Point Cloud Library (PCL)
1.7.1
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Camera class holds a set of camera parameters together with the window pos/size. More...
#include <pcl/visualization/common/common.h>
Public Member Functions | |
void | computeViewMatrix (Eigen::Matrix4d &view_mat) const |
Computes View matrix for Camera (Based on gluLookAt) More... | |
void | computeProjectionMatrix (Eigen::Matrix4d &proj) const |
Computes Projection Matrix for Camera. More... | |
template<typename PointT > | |
void | cvtWindowCoordinates (const PointT &pt, Eigen::Vector4d &window_cord) const |
converts point to window coordiantes More... | |
template<typename PointT > | |
void | cvtWindowCoordinates (const PointT &pt, Eigen::Vector4d &window_cord, const Eigen::Matrix4d &composite_mat) const |
converts point to window coordiantes More... | |
Public Attributes | |
double | focal [3] |
Focal point or lookAt. More... | |
double | pos [3] |
Position of the camera. More... | |
double | view [3] |
Up vector of the camera. More... | |
double | clip [2] |
Clipping planes depths. More... | |
double | fovy |
Field of view angle in y direction (radians). More... | |
double | window_size [2] |
double | window_pos [2] |
Camera class holds a set of camera parameters together with the window pos/size.
void pcl::visualization::Camera::computeProjectionMatrix | ( | Eigen::Matrix4d & | proj) | const |
Computes Projection Matrix for Camera.
[out] | proj | the resultant matrix |
Referenced by cvtWindowCoordinates().
void pcl::visualization::Camera::computeViewMatrix | ( | Eigen::Matrix4d & | view_mat) | const |
Computes View matrix for Camera (Based on gluLookAt)
[out] | view_mat | the resultant matrix |
Referenced by cvtWindowCoordinates().
void Camera::cvtWindowCoordinates | ( | const PointT & | pt, |
Eigen::Vector4d & | window_cord | ||
) | const |
converts point to window coordiantes
Converts point to window coordinates.
[in] | pt | xyz point to be converted |
[out] | window_cord | vector containing the pts' window X,Y, Z and 1 |
This function computes the projection and view matrix every time. It is very inefficient to use this for every point in the point cloud!
[in] | pt | xyz point to be converted |
[out] | window_cord | vector containing the pts' window X,Y, Z and 1 |
Definition at line 49 of file common.hpp.
References computeProjectionMatrix(), computeViewMatrix(), and view.
void Camera::cvtWindowCoordinates | ( | const PointT & | pt, |
Eigen::Vector4d & | window_cord, | ||
const Eigen::Matrix4d & | composite_mat | ||
) | const |
converts point to window coordiantes
[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) |
Use this function to compute window coordinates with a precomputed transformation function. The typical composite matrix will be the projection matrix * the view matrix. However, additional matrices like a camera disortion matrix can also be added.
[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) |
Definition at line 69 of file common.hpp.
References window_size.
double pcl::visualization::Camera::clip[2] |
double pcl::visualization::Camera::focal[3] |
double pcl::visualization::Camera::fovy |
double pcl::visualization::Camera::pos[3] |
double pcl::visualization::Camera::view[3] |
Up vector of the camera.
Definition at line 135 of file common.h.
Referenced by cvtWindowCoordinates().
double pcl::visualization::Camera::window_size[2] |
Definition at line 147 of file common.h.
Referenced by cvtWindowCoordinates().