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This commit is contained in:
Georg Hagen
2025-02-16 12:49:07 +01:00
parent 4bae092d8d
commit 0dd348f85d
1 changed files with 25 additions and 24 deletions
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49
openVulkanoCpp/Math/CameraIntrinsic.hpp
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@@ -12,23 +12,23 @@ namespace OpenVulkano::Math
{ {
class CameraIntrinsic class CameraIntrinsic
{ {
Math::Matrix3f_SIMD cameraMatrix; Matrix3f_SIMD cameraMatrix;
public: public:
CameraIntrinsic() : CameraIntrinsic(Math::Matrix3f(0)) {} CameraIntrinsic() : CameraIntrinsic(Matrix3f(0)) {}
CameraIntrinsic(const Math::Matrix3f& camMat) : cameraMatrix(camMat) CameraIntrinsic(const Matrix3f& camMat) : cameraMatrix(camMat)
{} {}
CameraIntrinsic(const Math::Matrix3f_SIMD& camMat) : cameraMatrix(camMat) CameraIntrinsic(const Matrix3f_SIMD& camMat) : cameraMatrix(camMat)
{} {}
CameraIntrinsic(float fx, float fy, float cx, float cy, float skew = 0) CameraIntrinsic(const float fx, const float fy, const float cx, const float cy, const float skew = 0)
: cameraMatrix(fx, 0, 0, skew, fy, 0, cx, cy, 0) : cameraMatrix(fx, 0, 0, skew, fy, 0, cx, cy, 0)
{} {}
[[nodiscard]] CameraIntrinsic Scale(float scale) const [[nodiscard]] CameraIntrinsic Scale(const float scale) const
{ {
Math::Matrix3f scaled = cameraMatrix; Matrix3f scaled = cameraMatrix;
scaled[0][0] *= scale; scaled[0][0] *= scale;
scaled[2][0] *= scale; scaled[2][0] *= scale;
scaled[1][1] *= scale; scaled[1][1] *= scale;
@@ -36,9 +36,9 @@ namespace OpenVulkano::Math
return { scaled }; return { scaled };
} }
[[nodiscard]] CameraIntrinsic Scale(Math::Vector2f scale) const [[nodiscard]] CameraIntrinsic Scale(const Vector2f& scale) const
{ {
Math::Matrix3f scaled = cameraMatrix; Matrix3f scaled = cameraMatrix;
scaled[0][0] *= scale.x; scaled[0][0] *= scale.x;
scaled[2][0] *= scale.x; scaled[2][0] *= scale.x;
scaled[1][1] *= scale.y; scaled[1][1] *= scale.y;
@@ -77,22 +77,22 @@ namespace OpenVulkano::Math
return Fy() / Fx(); return Fy() / Fx();
} }
[[nodiscard]] float GetFovX(float imageWidth) const [[nodiscard]] float GetFovX(const float imageWidth) const
{ {
return 2 * atanf((imageWidth / Fx()) * 0.5f); return 2 * atanf((imageWidth / Fx()) * 0.5f);
} }
[[nodiscard]] float GetFovY(float imageHeight) const [[nodiscard]] float GetFovY(const float imageHeight) const
{ {
return 2 * atanf((imageHeight / Fy()) * 0.5f); return 2 * atanf((imageHeight / Fy()) * 0.5f);
} }
[[nodiscard]] Math::Vector3f ProjectTo3D(Math::Vector2i pixelCoordinates, float depth) const [[nodiscard]] Vector3f ProjectTo3D(const Vector2i& pixelCoordinates, const float depth) const
{ {
return ProjectTo3D(Math::Vector2f(pixelCoordinates), depth); return ProjectTo3D(Vector2f(pixelCoordinates), depth);
} }
[[nodiscard]] Math::Vector3f ProjectTo3D(Math::Vector2f pixelCoordinates, float depth) const [[nodiscard]] Vector3f ProjectTo3D(const Vector2f& pixelCoordinates, const float depth) const
{ {
// TODO handle skew // TODO handle skew
return { return {
@@ -107,7 +107,7 @@ namespace OpenVulkano::Math
return Scale(scale); return Scale(scale);
} }
[[nodiscard]] CameraIntrinsic operator * (const Math::Vector2f& scale) const [[nodiscard]] CameraIntrinsic operator * (const Vector2f& scale) const
{ {
return Scale(scale); return Scale(scale);
} }
@@ -117,23 +117,24 @@ namespace OpenVulkano::Math
class CameraIntrinsicWithResolution : public CameraIntrinsic class CameraIntrinsicWithResolution : public CameraIntrinsic
{ {
Math::Vector2i resolution; Vector2i resolution;
public: public:
CameraIntrinsicWithResolution() : CameraIntrinsic(), resolution(0, 0) {} CameraIntrinsicWithResolution() : resolution(0, 0) {}
CameraIntrinsicWithResolution(const CameraIntrinsic& intrinsic, const Math::Vector2i resolution) CameraIntrinsicWithResolution(const CameraIntrinsic& intrinsic, const Vector2i resolution)
: CameraIntrinsic(intrinsic), resolution(resolution) : CameraIntrinsic(intrinsic), resolution(resolution)
{} {}
CameraIntrinsicWithResolution(const Math::Matrix3f& camMat, const Math::Vector2i resolution) CameraIntrinsicWithResolution(const Matrix3f& camMat, const Vector2i resolution)
: CameraIntrinsic(camMat), resolution(resolution) : CameraIntrinsic(camMat), resolution(resolution)
{} {}
CameraIntrinsicWithResolution(const Math::Matrix3f_SIMD& camMat, const Math::Vector2i resolution) CameraIntrinsicWithResolution(const Matrix3f_SIMD& camMat, const Vector2i resolution)
: CameraIntrinsic(camMat), resolution(resolution) : CameraIntrinsic(camMat), resolution(resolution)
{} {}
CameraIntrinsicWithResolution(Math::Vector2i resolution, float fx, float fy, float cx, float cy, float skew = 0) CameraIntrinsicWithResolution(const Vector2i& resolution, const float fx, const float fy,
const float cx, const float cy, const float skew = 0)
: CameraIntrinsic(fx, fy, cx, cy, skew), resolution(resolution) : CameraIntrinsic(fx, fy, cx, cy, skew), resolution(resolution)
{} {}
@@ -147,14 +148,14 @@ namespace OpenVulkano::Math
return CameraIntrinsic::GetFovY(static_cast<float>(resolution.y)); return CameraIntrinsic::GetFovY(static_cast<float>(resolution.y));
} }
[[nodiscard]] Math::Vector2i GetResolution() const [[nodiscard]] Vector2i GetResolution() const
{ {
return resolution; return resolution;
} }
[[nodiscard]] CameraIntrinsicWithResolution GetForResolution(const Math::Vector2i newResolution) const [[nodiscard]] CameraIntrinsicWithResolution GetForResolution(const Vector2i& newResolution) const
{ {
return { Scale(Math::Vector2f(newResolution) / Math::Vector2f(resolution)), resolution }; return { Scale(Vector2f(newResolution) / Vector2f(resolution)), resolution };
} }
}; };
} }