Camera perspective, frustum for augmented reality

Hi,

I made a long time ago an application in openGL to do augmented reality, and I want to do it with Urho3D now.
I have the intrinsic parameters of my camera, optic center (cx, cy) and focal (fx, fy).
In openGL, I set the camera with :

glFrustum(-_near*cx/(GLfloat)fx,_near*(FRAMEWIDTH-cx)/(GLfloat)fx,_near*(cy-FRAMEHEIGHT)/(GLfloat)fy,_near*cy/(GLfloat)fy,_near,_far);

The prototype is :

glFrustum(GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar);

What’s the equivalent in Urho3D? I saw that there is a frustum class in Urho3D but in the camera class, there is no “SetFrustum” function, only GetFrustum(). So how to assign a frustum to a scene?

I tried :

camera->SetAspectRatio((float)FRAMEWIDTH/(float)FRAMEHEIGHT);
camera->SetFov(CV_MAT_ELEM( *intrinsic_matrix, float,0,0));
camera->SetNearClip(0.1f);
camera->SetFarClip(1000.0);

but it doesn’t give the expected result.

Maybe, you can use Camera::SetProjection, which sets custom projection matrix?

Indeed, I was looking to it and the post :

It should do what I need, I’ll try.
Thansk!

So I tried different things, also following the answer of cadaver here [How to] Dynamic switch GL_PROJECTION and GL_MODELVIEW where he explains projection, model and view matrices that must be applied to the camera and the scene, but I still can’t have the good result for augmented reality.
I put a box in the scene and it must translate and rotate the same way as a chessboard. I get the rotation (matrice and vector) and translation (vector) of the chessboard with openCV.

Here is my openGL code that works. I want to convert it to Urho3D.

//rotation and translation matrix
GLfloat RTMat[16]={
		CV_MAT_ELEM( *rotMat, float, 0,0),
		-CV_MAT_ELEM( *rotMat, float, 1,0),
		-CV_MAT_ELEM( *rotMat, float, 2,0),
		0.0f,
		CV_MAT_ELEM( *rotMat, float, 0,1),
		-CV_MAT_ELEM( *rotMat, float, 1,1),
		-CV_MAT_ELEM( *rotMat, float, 2,1),
		0.0f,
		CV_MAT_ELEM( *rotMat, float, 0,2),
		-CV_MAT_ELEM( *rotMat, float, 1,2),
		-CV_MAT_ELEM( *rotMat, float, 2,2),
		0.0f,
		tX,    //translation onX
		tY,    // ... Y
		tZ,    // ... Z
		1.0f
	};

glViewport(0,0,FRAMEWIDTH,FRAMEHEIGHT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
float _near=0.1f, _far=1000.0;

//(fx, fy) focal length on X and Y, (cx, cy) optical center		
glFrustum(-_near*cx/(GLfloat)fx,_near*(FRAMEWIDTH-cx)/(GLfloat)fx,_near*(cy-FRAMEHEIGHT)/(GLfloat)fy,_near*cy/(GLfloat)fy,_near,_far);

glMatrixMode(GL_MODELVIEW);
glLoadIdentity();

glMultMatrixf(RTMat);

Does anybody know the good “conversion” to Urho3D?
Thanks.

It’s OK, I just used SetPosition and SetRotation on my object node. My first tests had some errors in the computed vlaues .