/// <summary>
/// Construct eye-rays through the specified pixels
/// </summary>
/// <param name="icp">Intrinsic camera parameters</param>
/// <param name="pixels">Pixels</param>
/// <returns>Enumerable ray collection</returns>
public static Ray[] EyeRays(Emgu.CV.IntrinsicCameraParameters icp, PointF[] pixels) {
Ray[] rays = new Ray[pixels.Length];
if (pixels.Length > 0) {
// 1. Undistort pixels
PointF[] undistorted_pixels = icp.Undistort(pixels, null, icp.IntrinsicMatrix);
// 2. Create rays
// Use inverse intrinsic calibration and depth = 1
double cx = icp.IntrinsicMatrix.Data[0, 2];
double cy = icp.IntrinsicMatrix.Data[1, 2];
double fx = icp.IntrinsicMatrix.Data[0, 0];
double fy = icp.IntrinsicMatrix.Data[1, 1];
Vector direction = new Vector(3);
for (int i = 0; i < undistorted_pixels.Length; ++i) {
PointF pixel = undistorted_pixels[i];
direction[0] = (pixel.X - cx) / fx;
direction[1] = (pixel.Y - cy) / fy;
direction[2] = 1;
rays[i] = new Ray(direction.Normalize());
}
}
return rays;
}