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Set lens intrinsics in Depth and Rgbd camera sensors (#390)
* Refactor projection matrix utility functions to CameraSensorUtil and set lens intrinsics in Depth and Rgbd camera sensors --------- Signed-off-by: Shameek Ganguly <[email protected]> (cherry picked from commit bd695b2) # Conflicts: # src/CameraSensor.cc # src/DepthCameraSensor.cc # src/RgbdCameraSensor.cc
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| @@ -1,5 +1,6 @@ | ||
| set (sources | ||
| BrownDistortionModel.cc | ||
| CameraSensorUtil.cc | ||
| Distortion.cc | ||
| GaussianNoiseModel.cc | ||
| Manager.cc | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,91 @@ | ||
| /* | ||
| * Copyright (C) 2023 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #include "CameraSensorUtil.hh" | ||
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| #include <gz/math/Matrix4.hh> | ||
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| ////////////////////////////////////////////////// | ||
| gz::math::Matrix4d gz::sensors::buildNDCMatrix( | ||
| double _left, double _right, | ||
| double _bottom, double _top, | ||
| double _near, double _far) | ||
| { | ||
| double inverseWidth = 1.0 / (_right - _left); | ||
| double inverseHeight = 1.0 / (_top - _bottom); | ||
| double inverseDistance = 1.0 / (_far - _near); | ||
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| return math::Matrix4d( | ||
| 2.0 * inverseWidth, | ||
| 0.0, | ||
| 0.0, | ||
| -(_right + _left) * inverseWidth, | ||
| 0.0, | ||
| 2.0 * inverseHeight, | ||
| 0.0, | ||
| -(_top + _bottom) * inverseHeight, | ||
| 0.0, | ||
| 0.0, | ||
| -2.0 * inverseDistance, | ||
| -(_far + _near) * inverseDistance, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| 1.0); | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| gz::math::Matrix4d gz::sensors::buildPerspectiveMatrix( | ||
| double _intrinsicsFx, double _intrinsicsFy, | ||
| double _intrinsicsCx, double _intrinsicsCy, | ||
| double _intrinsicsS, | ||
| double _clipNear, double _clipFar) | ||
| { | ||
| return math::Matrix4d( | ||
| _intrinsicsFx, | ||
| _intrinsicsS, | ||
| -_intrinsicsCx, | ||
| 0.0, | ||
| 0.0, | ||
| _intrinsicsFy, | ||
| -_intrinsicsCy, | ||
| 0.0, | ||
| 0.0, | ||
| 0.0, | ||
| _clipNear + _clipFar, | ||
| _clipNear * _clipFar, | ||
| 0.0, | ||
| 0.0, | ||
| -1.0, | ||
| 0.0); | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| gz::math::Matrix4d gz::sensors::buildProjectionMatrix( | ||
| double _imageWidth, double _imageHeight, | ||
| double _intrinsicsFx, double _intrinsicsFy, | ||
| double _intrinsicsCx, double _intrinsicsCy, | ||
| double _intrinsicsS, | ||
| double _clipNear, double _clipFar) | ||
| { | ||
| return buildNDCMatrix( | ||
| 0, _imageWidth, 0, _imageHeight, _clipNear, _clipFar) * | ||
| buildPerspectiveMatrix( | ||
| _intrinsicsFx, _intrinsicsFy, | ||
| _intrinsicsCx, _imageHeight - _intrinsicsCy, | ||
| _intrinsicsS, _clipNear, _clipFar); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,94 @@ | ||
| /* | ||
| * Copyright (C) 2023 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #ifndef GZ_SENSORS_CAMERASENSORUTIL_HH_ | ||
| #define GZ_SENSORS_CAMERASENSORUTIL_HH_ | ||
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| #include <gz/math/Matrix4.hh> | ||
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| #include "gz/sensors/config.hh" | ||
| #include "gz/sensors/Export.hh" | ||
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| namespace gz | ||
| { | ||
| namespace sensors | ||
| { | ||
| // Inline bracket to help doxygen filtering. | ||
| inline namespace GZ_SENSORS_VERSION_NAMESPACE { | ||
| /// \brief Computes the OpenGL NDC matrix | ||
| /// \param[in] _left Left vertical clipping plane | ||
| /// \param[in] _right Right vertical clipping plane | ||
| /// \param[in] _bottom Bottom horizontal clipping plane | ||
| /// \param[in] _top Top horizontal clipping plane | ||
| /// \param[in] _near Distance to the nearer depth clipping plane | ||
| /// This value is negative if the plane is to be behind | ||
| /// the camera | ||
| /// \param[in] _far Distance to the farther depth clipping plane | ||
| /// This value is negative if the plane is to be behind | ||
| /// the camera | ||
| /// \return OpenGL NDC (Normalized Device Coordinates) matrix | ||
| math::Matrix4d buildNDCMatrix(double _left, double _right, double _bottom, | ||
| double _top, double _near, double _far); | ||
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| /// \brief Computes the OpenGL perspective matrix | ||
| /// \param[in] _intrinsicsFx Horizontal focal length (in pixels) | ||
| /// \param[in] _intrinsicsFy Vertical focal length (in pixels) | ||
| /// \param[in] _intrinsicsCx X coordinate of principal point in pixels | ||
| /// \param[in] _intrinsicsCy Y coordinate of principal point in pixels | ||
| /// \param[in] _intrinsicsS Skew coefficient defining the angle between | ||
| /// the x and y pixel axes | ||
| /// \param[in] _clipNear Distance to the nearer depth clipping plane | ||
| /// This value is negative if the plane is to be behind | ||
| /// the camera | ||
| /// \param[in] _clipFar Distance to the farther depth clipping plane | ||
| /// This value is negative if the plane is to be behind | ||
| /// the camera | ||
| /// \return OpenGL perspective matrix | ||
| math::Matrix4d buildPerspectiveMatrix( | ||
| double _intrinsicsFx, double _intrinsicsFy, double _intrinsicsCx, | ||
| double _intrinsicsCy, double _intrinsicsS, double _clipNear, | ||
| double _clipFar); | ||
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| /// \brief Computes the OpenGL projection matrix by multiplying | ||
| /// the OpenGL Normalized Device Coordinates matrix (NDC) with | ||
| /// the OpenGL perspective matrix | ||
| /// openglProjectionMatrix = ndcMatrix * perspectiveMatrix | ||
| /// \param[in] _imageWidth Image width (in pixels) | ||
| /// \param[in] _imageHeight Image height (in pixels) | ||
| /// \param[in] _intrinsicsFx Horizontal focal length (in pixels) | ||
| /// \param[in] _intrinsicsFy Vertical focal length (in pixels) | ||
| /// \param[in] _intrinsicsCx X coordinate of principal point in pixels | ||
| /// \param[in] _intrinsicsCy Y coordinate of principal point in pixels | ||
| /// \param[in] _intrinsicsS Skew coefficient defining the angle between | ||
| /// the x and y pixel axes | ||
| /// \param[in] _clipNear Distance to the nearer depth clipping plane | ||
| /// This value is negative if the plane is to be behind | ||
| /// the camera | ||
| /// \param[in] _clipFar Distance to the farther depth clipping plane | ||
| /// This value is negative if the plane is to be behind | ||
| /// the camera | ||
| /// \return OpenGL projection matrix | ||
| math::Matrix4d buildProjectionMatrix(double _imageWidth, double _imageHeight, | ||
| double _intrinsicsFx, double _intrinsicsFy, | ||
| double _intrinsicsCx, double _intrinsicsCy, | ||
| double _intrinsicsS, double _clipNear, | ||
| double _clipFar); | ||
| } | ||
| } | ||
| } | ||
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| #endif |
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