInfo += QString("\tB = %1\n").arg(bParams->linearDisparityParams[1]);
distInfo += "* Principal point offset:\n";
distInfo += QString("\tX = %1\n").arg(bParams->principalPointOffset[0]);
distInfo += QString("\tY = %1\n").arg(bParams->principalPointOffset[1]);
}
else {
assert(false);
distInfo = "Unhandled distortion /uncertainty model!";
}
distInfoTextEdit->setText(distInfo);
}
}
//=====================================updateCamSensor===========================================//
void ccCamSensorProjectionDlg::updateCamSensor(ccCameraSensor* sensor)
{
if (!sensor) return;
/*** Position + Orientation ***/
{
//orientation matrix // 方向矩阵，相机坐标系的坐标
ccGLMatrix rot;
{
float* mat = rot.data();
mat[0] = x1rot->text().toFloat();
mat[1] = y1rot->text().toFloat();
mat[2] = z1rot->text().toFloat();
mat[4] = x2rot->text().toFloat();
mat[5] = y2rot->text().toFloat();
mat[6] = z2rot->text().toFloat();
mat[8] = x3rot->text().toFloat();
mat[9] = y3rot->text().toFloat();
mat[10] = z3rot->text().toFloat();
}
//center //相机坐标系中心
CCVector3 C(static_cast<PointCoordinateType>(posXEdit->text().toDouble()),
static_cast<PointCoordinateType>(posYEdit->text().toDouble()),
static_cast<PointCoordinateType>(posZEdit->text().toDouble()));
//设置平移向量
rot.setTranslation(C);
sensor->setRigidTransformation(rot);
}
/*** Intrinsic parameters ***/ //设置内参数
{
ccCameraSensor::IntrinsicParameters iParams;
iParams.focal_pix = static_cast<float>(focalDoubleSpinBox->value()); //焦距
iParams.vFOV_rad = static_cast<float>(fovDoubleSpinBox->value() * CC_DEG_TO_RAD); //视场角
iParams.arrayWidth = arrayWSpinBox->value(); //图像宽度
iParams.arrayHeight = arrayHSpinBox->value();//图像高度
iParams.pixelSize_mm[0] = static_cast<float>(pixWDoubleSpinBox->value()); //像素大小
iParams.pixelSize_mm[1] = static_cast<float>(pixHDoubleSpinBox->value());//像素大小
iParams.zNear_mm = static_cast<float>(zNearDoubleSpinBox->value()); //近侧裁剪面
iParams.zFar_mm = static_cast<float>(zFarDoubleSpinBox->value()); //远侧裁剪面
iParams.skew = static_cast<float>(skewDoubleSpinBox->value()); //错切稀疏
sensor->setIntrinsicParameters(iParams); //设置内参数
}
/*** Distortion / uncertainty ***/
//read only for now
}