Hi,
I tried to project vertices of a model to image with XMP files. and i followed the process in this tutorial https://support.capturingreality.com/hc/en-us/articles/360017783459-RealityCapture-XMP-Camera-Math.
However, x and y coordinates of projected point m are not in range <-0.5, 0.5>. I have checked the code several times and can not find what’s wrong. Here is some code.
glm::vec3 DistortBrown(glm::vec3 point, float k1, float k2, float k3)
{
float r = ((point.x * point.x) + (point.y * point.y));
glm::vec3 res = point * (1 + k1 * r * r + k2 * pow(r, 4) + k3 * pow(r, 6));
return res;
}
//https://support.capturingreality.com/hc/en-us/articles/360017783459-RealityCapture-XMP-Camera-Math
glm::vec3 Project(glm::vec4 point, glm::mat4 headRotation, glm::vec4 headTranslation, glm::mat3 cameraIntricsic, int imgWidth, int img_height)
{
float distortCoefficients[3] = { 0.267794801323342, 1.75333829998265 ,-3.09898757948234 };
glm::vec4 point1 = headRotation * point + headTranslation;
point1 = point1 / point1.z;
glm::vec3 point2(point1.x, point1.y, point1.z);
glm::vec3 pointDistort = DistortBrown(point2, distortCoefficients[0], distortCoefficients[1], distortCoefficients[2]);
glm::vec3 point3 = cameraIntricsic * pointDistort;
point3 = point3 / point3.z;
int scale = max(imgWidth, img_height);
point3.x = point3.x * scale + imgWidth / 2.0;
point3.y = point3.y * scale + img_height / 2.0;
return point3;
}
void myRenderScan()
{
string objPath = "D:/hair_low_default_transform.obj";
string saveFolder = "./";
float rotateArray[16] = { 0.00822257804236592, 0.115988745747896, 0.993216492044996, 0,
0.997496652513794, -0.070713706053177, -1.11022302462516e-16, 0.0,
0.0702340190656374, 0.990730126036377, -0.116279834579487, 0.0,
0, 0, 0.0, 1.0 }; //tiff2 21
float translateArray[3] = { -5.07654498116938,-74.9080755382079, 26.5896625365347 }; //tiff2 21
float AspectRatio = 1.0f;
float focalx = 84.9087857946017 / 36.0, focaly = AspectRatio * focalx, fu = 0.0159303940758487, fv = 0.00294879565420105; // in mm
float cameraIntrinsicArray[16] = { focalx, 0, fu,
0, focaly, fv,
0.0, 0.0, 1.0 };
glm::vec4 headTranslation = glm::vec4(translateArray[0], translateArray[1], translateArray[2], 1.0);
glm::mat4 headRotation = glm::transpose(glm::make_mat4(rotateArray));
glm::mat3 cameraIntricsic = glm::transpose(glm::make_mat3(cameraIntrinsicArray));
}