new cameraProjectionMatrix with gtest

webarkit · Nov 6, 2023 · 0d74031 · 0d74031
1 parent d01a0a1
commit 0d74031
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diff --git a/WebARKit/WebARKitGL.cpp b/WebARKit/WebARKitGL.cpp
@@ -49,4 +49,33 @@ void arglCameraViewRHf(cv::Mat para, std::array<double, 16>& m_modelview, const
         m_modelview[14] *= scale;
     }
 }
+
+void cameraProjectionMatrix(const std::array<double, 9>& calibration, double nearPlane, double farPlane, int screenWidth, int screenHeight, std::array<double, 16>& projectionMatrix)
+{
+  // Camera parameters
+  double f_x = calibration.at(0); // Focal length in x axis
+  double f_y = calibration.at(4); // Focal length in y axis (usually the same?)
+  double c_x = calibration.at(2); // Camera primary point x
+  double c_y = calibration.at(5); // Camera primary point y
+
+  projectionMatrix[0] = -2.0f * f_x / screenWidth;
+  projectionMatrix[1] = 0.0f;
+  projectionMatrix[2] = 0.0f;
+  projectionMatrix[3] = 0.0f;
+
+  projectionMatrix[4] = 0.0f;
+  projectionMatrix[5] = 2.0f * f_y / screenHeight;
+  projectionMatrix[6] = 0.0f;
+  projectionMatrix[7] = 0.0f;
+
+  projectionMatrix[8] = 2.0f * c_x / screenWidth - 1.0f;
+  projectionMatrix[9] = 2.0f * c_y / screenHeight - 1.0f;    
+  projectionMatrix[10] = -( farPlane + nearPlane) / ( farPlane - nearPlane );
+  projectionMatrix[11] = -1.0f;
+
+  projectionMatrix[12] = 0.0f;
+  projectionMatrix[13] = 0.0f;
+  projectionMatrix[14] = -2.0f * farPlane * nearPlane / ( farPlane - nearPlane );        
+  projectionMatrix[15] = 0.0f;
+}
 } // namespace webarkit
diff --git a/WebARKit/include/WebARKitGL.h b/WebARKit/include/WebARKitGL.h
@@ -8,6 +8,8 @@ namespace webarkit {
 void arglCameraViewRHf(float para[3][4], float m_modelview[16], const float scale);
 
 void arglCameraViewRHf(cv::Mat para, std::array<double, 16>& m_modelview, const double scale);
+
+void cameraProjectionMatrix(const std::array<double, 9>& calibration, double nearPlane, double farPlane, int screenWidth, int screenHeight, std::array<double, 16>& projectionMatrix);
 } // namespace webarkit
 
 #endif // WEBARKITGL_H
diff --git a/tests/webarkit_test.cc b/tests/webarkit_test.cc
@@ -2,6 +2,7 @@
 #include <WebARKitManager.h>
 #include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitEnums.h>
 #include <WebARKitCamera.h>
+//#include <WebARKitGL.h>
 #include <opencv2/imgcodecs.hpp>
 
 class WebARKitEnumTest : public testing::TestWithParam<std::tuple<webarkit::TRACKER_TYPE, webarkit::ColorSpace>> {};
@@ -82,6 +83,24 @@ TEST(WebARKitCameraTest, TestCamera) {
   camera.printSettings();
 }
 
+TEST(WebARKitGLTest, TestCameraProjectionMatrix) {
+  int width = 640;
+  int height = 480;
+  webarkit::WebARKitCamera camera;
+  camera.setupCamera(width, height);
+  std::array<double, 9> camera_mat = camera.getCameraData();
+  std::array<double, 16> projectionMatrix = {0.0};
+  webarkit::cameraProjectionMatrix(camera_mat, 0.01, 100.0, width, height, projectionMatrix);
+  /*for(auto i : projectionMatrix) {
+    std::cout << "proj Matrix: " << (double)i << std::endl;
+  }*/
+  EXPECT_EQ(projectionMatrix[0], -1.7851850084276433);
+  EXPECT_EQ(projectionMatrix[5], 2.3802466779035241);
+  EXPECT_EQ(projectionMatrix[10], -1.0002000200020003);
+  EXPECT_EQ(projectionMatrix[11], -1.0);
+  EXPECT_EQ(projectionMatrix[14], -0.020002000200020003);
+}
+
 // Check WebARKitManager initialisation.
 TEST(WebARKitTest, InitialiseBaseAkazeTest) {
   // Create a WebARKitManager object