Open3D (C++ API)  0.15.1
FilamentCamera.h
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26 
27 #pragma once
28 
29 #include <utils/Entity.h>
30 
32 
34 namespace filament {
35 class Camera;
36 class Engine;
37 } // namespace filament
39 
40 namespace open3d {
41 namespace visualization {
42 namespace rendering {
43 
44 class FilamentCamera : public Camera {
45 public:
46  explicit FilamentCamera(filament::Engine& engine);
48 
49  void SetProjection(double fov,
50  double aspect,
51  double near,
52  double far,
53  FovType fov_type) override;
54 
55  void SetProjection(Projection projection,
56  double left,
57  double right,
58  double bottom,
59  double top,
60  double near,
61  double far) override;
62 
63  void SetProjection(const Eigen::Matrix3d& intrinsics,
64  double near,
65  double far,
66  double width,
67  double height) override;
68 
69  void LookAt(const Eigen::Vector3f& center,
70  const Eigen::Vector3f& eye,
71  const Eigen::Vector3f& up) override;
72 
73  void SetModelMatrix(const Transform& view) override;
74  void SetModelMatrix(const Eigen::Vector3f& forward,
75  const Eigen::Vector3f& left,
76  const Eigen::Vector3f& up) override;
77 
78  double GetNear() const override;
79  double GetFar() const override;
81  double GetFieldOfView() const override;
83  FovType GetFieldOfViewType() const override;
84 
85  Eigen::Vector3f GetPosition() const override;
86  Eigen::Vector3f GetForwardVector() const override;
87  Eigen::Vector3f GetLeftVector() const override;
88  Eigen::Vector3f GetUpVector() const override;
89  Transform GetModelMatrix() const override;
90  Transform GetViewMatrix() const override;
91  ProjectionMatrix GetProjectionMatrix() const override;
92  Transform GetCullingProjectionMatrix() const override;
93  const ProjectionInfo& GetProjection() const override;
94 
95  Eigen::Vector3f Unproject(float x,
96  float y,
97  float z,
98  float view_width,
99  float view_height) const override;
100 
101  Eigen::Vector2f GetNDC(const Eigen::Vector3f& pt) const override;
102  double GetViewZ(float z_buffer) const override;
103 
104  void CopyFrom(const Camera* camera) override;
105 
106  filament::Camera* GetNativeCamera() const { return camera_; }
107 
108 private:
109  filament::Camera* camera_ = nullptr;
110  utils::Entity camera_entity_;
111  filament::Engine& engine_;
112  Camera::ProjectionInfo projection_;
113 };
114 
115 } // namespace rendering
116 } // namespace visualization
117 } // namespace open3d
Eigen::Transform< float, 3, Eigen::Projective > ProjectionMatrix
Definition: Camera.h:45
Eigen::Transform< float, 3, Eigen::Affine > Transform
Definition: Camera.h:44
~FilamentCamera()
Definition: FilamentCamera.cpp:90
double GetFar() const override
Definition: FilamentCamera.cpp:218
ProjectionMatrix GetProjectionMatrix() const override
Definition: FilamentCamera.cpp:290
double GetFieldOfView() const override
only valid if fov was passed to SetProjection()
Definition: FilamentCamera.cpp:220
Transform GetCullingProjectionMatrix() const override
Definition: FilamentCamera.cpp:300
Transform GetViewMatrix() const override
Definition: FilamentCamera.cpp:285
filament::Camera * GetNativeCamera() const
Definition: FilamentCamera.h:106
Eigen::Vector3f Unproject(float x, float y, float z, float view_width, float view_height) const override
Definition: FilamentCamera.cpp:349
double GetViewZ(float z_buffer) const override
Definition: FilamentCamera.cpp:318
Eigen::Vector3f GetUpVector() const override
Definition: FilamentCamera.cpp:275
void SetProjection(double fov, double aspect, double near, double far, FovType fov_type) override
Definition: FilamentCamera.cpp:123
Eigen::Vector3f GetForwardVector() const override
Definition: FilamentCamera.cpp:265
void SetModelMatrix(const Transform &view) override
Definition: FilamentCamera.cpp:344
FilamentCamera(filament::Engine &engine)
Definition: FilamentCamera.cpp:83
Eigen::Vector2f GetNDC(const Eigen::Vector3f &pt) const override
Definition: FilamentCamera.cpp:306
Eigen::Vector3f GetPosition() const override
Definition: FilamentCamera.cpp:260
void CopyFrom(const Camera *camera) override
Definition: FilamentCamera.cpp:96
Eigen::Vector3f GetLeftVector() const override
Definition: FilamentCamera.cpp:270
const ProjectionInfo & GetProjection() const override
Definition: FilamentCamera.cpp:327
Transform GetModelMatrix() const override
Definition: FilamentCamera.cpp:280
double GetNear() const override
Definition: FilamentCamera.cpp:216
FovType GetFieldOfViewType() const override
only valid if fov was passed to SetProjection()
Definition: FilamentCamera.cpp:236
void LookAt(const Eigen::Vector3f &center, const Eigen::Vector3f &eye, const Eigen::Vector3f &up) override
Definition: FilamentCamera.cpp:246
int width
Definition: FilePCD.cpp:71
int height
Definition: FilePCD.cpp:72
Definition: FilamentEngine.h:31
Definition: PinholeCameraIntrinsic.cpp:35