117 lines
2.5 KiB
C++
117 lines
2.5 KiB
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at https://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "Math.hpp"
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namespace openVulkanoCpp::Math
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{
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class CameraIntrinsic
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{
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public:
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Math::Matrix3f cameraMatrix;
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CameraIntrinsic() : CameraIntrinsic(Math::Matrix3f(0)) {}
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CameraIntrinsic(const Math::Matrix3f& camMat) : cameraMatrix(camMat)
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{}
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CameraIntrinsic(const Math::Matrix3f_SIMD& camMat) : cameraMatrix(camMat)
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{}
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CameraIntrinsic(float fx, float fy, float cx, float cy, float skew = 0)
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: cameraMatrix(fx, 0, 0, skew, fy, 0, cx, cy, 0)
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{}
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[[nodiscard]] CameraIntrinsic Scale(float scale) const
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{
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Math::Matrix3f scaled = cameraMatrix;
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scaled[0][0] *= scale;
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scaled[2][0] *= scale;
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scaled[1][1] *= scale;
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scaled[2][1] *= scale;
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return { scaled };
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}
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[[nodiscard]] CameraIntrinsic Scale(Math::Vector2f scale) const
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{
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Math::Matrix3f scaled = cameraMatrix;
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scaled[0][0] *= scale.x;
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scaled[2][0] *= scale.x;
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scaled[1][1] *= scale.y;
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scaled[2][1] *= scale.y;
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scaled[1][0] *= scale.x / scale.y; // Scale skew
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return { scaled };
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}
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[[nodiscard]] float Fx() const
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{
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return cameraMatrix[0][0];
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}
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[[nodiscard]] float Fy() const
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{
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return cameraMatrix[1][1];
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}
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[[nodiscard]] float Cx() const
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{
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return cameraMatrix[2][0];
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}
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[[nodiscard]] float Cy() const
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{
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return cameraMatrix[2][1];
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}
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[[nodiscard]] float Skew() const
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{
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return cameraMatrix[1][0];
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}
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[[nodiscard]] float PixelAspectRatio() const
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{
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return Fy() / Fx();
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}
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[[nodiscard]] float GetFovX(float imageWidth) const
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{
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return 2 * atanf(imageWidth * 0.5f / Fx());
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}
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[[nodiscard]] float GetFovY(float imageHeight) const
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{
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return 2 * atanf(imageHeight * 0.5f / Fy());
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}
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[[nodiscard]] Math::Vector3f ProjectTo3D(Math::Vector2i pixelCoordinates, float depth) const
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{
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return ProjectTo3D(Math::Vector2f(pixelCoordinates), depth);
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}
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[[nodiscard]] Math::Vector3f ProjectTo3D(Math::Vector2f pixelCoordinates, float depth) const
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{
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// TODO handle skew
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return {
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( pixelCoordinates.x - Cx()) * depth / Fx(),
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(-pixelCoordinates.y + Cy()) * depth / Fy(),
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-depth
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};
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}
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CameraIntrinsic operator * (const float scale) const
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{
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return Scale(scale);
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}
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CameraIntrinsic operator * (const Math::Vector2f& scale) const
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{
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return Scale(scale);
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}
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};
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}
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