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<a href="_c_camera_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef opengl_CCamera_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CCamera_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_renderizable_8h.html">mrpt/opengl/CRenderizable.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose_or_point_8h.html">mrpt/poses/CPoseOrPoint.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>opengl
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">class </span>COpenGLViewport;
<a name="l00040"></a>00040 <span class="keyword">class </span>CCamera;
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00043"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_camera_ptr.html#a0299f1c8c2f9f07607ea5af72408a1ee">00043</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html" title="A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camer...">CCamera</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable.html" title="The base class of 3D objects that can be directly rendered through OpenGL.">CRenderizable</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> )
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">/** A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camera parameters set in COpenGLViewport::m_camera.</span>
<a name="l00046"></a>00046 <span class="comment"> * A camera can be defined to provide a projective or orthogonal view of the world by setting the member CCamera::m_projectiveModel.</span>
<a name="l00047"></a>00047 <span class="comment"> * \sa opengl::COpenGLScene</span>
<a name="l00048"></a>00048 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 class <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html" title="A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camer...">CCamera</a> : public <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable.html" title="The base class of 3D objects that can be directly rendered through OpenGL.">CRenderizable</a>
<a name="l00051"></a>00051 {
<a name="l00052"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ab53e6df903206054f7dad1b83d4ba954">00052</a> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_viewport.html" title="A viewport within a COpenGLScene, containing a set of OpenGL objects to render.">COpenGLViewport</a>;
<a name="l00053"></a>00053
<a name="l00054"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aa98b1a45c95dde633e7d154ef9720587">00054</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html" title="A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camer...">CCamera</a> )
<a name="l00055"></a>00055 protected:
<a name="l00056"></a>00056
<a name="l00057"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a40578f8caa034eb9a0398bd46f10607a">00057</a> <span class="keywordtype">float</span> m_pointingX,m_pointingY,m_pointingZ;
<a name="l00058"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ae920dccd2b3903337d6efcbcbfa92560">00058</a> <span class="keywordtype">float</span> m_distanceZoom;
<a name="l00059"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a39eaac30488b426e6bb711a7604e0641">00059</a> <span class="keywordtype">float</span> m_azimuthDeg,m_elevationDeg;
<a name="l00060"></a>00060
<a name="l00061"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ac0883d3b2c89bf80c7d95837157f53a3">00061</a> <span class="keywordtype">bool</span> m_projectiveModel; <span class="comment">//!< If set to true (default), camera model is projective, otherwise, it's orthogonal.</span>
<a name="l00062"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aca3cb013ebd3f28613250d32e81e37b6">00062</a> <span class="comment"></span> <span class="keywordtype">float</span> m_projectiveFOVdeg; <span class="comment">//!< Field-of-View in degs, only when projectiveModel=true (default=30 deg).</span>
<a name="l00063"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a70adb68b237775c15b2d9fb70de50144">00063</a> <span class="comment"></span> <span class="keywordtype">bool</span> m_6DOFMode; <span class="comment">//!< If set to true, camera pose is used when rendering the viewport</span>
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065
<a name="l00066"></a>00066 public:
<a name="l00067"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a4dde80ddcd2f6ca74b0b24e682baa102">00067</a> <span class="keywordtype">void</span> setPointingAt(<span class="keywordtype">float</span> x,<span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> z) { m_pointingX=x; m_pointingY=<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>; m_pointingZ=z; }
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keyword">template</span> <<span class="keyword">class</span> POSEORPOINT>
<a name="l00070"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a7d9ca43494b4dbd00d398e2f76f18e5d">00070</a> <span class="keywordtype">void</span> setPointingAt(<span class="keyword">const</span> POSEORPOINT &p)
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 m_pointingX=p.x();
<a name="l00073"></a>00073 m_pointingY=p.y();
<a name="l00074"></a>00074 m_pointingZ=p.is3DPoseOrPoint() ? p.m_coords[2] : 0;
<a name="l00075"></a>00075 }
<a name="l00076"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aca170176c64f6b22820ab543e4965d81">00076</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aca170176c64f6b22820ab543e4965d81">setPointingAt</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &p) { <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aca170176c64f6b22820ab543e4965d81">setPointingAt</a>(p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a5014ee49d97866d293568300b619a7e2" title="X coordinate.">x</a>,p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#aec879c0d61d8446e93b7d09344931d37" title="Y coordinate.">y</a>,p.<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html#a61df04839b9146696e696fc7af3bc307" title="Z coordinate.">z</a>); }
<a name="l00077"></a>00077
<a name="l00078"></a>00078
<a name="l00079"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aacf3d42049a42c7e468ce13e3a954831">00079</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aacf3d42049a42c7e468ce13e3a954831">getPointingAtX</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_pointingX; }
<a name="l00080"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a2eb4480f8f4b10f0147e09f01c71df22">00080</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a2eb4480f8f4b10f0147e09f01c71df22">getPointingAtY</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_pointingY; }
<a name="l00081"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#abdb75355760a565a04248a6bc0b537c7">00081</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#abdb75355760a565a04248a6bc0b537c7">getPointingAtZ</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_pointingZ; }
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a656b9389ca6d6d57578d6d457968ac40">00083</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a656b9389ca6d6d57578d6d457968ac40">setZoomDistance</a>(<span class="keywordtype">float</span> z) { m_distanceZoom=z; }
<a name="l00084"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a4146f6f5d21527bd6d2681c44bf26da8">00084</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a4146f6f5d21527bd6d2681c44bf26da8">getZoomDistance</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_distanceZoom; }
<a name="l00085"></a>00085
<a name="l00086"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ac4ccf51e8834b8dab3952d57d2304e17">00086</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ac4ccf51e8834b8dab3952d57d2304e17">getAzimuthDegrees</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_azimuthDeg; }
<a name="l00087"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ab5e116bb90240054fd86d50e1c5d4b6b">00087</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ab5e116bb90240054fd86d50e1c5d4b6b">getElevationDegrees</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_elevationDeg; }
<a name="l00088"></a>00088
<a name="l00089"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ae6a2466b2918f4144813151d77a826f3">00089</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ae6a2466b2918f4144813151d77a826f3">setAzimuthDegrees</a>(<span class="keywordtype">float</span> ang) { m_azimuthDeg=ang; }
<a name="l00090"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a6120a085267638a1468815dda37f42ec">00090</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a6120a085267638a1468815dda37f42ec">setElevationDegrees</a>(<span class="keywordtype">float</span> ang) { m_elevationDeg=ang; }
<a name="l00091"></a>00091
<a name="l00092"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a9d5fec251c10e527761f4a7e14e8487b">00092</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a9d5fec251c10e527761f4a7e14e8487b" title="Enable/Disable projective mode (vs. orthogonal)">setProjectiveModel</a>(<span class="keywordtype">bool</span> v=<span class="keyword">true</span>) { m_projectiveModel=v; } <span class="comment">//!< Enable/Disable projective mode (vs. orthogonal)</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aa26ad0bad0336b90f273e24cd018094f">00093</a> <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aa26ad0bad0336b90f273e24cd018094f" title="Enable/Disable orthogonal mode (vs. projective)">setOrthogonal</a>(<span class="keywordtype">bool</span> v=<span class="keyword">true</span>) { m_projectiveModel=!v; } <span class="comment">//!< Enable/Disable orthogonal mode (vs. projective)</span>
<a name="l00094"></a>00094 <span class="comment"></span> <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Set 6DOFMode, if enabled camera is set according to its pose (default=false).</span>
<a name="l00096"></a>00096 <span class="comment"> * Conventionally, eye is set looking towards the positive direction of Z axis.</span>
<a name="l00097"></a>00097 <span class="comment"> * Up is set as the Y axis.</span>
<a name="l00098"></a>00098 <span class="comment"> * In this mode azimuth/elevation are ignored.</span>
<a name="l00099"></a>00099 <span class="comment"> **/</span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aa465bc495d9e71986a79e6dca94a296d">00100</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#aa465bc495d9e71986a79e6dca94a296d" title="Set 6DOFMode, if enabled camera is set according to its pose (default=false).">set6DOFMode</a>(<span class="keywordtype">bool</span> v) { m_6DOFMode=v; }
<a name="l00101"></a>00101
<a name="l00102"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a04051e359bdb99f159c44aba7bf2c33b">00102</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a04051e359bdb99f159c44aba7bf2c33b">isProjective</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_projectiveModel; }
<a name="l00103"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a5770ef994b60ee6f8739e022f595626e">00103</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a5770ef994b60ee6f8739e022f595626e">isOrthogonal</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !m_projectiveModel; }
<a name="l00104"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#acc700ff667c656a1613eba285d9e5743">00104</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#acc700ff667c656a1613eba285d9e5743">is6DOFMode</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_6DOFMode; }
<a name="l00105"></a>00105
<a name="l00106"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a9ada2d4ce0bc75c63ca30db1def7b43c">00106</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a9ada2d4ce0bc75c63ca30db1def7b43c" title="Field-of-View in degs, only when projectiveModel=true (default=30 deg).">setProjectiveFOVdeg</a>(<span class="keywordtype">float</span> ang) { m_projectiveFOVdeg=ang; } <span class="comment">//!< Field-of-View in degs, only when projectiveModel=true (default=30 deg).</span>
<a name="l00107"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a4c522bbf7102f7ece15e68de9d1813b4">00107</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a4c522bbf7102f7ece15e68de9d1813b4" title="Field-of-View in degs, only when projectiveModel=true (default=30 deg).">getProjectiveFOVdeg</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_projectiveFOVdeg; } <span class="comment">//!< Field-of-View in degs, only when projectiveModel=true (default=30 deg).</span>
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment"> /** Render does nothing here.</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a69ba0186a719f2c269f91eb6b5d8883d">00112</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#a69ba0186a719f2c269f91eb6b5d8883d" title="Render does nothing here.">render</a>()<span class="keyword"> const </span>{ }
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Constructor</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html" title="A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camer...">CCamera</a>();
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00120"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ab431b4ec867c50ecd401396e9dbf775f">00120</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_camera.html#ab431b4ec867c50ecd401396e9dbf775f" title="Private, virtual destructor: only can be deleted from smart pointers.">~CCamera</a>() { }
<a name="l00121"></a>00121
<a name="l00122"></a>00122 };
<a name="l00123"></a>00123
<a name="l00124"></a>00124 } <span class="comment">// end namespace opengl</span>
<a name="l00125"></a>00125
<a name="l00126"></a>00126 } <span class="comment">// End of namespace</span>
<a name="l00127"></a>00127
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="preprocessor">#endif</span>
</pre></div></div>
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