I have an asteroid scene and a planet scene. When I run the asteroid scene separately, the child lights work, and when I generate them in the planet scene, the glow disappears. Moreover, I checked if this source is in the asteroid when it is already instanced as a variable, but has not yet been added to the scene. At this moment, the asteroid's child light source is absent.Eventually asteroid changes illumination (to no illumination lol) but ofc it shouldn't
Here are ready and process functions:
func _ready():
#THERE ARE ONLY MOVEMENT AND COLOR SETTINGS
random_color()
scale = Vector2(0.2, 0.2)
var go = true
rand_generate.randomize()
var delta_speed = rand_generate.randf_range(-0.5, 0.5)
angle_speed = 3 + delta_speed
angle_speed *= speed_scale
life_time = 2 * PI / angle_speed
rand_generate.randomize()
radius = rand_generate.randf_range(min_rad, max_rad)
position = Vector2(0, radius) + rotate_point
radius = Vector2(0, -radius)
func _physics_process(delta):
if PLAY:
#FUNCTION ONLY FOR DEBUG
position = get_global_mouse_position()
if not go:
#CONTROLS SHOULD IT MOVE
return
#THIS THREE IF'S ARE USED THAT THE ASTEROID
#FIRST SWIM OUT SMOOTHLY, THEN MOVE UNIFORMALLY
#THEN GENTLY REMOVE
if time < life_time * 0.3:
time += delta
var count_scale = lerp(0.01, 3, time / life_time)
scale = Vector2(count_scale,count_scale)
elif time > life_time * 0.7:
time += delta
var count_scale = lerp(3, 0.01,time / life_time)
scale = Vector2(count_scale,count_scale)
else:
time += delta
if time > life_time:
queue_free()
#DATS A CIRCULAR MOVEMENT AROUND A PLANET
position = rotate_point + radius.rotated(angle_speed*time + PI)
I solved my problem. In the Light2D settings, I set the Layer Min and Layer Max properties to -1 and 1, respectively. Everything works now
Given a Player.X and Player.Y, and a Unit.X and Unit.Y, what is the formula to calculate the proper amount in radians to face the player towards, so that the player is facing directly towards the units x,y position..
Minimum radians is 0, maximum radains is ~6.3(360 degrees) for radians in the game I am modding in C++.
Example:
Player.x = -9000
Player.y = -150
Unit.x = -8950
Unit.y = -132
I am not great at math, so thank you in advance!
If you use std::atan2 from <cmath>, then you might be able to do something like:
template <typename P, typename U>
double delta_theta(P p, U u) {
auto delta = std::atan2(u.y, u.x) - std::atan2(p.y, p.x);
if (delta > M_PI) return delta - 2*M_PI;
if (delta < -M_PI) return return delta + 2*M_PI;
return delta;
}
This generally returns positive if u is to the left (turn counter-clockwise) and negative if u is to the right (turn clockwise).
I'm writing my own basic physic engine and now I come to a problem I can't solve. Probably because I don't how to google this problem.
So here is my problem. I hope this image can explain it:
Collision response
I have two objects. The gray one is fixed and don't move and the green one which falls from the top.
The green object has three vectors: a force, the acceleration and the velocity. It collides with the fixed gray object.
The real question is how can I get the rotation of the green object when it falls down?
It sounds like you may not have an understanding of the fundamental physics underlying rigid body dynamics. I say that only because you don't mention any of the terminology commonly used when talking about this kind of problem. You'll need to introduce the idea of orientation and angular velocity (the rotational analogs of position and linear velocity) to each dynamic body in the system, and compute all kinds of intermediate quantities like moment of inertia, angular acceleration, and torque.
Perhaps the best introductory reference for this is Chris Hecker's series of articles for Game Developer Magazine. Assuming you already have non-rotational dynamics (covered in part 1) and collision detection (not covered by this series) solved, you should begin with part 2 and proceed to part 3. They'll give you a solid foundation in the physics and mathematics necessary for implementing rotational collision response.
You do as described below once, when the objects collide.
Let us call the green rectangle "a", and the other one "b".
1.
First you need the rectangles "rotational mass", mass of inertia.
a.i = 4/3 * width * height * (width^2 + height^2) * a.density
2.
Then you need the vector pointing from the rectangle's center of mass (average position of all corners) to the contact position (where the rectangles collide), let us call it "r".
3.
Then you need to find the collision normal. This normal is the direction of an impulse being applied to a from b. The normal is a vector with length 1 unit. In your example the normal would probably point upwards. Let us call the normal vector "n".
4.
Now you will need the velocity of the contact point on a. If a is not rotating, the formula would be:
vp = a.vel
If a is rotating the formula would be:
vp = a.vel + cross(a.r_vel, r)
a.r_vel is a's rotational velocity given in radians and positive direction is counter clockwise.
cross() means cross product, the function is:
cross (v,i) = [-i * v.y , i * v.x]
The expanded formula would be:
vp = a.v + [-r * a.r_vel.y , r * a.r_vel.x]
5.
Now you need to calculate whether the objects are moving towards each other. Project the vp onto n.
vp_p = dot(vp, n)
dot (v1, v2) = v1.x * v2.x + v1.y * v2.y
vp_p is a scalar (a value, not a vector).
If vp_p is negative the obejcts are moving towards each other, if it is > 0 they are moving apart.
6.
Now you need to calculate the impulse to stop a from moving into b, the impulse is:
j = -vp_p / (
1/a.mass + cross(r,n)^2 / a.i
)
The cross product between two vectors are:
cross(v1,v2) = v1.x * v2.y - v1.y * v2.x
It returns a scalar.
Multiply the impulse with the normal to get the impulse vector:
jn = j * n
7.
Now you need to apply the impulse to a:
a.new_vel = a.old_vel + jn / a.mass;
a.new_r_vel = a.old_r_vel + cross(r,jn) / a.i;
If you want the collision to be fully elastic, you must multiply the impulse by 2. Let us call this multiplier "e". e needs to be between 1 and 2. 1 means no energy is conserved, 2 means all energy is conserved.
Example code:
var vp = a.vel + cross(a.r_vel, r);
var vp_p = dot(vp,n); // negative val = moving towards each other
if (vp_p >= 0) { // do they move apart?
return false;
}
// normal impulse
var j = - e * vp_p / (
1/a.mass + cross(r,n)^2 / a.i
);
var jn = j * n;
//
a.vel = a.vel + jn / a.mass;
a.r_vel = a.r_vel + cross(r,jn) / a.i;
If b is not static the algorithm will be slightly different:
a.r = vector pointing from a's center of mass to the contact position
var vp = a.vel + cross(a.r_vel, a.r) - b.vel - cross(b.r_vel, b.r);
var vp_p = dot(vp,n); // negative val = moving towards each other
if (vp_p >= 0) { // do they move apart?
return false;
}
// normal impulse
var j = - e * vp_p / (
1/a.mass + cross(a.r,n)^2 / a.i +
1/b.mass + cross(b.r,n)^2 / b.i
);
var jn = j * n;
//
a.vel = a.vel + jp / a.mass;
a.r_vel = a.r_vel + cross(a.r,jn) / a.i;
b.vel = b.vel - jp / b.mass;
b.r_vel = b.r_vel - cross(b.r,jn) / b.i;
How the formulas work / sources:
http://www.myphysicslab.com/collision.html#resting_contact
BOUNTY STATUS UPDATE:
I discovered how to map a linear lens, from destination coordinates to source coordinates.
How do you calculate the radial distance from the centre to go from fisheye to rectilinear?
1). I actually struggle to reverse it, and to map source coordinates to destination coordinates. What is the inverse, in code in the style of the converting functions I posted?
2). I also see that my undistortion is imperfect on some lenses - presumably those that are not strictly linear. What is the equivalent to-and-from source-and-destination coordinates for those lenses? Again, more code than just mathematical formulae please...
Question as originally stated:
I have some points that describe positions in a picture taken with a fisheye lens.
I want to convert these points to rectilinear coordinates. I want to undistort the image.
I've found this description of how to generate a fisheye effect, but not how to reverse it.
There's also a blog post that describes how to use tools to do it; these pictures are from that:
(1) : SOURCE Original photo link
Input : Original image with fish-eye distortion to fix.
(2) : DESTINATION Original photo link
Output : Corrected image (technically also with perspective correction, but that's a separate step).
How do you calculate the radial distance from the centre to go from fisheye to rectilinear?
My function stub looks like this:
Point correct_fisheye(const Point& p,const Size& img) {
// to polar
const Point centre = {img.width/2,img.height/2};
const Point rel = {p.x-centre.x,p.y-centre.y};
const double theta = atan2(rel.y,rel.x);
double R = sqrt((rel.x*rel.x)+(rel.y*rel.y));
// fisheye undistortion in here please
//... change R ...
// back to rectangular
const Point ret = Point(centre.x+R*cos(theta),centre.y+R*sin(theta));
fprintf(stderr,"(%d,%d) in (%d,%d) = %f,%f = (%d,%d)\n",p.x,p.y,img.width,img.height,theta,R,ret.x,ret.y);
return ret;
}
Alternatively, I could somehow convert the image from fisheye to rectilinear before finding the points, but I'm completely befuddled by the OpenCV documentation. Is there a straightforward way to do it in OpenCV, and does it perform well enough to do it to a live video feed?
The description you mention states that the projection by a pin-hole camera (one that does not introduce lens distortion) is modeled by
R_u = f*tan(theta)
and the projection by common fisheye lens cameras (that is, distorted) is modeled by
R_d = 2*f*sin(theta/2)
You already know R_d and theta and if you knew the camera's focal length (represented by f) then correcting the image would amount to computing R_u in terms of R_d and theta. In other words,
R_u = f*tan(2*asin(R_d/(2*f)))
is the formula you're looking for. Estimating the focal length f can be solved by calibrating the camera or other means such as letting the user provide feedback on how well the image is corrected or using knowledge from the original scene.
In order to solve the same problem using OpenCV, you would have to obtain the camera's intrinsic parameters and lens distortion coefficients. See, for example, Chapter 11 of Learning OpenCV (don't forget to check the correction). Then you can use a program such as this one (written with the Python bindings for OpenCV) in order to reverse lens distortion:
#!/usr/bin/python
# ./undistort 0_0000.jpg 1367.451167 1367.451167 0 0 -0.246065 0.193617 -0.002004 -0.002056
import sys
import cv
def main(argv):
if len(argv) < 10:
print 'Usage: %s input-file fx fy cx cy k1 k2 p1 p2 output-file' % argv[0]
sys.exit(-1)
src = argv[1]
fx, fy, cx, cy, k1, k2, p1, p2, output = argv[2:]
intrinsics = cv.CreateMat(3, 3, cv.CV_64FC1)
cv.Zero(intrinsics)
intrinsics[0, 0] = float(fx)
intrinsics[1, 1] = float(fy)
intrinsics[2, 2] = 1.0
intrinsics[0, 2] = float(cx)
intrinsics[1, 2] = float(cy)
dist_coeffs = cv.CreateMat(1, 4, cv.CV_64FC1)
cv.Zero(dist_coeffs)
dist_coeffs[0, 0] = float(k1)
dist_coeffs[0, 1] = float(k2)
dist_coeffs[0, 2] = float(p1)
dist_coeffs[0, 3] = float(p2)
src = cv.LoadImage(src)
dst = cv.CreateImage(cv.GetSize(src), src.depth, src.nChannels)
mapx = cv.CreateImage(cv.GetSize(src), cv.IPL_DEPTH_32F, 1)
mapy = cv.CreateImage(cv.GetSize(src), cv.IPL_DEPTH_32F, 1)
cv.InitUndistortMap(intrinsics, dist_coeffs, mapx, mapy)
cv.Remap(src, dst, mapx, mapy, cv.CV_INTER_LINEAR + cv.CV_WARP_FILL_OUTLIERS, cv.ScalarAll(0))
# cv.Undistort2(src, dst, intrinsics, dist_coeffs)
cv.SaveImage(output, dst)
if __name__ == '__main__':
main(sys.argv)
Also note that OpenCV uses a very different lens distortion model to the one in the web page you linked to.
(Original poster, providing an alternative)
The following function maps destination (rectilinear) coordinates to source (fisheye-distorted) coordinates. (I'd appreciate help in reversing it)
I got to this point through trial-and-error: I don't fundamentally grasp why this code is working, explanations and improved accuracy appreciated!
def dist(x,y):
return sqrt(x*x+y*y)
def correct_fisheye(src_size,dest_size,dx,dy,factor):
""" returns a tuple of source coordinates (sx,sy)
(note: values can be out of range)"""
# convert dx,dy to relative coordinates
rx, ry = dx-(dest_size[0]/2), dy-(dest_size[1]/2)
# calc theta
r = dist(rx,ry)/(dist(src_size[0],src_size[1])/factor)
if 0==r:
theta = 1.0
else:
theta = atan(r)/r
# back to absolute coordinates
sx, sy = (src_size[0]/2)+theta*rx, (src_size[1]/2)+theta*ry
# done
return (int(round(sx)),int(round(sy)))
When used with a factor of 3.0, it successfully undistorts the images used as examples (I made no attempt at quality interpolation):
Dead link
(And this is from the blog post, for comparison:)
If you think your formulas are exact, you can comput an exact formula with trig, like so:
Rin = 2 f sin(w/2) -> sin(w/2)= Rin/2f
Rout= f tan(w) -> tan(w)= Rout/f
(Rin/2f)^2 = [sin(w/2)]^2 = (1 - cos(w))/2 -> cos(w) = 1 - 2(Rin/2f)^2
(Rout/f)^2 = [tan(w)]^2 = 1/[cos(w)]^2 - 1
-> (Rout/f)^2 = 1/(1-2[Rin/2f]^2)^2 - 1
However, as #jmbr says, the actual camera distortion will depend on the lens and the zoom. Rather than rely on a fixed formula, you might want to try a polynomial expansion:
Rout = Rin*(1 + A*Rin^2 + B*Rin^4 + ...)
By tweaking first A, then higher-order coefficients, you can compute any reasonable local function (the form of the expansion takes advantage of the symmetry of the problem). In particular, it should be possible to compute initial coefficients to approximate the theoretical function above.
Also, for good results, you will need to use an interpolation filter to generate your corrected image. As long as the distortion is not too great, you can use the kind of filter you would use to rescale the image linearly without much problem.
Edit: as per your request, the equivalent scaling factor for the above formula:
(Rout/f)^2 = 1/(1-2[Rin/2f]^2)^2 - 1
-> Rout/f = [Rin/f] * sqrt(1-[Rin/f]^2/4)/(1-[Rin/f]^2/2)
If you plot the above formula alongside tan(Rin/f), you can see that they are very similar in shape. Basically, distortion from the tangent becomes severe before sin(w) becomes much different from w.
The inverse formula should be something like:
Rin/f = [Rout/f] / sqrt( sqrt(([Rout/f]^2+1) * (sqrt([Rout/f]^2+1) + 1) / 2 )
I blindly implemented the formulas from here, so I cannot guarantee it would do what you need.
Use auto_zoom to get the value for the zoom parameter.
def dist(x,y):
return sqrt(x*x+y*y)
def fisheye_to_rectilinear(src_size,dest_size,sx,sy,crop_factor,zoom):
""" returns a tuple of dest coordinates (dx,dy)
(note: values can be out of range)
crop_factor is ratio of sphere diameter to diagonal of the source image"""
# convert sx,sy to relative coordinates
rx, ry = sx-(src_size[0]/2), sy-(src_size[1]/2)
r = dist(rx,ry)
# focal distance = radius of the sphere
pi = 3.1415926535
f = dist(src_size[0],src_size[1])*factor/pi
# calc theta 1) linear mapping (older Nikon)
theta = r / f
# calc theta 2) nonlinear mapping
# theta = asin ( r / ( 2 * f ) ) * 2
# calc new radius
nr = tan(theta) * zoom
# back to absolute coordinates
dx, dy = (dest_size[0]/2)+rx/r*nr, (dest_size[1]/2)+ry/r*nr
# done
return (int(round(dx)),int(round(dy)))
def fisheye_auto_zoom(src_size,dest_size,crop_factor):
""" calculate zoom such that left edge of source image matches left edge of dest image """
# Try to see what happens with zoom=1
dx, dy = fisheye_to_rectilinear(src_size, dest_size, 0, src_size[1]/2, crop_factor, 1)
# Calculate zoom so the result is what we wanted
obtained_r = dest_size[0]/2 - dx
required_r = dest_size[0]/2
zoom = required_r / obtained_r
return zoom
I took what JMBR did and basically reversed it. He took the radius of the distorted image (Rd, that is, the distance in pixels from the center of the image) and found a formula for Ru, the radius of the undistorted image.
You want to go the other way. For each pixel in the undistorted (processed image), you want to know what the corresponding pixel is in the distorted image.
In other words, given (xu, yu) --> (xd, yd). You then replace each pixel in the undistorted image with its corresponding pixel from the distorted image.
Starting where JMBR did, I do the reverse, finding Rd as a function of Ru. I get:
Rd = f * sqrt(2) * sqrt( 1 - 1/sqrt(r^2 +1))
where f is the focal length in pixels (I'll explain later), and r = Ru/f.
The focal length for my camera was 2.5 mm. The size of each pixel on my CCD was 6 um square. f was therefore 2500/6 = 417 pixels. This can be found by trial and error.
Finding Rd allows you to find the corresponding pixel in the distorted image using polar coordinates.
The angle of each pixel from the center point is the same:
theta = arctan( (yu-yc)/(xu-xc) ) where xc, yc are the center points.
Then,
xd = Rd * cos(theta) + xc
yd = Rd * sin(theta) + yc
Make sure you know which quadrant you are in.
Here is the C# code I used
public class Analyzer
{
private ArrayList mFisheyeCorrect;
private int mFELimit = 1500;
private double mScaleFESize = 0.9;
public Analyzer()
{
//A lookup table so we don't have to calculate Rdistorted over and over
//The values will be multiplied by focal length in pixels to
//get the Rdistorted
mFisheyeCorrect = new ArrayList(mFELimit);
//i corresponds to Rundist/focalLengthInPixels * 1000 (to get integers)
for (int i = 0; i < mFELimit; i++)
{
double result = Math.Sqrt(1 - 1 / Math.Sqrt(1.0 + (double)i * i / 1000000.0)) * 1.4142136;
mFisheyeCorrect.Add(result);
}
}
public Bitmap RemoveFisheye(ref Bitmap aImage, double aFocalLinPixels)
{
Bitmap correctedImage = new Bitmap(aImage.Width, aImage.Height);
//The center points of the image
double xc = aImage.Width / 2.0;
double yc = aImage.Height / 2.0;
Boolean xpos, ypos;
//Move through the pixels in the corrected image;
//set to corresponding pixels in distorted image
for (int i = 0; i < correctedImage.Width; i++)
{
for (int j = 0; j < correctedImage.Height; j++)
{
//which quadrant are we in?
xpos = i > xc;
ypos = j > yc;
//Find the distance from the center
double xdif = i-xc;
double ydif = j-yc;
//The distance squared
double Rusquare = xdif * xdif + ydif * ydif;
//the angle from the center
double theta = Math.Atan2(ydif, xdif);
//find index for lookup table
int index = (int)(Math.Sqrt(Rusquare) / aFocalLinPixels * 1000);
if (index >= mFELimit) index = mFELimit - 1;
//calculated Rdistorted
double Rd = aFocalLinPixels * (double)mFisheyeCorrect[index]
/mScaleFESize;
//calculate x and y distances
double xdelta = Math.Abs(Rd*Math.Cos(theta));
double ydelta = Math.Abs(Rd * Math.Sin(theta));
//convert to pixel coordinates
int xd = (int)(xc + (xpos ? xdelta : -xdelta));
int yd = (int)(yc + (ypos ? ydelta : -ydelta));
xd = Math.Max(0, Math.Min(xd, aImage.Width-1));
yd = Math.Max(0, Math.Min(yd, aImage.Height-1));
//set the corrected pixel value from the distorted image
correctedImage.SetPixel(i, j, aImage.GetPixel(xd, yd));
}
}
return correctedImage;
}
}
I found this pdf file and I have proved that the maths are correct (except for the line vd = *xd**fv+v0 which should say vd = **yd**+fv+v0).
http://perception.inrialpes.fr/CAVA_Dataset/Site/files/Calibration_OpenCV.pdf
It does not use all of the latest co-efficients that OpenCV has available but I am sure that it could be adapted fairly easily.
double k1 = cameraIntrinsic.distortion[0];
double k2 = cameraIntrinsic.distortion[1];
double p1 = cameraIntrinsic.distortion[2];
double p2 = cameraIntrinsic.distortion[3];
double k3 = cameraIntrinsic.distortion[4];
double fu = cameraIntrinsic.focalLength[0];
double fv = cameraIntrinsic.focalLength[1];
double u0 = cameraIntrinsic.principalPoint[0];
double v0 = cameraIntrinsic.principalPoint[1];
double u, v;
u = thisPoint->x; // the undistorted point
v = thisPoint->y;
double x = ( u - u0 )/fu;
double y = ( v - v0 )/fv;
double r2 = (x*x) + (y*y);
double r4 = r2*r2;
double cDist = 1 + (k1*r2) + (k2*r4);
double xr = x*cDist;
double yr = y*cDist;
double a1 = 2*x*y;
double a2 = r2 + (2*(x*x));
double a3 = r2 + (2*(y*y));
double dx = (a1*p1) + (a2*p2);
double dy = (a3*p1) + (a1*p2);
double xd = xr + dx;
double yd = yr + dy;
double ud = (xd*fu) + u0;
double vd = (yd*fv) + v0;
thisPoint->x = ud; // the distorted point
thisPoint->y = vd;
This can be solved as an optimization problem. Simply draw on curves in images that are supposed to be straight lines. Store the contour points for each of those curves. Now we can solve the fish eye matrix as a minimization problem. Minimize the curve in points and that will give us a fisheye matrix. It works.
It can be done manually by adjusting the fish eye matrix using trackbars! Here is a fish eye GUI code using OpenCV for manual calibration.