Defines an abstract camera with a projection and view matrices. More...

#include <camera.hpp>

Inheritance diagram for Tucano::Camera:

Public Member Functions
void	resetViewMatrix (void)
	Reset view matrix. More...

void	resetProjectionMatrix (void)
	Reset projection matrix. More...

void	reset (void)
	Resets trackball to initial position and orientation. More...

Eigen::Vector3f	getCenter (void) const
	Returns the center of the camera in world space. More...

void	getViewMatrix (GLdouble *matrix)
	Return the modelview matrix as a GLdouble array. More...

void	getProjectionMatrix (GLdouble *matrix)
	Return the projection matrix as a GLdouble array. More...

Eigen::Vector3f	projectPoint (const Eigen::Vector4f &pt, Eigen::Vector4f &viewport)
	Returns screen space coordinates of a 3D point. More...

Eigen::Affine3f	getViewMatrix (void) const
	Returns the view matrix as an Affine 3x3 matrix. More...

Eigen::Affine3f *	viewMatrix (void)
	Returns a pointer to the view matrix as an Affine 3x3 matrix. More...

Eigen::Matrix4f	getProjectionMatrix (void) const
	Returns the view matrix as an 4x4 matrix. More...

Eigen::Matrix4f *	projectionMatrix (void)
	Returns a pointer to the projection matrix as an 4x4 matrix. More...

Eigen::Matrix3f	getRotationMatrix (void) const
	Returns a 3x3 matrix containing only the rotation of the view matrix. More...

Eigen::Vector3f	getTranslationMatrix (void) const
	Returns the translation part of the view matrix as a vector. More...

float	getPerspectiveScale (void) const
	Returns the perspective scale. More...

Eigen::Vector4f	getViewport (void) const
	Returns the viewport coordinates. More...

Eigen::Vector2i	getViewportSize (void) const
	Returns the dimensions of the viewport. More...

float	getViewportAspectRatio (void) const
	Returns the viewport aspect ratio. More...

void	setViewport (const Eigen::Vector4f &vp)
	Sets the viewport coordinates. More...

void	setViewport (const Eigen::Vector2i &vp)

void	setViewport (const Eigen::Vector2f &vp)
	Sets the viewport coordinates considering that the minimum coordinates are zero. More...

void	setProjectionMatrix (const Eigen::Matrix4f &mat)
	Sets the projection matrix from a given 4x4 matrix. More...

void	setViewMatrix (const Eigen::Affine3f &mat)
	Sets the view matrix from a given an affine 3x3 matrix. More...

float	getNearPlane (void) const
	Returns near plane value. More...

float	getFarPlane (void) const
	Returns far plane value. More...

	~Camera ()
	Default destructor. More...

float	getFovy (void) const
	Returns current field of view angle in y axis. More...

	Camera (void)
	Default constructor. More...

Eigen::Matrix4f	setPerspectiveMatrix (float fy, float in_aspect_ratio, float in_near_plane, float in_far_plane)
	Sets the projection matrix as a perspective matrix. More...

void	changeFovy (float new_fovy)
	Changes the fovy and computes new perspective projection matrix. More...

Eigen::Matrix4f	setOrthographicMatrix (float left, float right, float bottom, float top, float near_plane, float far_plane)
	Sets the projection matrix as a orthographic matrix. More...

void	incrementFov (float inc)
	Increases the fov of the perspective matrix by a given increment. More...

void	translate (const Eigen::Vector3f &translation)
	Translates the view matrix by a given vector. More...

void	rotate (const Eigen::Quaternion< float > &rotation)
	Rotate the view matrix by a given quaternion. More...

void	scale (const Eigen::Vector3f &scale_factors)
	Scales the view matrix by given factors. More...

void	scale (float scale_factor)
	Scales the view matrix by given factor in all axis. More...

Static Public Member Functions
static Eigen::Matrix4f	createPerspectiveMatrix (float fy, float in_aspect_ratio, float in_near_plane, float in_far_plane)
	Returns a perspective projection matrix with the given parameters. More...

static Eigen::Matrix4f	createOrthographicMatrix (float left, float right, float bottom, float top, float near_plane, float far_plane)
	Returns an orthographic projection matrix with the given parameters. More...

Protected Attributes
Eigen::Matrix4f	projection_matrix
	Projection, or intrinsic, matrix. More...

Eigen::Affine3f	view_matrix
	View, or extrinsic, matrix. More...

Eigen::Vector4f	viewport
	Viewport dimensions [minX, minY, width, height]. More...

Eigen::Affine3f	default_view

float	near_plane
	Near plane used for projection matrix. More...

float	far_plane
	Far plane used for projection matrix. More...

float	frustum_left
	Frustum left dimension. More...

float	frustum_right
	Frustum right dimension. More...

float	frustum_top
	Frustum top dimension. More...

float	frustum_bottom
	Frustum bottom dimension. More...

float	aspect_ratio
	Aspect ratio for projection matrix. More...

float	focal_length
	Camera's Focal Length. More...

float	fovy
	Field of view angle in y axis. More...

bool	use_perspective
	Flag to indicate if using a perspective or othograpic projection. More...

Detailed Description

Defines an abstract camera with a projection and view matrices.

For a visual representation of a camera use the Shapers::CameraRep class

Constructor & Destructor Documentation

Tucano::Camera::~Camera ( )

inline

Default destructor.

Tucano::Camera::Camera ( void )

inline

Default constructor.

Member Function Documentation

void Tucano::Camera::changeFovy ( float new_fovy )

inline

Changes the fovy and computes new perspective projection matrix.

Parameters

new_fovy New value for field of view.

static Eigen::Matrix4f Tucano::Camera::createOrthographicMatrix	(	float	left,
		float	right,
		float	bottom,
		float	top,
		float	near_plane,
		float	far_plane
	)

inlinestatic

Returns an orthographic projection matrix with the given parameters.

Parameters

left	Left plane for orthographic view.
right	Right plane for orthographic view.
bottom	Bottom plane for orthographic view.
top	Top lane for orthographic view.
near_plane	Near plane for orthographic view.
far_plane	Far plane for orthographic view.

Returns: The created orthographic matrix.

static Eigen::Matrix4f Tucano::Camera::createPerspectiveMatrix	(	float	fy,
		float	in_aspect_ratio,
		float	in_near_plane,
		float	in_far_plane
	)

inlinestatic

Returns a perspective projection matrix with the given parameters.

Parameters

fy	Vertical field of view angle
in_aspect_ratio	Ratio of width to the height of the viewport
in_near_plane	Near plane
in_far_plane	Far plane

Returns: The created perspective matrix.

Eigen::Vector3f Tucano::Camera::getCenter ( void ) const

inline

Returns the center of the camera in world space.

Returns: Camera center

float Tucano::Camera::getFarPlane ( void ) const

inline

Returns far plane value.

Returns: Far plane.

float Tucano::Camera::getFovy ( void ) const

inline

Returns current field of view angle in y axis.

Returns: Field of view angle.

float Tucano::Camera::getNearPlane ( void ) const

inline

Returns near plane value.

Returns: Near plane.

float Tucano::Camera::getPerspectiveScale ( void ) const

inline

Returns the perspective scale.

Usually this is element(1,1) of the projection matrix.

Returns: The perspective scale factor

void Tucano::Camera::getProjectionMatrix ( GLdouble * matrix )

inline

Return the projection matrix as a GLdouble array.

Similar to OpenGL old method using glGet**(GL_PROJECTION_MATRIX)

Parameters

matrix A pointer to a GLdouble of at least 16 elements to fill with projection matrix.

Eigen::Matrix4f Tucano::Camera::getProjectionMatrix ( void ) const

inline

Returns the view matrix as an 4x4 matrix.

Returns: Projection Matrix.

Eigen::Matrix3f Tucano::Camera::getRotationMatrix ( void ) const

inline

Returns a 3x3 matrix containing only the rotation of the view matrix.

Returns: The rotation part of the view matrix as a 3x3 matrix.

Eigen::Vector3f Tucano::Camera::getTranslationMatrix ( void ) const

inline

Returns the translation part of the view matrix as a vector.

Returns: The translation part of the view matrix.

void Tucano::Camera::getViewMatrix ( GLdouble * matrix )

inline

Return the modelview matrix as a GLdouble array.

Similar to OpenGL old method using glGet**(GL_MODELVIEW_MATRIX)

Parameters

matrix A pointer to a GLdouble of at least 16 elements to fill with view matrix.

Eigen::Affine3f Tucano::Camera::getViewMatrix ( void ) const

inline

Returns the view matrix as an Affine 3x3 matrix.

Returns: View Matrix.

Eigen::Vector4f Tucano::Camera::getViewport ( void ) const

inline

Returns the viewport coordinates.

Viewport vector is as follows [minX, minY, width, height]

Returns: Viewport coordinates.

float Tucano::Camera::getViewportAspectRatio ( void ) const

inline

Returns the viewport aspect ratio.

Returns: Viewport aspect ratio x/y

Eigen::Vector2i Tucano::Camera::getViewportSize ( void ) const

inline

Returns the dimensions of the viewport.

Returns: Viewport dimensions.

void Tucano::Camera::incrementFov ( float inc )

inline

Increases the fov of the perspective matrix by a given increment.

Parameters

inc	Given increment to increase fov

Eigen::Matrix4f* Tucano::Camera::projectionMatrix ( void )

inline

Returns a pointer to the projection matrix as an 4x4 matrix.

Returns: Pointer to projection Matrix.

Eigen::Vector3f Tucano::Camera::projectPoint	(	const Eigen::Vector4f &	pt,
		Eigen::Vector4f &	viewport
	)

inline

Returns screen space coordinates of a 3D point.

Projects a given point to screen space using given viewport coordinates.

Parameters

pt	Given point to be projected.
viewport	Vector containing viewport coordinates in following order [minX, minY, maxX, maxY]

void Tucano::Camera::reset ( void )

inline

Resets trackball to initial position and orientation.

void Tucano::Camera::resetProjectionMatrix ( void )

inline

Reset projection matrix.

void Tucano::Camera::resetViewMatrix ( void )

inline

Reset view matrix.

void Tucano::Camera::rotate ( const Eigen::Quaternion< float > & rotation )

inline

Rotate the view matrix by a given quaternion.

Parameters

rotation Rotation to apply to view matrix.

void Tucano::Camera::scale ( const Eigen::Vector3f & scale_factors )

inline

Scales the view matrix by given factors.

Parameters

scale_factors Scale factors in x, y, and z axis.

void Tucano::Camera::scale ( float scale_factor )

inline

Scales the view matrix by given factor in all axis.

Parameters

scale_factor Scale factors in all axis.

Eigen::Matrix4f Tucano::Camera::setOrthographicMatrix	(	float	left,
		float	right,
		float	bottom,
		float	top,
		float	near_plane,
		float	far_plane
	)

inline

Sets the projection matrix as a orthographic matrix.

Creates an orthographic projection matrix with the given parameters and sets as the projection matrix.

Parameters

left	Left plane for orthographic view.
right	Right plane for orthographic view.
bottom	Bottom plane for orthographic view.
top	Top lane for orthographic view.
near_plane	Near plane for orthographic view.
far_plane	Far plane for orthographic view.

Returns: The created orthographic matrix.

Eigen::Matrix4f Tucano::Camera::setPerspectiveMatrix	(	float	fy,
		float	in_aspect_ratio,
		float	in_near_plane,
		float	in_far_plane
	)

inline

Sets the projection matrix as a perspective matrix.

Creates a perspective matrix with the given parameters and sets as the projection matrix.

Parameters

fy	Vertical field of view angle
in_aspect_ratio	Ratio of width to the height of the viewport
in_near_plane	Near plane
in_far_plane	Far plane

Returns: The created perspective matrix.

void Tucano::Camera::setProjectionMatrix ( const Eigen::Matrix4f & mat )

inline

Sets the projection matrix from a given 4x4 matrix.

Parameters

mat	Given 4x4 matrix to set as projection matrix.

void Tucano::Camera::setViewMatrix ( const Eigen::Affine3f & mat )

inline

Sets the view matrix from a given an affine 3x3 matrix.

Parameters

mat	Given Affine 3x3 matrix to set as view matrix.

void Tucano::Camera::setViewport ( const Eigen::Vector4f & vp )

inline

Sets the viewport coordinates.

Parameters

vp	Viewport coordinates.

void Tucano::Camera::setViewport ( const Eigen::Vector2i & vp )

inline

void Tucano::Camera::setViewport ( const Eigen::Vector2f & vp )

inline

Sets the viewport coordinates considering that the minimum coordinates are zero.

Sets the new viewport as [0, 0, vp[0], vp[1]]

Parameters

vp	Viewport coordinates.

void Tucano::Camera::translate ( const Eigen::Vector3f & translation )

inline

Translates the view matrix by a given vector.

Parameters

translation Translation to apply to view matrix.

Eigen::Affine3f* Tucano::Camera::viewMatrix ( void )

inline

Returns a pointer to the view matrix as an Affine 3x3 matrix.

Returns: Pointer to View Matrix.

Member Data Documentation

float Tucano::Camera::aspect_ratio

protected

Aspect ratio for projection matrix.

Eigen::Affine3f Tucano::Camera::default_view

protected

float Tucano::Camera::far_plane

protected

Far plane used for projection matrix.

float Tucano::Camera::focal_length

protected

Camera's Focal Length.

float Tucano::Camera::fovy

protected

Field of view angle in y axis.

float Tucano::Camera::frustum_bottom

protected

Frustum bottom dimension.

float Tucano::Camera::frustum_left

protected

Frustum left dimension.

float Tucano::Camera::frustum_right

protected

Frustum right dimension.

float Tucano::Camera::frustum_top

protected

Frustum top dimension.

float Tucano::Camera::near_plane

protected

Near plane used for projection matrix.

Eigen::Matrix4f Tucano::Camera::projection_matrix

protected

Projection, or intrinsic, matrix.

bool Tucano::Camera::use_perspective

protected

Flag to indicate if using a perspective or othograpic projection.

Eigen::Affine3f Tucano::Camera::view_matrix

protected

View, or extrinsic, matrix.

Eigen::Vector4f Tucano::Camera::viewport

protected

Viewport dimensions [minX, minY, width, height].

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

tucano/camera.hpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation