pcl::visualization::Camera Class Reference

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)
	converts point to window coordiantes More...
template<typename PointT >
void	cvtWindowCoordinates (const PointT &pt, Eigen::Vector4d &window_cord, const Eigen::Matrix4d &composite_mat)
	converts point to window coordiantes More...

Public Attributes
double	focal [3]
double	pos [3]
double	view [3]
double	clip [2]
double	fovy
double	window_size [2]
double	window_pos [2]

Detailed Description

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

Definition at line 79 of file common.h.

Member Function Documentation

void pcl::visualization::Camera::computeProjectionMatrix

(

Eigen::Matrix4d &

proj

)

const

Computes Projection Matrix for Camera.

Parameters

[out]

proj

the resultant matrix

void pcl::visualization::Camera::computeViewMatrix

(

Eigen::Matrix4d &

view_mat

)

const

Computes View matrix for Camera (Based on gluLookAt)

Parameters

[out]

view_mat

the resultant matrix

template<typename PointT >

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

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

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

template<typename PointT >

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

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.

Member Data Documentation

double pcl::visualization::Camera::clip[2]

Definition at line 92 of file common.h.

double pcl::visualization::Camera::focal[3]

Definition at line 83 of file common.h.

double pcl::visualization::Camera::fovy

Definition at line 95 of file common.h.

double pcl::visualization::Camera::pos[3]

Definition at line 86 of file common.h.

double pcl::visualization::Camera::view[3]

Definition at line 89 of file common.h.

double pcl::visualization::Camera::window_pos[2]

Definition at line 101 of file common.h.

double pcl::visualization::Camera::window_size[2]

Definition at line 100 of file common.h.

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

• /builddir/build/BUILD/PCL-1.6.0-Source/visualization/include/pcl/visualization/common/common.h