initial setCamera implementation

modules/viz/include/opencv2/viz/viz3d.hpp

@@ -39,6 +39,7 @@ namespace cv
             void updateWidgetPose(const String &id, const Affine3f &pose);
             Affine3f getWidgetPose(const String &id) const;
             
+            void setCamera(const Camera2 &camera);
             Affine3f getViewerPose();
             void setViewerPose(const Affine3f &pose);
 

modules/viz/src/types.cpp

@@ -167,7 +167,7 @@ cv::viz::Camera2::Camera2(const Vec2f &fov, const Size &window_size)
     setClip(Vec2d(0.01, 1000.01)); // Default clipping
     window_size_ = window_size;
     fov_ = fov;
-    principal_point_ = Vec2f(-1.0f, -1.0f); // Symmetric lens
+    principal_point_ = Vec2f(-1.0f, -1.0f); // Default symmetric lens
     focal_ = Vec2f(-1.0f, -1.0f);
 }
 

modules/viz/src/viz3d.cpp

@@ -46,5 +46,6 @@ void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose) { imp
 void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) { impl_->updateWidgetPose(id, pose); }
 cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
 
+void cv::viz::Viz3d::setCamera(const Camera2 &camera) { impl_->setCamera(camera); }
 void cv::viz::Viz3d::setViewerPose(const Affine3f &pose) { impl_->setViewerPose(pose); }
 cv::Affine3f cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); }

modules/viz/src/viz3d_impl.cpp

@@ -591,6 +591,18 @@ void cv::viz::Viz3d::VizImpl::getCameras (cv::viz::Camera& camera)
     camera.window_pos = cv::Vec2d::all(0);
 }
 
+/////////////////////////////////////////////////////////////////////////////////////////////
+void cv::viz::Viz3d::VizImpl::setCamera(const Camera2 &camera)
+{
+    vtkCamera& active_camera = *renderer_->GetActiveCamera();
+    
+    // Set the intrinsic parameters of the camera
+    active_camera.SetUseHorizontalViewAngle (0); // Horizontal view angle is set based on the window size
+    active_camera.SetViewAngle (camera.getFov()[1] * 180.0f / CV_PI);
+    active_camera.SetClippingRange (camera.getClip()[0], camera.getClip()[1]);
+    window_->SetSize (static_cast<int> (camera.getWindowSize().width), static_cast<int> (camera.getWindowSize().height));
+}
+
 /////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose)
 {

modules/viz/src/viz3d_impl.hpp

@@ -110,6 +110,8 @@ public:
     // All camera methods to refactor into set/getViewwerPose, setCamera()
     // and 'Camera' class itself with various constructors/fields
     
+    void setCamera(const Camera2 &camera);
+
     void initCameraParameters (); /** \brief Initialize camera parameters with some default values. */
     bool cameraParamsSet () const; /** \brief Checks whether the camera parameters were manually loaded from file.*/
     void updateCamera (); /** \brief Update camera parameters and render. */