#include <FilamentCamera.h>

Inheritance diagram for cloudViewer::visualization::rendering::FilamentCamera:

Collaboration diagram for cloudViewer::visualization::rendering::FilamentCamera:

Public Member Functions
	FilamentCamera (filament::Engine &engine)

	~FilamentCamera ()

void	SetProjection (double fov, double aspect, double near, double far, FovType fov_type) override

void	SetProjection (Projection projection, double left, double right, double bottom, double top, double near, double far) override

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

void	LookAt (const Eigen::Vector3f &center, const Eigen::Vector3f &eye, const Eigen::Vector3f &up) override

void	SetModelMatrix (const Transform &view) override

void	SetModelMatrix (const Eigen::Vector3f &forward, const Eigen::Vector3f &left, const Eigen::Vector3f &up) override

double	GetNear () const override

double	GetFar () const override

double	GetFieldOfView () const override
	only valid if fov was passed to SetProjection() More...

FovType	GetFieldOfViewType () const override
	only valid if fov was passed to SetProjection() More...

Eigen::Vector3f	GetPosition () const override

Eigen::Vector3f	GetForwardVector () const override

Eigen::Vector3f	GetLeftVector () const override

Eigen::Vector3f	GetUpVector () const override

Transform	GetModelMatrix () const override

Transform	GetViewMatrix () const override

ProjectionMatrix	GetProjectionMatrix () const override

Transform	GetCullingProjectionMatrix () const override

const ProjectionInfo &	GetProjection () const override

Eigen::Vector3f	Unproject (float x, float y, float z, float view_width, float view_height) const override

Eigen::Vector2f	GetNDC (const Eigen::Vector3f &pt) const override

double	GetViewZ (float z_buffer) const override

void	CopyFrom (const Camera *camera) override

filament::Camera *	GetNativeCamera () const

Public Member Functions inherited from cloudViewer::visualization::rendering::Camera
virtual	~Camera ()=default

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

Additional Inherited Members
Public Types inherited from cloudViewer::visualization::rendering::Camera
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 >

Static Public Member Functions inherited from cloudViewer::visualization::rendering::Camera
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 25 of file FilamentCamera.h.

Constructor & Destructor Documentation

◆ FilamentCamera()

cloudViewer::visualization::rendering::FilamentCamera::FilamentCamera ( filament::Engine & engine )

explicit

Definition at line 64 of file FilamentCamera.cpp.

References cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_intrinsic, and cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_ortho.

◆ ~FilamentCamera()

cloudViewer::visualization::rendering::FilamentCamera::~FilamentCamera ( )

Definition at line 71 of file FilamentCamera.cpp.

Member Function Documentation

◆ CopyFrom()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 77 of file FilamentCamera.cpp.

References cloudViewer::visualization::rendering::Camera::GetModelMatrix(), cloudViewer::visualization::rendering::Camera::GetProjection(), SetModelMatrix(), and SetProjection().

◆ GetCullingProjectionMatrix()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 272 of file FilamentCamera.cpp.

◆ GetFar()

double cloudViewer::visualization::rendering::FilamentCamera::GetFar ( ) const

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 190 of file FilamentCamera.cpp.

◆ GetFieldOfView()

double cloudViewer::visualization::rendering::FilamentCamera::GetFieldOfView ( ) const

overridevirtual

only valid if fov was passed to SetProjection()

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 192 of file FilamentCamera.cpp.

References cloudViewer::visualization::rendering::Camera::ProjectionInfo::intrinsics, cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_intrinsic, cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_ortho, cloudViewer::visualization::rendering::Camera::ProjectionInfo::perspective, and cloudViewer::visualization::rendering::Camera::ProjectionInfo::proj.

◆ GetFieldOfViewType()

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

overridevirtual

only valid if fov was passed to SetProjection()

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 208 of file FilamentCamera.cpp.

References cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_intrinsic, cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_ortho, cloudViewer::visualization::rendering::Camera::ProjectionInfo::perspective, cloudViewer::visualization::rendering::Camera::ProjectionInfo::proj, and cloudViewer::visualization::rendering::Camera::Vertical.

◆ GetForwardVector()

Eigen::Vector3f cloudViewer::visualization::rendering::FilamentCamera::GetForwardVector ( ) const

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 237 of file FilamentCamera.cpp.

◆ GetLeftVector()

Eigen::Vector3f cloudViewer::visualization::rendering::FilamentCamera::GetLeftVector ( ) const

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 242 of file FilamentCamera.cpp.

◆ GetModelMatrix()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 252 of file FilamentCamera.cpp.

◆ GetNativeCamera()

filament::Camera* cloudViewer::visualization::rendering::FilamentCamera::GetNativeCamera ( ) const

inline

Definition at line 87 of file FilamentCamera.h.

◆ GetNDC()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 278 of file FilamentCamera.cpp.

◆ GetNear()

double cloudViewer::visualization::rendering::FilamentCamera::GetNear ( ) const

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 188 of file FilamentCamera.cpp.

Referenced by GetViewZ().

◆ GetPosition()

Eigen::Vector3f cloudViewer::visualization::rendering::FilamentCamera::GetPosition ( ) const

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 232 of file FilamentCamera.cpp.

◆ GetProjection()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 299 of file FilamentCamera.cpp.

◆ GetProjectionMatrix()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 262 of file FilamentCamera.cpp.

Referenced by Unproject().

◆ GetUpVector()

Eigen::Vector3f cloudViewer::visualization::rendering::FilamentCamera::GetUpVector ( ) const

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 247 of file FilamentCamera.cpp.

◆ GetViewMatrix()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 257 of file FilamentCamera.cpp.

Referenced by Unproject().

◆ GetViewZ()

double cloudViewer::visualization::rendering::FilamentCamera::GetViewZ ( float z_buffer ) const

overridevirtual

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

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 290 of file FilamentCamera.cpp.

References GetNear(), and infinity().

◆ LookAt()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 218 of file FilamentCamera.cpp.

◆ SetModelMatrix() [1/2]

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 303 of file FilamentCamera.cpp.

◆ SetModelMatrix() [2/2]

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 316 of file FilamentCamera.cpp.

Referenced by CopyFrom().

◆ SetProjection() [1/3]

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 148 of file FilamentCamera.cpp.

References height, cloudViewer::visualization::rendering::Camera::ProjectionInfo::intrinsics, cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_intrinsic, cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_ortho, cloudViewer::visualization::rendering::Camera::ProjectionInfo::proj, and width.

◆ SetProjection() [2/3]

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 104 of file FilamentCamera.cpp.

References cloudViewer::visualization::rendering::Camera::Horizontal, cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_intrinsic, cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_ortho, cloudViewer::visualization::rendering::Camera::ProjectionInfo::perspective, and cloudViewer::visualization::rendering::Camera::ProjectionInfo::proj.

Referenced by CopyFrom().

◆ SetProjection() [3/3]

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

overridevirtual

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

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 123 of file FilamentCamera.cpp.

References cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_intrinsic, cloudViewer::visualization::rendering::Camera::ProjectionInfo::is_ortho, cloudViewer::visualization::rendering::Camera::Ortho, cloudViewer::visualization::rendering::Camera::ProjectionInfo::ortho, and cloudViewer::visualization::rendering::Camera::ProjectionInfo::proj.

◆ Unproject()

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

overridevirtual

Implements cloudViewer::visualization::rendering::Camera.

Definition at line 321 of file FilamentCamera.cpp.

References GetProjectionMatrix(), and GetViewMatrix().

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

/root/ACloudViewer/libs/cloudViewer/visualization/rendering/filament/FilamentCamera.h
/root/ACloudViewer/libs/cloudViewer/visualization/rendering/filament/FilamentCamera.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FilamentCamera()

◆ ~FilamentCamera()

Member Function Documentation

◆ CopyFrom()

◆ GetCullingProjectionMatrix()

◆ GetFar()

◆ GetFieldOfView()

◆ GetFieldOfViewType()

◆ GetForwardVector()

◆ GetLeftVector()

◆ GetModelMatrix()

◆ GetNativeCamera()

◆ GetNDC()

◆ GetNear()

◆ GetPosition()

◆ GetProjection()

◆ GetProjectionMatrix()

◆ GetUpVector()

◆ GetViewMatrix()

◆ GetViewZ()

◆ LookAt()

◆ SetModelMatrix() [1/2]

◆ SetModelMatrix() [2/2]

◆ SetProjection() [1/3]

◆ SetProjection() [2/3]

◆ SetProjection() [3/3]

◆ Unproject()