Camera class holds a set of camera parameters together with the window pos/size. More...
#include <pcl/visualization/common/common.h>
Public Member Functions |
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| Camera () | |
| Construct a camera with meaningful default values. More... |
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| Camera (vtkCamera &camera) | |
| Construct a camera by copying parameters from a VTK camera. More... |
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| Camera (vtkCamera &camera, vtkRenderWindow &window) | |
| Construct a camera by copying parameters from a VTK camera and a VTK render window. More... |
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| void | computeViewMatrix (Eigen::Matrix4d &view_mat) const |
| Computes View matrix for Camera (Based on gluLookAt) More... |
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| void | computeProjectionMatrix (Eigen::Matrix4d &proj) const |
| Computes Projection Matrix for Camera. More... |
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| template<typename PointT > | |
| void | cvtWindowCoordinates (const PointT &pt, Eigen::Vector4d &window_cord) const |
| Converts point to window coordinates. More... |
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| template<typename PointT > | |
| void | cvtWindowCoordinates (const PointT &pt, Eigen::Vector4d &window_cord, const Eigen::Matrix4d &composite_mat) const |
| Converts point to window coordinates. More... |
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Public Attributes |
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| double | focal [3] |
| Focal point or lookAt. More... |
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| double | pos [3] |
| Position of the camera. More... |
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| double | view [3] |
| Up vector of the camera. More... |
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| double | clip [2] |
| Clipping planes depths. More... |
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| double | fovy |
| Field of view angle in y direction (radians). More... |
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| double | window_size [2] |
| double | window_pos [2] |
Detailed Description
Camera class holds a set of camera parameters together with the window pos/size.
Constructor & Destructor Documentation
Camera() [1/3]
| pcl::visualization::Camera::Camera | ( | ) |
Construct a camera with meaningful default values.
The camera is positioned at origin, looks along z-axis and has up-vector along y-axis. Window position and size are initialized with (0, 0) and (1, 1) respectively.
Camera() [2/3]
| pcl::visualization::Camera::Camera | ( | vtkCamera & | camera | ) |
Construct a camera by copying parameters from a VTK camera.
Window position and size are initialized with (0, 0) and (1, 1) respectively.
Camera() [3/3]
| pcl::visualization::Camera::Camera | ( | vtkCamera & | camera, |
| vtkRenderWindow & | window | ||
| ) |
Construct a camera by copying parameters from a VTK camera and a VTK render window.
Member Function Documentation
computeProjectionMatrix()
| void pcl::visualization::Camera::computeProjectionMatrix | ( | Eigen::Matrix4d & | proj | ) | const |
Computes Projection Matrix for Camera.
- Parameters
-
[out] proj the resultant matrix
Referenced by cvtWindowCoordinates().
computeViewMatrix()
| void pcl::visualization::Camera::computeViewMatrix | ( | Eigen::Matrix4d & | view_mat | ) | const |
Computes View matrix for Camera (Based on gluLookAt)
- Parameters
-
[out] view_mat the resultant matrix
Referenced by cvtWindowCoordinates().
cvtWindowCoordinates() [1/2]
| void Camera::cvtWindowCoordinates | ( | const PointT & | pt, |
| Eigen::Vector4d & | window_cord | ||
| ) | const |
Converts point to window coordinates.
- Parameters
-
[in] pt xyz point to be converted [out] window_cord vector containing the pts' window X,Y, Z and 1
- Note
- This function computes the projection and view matrix every time. It is very inefficient to use this for every point in the point cloud!
Definition at line 43 of file common.hpp.
References computeProjectionMatrix(), computeViewMatrix(), and view.
cvtWindowCoordinates() [2/2]
| void Camera::cvtWindowCoordinates | ( | const PointT & | pt, |
| Eigen::Vector4d & | window_cord, | ||
| const Eigen::Matrix4d & | composite_mat | ||
| ) | const |
Converts point to window coordinates.
- Parameters
-
[in] pt xyz point to be converted [out] window_cord vector containing the pts' window X,Y, Z and 1 [in] composite_mat composite transformation matrix (proj*view)
- Note
- Use this function to compute window coordinates with a pre-computed transformation function. The typical composite matrix will be the projection matrix * the view matrix. However, additional matrices like a camera distortion matrix can also be added.
Definition at line 53 of file common.hpp.
References window_size.
Member Data Documentation
clip
| double pcl::visualization::Camera::clip[2] |
focal
| double pcl::visualization::Camera::focal[3] |
fovy
| double pcl::visualization::Camera::fovy |
pos
| double pcl::visualization::Camera::pos[3] |
view
| double pcl::visualization::Camera::view[3] |
Up vector of the camera.
- Note
- Not to be confused with the view direction, bad naming here.
Definition at line 177 of file common.h.
Referenced by cvtWindowCoordinates().
window_pos
window_size
| double pcl::visualization::Camera::window_size[2] |
Definition at line 189 of file common.h.
Referenced by cvtWindowCoordinates().
The documentation for this class was generated from the following files:
- pcl/visualization/common/common.h
- pcl/visualization/common/impl/common.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_camera.html
