PTZ Active Camera Model

gistfile1.txt

  _focalLength = 60;

    
    cout<<"_panAngle "<<_panAngle<<" "<<_tiltAngle<<endl;
    
    float phi = _tiltAngle; //φ
    float changeInPan;//δθ delta theta
    float changeInTilt;//δφ
    
    for(int x=0; x< sixt.getWidth(); x+=10){
        for(int y=0; y<sixt.getHeight(); y+=10){
            
            
            //changeInPanAngle = atan(x / (y+a) * sin(phi)); //setp 1
            cout<<"\nx y "<<x<<" , "<<y<<endl;
            
            float a = _focalLength / tan(phi); //step 2 length of major axis of the inner ellipse e1
            cout<<"a "<<a<<endl;

            
            changeInPan = atan(x / (y*sin(phi) + _focalLength * cos(phi))); //step3
            
            float b = a / sin(phi); //step 4
            cout<<"b "<<b<<endl;
            
            float t = atan(a/b * x/(y+a)); // step 7
            cout<<"t "<<t<<endl;
            
            float bigA = (y+a) / cos(t); //step 8 A = the major axis of e2
            cout<<"bigA "<<bigA<<endl;
       
            
            changeInTilt = atan(bigA-a) / _focalLength;
            
            cout<<"changeInPan "<<changeInPan<<" "<<changeInTilt<<endl;

            
            
            sampleColor = sixt.getColor(x,y);
            
            ofVec3f imageP(sixt.getWidth()-x,y,0.9);
            imageP = cameras[4]->screenToWorld(imageP, viewMain);
            
            
            ofQuaternion latRot, longRot; //, spinQuat;
            latRot.makeRotate(_tiltAngle+changeInTilt, 1, 0, 0);
            longRot.makeRotate(_panAngle+changeInPan, 0, 1, 0);
            ofVec3f center = ofVec3f(0,0,sphereDiameter);
            
            ofVec3f temp_worldPoint = latRot * longRot * center;
            

            imageMesh.addVertex(temp_worldPoint);
            imageMesh.addColor(sampleColor);
            
        }
    }
        bGotIt = true;
  }