#include <perspective_camera.h>

Inheritance diagram for kjb::Perspective_camera:

Public Member Functions
	Perspective_camera (double inear=10, double ifar=10000)

	Perspective_camera (double icentre_x, double icentre_y, double icentre_z, double ipitch, double iyaw, double iroll, double ifocal_length, double iprincipal_point_x, double iprincipal_point_y, double iskew, double iaspect_ratio, double world_scale=1.0, double inear=10, double ifar=10000)

	Perspective_camera (const kjb::Vector &icamera_centre, double ipitch, double iyaw, double iroll, double ifocal_length, double iprincipal_point_x, double iprincipal_point_y, double iskew, double iaspect_ratio, double world_scale=1.0, double inear=10, double ifar=10000)

	Perspective_camera (const char *fname)
	Reads a camera from an input file. More...

	Perspective_camera (std::istream &in)
	Reads a camera from an input stream. More...

	Perspective_camera (const Perspective_camera &pc)

virtual Perspective_camera &	operator= (const Perspective_camera &pc)

virtual Perspective_camera *	clone () const

virtual void	swap (Perspective_camera &other)

virtual	~Perspective_camera ()

virtual void	read (std::istream &in)
	Reads this camera from an input stream. More...

virtual void	read (const char *fname)
	Reads this camera from a file. More...

virtual void	write (std::ostream &out) const
	Writes this camera to an output stream. More...

virtual void	write (const char *fname) const
	Writes this camera to an output stream. More...

virtual void	update_rendering_interface () const
	This funcation makes sure that the rendering interface is consistent with the camera parameters stored in this class. More...

double	get_near () const
	get near plane z-distance from camera center (always positive) More...

void	set_near (double near)

double	get_far () const
	get farplane z-distance from camera center (always positive) More...

void	set_far (double far)

Vector	get_world_origin () const
	returns the world origin in camera coordinates More...

const kjb::Vector &	get_camera_centre () const
	returns the camera centre More...

double	get_camera_centre_x () const
	returns the x-coordinate of the camera centre More...

double	get_camera_centre_y () const
	returns the y-coordinate of the camera centre More...

double	get_camera_centre_z () const
	returns the y-coordinate of the camera centre More...

double	get_pitch () const
	returns the pitch angle in radian More...

double	get_yaw () const
	returns the yaw angle in radian More...

double	get_roll () const
	returns the roll angle in radian More...

const Vector &	get_rotation_angles () const
	returns the rotation angles [pitch, yaw, roll] More...

double	get_focal_length () const
	returns the focal length More...

const kjb::Vector &	get_principal_point () const
	returns the principal point More...

double	get_principal_point (unsigned int index) const
	returns the coordinate of the principal point specified by the input index More...

double	get_principal_point_x () const
	returns the x-coordinate of the principal point More...

double	get_principal_point_y () const
	returns the y-coordinate of the principal point More...

double	get_skew () const
	returns the skew in radian More...

double	get_aspect_ratio () const
	returns the aspect ratio More...

double	get_world_scale () const
	returns the world scale More...

void	set_world_origin (const kjb::Vector &origin)
	This returns a 3X4 camera matrix, built from the intrinsic and extrinsic parameters. More...

virtual void	set_camera_centre (const kjb::Vector &icentre)
	sets the camera centre More...

virtual void	set_camera_centre (unsigned int index, double ivalue)
	sets the coordinate of the camera centre specified by the input index More...

virtual void	set_camera_centre_x (double ix)
	sets the x-coordinate of the camera centre More...

virtual void	set_camera_centre_y (double iy)
	sets the y-coordinate of the camera centre More...

virtual void	set_camera_centre_z (double iz)
	sets the y-coordinate of the camera centre More...

virtual void	set_pitch (double ipitch)
	sets the pitch angle in radian More...

virtual void	set_yaw (double iyaw)
	sets the yaw angle in radian More...

virtual void	set_roll (double iroll)
	sets the roll angle in radian More...

virtual void	rotate_around_x_axis (double theta)
	rotates the camera around its x-axis More...

virtual void	rotate_around_y_axis (double theta)
	rotates the camera around its x-axis More...

virtual void	rotate_around_z_axis (double theta)
	rotates the camera around its x-axis More...

virtual void	rotate_around_camera_axes (double thetax, double thetay, double thetaz)
	rotates the camera around its x,y,z axes in this order More...

virtual void	set_rotation_angles (double ipitch, double iyaw, double iroll)
	sets pitch, yaw and roll for this camera, in radian More...

virtual void	set_focal_length (double ifocal)
	sets the focal length More...

virtual void	update_focal_with_scale (double ifocal)

virtual void	set_principal_point (const kjb::Vector &ip)
	sets the principal point More...

virtual void	set_principal_point (unsigned int index, double ip)
	sets the coordinate of the principal point specified by the input index More...

virtual void	set_principal_point_x (double ix)
	sets the x-coordinate of the principal point More...

virtual void	set_principal_point_y (double iy)
	sets the y-coordinate of the principal point More...

virtual void	set_skew (double is)
	sets the skew angle More...

virtual void	set_aspect_ratio (double iar)
	sets the aspect ratio More...

virtual void	set_world_scale (double iscale)
	sets the world scale More...

virtual void	set_look_at (double deyex, double deyey, double deyez, double dlookx, double dlooky, double dlookz, double dupx, double dupy, double dupz)
	sets the position and orientation with the semantics similar to gluLookAt More...

virtual void	set_look_at (const kjb::Vector &eye, const kjb::Vector &look, const kjb::Vector &up)
	sets the position and orientation with the semantics similar to gluLookAt in a more convenient form More...

virtual void	translate (double dx, double dy, double dz, unsigned int frame=FRAME_CAMERA_WORLD_COORDINATES)

virtual void	prepare_for_rendering (bool clean_buffers) const

const Matrix &	get_modelview_matrix () const

const Matrix &	get_projection_matrix () const

Matrix	get_gl_projection_matrix () const

void	mult_projection_matrix () const

void	mult_modelview_matrix () const

virtual Parametric_camera_gl_interface &	get_rendering_interface () const

void	set_rotation_mode (kjb::Quaternion::Euler_mode imode)

virtual void	set_angles_from_quaternion (const kjb::Quaternion &q)
	sets the rotation angles from an input quaternion More...

virtual void	set_orientation (const kjb::Quaternion &q)
	Alias of set_angles_from_quaternion() More...

const kjb::Quaternion &	get_rotations_as_a_quaternion () const
	returns the rotations of this camera as a quaternion More...

const kjb::Quaternion &	get_orientation () const
	Alias of get_angles_as_a_quaternion() More...

void	rotate_point_to_camera_frame (kjb::Vector &ipoint)
	Rotates the input point into the camera coordinate system. More...

void	get_point_in_world_coordinates (const kjb::Vector &point_in_camera_coordinates, kjb::Vector &point_in_world_coordinates) const
	Given a point in camera coordinates, it converts it to world coordinates. More...

bool	is_point_in_camera_frustum (const kjb::Vector &point_in_world_coordinates, double &x_, double &y_, unsigned int num_image_rows, unsigned int num_image_cols) const
	Given a point in world coordinates, it returns true if the point is in the viewing frustum, false otherwise. Notice that the OpenGL context will be set in this function, since it is needed for the computation. More...

void	get_point_in_camera_coordinates (kjb::Vector &io_point) const
	Given a point in world coordinates, it converts it to camera coordinates. More...

void	compute_new_euler_angles_on_rotations (double dpitch, double dyaw, double droll)

const Matrix &	get_camera_matrix () const

const Matrix &	build_camera_matrix () const

Vector	to_camera_coordinates (const Vector &v) const

Public Member Functions inherited from kjb::Cloneable
virtual	~Cloneable ()
	Deletes this Cloneable. More...

Public Member Functions inherited from kjb::Readable
virtual	~Readable ()
	Deletes this Readable. More...

Public Member Functions inherited from kjb::Writeable
virtual	~Writeable ()
	Deletes this Writeable. More...

Protected Attributes
Parametric_camera_gl_interface	rendering_interface

bool	intrinsic_dirty

bool	extrinsic_dirty

bool	cam_matrix_dirty

Matrix	m_camera_matrix

Additional Inherited Members
Static Public Member Functions inherited from kjb::Readable
static const char *	read_field_value (std::istream &in, const char field_name, char field_buf, size_t buf_len, char separator=':')
	Reads a line off in into a buffer and returns a pointer to the field value in the buffer. More...

static const char *	read_field_value (std::istream &in, const char *field_name, char separator=':')
	Reads a line off in into an internal buffer and returns a pointer to the field value in the buffer. More...

Constructor & Destructor Documentation

kjb::Perspective_camera::Perspective_camera	(	double	inear = `10`,
		double	ifar = `10000`
	)

Parameters

inear	The distance between the camera centre and the near clipping plane
ifar	The distance between the camera centre and the far clipping plane

kjb::Perspective_camera::Perspective_camera	(	double	icentre_x,
		double	icentre_y,
		double	icentre_z,
		double	ipitch,
		double	iyaw,
		double	iroll,
		double	ifocal_length,
		double	iprincipal_point_x,
		double	iprincipal_point_y,
		double	iskew,
		double	iaspect_ratio,
		double	iscale = `1.0`,
		double	inear = `10`,
		double	ifar = `10000`
	)

Parameters

icentre_x	The x coordinate of the camera centre
icentre_y	The y coordinate of the camera centre
icentre_z	The z coordinate of the camera centre
ipitch	The rotation around the camera's x axis
iyaw	The rotation around the camera's y axis
iroll	The rotation around the camera's x axis
ifocal_length	The focal length
iprincipal_point_x	The x coordinate of the principal point
iprincipal_point_y	The y coordinate of the principal point
iskew	The skew angle in radian
iaspect_ratio	The camera aspect ratio
iscale	The scale of the world
inear	The distance between the camera centre and the near clipping plane
ifar	The distance between the camera centre and the far clipping plane

kjb::Perspective_camera::Perspective_camera	(	const kjb::Vector &	icamera_centre,
		double	ipitch,
		double	iyaw,
		double	iroll,
		double	ifocal_length,
		double	iprincipal_point_x,
		double	iprincipal_point_y,
		double	iskew,
		double	iaspect_ratio,
		double	iscale = `1.0`,
		double	inear = `10`,
		double	ifar = `10000`
	)

Parameters

icamera_centre	The camera centre position [x,y,z], optionally in homogeneous coordinates
ipitch	The rotation around the camera's x axis
iyaw	The rotation around the camera's y axis
iroll	The rotation around the camera's x axis
ifocal_length	The focal length
iprincipal_point_x	The x coordinate of the principal point
iprincipal_point_y	The y coordinate of the principal point
iskew	The skew angle in radian
iaspect_ratio	The camera aspect ratio
iscale	The scale of the world
inear	The distance between the camera centre and the near clipping plane
ifar	The distance between the camera centre and the far clipping plane

kjb::Perspective_camera::Perspective_camera ( const char * fname )

Reads a camera from an input file.

The name of the file to read this camera from

kjb::Perspective_camera::Perspective_camera ( std::istream & in )

Reads a camera from an input stream.

The input stream to read this camera from

kjb::Perspective_camera::Perspective_camera ( const Perspective_camera & pc )

The camera to copy into this one

virtual kjb::Perspective_camera::~Perspective_camera ( )

inlinevirtual

Member Function Documentation

const Matrix& kjb::Perspective_camera::build_camera_matrix ( ) const

inline

Returns the camera matrix. This is a legacy call. get_camera_matrix() is preferred.

Note: I left this class for backward-compatability. However, it is now much faster (it simply returns the matrix, updating if necessary. (Ernesto – 2013/10/23)

Perspective_camera * kjb::Perspective_camera::clone ( ) const

virtual

Virtual copy contructor

Implements kjb::Cloneable.

Reimplemented in kjb::Calibrated_camera.

void kjb::Perspective_camera::compute_new_euler_angles_on_rotations	(	double	dpitch,
		double	dyaw,
		double	droll
	)

Given 3 rotation angles, sets the corresponding Euler angles given the current Euler convention

Parameters

dpitch	The amount of rotation arount the x-axis of this camera
dyaw	The amount of rotation arount the y-axis of this camera
droll	The amount of rotation arount the z-axis of this camera

double kjb::Perspective_camera::get_aspect_ratio ( ) const

inline

returns the aspect ratio

const kjb::Vector& kjb::Perspective_camera::get_camera_centre ( ) const

inline

returns the camera centre

double kjb::Perspective_camera::get_camera_centre_x ( ) const

inline

returns the x-coordinate of the camera centre

double kjb::Perspective_camera::get_camera_centre_y ( ) const

inline

returns the y-coordinate of the camera centre

double kjb::Perspective_camera::get_camera_centre_z ( ) const

inline

returns the y-coordinate of the camera centre

const Matrix& kjb::Perspective_camera::get_camera_matrix ( ) const

inline

Get the camera matrix corresponding to this camera

double kjb::Perspective_camera::get_far ( ) const

inline

get farplane z-distance from camera center (always positive)

double kjb::Perspective_camera::get_focal_length ( ) const

inline

returns the focal length

Matrix kjb::Perspective_camera::get_gl_projection_matrix ( ) const

inline

Return opengl projection matrix, which can be passed to kjb::opengl::glMultMatrix(). This is the exact matrix that is passed to opengl; i.e. the effect of the glOrtho call is included in this matrix.

const Matrix& kjb::Perspective_camera::get_modelview_matrix ( ) const

inline

Return opengl modelview matrix, which can be passed to kjb::opengl::glMultMatrix()

double kjb::Perspective_camera::get_near ( ) const

inline

get near plane z-distance from camera center (always positive)

const kjb::Quaternion& kjb::Perspective_camera::get_orientation ( ) const

inline

Alias of get_angles_as_a_quaternion()

double kjb::Perspective_camera::get_pitch ( ) const

inline

returns the pitch angle in radian

void kjb::Perspective_camera::get_point_in_camera_coordinates ( kjb::Vector & io_point ) const

inline

Given a point in world coordinates, it converts it to camera coordinates.

void kjb::Perspective_camera::get_point_in_world_coordinates	(	const kjb::Vector &	point_in_camera_coordinates,
		kjb::Vector &	point_in_world_coordinates
	)		const

inline

Given a point in camera coordinates, it converts it to world coordinates.

const kjb::Vector& kjb::Perspective_camera::get_principal_point ( ) const

inline

returns the principal point

double kjb::Perspective_camera::get_principal_point ( unsigned int index ) const

inline

returns the coordinate of the principal point specified by the input index

double kjb::Perspective_camera::get_principal_point_x ( ) const

inline

returns the x-coordinate of the principal point

double kjb::Perspective_camera::get_principal_point_y ( ) const

inline

returns the y-coordinate of the principal point

const Matrix& kjb::Perspective_camera::get_projection_matrix ( ) const

inline

Return opengl projection matrix, which can be passed to kjb::opengl::glMultMatrix(). Note that this needs to be preceeded by a call to glOrtho()

virtual Parametric_camera_gl_interface& kjb::Perspective_camera::get_rendering_interface ( ) const

inlinevirtual

double kjb::Perspective_camera::get_roll ( ) const

inline

returns the roll angle in radian

const Vector& kjb::Perspective_camera::get_rotation_angles ( ) const

inline

returns the rotation angles [pitch, yaw, roll]

const kjb::Quaternion& kjb::Perspective_camera::get_rotations_as_a_quaternion ( ) const

inline

returns the rotations of this camera as a quaternion

double kjb::Perspective_camera::get_skew ( ) const

inline

returns the skew in radian

Vector kjb::Perspective_camera::get_world_origin ( ) const

returns the world origin in camera coordinates

returns the world origin in camera coordinates as a 3-vector.

double kjb::Perspective_camera::get_world_scale ( ) const

inline

returns the world scale

double kjb::Perspective_camera::get_yaw ( ) const

inline

returns the yaw angle in radian

bool kjb::Perspective_camera::is_point_in_camera_frustum	(	const kjb::Vector &	point_in_world_coordinates,
		double &	x_,
		double &	y_,
		unsigned int	num_image_rows,
		unsigned int	num_image_cols
	)		const

inline

Given a point in world coordinates, it returns true if the point is in the viewing frustum, false otherwise. Notice that the OpenGL context will be set in this function, since it is needed for the computation.

void kjb::Perspective_camera::mult_modelview_matrix ( ) const

void kjb::Perspective_camera::mult_projection_matrix ( ) const

inline

Perspective_camera & kjb::Perspective_camera::operator= ( const Perspective_camera & pc )

virtual

The camera to assign to this one

void kjb::Perspective_camera::prepare_for_rendering ( bool clean_buffers ) const

virtual

This function makes sure that the rendering mechanism (OpenGL in this case) is set properly so that anything that will be rendered will be seen through a camera having the parameters specified in this class

Parameters

clean_buffers if true, the gl buffers will be cleared

void kjb::Perspective_camera::read ( std::istream & in )

virtual

Reads this camera from an input stream.

Parameters

in	The input stream to read from

Implements kjb::Readable.

virtual void kjb::Perspective_camera::read ( const char * fname )

inlinevirtual

Reads this camera from a file.

Reimplemented from kjb::Readable.

void kjb::Perspective_camera::rotate_around_camera_axes	(	double	thetax,
		double	thetay,
		double	thetaz
	)

virtual

rotates the camera around its x,y,z axes in this order

void kjb::Perspective_camera::rotate_around_x_axis ( double theta )

virtual

rotates the camera around its x-axis

void kjb::Perspective_camera::rotate_around_y_axis ( double theta )

virtual

rotates the camera around its x-axis

void kjb::Perspective_camera::rotate_around_z_axis ( double theta )

virtual

rotates the camera around its x-axis

void kjb::Perspective_camera::rotate_point_to_camera_frame ( kjb::Vector & ipoint )

inline

Rotates the input point into the camera coordinate system.

void kjb::Perspective_camera::set_angles_from_quaternion ( const kjb::Quaternion & q )

virtual

sets the rotation angles from an input quaternion

Sets the rotation angles from an input quaternion

Parameters

q	the input quaternion

void kjb::Perspective_camera::set_aspect_ratio ( double iar )

virtual

sets the aspect ratio

void kjb::Perspective_camera::set_camera_centre ( const kjb::Vector & icentre )

virtual

sets the camera centre

void kjb::Perspective_camera::set_camera_centre	(	unsigned int	index,
		double	ivalue
	)

virtual

sets the coordinate of the camera centre specified by the input index

void kjb::Perspective_camera::set_camera_centre_x ( double ix )

virtual

sets the x-coordinate of the camera centre

void kjb::Perspective_camera::set_camera_centre_y ( double iy )

virtual

sets the y-coordinate of the camera centre

void kjb::Perspective_camera::set_camera_centre_z ( double iz )

virtual

sets the y-coordinate of the camera centre

void kjb::Perspective_camera::set_far ( double far )

inline

void kjb::Perspective_camera::set_focal_length ( double ifocal )

virtual

sets the focal length

void kjb::Perspective_camera::set_look_at	(	double	deyex,
		double	deyey,
		double	deyez,
		double	dlookx,
		double	dlooky,
		double	dlookz,
		double	dupx,
		double	dupy,
		double	dupz
	)

virtual

sets the position and orientation with the semantics similar to gluLookAt

Parameters

deyex	Specifies the x position of the eye point.
deyey	Specifies the y position of the eye point.
deyex	Specifies the z position of the eye point.
dlookx	Specifies the x position of the reference point.
dlooky	Specifies the y position of the reference point.
dlookz	Specifies the z position of the reference point.
dupx	Specifies the x direction of the up vector.
dupy	Specifies the y direction of the up vector.
dupz	Specifies the z direction of the up vector.

void kjb::Perspective_camera::set_look_at	(	const kjb::Vector &	p_eye,
		const kjb::Vector &	p_look,
		const kjb::Vector &	p_up
	)

virtual

sets the position and orientation with the semantics similar to gluLookAt in a more convenient form

Parameters

eye	Specifies the position of the eye point.
look	Specifies the position of the reference point.
up	Specifies the direction of the up vector.

void kjb::Perspective_camera::set_near ( double near )

inline

virtual void kjb::Perspective_camera::set_orientation ( const kjb::Quaternion & q )

inlinevirtual

Alias of set_angles_from_quaternion()

Reimplemented in kjb::Calibrated_camera.

void kjb::Perspective_camera::set_pitch ( double ipitch )

virtual

sets the pitch angle in radian

void kjb::Perspective_camera::set_principal_point ( const kjb::Vector & ip )

virtual

sets the principal point

void kjb::Perspective_camera::set_principal_point	(	unsigned int	index,
		double	ip
	)

virtual

sets the coordinate of the principal point specified by the input index

void kjb::Perspective_camera::set_principal_point_x ( double ix )

virtual

sets the x-coordinate of the principal point

void kjb::Perspective_camera::set_principal_point_y ( double iy )

virtual

sets the y-coordinate of the principal point

void kjb::Perspective_camera::set_roll ( double iroll )

virtual

sets the roll angle in radian

void kjb::Perspective_camera::set_rotation_angles	(	double	ipitch,
		double	iyaw,
		double	iroll
	)

virtual

sets pitch, yaw and roll for this camera, in radian

void kjb::Perspective_camera::set_rotation_mode ( kjb::Quaternion::Euler_mode imode )

inline

Sets the rotation mode. This will have an impact on how pitch, yaw and roll are interpreted (standard is Euler Mode XYZ with rotating axes, see class Quaternion). No matter what mode you specify here, pitch will be interpreted as Euler angle 1, yaw as Euler angle 2, and roll as Euler angle 3. This function (except for standard mode XYZR) is not adequately tested

void kjb::Perspective_camera::set_skew ( double is )

virtual

sets the skew angle

void kjb::Perspective_camera::set_world_origin ( const kjb::Vector & origin )

This returns a 3X4 camera matrix, built from the intrinsic and extrinsic parameters.

Setters sets the world origin in camera coordinates.

void kjb::Perspective_camera::set_world_scale ( double iscale )

virtual

sets the world scale

void kjb::Perspective_camera::set_yaw ( double iyaw )

virtual

sets the yaw angle in radian

void kjb::Perspective_camera::swap ( Perspective_camera & other )

virtual

Swap contents with another Perspective_camera. This is implemented to run much more quickly than: Perspective_camera tmp = b; b = a; a = tmp;

Vector kjb::Perspective_camera::to_camera_coordinates ( const Vector & v ) const

void kjb::Perspective_camera::translate	(	double	dx,
		double	dy,
		double	dz,
		unsigned int	frame = `FRAME_CAMERA_WORLD_COORDINATES`
	)

virtual

void kjb::Perspective_camera::update_focal_with_scale ( double ifocal )

virtual

void kjb::Perspective_camera::update_rendering_interface ( ) const

virtual

This funcation makes sure that the rendering interface is consistent with the camera parameters stored in this class.

This makes sure that the rendering interface is consistent with the camera parameters

void kjb::Perspective_camera::write ( std::ostream & out ) const

virtual

Writes this camera to an output stream.

Implements kjb::Writeable.

virtual void kjb::Perspective_camera::write ( const char * fname ) const

inlinevirtual

Writes this camera to an output stream.

Reimplemented from kjb::Writeable.

Member Data Documentation

bool kjb::Perspective_camera::cam_matrix_dirty

mutableprotected

True if the camera matrix was not updated to reflect changes.

bool kjb::Perspective_camera::extrinsic_dirty

mutableprotected

True if the gl interface was not updated to reflect the changes to an extrinsic parameter

bool kjb::Perspective_camera::intrinsic_dirty

mutableprotected

True if the gl interface was not updated to reflect the changes to an intrinsic parameter

Matrix kjb::Perspective_camera::m_camera_matrix

mutableprotected

Camera matrix

Parametric_camera_gl_interface kjb::Perspective_camera::rendering_interface

mutableprotected

Interface to opengl

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

/work/kobus/src/lib/camera_cpp/perspective_camera.h
/work/kobus/src/lib/camera_cpp/perspective_camera.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation