class Camera:
def __init__(self, filmSize, focalLength, imagePath):
# intrinsic parameters
self.fieldOfView = { "x": 0.0, "y": 0.0 }
self.fieldOfView['x'] = 2.0 * atan(filmSize['width'] / (2.0 * focalLength))
self.fieldOfView['y'] = 2.0 * atan(filmSize['height'] / (2.0 * focalLength))
self.zPlane = { "near": 0.1, "far": 1000.0 }
self.image = { "width": 0.0, "height": 0.0, "data": None }
self.loadImage(imagePath)
self.canvas = { "width": 0.0, "height": 0.0 }
self.canvas['width'] = 2.0 * tan(self.fieldOfView['x'] / 2.0) * self.zPlane['near']
self.canvas['height'] = 2.0 * tan(self.fieldOfView['y'] / 2.0) * self.zPlane['near']
# coordinate system
self.coordSystem = { "x": np.array([1.0, 0.0, 0.0], np.float32),
"y": np.array([0.0, 1.0, 0.0], np.float32),
"z": np.array([0.0, 0.0, 1.0], np.float32) }
def loadImage(self, imagePath):
img = image.read(imagePath)
self.image['width'] = img[0]
self.image['height'] = img[1]
self.image['data'] = img[2]
def adjustRotation(self, yaw, pitch, roll):
rotation = mat.rotation(yaw, pitch, roll)
self.coordSystem['x'] = mat.vec3(np.dot(rotation, mat.vec4(self.coordSystem['x'])))
self.coordSystem['y'] = mat.vec3(np.dot(rotation, mat.vec4(self.coordSystem['y'])))
self.coordSystem['z'] = mat.vec3(np.dot(rotation, mat.vec4(self.coordSystem['z'])))
def setPosition(self, x, y, z):
self.position = np.array([x, y, z], np.float32)
def ray(self, x, y):
u = self.canvas['width'] * ((x / self.image['width']) - 0.5)
v = self.canvas['height'] * ((y / self.image['height']) - 0.5)
w = -self.zPlane['near']
a = np.array(self.coordSystem['x'] * u)
b = np.array(self.coordSystem['y'] * v)
c = np.array(self.coordSystem['z'] * w)
d = mat.normalize((a + b) + c)
return d
def intersection(self, ray):
v0 = np.array([0.0, 0.0, 0.0], np.float32)
normal = np.array([0.0, 0.0, 0.1], np.float32)
num = np.dot(normal, v0 - self.position)
den = np.dot(normal, ray)
t = num / den
return self.position + t * ray
def initialize(self):
rect = Rectangle()
rect.bottomLeft = self.intersection(self.ray(0, 0))
rect.topLeft = self.intersection(self.ray(0, self.image['height']))
rect.topRight = self.intersection(self.ray(self.image['width'], self.image['height']))
rect.bottomRight = self.intersection(self.ray(self.image['width'], 0.0))
self.pyramid = Pyramid(self.position, rect)
self.plane = Plane(rect, self.image)
def display(self, width, height, z, current=False, frustrum=False):
self.plane.draw(width, height, z)
if frustrum:
self.pyramid.draw(width, height, z, current)
class Camera:
def __init__(self, filmSize, focalLength, imagePath):
# intrinsic parameters
self.fieldOfView = {"x": 0.0, "y": 0.0}
self.fieldOfView['x'] = 2.0 * atan(filmSize['width'] /
(2.0 * focalLength))
self.fieldOfView['y'] = 2.0 * atan(filmSize['height'] /
(2.0 * focalLength))
self.zPlane = {"near": 0.1, "far": 1000.0}
self.image = {"width": 0.0, "height": 0.0, "data": None}
self.loadImage(imagePath)
self.canvas = {"width": 0.0, "height": 0.0}
self.canvas['width'] = 2.0 * tan(
self.fieldOfView['x'] / 2.0) * self.zPlane['near']
self.canvas['height'] = 2.0 * tan(
self.fieldOfView['y'] / 2.0) * self.zPlane['near']
# coordinate system
self.coordSystem = {
"x": np.array([1.0, 0.0, 0.0], np.float32),
"y": np.array([0.0, 1.0, 0.0], np.float32),
"z": np.array([0.0, 0.0, 1.0], np.float32)
}
def loadImage(self, imagePath):
img = image.read(imagePath)
self.image['width'] = img[0]
self.image['height'] = img[1]
self.image['data'] = img[2]
def adjustRotation(self, yaw, pitch, roll):
rotation = mat.rotation(yaw, pitch, roll)
self.coordSystem['x'] = mat.vec3(
np.dot(rotation, mat.vec4(self.coordSystem['x'])))
self.coordSystem['y'] = mat.vec3(
np.dot(rotation, mat.vec4(self.coordSystem['y'])))
self.coordSystem['z'] = mat.vec3(
np.dot(rotation, mat.vec4(self.coordSystem['z'])))
def setPosition(self, x, y, z):
self.position = np.array([x, y, z], np.float32)
def ray(self, x, y):
u = self.canvas['width'] * ((x / self.image['width']) - 0.5)
v = self.canvas['height'] * ((y / self.image['height']) - 0.5)
w = -self.zPlane['near']
a = np.array(self.coordSystem['x'] * u)
b = np.array(self.coordSystem['y'] * v)
c = np.array(self.coordSystem['z'] * w)
d = mat.normalize((a + b) + c)
return d
def intersection(self, ray):
v0 = np.array([0.0, 0.0, 0.0], np.float32)
normal = np.array([0.0, 0.0, 0.1], np.float32)
num = np.dot(normal, v0 - self.position)
den = np.dot(normal, ray)
t = num / den
return self.position + t * ray
def initialize(self):
rect = Rectangle()
rect.bottomLeft = self.intersection(self.ray(0, 0))
rect.topLeft = self.intersection(self.ray(0, self.image['height']))
rect.topRight = self.intersection(
self.ray(self.image['width'], self.image['height']))
rect.bottomRight = self.intersection(self.ray(self.image['width'],
0.0))
self.pyramid = Pyramid(self.position, rect)
self.plane = Plane(rect, self.image)
def display(self, width, height, z, current=False, frustrum=False):
self.plane.draw(width, height, z)
if frustrum:
self.pyramid.draw(width, height, z, current)
