Allow arbitrary pinhole camera (#2564)

* Function to get view controller from arbitrary pinhole camera parameters. In this function, it is responsibility of the users to verify the validity of the parameters, in contrast to `ConvertFromPinholeCameraParameters()` function. This can be useful to render images or depthmaps without any restriction in FOV, zoom, etc. * make apply-style Style applied to the following files: /home/pablo/MS/Open3D_pablospe_PR/cpp/pybind/visualization/viewcontrol.cpp * Introducing parameter `allow_arbitrary` to allow an arbitrary pinhole camera parameters. This can be useful to render images or depthmaps without any restriction on window size, FOV and zoom. * make apply-style
isl-org · Nov 11, 2020 · 75dd367 · 75dd367
1 parent 43330ec
commit 75dd367
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Showing 3 changed files with 31 additions and 20 deletions.
diff --git a/cpp/open3d/visualization/visualizer/ViewControl.cpp b/cpp/open3d/visualization/visualizer/ViewControl.cpp
@@ -189,16 +189,17 @@ bool ViewControl::ConvertToPinholeCameraParameters(
 }
 
 bool ViewControl::ConvertFromPinholeCameraParameters(
-        const camera::PinholeCameraParameters &parameters) {
+        const camera::PinholeCameraParameters &parameters,
+        bool allow_arbitrary) {
     auto intrinsic = parameters.intrinsic_;
     auto extrinsic = parameters.extrinsic_;
-    if (window_height_ <= 0 || window_width_ <= 0 ||
-        window_height_ != intrinsic.height_ ||
-        window_width_ != intrinsic.width_ ||
-        intrinsic.intrinsic_matrix_(0, 2) !=
-                (double)window_width_ / 2.0 - 0.5 ||
-        intrinsic.intrinsic_matrix_(1, 2) !=
-                (double)window_height_ / 2.0 - 0.5) {
+    if (!allow_arbitrary && (window_height_ <= 0 || window_width_ <= 0 ||
+                             window_height_ != intrinsic.height_ ||
+                             window_width_ != intrinsic.width_ ||
+                             intrinsic.intrinsic_matrix_(0, 2) !=
+                                     (double)window_width_ / 2.0 - 0.5 ||
+                             intrinsic.intrinsic_matrix_(1, 2) !=
+                                     (double)window_height_ / 2.0 - 0.5)) {
         utility::LogWarning(
                 "[ViewControl] ConvertFromPinholeCameraParameters() failed "
                 "because window height and width do not match.");
@@ -208,15 +209,17 @@ bool ViewControl::ConvertFromPinholeCameraParameters(
             (double)window_height_ / (intrinsic.intrinsic_matrix_(1, 1) * 2.0);
     double fov_rad = std::atan(tan_half_fov) * 2.0;
     double old_fov = field_of_view_;
-    field_of_view_ =
-            std::max(std::min(fov_rad * 180.0 / M_PI, FIELD_OF_VIEW_MAX),
-                     FIELD_OF_VIEW_MIN);
-    if (GetProjectionType() == ProjectionType::Orthogonal) {
-        field_of_view_ = old_fov;
-        utility::LogWarning(
-                "[ViewControl] ConvertFromPinholeCameraParameters() failed "
-                "because field of view is impossible.");
-        return false;
+    field_of_view_ = fov_rad * 180.0 / M_PI;
+    if (!allow_arbitrary) {
+        field_of_view_ = std::max(std::min(field_of_view_, FIELD_OF_VIEW_MAX),
+                                  FIELD_OF_VIEW_MIN);
+        if (GetProjectionType() == ProjectionType::Orthogonal) {
+            field_of_view_ = old_fov;
+            utility::LogWarning(
+                    "[ViewControl] ConvertFromPinholeCameraParameters() failed "
+                    "because field of view is impossible.");
+            return false;
+        }
     }
     right_ = extrinsic.block<1, 3>(0, 0).transpose();
     up_ = -extrinsic.block<1, 3>(1, 0).transpose();
@@ -229,7 +232,10 @@ bool ViewControl::ConvertFromPinholeCameraParameters(
     double ideal_zoom = ideal_distance *
                         std::tan(field_of_view_ * 0.5 / 180.0 * M_PI) /
                         bounding_box_.GetMaxExtent();
-    zoom_ = std::max(std::min(ideal_zoom, ZOOM_MAX), ZOOM_MIN);
+    zoom_ = ideal_zoom;
+    if (!allow_arbitrary) {
+        zoom_ = std::max(std::min(ideal_zoom, ZOOM_MAX), ZOOM_MIN);
+    }
     view_ratio_ = zoom_ * bounding_box_.GetMaxExtent();
     distance_ = view_ratio_ / std::tan(field_of_view_ * 0.5 / 180.0 * M_PI);
     lookat_ = eye_ - front_ * distance_;

diff --git a/cpp/open3d/visualization/visualizer/ViewControl.h b/cpp/open3d/visualization/visualizer/ViewControl.h
@@ -81,11 +81,16 @@ class ViewControl {
     /// \param parameters The pinhole camera parameter to convert to.
     bool ConvertToPinholeCameraParameters(
             camera::PinholeCameraParameters &parameters);
+
     /// Function to get view controller from pinhole camera parameters.
     ///
     /// \param parameters The pinhole camera parameter to convert from.
+    /// \param allow_arbitrary Allow an arbitrary pinhole camera parameters.
+    /// This can be useful to render images or depthmaps without any restriction
+    /// in window size, FOV and zoom.
     bool ConvertFromPinholeCameraParameters(
-            const camera::PinholeCameraParameters &parameters);
+            const camera::PinholeCameraParameters &parameters,
+            bool allow_arbitrary = false);
 
     ProjectionType GetProjectionType() const;
     void SetProjectionParameters();

diff --git a/cpp/pybind/visualization/viewcontrol.cpp b/cpp/pybind/visualization/viewcontrol.cpp
@@ -68,7 +68,7 @@ void pybind_viewcontrol(py::module &m) {
                     "camera::PinholeCameraParameters")
             .def("convert_from_pinhole_camera_parameters",
                  &ViewControl::ConvertFromPinholeCameraParameters,
-                 "parameter"_a)
+                 "parameter"_a, "allow_arbitrary"_a = false)
             .def("scale", &ViewControl::Scale, "Function to process scaling",
                  "scale"_a)
             .def("rotate", &ViewControl::Rotate, "Function to process rotation",