29 #include <Eigen/Geometry> 32 namespace visualization {
39 using Transform = Eigen::Transform<float, 3, Eigen::Affine>;
85 virtual void LookAt(
const Eigen::Vector3f& center,
86 const Eigen::Vector3f& eye,
87 const Eigen::Vector3f& up) = 0;
91 const Eigen::Vector3f& left,
92 const Eigen::Vector3f& up) = 0;
94 virtual double GetNear()
const = 0;
95 virtual double GetFar()
const = 0;
113 virtual Eigen::Vector2f
GetNDC(
const Eigen::Vector3f& pt)
const = 0;
double top
Definition: Camera.h:124
Projection projection
Definition: Camera.h:120
Projection
Definition: Camera.h:38
double fy
Definition: Camera.h:137
virtual Eigen::Vector3f GetUpVector() const =0
virtual double GetFieldOfView() const =0
only valid if fov was passed to SetProjection()
double right
Definition: Camera.h:122
virtual const ProjectionInfo & GetProjection() const =0
virtual FovType GetFieldOfViewType() const =0
only valid if fov was passed to SetProjection()
virtual Eigen::Vector3f GetLeftVector() const =0
virtual void LookAt(const Eigen::Vector3f ¢er, const Eigen::Vector3f &eye, const Eigen::Vector3f &up)=0
double near_plane
Definition: Camera.h:125
double height
Definition: Camera.h:143
virtual Transform GetModelMatrix() const =0
double fov
Definition: Camera.h:130
double cx
Definition: Camera.h:138
double aspect
Definition: Camera.h:131
Eigen::Transform< float, 3, Eigen::Affine > Transform
Definition: Camera.h:39
virtual void SetModelMatrix(const Transform &view)=0
double width
Definition: Camera.h:142
double far_plane
Definition: Camera.h:126
FovType
Definition: Camera.h:37
Definition: PinholeCameraIntrinsic.cpp:35
virtual Eigen::Vector3f GetForwardVector() const =0
virtual void CopyFrom(const Camera *camera)=0
double fx
Definition: Camera.h:136
bool is_intrinsic
Definition: Camera.h:117
int height
Definition: FilePCD.cpp:72
virtual Eigen::Vector2f GetNDC(const Eigen::Vector3f &pt) const =0
virtual ~Camera()=default
FovType fov_type
Definition: Camera.h:129
virtual Eigen::Vector3f GetPosition() const =0
double bottom
Definition: Camera.h:123
virtual Transform GetProjectionMatrix() const =0
virtual double GetFar() const =0
virtual double GetNear() const =0
virtual Transform GetViewMatrix() const =0
double left
Definition: Camera.h:121
double cy
Definition: Camera.h:139
bool is_ortho
Definition: Camera.h:116
virtual void SetProjection(double fov, double aspect, double near, double far, FovType fov_type)=0
int width
Definition: FilePCD.cpp:71