Camera class holds a set of camera parameters together with the window pos/size. More...

#include <common.h>

Public Member Functions
void	computeProjectionMatrix (Eigen::Matrix4d &proj) const
	Computes Projection Matrix for Camera.
void	computeViewMatrix (Eigen::Matrix4d &view_mat) const
	Computes View matrix for Camera (Based on gluLookAt)
template<typename PointT >
void	cvtWindowCoordinates (const PointT &pt, Eigen::Vector4d &window_cord) const
	converts point to window coordiantes
template<typename PointT >
void	cvtWindowCoordinates (const PointT &pt, Eigen::Vector4d &window_cord, const Eigen::Matrix4d &composite_mat) const
	converts point to window coordiantes
Public Attributes
double	clip [2]
	Clipping planes depths. clip[0] is near clipping plane, and clip [1] is the far clipping plane.
double	focal [3]
	Focal point or lookAt.
double	fovy
	Field of view angle in y direction (radians).
double	pos [3]
	Position of the camera.
double	view [3]
	Up vector of the camera.
double	window_pos [2]
double	window_size [2]

Detailed Description

Camera class holds a set of camera parameters together with the window pos/size.

Definition at line 122 of file visualization/include/pcl/visualization/common/common.h.

Member Function Documentation

void Camera::computeProjectionMatrix ( Eigen::Matrix4d & proj ) const

Computes Projection Matrix for Camera.

Parameters:

[out] proj the resultant matrix

Definition at line 385 of file visualization/src/common/common.cpp.

void Camera::computeViewMatrix ( Eigen::Matrix4d & view_mat ) const

Computes View matrix for Camera (Based on gluLookAt)

Parameters:

[out] view_mat the resultant matrix

Definition at line 362 of file visualization/src/common/common.cpp.

template<typename PointT >

void Camera::cvtWindowCoordinates	(	const PointT &	pt,
		Eigen::Vector4d &	window_cord
	)		const

converts point to window coordiantes

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

This function computes the projection and view matrix every time. It is very inefficient to use this for every point in the point cloud!

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 49 of file visualization/include/pcl/visualization/common/impl/common.hpp.

template<typename PointT >

void Camera::cvtWindowCoordinates	(	const PointT &	pt,
		Eigen::Vector4d &	window_cord,
		const Eigen::Matrix4d &	composite_mat
	)		const

converts point to window coordiantes

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)

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.

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 69 of file visualization/include/pcl/visualization/common/impl/common.hpp.