Class GLCamera represents a camera with it's coordinates, direction, and internal and external characteristics. More...

#include <glcamera.h>

Public Member Functions
	GLCamera (double fov=45.0, double ratio=1.3, double w=640.0, double h=480.0)
	Constructs a new camera object with the given field of view and a ratio between the width and height of the square plane the picture is projected onto.
	GLCamera (const GLCamera &camera)
	Copy constructor of the camera.
void	set_FOV (double nfov, double nratio, int w, int h)
	Sets the given field of view and a ratio between the width and height of the square plane the picture is projected onto.
void	set_projection (double alpha, double beta, double xc, double yc, int w, int h)
	Sets the camera parameters from a pinhole camera model.
void	move (double x, double y, double z)
	Moves the camera to a new point.
void	look_at (double x, double y, double z)
	Makes the camera looking at a given point in the coordinate system.
void	look_at_up (double x, double y, double z, double ux, double uy, double uz)
	Makes the camera looking at a given point in the coordinate system with orinetation given by a up-vector.
void	set_up (const GLVertex &up)
	Sets the up vector of the camera.
void	rotate (double yaw, double pitch, double roll)
	Rotates the camera to the given direction.
void	backproject_point (double x, double y, double &dx, double &dy, double &dz)
	Computes the ray direction through an image point.
void	configure ()
	Performs the camera immanent modifications for configuration of a camera, e.g.
void	project ()
	Performs the camera immanent modifications of the projection matrix.
void	set_smoothing (bool on)
	Sets smoothing while changing the moving point.
void	render_depth (float *array)
	Renders a depth image of the lastly drawn scene into an array.
void	render_RGBA (char *array)
	Renders the RGBA image into an array.
bool	is_target_reached ()
	Returns true if the target position has been reached.
GLMatrix4x4 &	get_modelview_matrix ()
	Retruns the currently applied modelview matrix.
void	set_modelview_matrix (const GLMatrix4x4 &matrix)
	Sets a new target matrix.
int	get_width ()
	Returns the width of the currently configured camera image.
int	get_height ()
	Returns the width of the currently configured camera image.

Detailed Description

Class GLCamera represents a camera with it's coordinates, direction, and internal and external characteristics.

Author:: Aless Lasaruk <lasaruk@uni-passau.de>

Constructor & Destructor Documentation

crp::GLCamera::GLCamera	(	double	fov = `45.0`,
		double	ratio = `1.3`,
		double	w = `640.0`,
		double	h = `480.0`
	)

Constructs a new camera object with the given field of view and a ratio between the width and height of the square plane the picture is projected onto.

Parameters:

fov	is the field of view.
ratio	is the screen width/height ratio.
w	Width of the image in pixels
h	Height of the image in pixels

crp::GLCamera::GLCamera ( const GLCamera & camera )

Copy constructor of the camera.

This constructor does not copy rgba maps or range maps.

Parameters:

camera Camera to copy from

Member Function Documentation

void crp::GLCamera::backproject_point	(	double	x,
		double	y,
		double &	dx,
		double &	dy,
		double &	dz
	)

Computes the ray direction through an image point.

Parameters:

x	X-Coordinate of the image point
y	Y-Coordinate of the image point
dx	X-Coordinate of the ray direction
dy	Y-Coordinate of the ray direction
dz	Z-Coordinate of the ray direction

void crp::GLCamera::configure ( )

Performs the camera immanent modifications for configuration of a camera, e.g.

as viewport setting

int crp::GLCamera::get_height ( ) [inline]

Returns the width of the currently configured camera image.

Returns:: Width of the image

GLMatrix4x4& crp::GLCamera::get_modelview_matrix ( )

Retruns the currently applied modelview matrix.

int crp::GLCamera::get_width ( ) [inline]

Returns the width of the currently configured camera image.

Returns:: Width of the image

bool crp::GLCamera::is_target_reached ( )

Returns true if the target position has been reached.

Returns:: True if the camera position is reached

void crp::GLCamera::look_at	(	double	x,
		double	y,
		double	z
	)

Makes the camera looking at a given point in the coordinate system.

Parameters:

x	X-coordinate of the new looking direction
y	Y-coordinate of the new looking direction
z	Z-coordinate of the new looking direction

void crp::GLCamera::look_at_up	(	double	x,
		double	y,
		double	z,
		double	ux,
		double	uy,
		double	uz
	)

Makes the camera looking at a given point in the coordinate system with orinetation given by a up-vector.

Parameters:

x	X-coordinate of the new looking direction
y	Y-coordinate of the new looking direction
z	Z-coordinate of the new looking direction
ux	X-coordinate of the new up-dircetion
uy	Y-coordinate of the new up-direction
uz	Z-coordinate of the new up-direction

void crp::GLCamera::move	(	double	x,
		double	y,
		double	z
	)

Moves the camera to a new point.

Parameters:

x	X-coordinate of the new position
y	Y-coordinate of the new position
z	Z-coordinate of the new position

void crp::GLCamera::project ( )

Performs the camera immanent modifications of the projection matrix.

void crp::GLCamera::render_depth ( float * array )

Renders a depth image of the lastly drawn scene into an array.

Parameters:

array	Array to render the data (must be sufficiently large)
linear_transform	Array of the double size of array, where each two neighbored floats are the factors .

void crp::GLCamera::render_RGBA ( char * array )

Renders the RGBA image into an array.

Parameters:

array Array to render the data (must be sufficiently large, at least width*height*4)

void crp::GLCamera::rotate	(	double	yaw,
		double	pitch,
		double	roll
	)

Rotates the camera to the given direction.

Parameters:

yaw	Yaw of the new rotation
pitch	Pitch of the new rotation
roll	Roll of the new rotation

void crp::GLCamera::set_FOV	(	double	nfov,
		double	nratio,
		int	w,
		int	h
	)

Sets the given field of view and a ratio between the width and height of the square plane the picture is projected onto.

Parameters:

nfov	is the new field of view.
nratio	is the new screen width/height ratio.
w	Width of the image in pixels
h	Height of the image in pixels

void crp::GLCamera::set_modelview_matrix ( const GLMatrix4x4 & matrix )

Sets a new target matrix.

Parameters:

matrix New model view matrix

void crp::GLCamera::set_projection	(	double	alpha,
		double	beta,
		double	xc,
		double	yc,
		int	w,
		int	h
	)

Sets the camera parameters from a pinhole camera model.

Parameters:

alpha	Focal length divided by the pixel width
beta	Focal length divided by the pixel height
xc	X-Coordinate of the image center
yc	Y-Coordinate of the image center
w	Width of the image in pixels
h	Height of the image in pixels

void crp::GLCamera::set_smoothing ( bool on )

Sets smoothing while changing the moving point.

That means that each time move or lookAt or rotate is called the camera data is changed slightly.

Parameters:

on	is the turn flag

void crp::GLCamera::set_up ( const GLVertex & up )

Sets the up vector of the camera.

Parameters:

direction New up direction.

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

glcamera.h

crp::GLCamera Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation