#include <Camera.h>

Inheritance diagram for cloudViewer::visualization::rendering::Camera:

Classes
struct	ProjectionInfo

Public Types
enum class	FovType { Vertical , Horizontal }

enum class	Projection { Perspective , Ortho }

using	Transform = Eigen::Transform< float, 3, Eigen::Affine >

using	ProjectionMatrix = Eigen::Transform< float, 3, Eigen::Projective >

Public Member Functions
virtual	~Camera ()=default

virtual void	SetProjection (double fov, double aspect, double near, double far, FovType fov_type)=0

virtual void	SetProjection (Projection projection, double left, double right, double bottom, double top, double near, double far)=0

virtual void	SetProjection (const Eigen::Matrix3d &intrinsics, double near, double far, double width, double height)=0

virtual void	LookAt (const Eigen::Vector3f &center, const Eigen::Vector3f &eye, const Eigen::Vector3f &up)=0

virtual void	FromExtrinsics (const Eigen::Matrix4d &extrinsics)

virtual void	SetModelMatrix (const Transform &view)=0

virtual void	SetModelMatrix (const Eigen::Vector3f &forward, const Eigen::Vector3f &left, const Eigen::Vector3f &up)=0

virtual double	GetNear () const =0

virtual double	GetFar () const =0

virtual double	GetFieldOfView () const =0
	only valid if fov was passed to SetProjection() More...

virtual FovType	GetFieldOfViewType () const =0
	only valid if fov was passed to SetProjection() More...

virtual Eigen::Vector3f	GetPosition () const =0

virtual Eigen::Vector3f	GetForwardVector () const =0

virtual Eigen::Vector3f	GetLeftVector () const =0

virtual Eigen::Vector3f	GetUpVector () const =0

virtual Transform	GetModelMatrix () const =0

virtual Transform	GetViewMatrix () const =0

virtual ProjectionMatrix	GetProjectionMatrix () const =0

virtual Transform	GetCullingProjectionMatrix () const =0

virtual Eigen::Vector3f	Unproject (float x, float y, float z, float view_width, float view_height) const =0

virtual Eigen::Vector2f	GetNDC (const Eigen::Vector3f &pt) const =0

virtual double	GetViewZ (float z_buffer) const =0

virtual const ProjectionInfo &	GetProjection () const =0

virtual void	CopyFrom (const Camera *camera)=0

Static Public Member Functions
static void	SetupCameraAsPinholeCamera (rendering::Camera &camera, const Eigen::Matrix3d &intrinsic, const Eigen::Matrix4d &extrinsic, int intrinsic_width_px, int intrinsic_height_px, const ccBBox &scene_bounds)

static float	CalcNearPlane ()
	Returns a good value for the near plane. More...

static float	CalcFarPlane (const rendering::Camera &camera, const ccBBox &scene_bounds)

Detailed Description

Definition at line 18 of file Camera.h.

Member Typedef Documentation

◆ ProjectionMatrix

using cloudViewer::visualization::rendering::Camera::ProjectionMatrix = Eigen::Transform<float, 3, Eigen::Projective>

Definition at line 30 of file Camera.h.

◆ Transform

using cloudViewer::visualization::rendering::Camera::Transform = Eigen::Transform<float, 3, Eigen::Affine>

Definition at line 29 of file Camera.h.

Member Enumeration Documentation

◆ FovType

enum cloudViewer::visualization::rendering::Camera::FovType

strong

Enumerator
Vertical
Horizontal

Definition at line 20 of file Camera.h.

◆ Projection

enum cloudViewer::visualization::rendering::Camera::Projection

strong

Enumerator
Perspective
Ortho

Definition at line 21 of file Camera.h.

Constructor & Destructor Documentation

◆ ~Camera()

virtual cloudViewer::visualization::rendering::Camera::~Camera ( )

virtualdefault

Member Function Documentation

◆ CalcFarPlane()

float cloudViewer::visualization::rendering::Camera::CalcFarPlane	(	const rendering::Camera &	camera,
		const ccBBox &	scene_bounds
	)

static

Returns a value for the far plane that ensures that the entire bounds provided will not be clipped.

Definition at line 49 of file Camera.cpp.

References ccBBox::GetExtent(), ccBBox::GetMaxBound(), ccBBox::GetMinBound(), GetModelMatrix(), max(), and cloudViewer::visualization::rendering::MIN_FAR_PLANE.

Referenced by cloudViewer::visualization::rendering::PyOffscreenRenderer::SetupCamera(), SetupCameraAsPinholeCamera(), cloudViewer::visualization::rendering::RotationInteractorLogic::UpdateCameraFarPlane(), cloudViewer::visualization::gui::SceneWidget::Impl::UpdateFarPlane(), and cloudViewer::visualization::gui::SceneWidget::Impl::UpdateFromIntrinsicMatrix().

◆ CalcNearPlane()

float cloudViewer::visualization::rendering::Camera::CalcNearPlane ( )

static

Returns a good value for the near plane.

Definition at line 47 of file Camera.cpp.

References cloudViewer::visualization::rendering::NEAR_PLANE.

Referenced by cloudViewer::visualization::rendering::PyOffscreenRenderer::SetupCamera(), cloudViewer::visualization::gui::SceneWidget::Impl::UpdateFarPlane(), and cloudViewer::visualization::gui::SceneWidget::Impl::UpdateFromIntrinsicMatrix().

◆ CopyFrom()

virtual void cloudViewer::visualization::rendering::Camera::CopyFrom ( const Camera * camera )

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::pybind_rendering_classes().

◆ FromExtrinsics()

void cloudViewer::visualization::rendering::Camera::FromExtrinsics ( const Eigen::Matrix4d & extrinsics )

virtual

Definition at line 19 of file Camera.cpp.

References SetModelMatrix().

Referenced by SetupCameraAsPinholeCamera().

◆ GetCullingProjectionMatrix()

virtual Transform cloudViewer::visualization::rendering::Camera::GetCullingProjectionMatrix ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

◆ GetFar()

virtual double cloudViewer::visualization::rendering::Camera::GetFar ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::pybind_rendering_classes(), and cloudViewer::visualization::rendering::CameraInteractorLogic::Zoom().

◆ GetFieldOfView()

virtual double cloudViewer::visualization::rendering::Camera::GetFieldOfView ( ) const

pure virtual

only valid if fov was passed to SetProjection()

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::RotationInteractorLogic::CalcPanVectorWorld(), cloudViewer::visualization::rendering::pybind_rendering_classes(), cloudViewer::visualization::rendering::CameraInteractorLogic::StartMouseDrag(), and cloudViewer::visualization::rendering::CameraInteractorLogic::Zoom().

◆ GetFieldOfViewType()

virtual FovType cloudViewer::visualization::rendering::Camera::GetFieldOfViewType ( ) const

pure virtual

only valid if fov was passed to SetProjection()

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::pybind_rendering_classes(), and cloudViewer::visualization::rendering::CameraInteractorLogic::Zoom().

◆ GetForwardVector()

virtual Eigen::Vector3f cloudViewer::visualization::rendering::Camera::GetForwardVector ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::RotationInteractorLogic::CalcPanVectorWorld(), cloudViewer::visualization::rendering::ModelInteractorLogic::Dolly(), cloudViewer::visualization::visualizer::O3DVisualizer::Impl::EnableSunFollowsCamera(), cloudViewer::visualization::GuiVisualizer::OnMenuItemSelected(), cloudViewer::visualization::rendering::IBLRotationInteractorLogic::RotateZ(), and cloudViewer::visualization::rendering::ModelInteractorLogic::RotateZ().

◆ GetLeftVector()

virtual Eigen::Vector3f cloudViewer::visualization::rendering::Camera::GetLeftVector ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::GuiVisualizer::OnMenuItemSelected(), cloudViewer::visualization::rendering::IBLRotationInteractorLogic::Rotate(), cloudViewer::visualization::rendering::LightDirectionInteractorLogic::Rotate(), and cloudViewer::visualization::rendering::ModelInteractorLogic::Rotate().

◆ GetModelMatrix()

virtual Transform cloudViewer::visualization::rendering::Camera::GetModelMatrix ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

◆ GetNDC()

virtual Eigen::Vector2f cloudViewer::visualization::rendering::Camera::GetNDC ( const Eigen::Vector3f & pt ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::gui::SceneWidget::Draw().

◆ GetNear()

virtual double cloudViewer::visualization::rendering::Camera::GetNear ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::RotationInteractorLogic::CalcPanVectorWorld(), cloudViewer::visualization::rendering::pybind_rendering_classes(), cloudViewer::visualization::rendering::Renderer::RenderToDepthImage(), and cloudViewer::visualization::rendering::CameraInteractorLogic::Zoom().

◆ GetPosition()

virtual Eigen::Vector3f cloudViewer::visualization::rendering::Camera::GetPosition ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::RotationInteractorLogic::CalcPanVectorWorld(), cloudViewer::visualization::GuiVisualizer::OnMenuItemSelected(), cloudViewer::visualization::rendering::CameraInteractorLogic::RotateFly(), and cloudViewer::visualization::rendering::CameraInteractorLogic::Zoom().

◆ GetProjection()

virtual const ProjectionInfo& cloudViewer::visualization::rendering::Camera::GetProjection ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::FilamentCamera::CopyFrom(), and cloudViewer::visualization::rendering::RotationInteractorLogic::UpdateCameraFarPlane().

◆ GetProjectionMatrix()

virtual ProjectionMatrix cloudViewer::visualization::rendering::Camera::GetProjectionMatrix ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

◆ GetUpVector()

virtual Eigen::Vector3f cloudViewer::visualization::rendering::Camera::GetUpVector ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::GuiVisualizer::OnMenuItemSelected(), cloudViewer::visualization::rendering::IBLRotationInteractorLogic::Rotate(), cloudViewer::visualization::rendering::LightDirectionInteractorLogic::Rotate(), and cloudViewer::visualization::rendering::ModelInteractorLogic::Rotate().

◆ GetViewMatrix()

virtual Transform cloudViewer::visualization::rendering::Camera::GetViewMatrix ( ) const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

◆ GetViewZ()

virtual double cloudViewer::visualization::rendering::Camera::GetViewZ ( float z_buffer ) const

pure virtual

Returns the view space depth (i.e., distance from camera) for the given Z-buffer value

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

◆ LookAt()

virtual void cloudViewer::visualization::rendering::Camera::LookAt	(	const Eigen::Vector3f &	center,
		const Eigen::Vector3f &	eye,
		const Eigen::Vector3f &	up
	)

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::gui::SceneWidget::GoToCameraPreset(), cloudViewer::visualization::gui::SceneWidget::LookAt(), and cloudViewer::visualization::rendering::pybind_rendering_classes().

◆ SetModelMatrix() [1/2]

virtual void cloudViewer::visualization::rendering::Camera::SetModelMatrix	(	const Eigen::Vector3f &	forward,
		const Eigen::Vector3f &	left,
		const Eigen::Vector3f &	up
	)

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

◆ SetModelMatrix() [2/2]

virtual void cloudViewer::visualization::rendering::Camera::SetModelMatrix ( const Transform & view )

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::CameraInteractorLogic::Dolly(), FromExtrinsics(), cloudViewer::visualization::rendering::CameraInteractorLogic::MoveLocal(), cloudViewer::visualization::rendering::CameraInteractorLogic::Pan(), cloudViewer::visualization::rendering::CameraInteractorLogic::Rotate(), cloudViewer::visualization::rendering::CameraSphereInteractorLogic::Rotate(), cloudViewer::visualization::rendering::CameraInteractorLogic::RotateFly(), cloudViewer::visualization::rendering::CameraInteractorLogic::RotateLocal(), and cloudViewer::visualization::rendering::CameraInteractorLogic::RotateZ().

◆ SetProjection() [1/3]

virtual void cloudViewer::visualization::rendering::Camera::SetProjection	(	const Eigen::Matrix3d &	intrinsics,
		double	near,
		double	far,
		double	width,
		double	height
	)

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

◆ SetProjection() [2/3]

virtual void cloudViewer::visualization::rendering::Camera::SetProjection	(	double	fov,
		double	aspect,
		double	near,
		double	far,
		FovType	fov_type
	)

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::pybind_rendering_classes(), SetupCameraAsPinholeCamera(), cloudViewer::visualization::rendering::RotationInteractorLogic::UpdateCameraFarPlane(), and cloudViewer::visualization::rendering::CameraInteractorLogic::Zoom().

◆ SetProjection() [3/3]

virtual void cloudViewer::visualization::rendering::Camera::SetProjection	(	Projection	projection,
		double	left,
		double	right,
		double	bottom,
		double	top,
		double	near,
		double	far
	)

pure virtual

Sets the projection matrix from a frustum defined by six planes.

Parameters

projection	type of Projection to use.
left	distance in world units from the camera to the left plane, at the near plane.
right	distance in world units from the camera to the right plane, at the near plane.
bottom	distance in world units from the camera to the bottom plane, at the near plane.
top	distance in world units from the camera to the top plane, at the near plane.
near	distance in world units from the camera to the near plane. The near plane's
far	distance in world units from the camera to the far plane. The far plane's

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

◆ SetupCameraAsPinholeCamera()

void cloudViewer::visualization::rendering::Camera::SetupCameraAsPinholeCamera	(	rendering::Camera &	camera,
		const Eigen::Matrix3d &	intrinsic,
		const Eigen::Matrix4d &	extrinsic,
		int	intrinsic_width_px,
		int	intrinsic_height_px,
		const ccBBox &	scene_bounds
	)

static

Convenience function for configuring a camera as a pinhole camera. Configures the projection using the intrinsics and bounds, and the model matrix using the extrinsic matrix. Equivalent to calling SetProjection() and FromExtrinsics().

Definition at line 35 of file Camera.cpp.

References CalcFarPlane(), FromExtrinsics(), cloudViewer::visualization::rendering::NEAR_PLANE, and SetProjection().

Referenced by cloudViewer::visualization::rendering::PyOffscreenRenderer::SetupCamera(), and cloudViewer::visualization::gui::SceneWidget::SetupCamera().

◆ Unproject()

virtual Eigen::Vector3f cloudViewer::visualization::rendering::Camera::Unproject	(	float	x,
		float	y,
		float	z,
		float	view_width,
		float	view_height
	)		const

pure virtual

Implemented in cloudViewer::visualization::rendering::FilamentCamera.

Referenced by cloudViewer::visualization::rendering::pybind_rendering_classes().

The documentation for this class was generated from the following files:

/root/ACloudViewer/libs/cloudViewer/visualization/rendering/Camera.h
/root/ACloudViewer/libs/cloudViewer/visualization/rendering/Camera.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ProjectionMatrix

◆ Transform

Member Enumeration Documentation

◆ FovType

◆ Projection

Constructor & Destructor Documentation

◆ ~Camera()

Member Function Documentation

◆ CalcFarPlane()

◆ CalcNearPlane()

◆ CopyFrom()

◆ FromExtrinsics()

◆ GetCullingProjectionMatrix()

◆ GetFar()

◆ GetFieldOfView()

◆ GetFieldOfViewType()

◆ GetForwardVector()

◆ GetLeftVector()

◆ GetModelMatrix()

◆ GetNDC()

◆ GetNear()

◆ GetPosition()

◆ GetProjection()

◆ GetProjectionMatrix()

◆ GetUpVector()

◆ GetViewMatrix()

◆ GetViewZ()

◆ LookAt()

◆ SetModelMatrix() [1/2]

◆ SetModelMatrix() [2/2]

◆ SetProjection() [1/3]

◆ SetProjection() [2/3]

◆ SetProjection() [3/3]

◆ SetupCameraAsPinholeCamera()

◆ Unproject()