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david-cattermoledavid-cattermole
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Replaced orientation matrix with a rotation value for user control.
The orientation matrix was complicated to use and produce the wrong results often. It is expected that users understand rotation XYZ better. Issue #121 Change-Id: Ieeb44f230da492b19720bd6ffcef6423b89c5103
1 parent faa0206 commit e6a0be7

6 files changed

Lines changed: 124 additions & 121 deletions

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‎src/MMCameraCalibrateNode.cpp‎

Lines changed: 112 additions & 82 deletions
Original file line numberDiff line numberDiff line change
@@ -34,6 +34,8 @@
3434
#include <maya/MFnNumericData.h>
3535
#include <maya/MFnMatrixData.h>
3636
#include <maya/MStreamUtils.h>
37+
#include <maya/MTransformationMatrix.h>
38+
#include <maya/MEulerRotation.h>
3739

3840
// Utilities
3941
#include <utilities/debugUtils.h>
@@ -96,6 +98,36 @@ getPoint2DAttrValue(
9698
}
9799

98100

101+
MStatus
102+
getVector3DAttrValue(
103+
MDataBlock &data,
104+
MObject &attr_x,
105+
MObject &attr_y,
106+
MObject &attr_z,
107+
mmdata::Vector3D &output)
108+
{
109+
MStatus status = MS::kUnknownParameter;
110+
111+
MDataHandle xHandle = data.inputValue(
112+
attr_x, &status);
113+
CHECK_MSTATUS_AND_RETURN_IT(status);
114+
double x = xHandle.asDouble();
115+
116+
MDataHandle yHandle = data.inputValue(
117+
attr_y, &status);
118+
CHECK_MSTATUS_AND_RETURN_IT(status);
119+
double y = yHandle.asDouble();
120+
121+
MDataHandle zHandle = data.inputValue(
122+
attr_z, &status);
123+
CHECK_MSTATUS_AND_RETURN_IT(status);
124+
double z = zHandle.asDouble();
125+
126+
output = mmdata::Vector3D(x, y, z);
127+
return MS::kSuccess;
128+
}
129+
130+
99131
MTypeId MMCameraCalibrateNode::m_id(MM_CAMERA_CALIBRATE_TYPE_ID);
100132

101133
// Input Attributes
@@ -116,10 +148,11 @@ MObject MMCameraCalibrateNode::a_originPoint;
116148
MObject MMCameraCalibrateNode::a_originPointX;
117149
MObject MMCameraCalibrateNode::a_originPointY;
118150

119-
MObject MMCameraCalibrateNode::a_orientationPlane;
120-
MObject MMCameraCalibrateNode::a_axisFlipX;
121-
MObject MMCameraCalibrateNode::a_axisFlipY;
122-
MObject MMCameraCalibrateNode::a_axisFlipZ;
151+
MObject MMCameraCalibrateNode::a_rotatePlane;
152+
MObject MMCameraCalibrateNode::a_rotatePlaneX;
153+
MObject MMCameraCalibrateNode::a_rotatePlaneY;
154+
MObject MMCameraCalibrateNode::a_rotatePlaneZ;
155+
MObject MMCameraCalibrateNode::a_rotateOrder;
123156

124157
#ifdef WITH_PRINCIPAL_POINT
125158
MObject MMCameraCalibrateNode::a_principalPoint;
@@ -276,31 +309,25 @@ MStatus MMCameraCalibrateNode::compute(const MPlug &plug, MDataBlock &data) {
276309
originPoint));
277310

278311
///////////////////////////////
279-
MDataHandle orientPlaneHandle = data.inputValue(
280-
a_orientationPlane,
281-
&status);
282-
CHECK_MSTATUS_AND_RETURN_IT(status);
283-
auto orientPlane =
284-
static_cast<calibrate::OrientationPlane>(
285-
orientPlaneHandle.asShort());
286-
287-
MDataHandle axisFlipXHandle = data.inputValue(
288-
a_axisFlipX,
289-
&status);
290-
CHECK_MSTATUS_AND_RETURN_IT(status);
291-
bool axisFlipX = axisFlipXHandle.asBool();
292-
293-
MDataHandle axisFlipYHandle = data.inputValue(
294-
a_axisFlipY,
295-
&status);
296-
CHECK_MSTATUS_AND_RETURN_IT(status);
297-
bool axisFlipY = axisFlipYHandle.asBool();
312+
auto rotatePlane = mmdata::Vector3D();
313+
CHECK_MSTATUS_AND_RETURN_IT(
314+
getVector3DAttrValue(
315+
data,
316+
a_rotatePlaneX,
317+
a_rotatePlaneY,
318+
a_rotatePlaneZ,
319+
rotatePlane));
320+
rotatePlane.x_ *= DEGREES_TO_RADIANS;
321+
rotatePlane.y_ *= DEGREES_TO_RADIANS;
322+
rotatePlane.z_ *= DEGREES_TO_RADIANS;
298323

299-
MDataHandle axisFlipZHandle = data.inputValue(
300-
a_axisFlipZ,
324+
///////////////////////////////
325+
MDataHandle rotateOrderHandle = data.inputValue(
326+
a_rotateOrder,
301327
&status);
302328
CHECK_MSTATUS_AND_RETURN_IT(status);
303-
bool axisFlipZ = axisFlipZHandle.asBool();
329+
auto rotateOrderValue = rotateOrderHandle.asShort();
330+
auto rotateOrder = static_cast<MEulerRotation::RotationOrder>(rotateOrderValue);
304331

305332
///////////////////////////////
306333
auto principalPoint = mmdata::Point2D();
@@ -367,10 +394,6 @@ MStatus MMCameraCalibrateNode::compute(const MPlug &plug, MDataBlock &data) {
367394
filmBackWidth_mm,
368395
filmBackHeight_mm,
369396
originPoint,
370-
orientPlane,
371-
axisFlipX,
372-
axisFlipY,
373-
axisFlipZ,
374397
principalPoint,
375398
vanishingPointA,
376399
horizonPointA,
@@ -404,10 +427,6 @@ MStatus MMCameraCalibrateNode::compute(const MPlug &plug, MDataBlock &data) {
404427
filmBackWidth_mm,
405428
filmBackHeight_mm,
406429
originPoint,
407-
orientPlane,
408-
axisFlipX,
409-
axisFlipY,
410-
axisFlipZ,
411430
principalPoint,
412431
vanishingPointA,
413432
horizonPointA,
@@ -425,10 +444,6 @@ MStatus MMCameraCalibrateNode::compute(const MPlug &plug, MDataBlock &data) {
425444
filmBackWidth_mm,
426445
filmBackHeight_mm,
427446
originPoint,
428-
orientPlane,
429-
axisFlipX,
430-
axisFlipY,
431-
axisFlipZ,
432447
principalPoint,
433448
vanishingPointA,
434449
vanishingPointB,
@@ -445,8 +460,21 @@ MStatus MMCameraCalibrateNode::compute(const MPlug &plug, MDataBlock &data) {
445460
<< static_cast<int>(calibrationMode)
446461
<< '\n';
447462
}
463+
auto cameraMatrix = convertToMMatrix(outCameraParameters.transformMatrix_);
464+
465+
// Rotate the matrix.
466+
auto rotation = MEulerRotation(
467+
rotatePlane.x_,
468+
rotatePlane.y_,
469+
rotatePlane.z_,
470+
rotateOrder);
471+
auto orientTfmMatrix = MTransformationMatrix();
472+
auto space = MSpace::Space::kWorld;
473+
orientTfmMatrix.rotateBy(rotation, space, &status);
474+
CHECK_MSTATUS(status);
475+
auto orientMatrix = orientTfmMatrix.asMatrix();
448476

449-
auto outMatrix = convertToMMatrix(outCameraParameters.transformMatrix_);
477+
auto outMatrix = cameraMatrix * orientMatrix;
450478
auto outMatrixInverse = outMatrix.inverse();
451479
#ifdef MM_DEBUG
452480
MStreamUtils::stdErrorStream()
@@ -711,54 +739,55 @@ MStatus MMCameraCalibrateNode::initialize() {
711739
CHECK_MSTATUS(addAttribute(a_originPoint));
712740
}
713741

714-
//////////////////////////////////////////////////////////////////////////
715-
716742
{
717-
// Orientation Plane
718-
auto zxMode = static_cast<short>(calibrate::OrientationPlane::ZX);
719-
auto zyMode = static_cast<short>(calibrate::OrientationPlane::ZY);
720-
auto xzMode = static_cast<short>(calibrate::OrientationPlane::XZ);
721-
auto xyMode = static_cast<short>(calibrate::OrientationPlane::XY);
722-
auto yxMode = static_cast<short>(calibrate::OrientationPlane::YX);
723-
auto yzMode = static_cast<short>(calibrate::OrientationPlane::YZ);
724-
a_orientationPlane = enumAttr.create(
725-
"orientationPlane", "ornttpln",
726-
zxMode,
727-
&status);
728-
CHECK_MSTATUS(status);
729-
CHECK_MSTATUS(enumAttr.addField("Z forward | X side | Y up", zxMode));
730-
CHECK_MSTATUS(enumAttr.addField("X forward | Z side | Y up", xzMode));
731-
CHECK_MSTATUS(enumAttr.addField("X forward | Y side | Z up", xyMode));
732-
CHECK_MSTATUS(enumAttr.addField("Y forward | X side | Z up", yxMode));
733-
CHECK_MSTATUS(enumAttr.addField("Z forward | Y side | X up", zyMode));
734-
CHECK_MSTATUS(enumAttr.addField("Y forward | Z side | X up", yzMode));
735-
CHECK_MSTATUS(enumAttr.setStorable(true));
736-
CHECK_MSTATUS(enumAttr.setKeyable(true));
737-
CHECK_MSTATUS(addAttribute(a_orientationPlane));
738-
739-
// Flip X Axis
740-
a_axisFlipX = numericAttr.create(
741-
"axisFlipX", "axsflpx",
742-
MFnNumericData::kBoolean, false);
743+
a_rotatePlaneX = numericAttr.create(
744+
"rotatePlaneX", "rotplnx",
745+
MFnNumericData::kDouble, 0.0);
743746
CHECK_MSTATUS(numericAttr.setStorable(true));
744747
CHECK_MSTATUS(numericAttr.setKeyable(true));
745-
CHECK_MSTATUS(addAttribute(a_axisFlipX));
746748

747-
// Flip Y Axis
748-
a_axisFlipY = numericAttr.create(
749-
"axisFlipY", "axsflpy",
750-
MFnNumericData::kBoolean, false);
749+
a_rotatePlaneY = numericAttr.create(
750+
"rotatePlaneY", "rotplny",
751+
MFnNumericData::kDouble, 0.0);
751752
CHECK_MSTATUS(numericAttr.setStorable(true));
752753
CHECK_MSTATUS(numericAttr.setKeyable(true));
753-
CHECK_MSTATUS(addAttribute(a_axisFlipY));
754754

755-
// Flip Z Axis
756-
a_axisFlipZ = numericAttr.create(
757-
"axisFlipZ", "axsflpz",
758-
MFnNumericData::kBoolean, false);
755+
a_rotatePlaneZ = numericAttr.create(
756+
"rotatePlaneZ", "rotplnz",
757+
MFnNumericData::kDouble, 0.0);
759758
CHECK_MSTATUS(numericAttr.setStorable(true));
760759
CHECK_MSTATUS(numericAttr.setKeyable(true));
761-
CHECK_MSTATUS(addAttribute(a_axisFlipZ));
760+
761+
a_rotatePlane = compoundAttr.create(
762+
"rotatePlane", "rotpln",
763+
&status);
764+
CHECK_MSTATUS(status);
765+
compoundAttr.addChild(a_rotatePlaneX);
766+
compoundAttr.addChild(a_rotatePlaneY);
767+
compoundAttr.addChild(a_rotatePlaneZ);
768+
CHECK_MSTATUS(addAttribute(a_rotatePlane));
769+
770+
// Rotate Order
771+
auto xyzMode = static_cast<short>(MEulerRotation::kXYZ);
772+
auto yzxMode = static_cast<short>(MEulerRotation::kYZX);
773+
auto zxyMode = static_cast<short>(MEulerRotation::kZXY);
774+
auto xzyMode = static_cast<short>(MEulerRotation::kXZY);
775+
auto yxzMode = static_cast<short>(MEulerRotation::kYXZ);
776+
auto zyxMode = static_cast<short>(MEulerRotation::kZYX);
777+
a_rotateOrder = enumAttr.create(
778+
"rotateOrder", "rotordr",
779+
xyzMode,
780+
&status);
781+
CHECK_MSTATUS(status);
782+
CHECK_MSTATUS(enumAttr.addField("XYZ", xyzMode));
783+
CHECK_MSTATUS(enumAttr.addField("YZX", yzxMode));
784+
CHECK_MSTATUS(enumAttr.addField("ZXY", zxyMode));
785+
CHECK_MSTATUS(enumAttr.addField("XZY", xzyMode));
786+
CHECK_MSTATUS(enumAttr.addField("YXZ", yxzMode));
787+
CHECK_MSTATUS(enumAttr.addField("ZYX", zyxMode));
788+
CHECK_MSTATUS(enumAttr.setStorable(true));
789+
CHECK_MSTATUS(enumAttr.setKeyable(true));
790+
CHECK_MSTATUS(addAttribute(a_rotateOrder));
762791
}
763792

764793
//////////////////////////////////////////////////////////////////////////
@@ -1065,10 +1094,11 @@ MStatus MMCameraCalibrateNode::initialize() {
10651094
inputAttrs.append(a_originPointX);
10661095
inputAttrs.append(a_originPointY);
10671096

1068-
inputAttrs.append(a_orientationPlane);
1069-
inputAttrs.append(a_axisFlipX);
1070-
inputAttrs.append(a_axisFlipY);
1071-
inputAttrs.append(a_axisFlipZ);
1097+
inputAttrs.append(a_rotatePlane);
1098+
inputAttrs.append(a_rotatePlaneX);
1099+
inputAttrs.append(a_rotatePlaneY);
1100+
inputAttrs.append(a_rotatePlaneZ);
1101+
inputAttrs.append(a_rotateOrder);
10721102

10731103
#ifdef WITH_PRINCIPAL_POINT
10741104
inputAttrs.append(a_principalPoint);

‎src/MMCameraCalibrateNode.h‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -92,11 +92,11 @@ class MMCameraCalibrateNode : public MPxNode {
9292
static MObject a_originPointX;
9393
static MObject a_originPointY;
9494

95-
// Orientation
96-
static MObject a_orientationPlane;
97-
static MObject a_axisFlipX;
98-
static MObject a_axisFlipY;
99-
static MObject a_axisFlipZ;
95+
static MObject a_rotatePlaneX;
96+
static MObject a_rotatePlaneY;
97+
static MObject a_rotatePlaneZ;
98+
static MObject a_rotatePlane;
99+
static MObject a_rotateOrder;
100100

101101
#if false
102102
// Principal Point

‎src/core/calibrate/common.cpp‎

Lines changed: 7 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -242,8 +242,8 @@ createOrientationMatrix(
242242
}
243243
else if (orientPlane == OrientationPlane::XZ)
244244
{
245-
forward = mmdata::Vector3D(-1, 0, 0);
246-
side = mmdata::Vector3D(0, 0, -1);
245+
forward = mmdata::Vector3D(1, 0, 0);
246+
side = mmdata::Vector3D(0, 0, 1);
247247
}
248248
else if (orientPlane == OrientationPlane::XY)
249249
{
@@ -376,10 +376,6 @@ applySceneScale(
376376
bool
377377
calcCameraParameters(
378378
mmdata::Point2D originPoint,
379-
OrientationPlane orientPlane,
380-
bool axisFlipX,
381-
bool axisFlipY,
382-
bool axisFlipZ,
383379
mmdata::Point2D principalPoint,
384380
mmdata::Point2D vanishingPointA,
385381
mmdata::Point2D vanishingPointB,
@@ -419,6 +415,11 @@ calcCameraParameters(
419415
return false;
420416
}
421417

418+
// Orient the "ground" plane.
419+
bool axisFlipX = false;
420+
bool axisFlipY = false;
421+
bool axisFlipZ = false;
422+
auto orientPlane = OrientationPlane::XZ;
422423
auto orientMatrix = createOrientationMatrix(
423424
orientPlane,
424425
axisFlipX,

‎src/core/calibrate/common.h‎

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -136,10 +136,6 @@ applySceneScale(
136136
bool
137137
calcCameraParameters(
138138
mmdata::Point2D originPoint,
139-
OrientationPlane orientPlane,
140-
bool axisFlipX,
141-
bool axisFlipY,
142-
bool axisFlipZ,
143139
mmdata::Point2D principalPoint,
144140
mmdata::Point2D vanishingPointA,
145141
mmdata::Point2D vanishingPointB,

‎src/core/calibrate/vanishingPoint.cpp‎

Lines changed: 0 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -52,10 +52,6 @@ bool oneVanishingPoint(
5252
double filmBackWidth_mm,
5353
double filmBackHeight_mm,
5454
mmdata::Point2D originPoint,
55-
OrientationPlane orientPlane,
56-
bool axisFlipX,
57-
bool axisFlipY,
58-
bool axisFlipZ,
5955
mmdata::Point2D principalPoint,
6056
mmdata::Point2D vanishingPointA,
6157
mmdata::Point2D horizonPointA,
@@ -117,10 +113,6 @@ bool oneVanishingPoint(
117113

118114
auto ok = calcCameraParameters(
119115
originPoint,
120-
orientPlane,
121-
axisFlipX,
122-
axisFlipY,
123-
axisFlipZ,
124116
principalPoint,
125117
vanishingPointA,
126118
vanishingPointB,
@@ -145,10 +137,6 @@ bool twoVanishingPoints(
145137
double filmBackWidth_mm,
146138
double filmBackHeight_mm,
147139
mmdata::Point2D originPoint,
148-
OrientationPlane orientPlane,
149-
bool axisFlipX,
150-
bool axisFlipY,
151-
bool axisFlipZ,
152140
mmdata::Point2D principalPoint,
153141
mmdata::Point2D vanishingPointA,
154142
mmdata::Point2D vanishingPointB,
@@ -200,10 +188,6 @@ bool twoVanishingPoints(
200188

201189
ok = calcCameraParameters(
202190
originPoint,
203-
orientPlane,
204-
axisFlipX,
205-
axisFlipY,
206-
axisFlipZ,
207191
principalPoint,
208192
vanishingPointA,
209193
vanishingPointB,

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