HQU-gxy/camera-extrinsic-play
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Refactor preProcessExtrinsic function to handle both Matrix4 and array inputs for extrinsic parameters. Add error handling for invalid inputs and update transformation sequence for camera-to-world conversion.

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crosstyan
2025-03-25 10:17:08 +08:00
parent 885ddd0989
commit 9fb7235d93
1 changed files with 23 additions and 13 deletions
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34
src/App.tsx
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@ -119,12 +119,14 @@ const Scene = () => {
let Rt: THREE.Matrix4
if (extrinsic instanceof THREE.Matrix4) {
Rt = extrinsic
} else {
} else if (Array.isArray(extrinsic)) {
console.assert(extrinsic.length === 16, "extrinsic must be a 4x4 matrix")
Rt = new THREE.Matrix4()
// @ts-expect-error 16 elements
Rt.set(...extrinsic)
} else {
throw new Error("extrinsic must be a 4x4 matrix or an array of 16 elements")
}
console.assert(Rt.elements.length === 16, "extrinsic must be a 4x4 matrix")
const font = new FontLoader().parse(HelvetikerRegular)
const camera = new THREE.PerspectiveCamera(fov ?? 60, aspect ?? 4 / 3, near ?? DEFAULT_NEAR, far ?? DEFAULT_FAR)
const helper = <cameraHelper args={[camera]} />
@ -161,17 +163,25 @@ const Scene = () => {
)
}
const preProcessExtrinsic = (extrinsic: number[]) => {
// Create the initial world-to-camera transform
const worldToCamera = new THREE.Matrix4()
const preProcessExtrinsic = (extrinsic: number[] | THREE.Matrix4) => {
let Rt: THREE.Matrix4
if (extrinsic instanceof THREE.Matrix4) {
Rt = extrinsic
} else if (Array.isArray(extrinsic)) {
console.assert(extrinsic.length === 16, "extrinsic must be a 4x4 matrix")
Rt = new THREE.Matrix4()
// @ts-expect-error 16 elements
worldToCamera.set(...extrinsic)
Rt.set(...extrinsic)
} else {
throw new Error("extrinsic must be a 4x4 matrix or an array of 16 elements")
}
// Convert from Z-up to Y-up first (this affects world coordinates)
const worldZupToYup = Z_UP_TO_Y_UP.clone()
// Then handle OpenCV to OpenGL camera convention
const cameraConversion = CV_TO_GL_MAT.clone()
const cameraCvt = CV_TO_GL_MAT.clone()
// Convert from Z-up to Y-up first (this affects world coordinates)
const worldCvt = Z_UP_TO_Y_UP.clone()
// Final transformation:
// 1. Convert world from Z-up to Y-up
@ -179,9 +189,9 @@ const Scene = () => {
// 3. Convert camera coordinates from OpenCV to OpenGL
const final = new THREE.Matrix4()
final
.multiply(cameraConversion)
.multiply(worldToCamera)
.multiply(worldZupToYup)
.multiply(cameraCvt)
.multiply(Rt)
.multiply(worldCvt)
// Invert to get the camera-to-world transform
final.invert()