camera_info_projection_factory.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include "rve_render_client/camera_info_projection_factory.h"

namespace rve_render_client
{

CameraInfoProjectionFactory::CameraInfoProjectionFactory()
  : cx_( 0 )
  , cy_( 0 )
  , fx_( 320 )
  , fy_( 320 )
  , width_( 640 )
  , height_( 480 )
{
}

void CameraInfoProjectionFactory::setCameraInfo( float cx, float cy, float fx, float fy, float width, float height )
{
  cx_ = cx;
  cy_ = cy;
  fx_ = fx;
  fy_ = fy;
  width_ = width;
  height_ = height;

  updateCamera();
}

rve_msgs::Matrix4 CameraInfoProjectionFactory::makeMatrix()
{
  rve_msgs::Matrix4 proj_matrix;

  double far_plane = 100;
  double near_plane = 0.1; // about 10cm in front of the camera so we don't see our own lens mount model

  proj_matrix.m[0*4+0]= 2.0 * fx_ / width_;
  proj_matrix.m[1*4+1]= 2.0 * fy_ / height_;

  proj_matrix.m[0*4+2]= 2 * (0.5 - cx_ / width_);
  proj_matrix.m[1*4+2]= 2 * (cy_ / height_ - 0.5);

  proj_matrix.m[2*4+2]= -(far_plane+near_plane) / (far_plane-near_plane);
  proj_matrix.m[2*4+3]= -2.0*far_plane*near_plane / (far_plane-near_plane);

  proj_matrix.m[3*4+2]= -1;

  return proj_matrix;
}

}