#include <Camera.h>

Inheritance diagram for open3d::visualization::rendering::Camera:

Data Structures
struct	ProjectionInfo

Public Types
enum class	FovType { Vertical , Horizontal }
enum class	Projection { Perspective , Ortho }
using	Transform = Eigen::Transform<float, 3, Eigen::Affine>
using	ProjectionMatrix = Eigen::Transform<float, 3, Eigen::Projective>

Public Member Functions
virtual	~Camera ()=default
virtual void	SetProjection (double fov, double aspect, double near, double far, FovType fov_type)=0
virtual void	SetProjection (Projection projection, double left, double right, double bottom, double top, double near, double far)=0
virtual void	SetProjection (const Eigen::Matrix3d &intrinsics, double near, double far, double width, double height)=0
virtual void	LookAt (const Eigen::Vector3f &center, const Eigen::Vector3f &eye, const Eigen::Vector3f &up)=0
virtual void	FromExtrinsics (const Eigen::Matrix4d &extrinsics)
virtual void	SetModelMatrix (const Transform &view)=0
virtual void	SetModelMatrix (const Eigen::Vector3f &forward, const Eigen::Vector3f &left, const Eigen::Vector3f &up)=0
virtual double	GetNear () const =0
virtual double	GetFar () const =0
virtual double	GetFieldOfView () const =0
	only valid if fov was passed to SetProjection()
virtual FovType	GetFieldOfViewType () const =0
	only valid if fov was passed to SetProjection()
virtual Eigen::Vector3f	GetPosition () const =0
virtual Eigen::Vector3f	GetForwardVector () const =0
virtual Eigen::Vector3f	GetLeftVector () const =0
virtual Eigen::Vector3f	GetUpVector () const =0
virtual Transform	GetModelMatrix () const =0
virtual Transform	GetViewMatrix () const =0
virtual ProjectionMatrix	GetProjectionMatrix () const =0
virtual Transform	GetCullingProjectionMatrix () const =0
virtual Eigen::Vector3f	Unproject (float x, float y, float z, float view_width, float view_height) const =0
virtual Eigen::Vector2f	GetNDC (const Eigen::Vector3f &pt) const =0
virtual double	GetViewZ (float z_buffer) const =0
virtual const ProjectionInfo &	GetProjection () const =0
virtual void	CopyFrom (const Camera *camera)=0

Static Public Member Functions
static void	SetupCameraAsPinholeCamera (rendering::Camera &camera, const Eigen::Matrix3d &intrinsic, const Eigen::Matrix4d &extrinsic, int intrinsic_width_px, int intrinsic_height_px, const geometry::AxisAlignedBoundingBox &scene_bounds)
static float	CalcNearPlane ()
	Returns a good value for the near plane.
static float	CalcFarPlane (const rendering::Camera &camera, const geometry::AxisAlignedBoundingBox &scene_bounds)

Member Typedef Documentation

◆ ProjectionMatrix

using open3d::visualization::rendering::Camera::ProjectionMatrix = Eigen::Transform<float, 3, Eigen::Projective>

◆ Transform

using open3d::visualization::rendering::Camera::Transform = Eigen::Transform<float, 3, Eigen::Affine>

Member Enumeration Documentation

◆ FovType

enum class open3d::visualization::rendering::Camera::FovType

strong

Enumerator
Vertical
Horizontal

◆ Projection

enum class open3d::visualization::rendering::Camera::Projection

strong

Enumerator
Perspective
Ortho

Constructor & Destructor Documentation

◆ ~Camera()

virtual open3d::visualization::rendering::Camera::~Camera ( )

virtualdefault

Member Function Documentation

◆ CalcFarPlane()

float open3d::visualization::rendering::Camera::CalcFarPlane	(	const rendering::Camera &	camera,
		const geometry::AxisAlignedBoundingBox &	scene_bounds )

static

Returns a value for the far plane that ensures that the entire bounds provided will not be clipped.

◆ CalcNearPlane()

float open3d::visualization::rendering::Camera::CalcNearPlane ( )

static

Returns a good value for the near plane.

◆ CopyFrom()

virtual void open3d::visualization::rendering::Camera::CopyFrom ( const Camera * camera )

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ FromExtrinsics()

void open3d::visualization::rendering::Camera::FromExtrinsics ( const Eigen::Matrix4d & extrinsics )

virtual

◆ GetCullingProjectionMatrix()

virtual Transform open3d::visualization::rendering::Camera::GetCullingProjectionMatrix ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetFar()

virtual double open3d::visualization::rendering::Camera::GetFar ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetFieldOfView()

virtual double open3d::visualization::rendering::Camera::GetFieldOfView ( ) const

pure virtual

only valid if fov was passed to SetProjection()

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetFieldOfViewType()

virtual FovType open3d::visualization::rendering::Camera::GetFieldOfViewType ( ) const

pure virtual

only valid if fov was passed to SetProjection()

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetForwardVector()

virtual Eigen::Vector3f open3d::visualization::rendering::Camera::GetForwardVector ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetLeftVector()

virtual Eigen::Vector3f open3d::visualization::rendering::Camera::GetLeftVector ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetModelMatrix()

virtual Transform open3d::visualization::rendering::Camera::GetModelMatrix ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetNDC()

virtual Eigen::Vector2f open3d::visualization::rendering::Camera::GetNDC ( const Eigen::Vector3f & pt ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetNear()

virtual double open3d::visualization::rendering::Camera::GetNear ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetPosition()

virtual Eigen::Vector3f open3d::visualization::rendering::Camera::GetPosition ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetProjection()

virtual const ProjectionInfo & open3d::visualization::rendering::Camera::GetProjection ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetProjectionMatrix()

virtual ProjectionMatrix open3d::visualization::rendering::Camera::GetProjectionMatrix ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetUpVector()

virtual Eigen::Vector3f open3d::visualization::rendering::Camera::GetUpVector ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetViewMatrix()

virtual Transform open3d::visualization::rendering::Camera::GetViewMatrix ( ) const

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ GetViewZ()

virtual double open3d::visualization::rendering::Camera::GetViewZ ( float z_buffer ) const

pure virtual

Returns the view space depth (i.e., distance from camera) for the given Z-buffer value

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ LookAt()

virtual void open3d::visualization::rendering::Camera::LookAt	(	const Eigen::Vector3f &	center,
		const Eigen::Vector3f &	eye,
		const Eigen::Vector3f &	up )

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ SetModelMatrix() [1/2]

virtual void open3d::visualization::rendering::Camera::SetModelMatrix	(	const Eigen::Vector3f &	forward,
		const Eigen::Vector3f &	left,
		const Eigen::Vector3f &	up )

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ SetModelMatrix() [2/2]

virtual void open3d::visualization::rendering::Camera::SetModelMatrix ( const Transform & view )

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ SetProjection() [1/3]

virtual void open3d::visualization::rendering::Camera::SetProjection	(	const Eigen::Matrix3d &	intrinsics,
		double	near,
		double	far,
		double	width,
		double	height )

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ SetProjection() [2/3]

virtual void open3d::visualization::rendering::Camera::SetProjection	(	double	fov,
		double	aspect,
		double	near,
		double	far,
		FovType	fov_type )

pure virtual

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ SetProjection() [3/3]

virtual void open3d::visualization::rendering::Camera::SetProjection	(	Projection	projection,
		double	left,
		double	right,
		double	bottom,
		double	top,
		double	near,
		double	far )

pure virtual

Sets the projection matrix from a frustum defined by six planes.

Parameters

projection	type of Projection to use.
left	distance in world units from the camera to the left plane, at the near plane.
right	distance in world units from the camera to the right plane, at the near plane.
bottom	distance in world units from the camera to the bottom plane, at the near plane.
top	distance in world units from the camera to the top plane, at the near plane.
near	distance in world units from the camera to the near plane. The near plane's
far	distance in world units from the camera to the far plane. The far plane's

Implemented in open3d::visualization::rendering::FilamentCamera.

◆ SetupCameraAsPinholeCamera()

void open3d::visualization::rendering::Camera::SetupCameraAsPinholeCamera	(	rendering::Camera &	camera,
		const Eigen::Matrix3d &	intrinsic,
		const Eigen::Matrix4d &	extrinsic,
		int	intrinsic_width_px,
		int	intrinsic_height_px,
		const geometry::AxisAlignedBoundingBox &	scene_bounds )

static

Convenience function for configuring a camera as a pinhole camera. Configures the projection using the intrinsics and bounds, and the model matrix using the extrinsic matrix. Equivalent to calling SetProjection() and FromExtrinsics().

◆ Unproject()

virtual Eigen::Vector3f open3d::visualization::rendering::Camera::Unproject	(	float	x,
		float	y,
		float	z,
		float	view_width,
		float	view_height ) const

pure virtual

Returns world space coordinates given an x,y position in screen coordinates relative to upper left, the screen dimensions, and z is the depth value (0.0 - 1.0)

Implemented in open3d::visualization::rendering::FilamentCamera.

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

cpp/open3d/visualization/rendering/Camera.h
cpp/open3d/visualization/rendering/Camera.cpp

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Member Typedef Documentation

◆ ProjectionMatrix

◆ Transform

Member Enumeration Documentation

◆ FovType

◆ Projection

Constructor & Destructor Documentation

◆ ~Camera()

Member Function Documentation

◆ CalcFarPlane()

◆ CalcNearPlane()

◆ CopyFrom()

◆ FromExtrinsics()

◆ GetCullingProjectionMatrix()

◆ GetFar()

◆ GetFieldOfView()

◆ GetFieldOfViewType()

◆ GetForwardVector()

◆ GetLeftVector()

◆ GetModelMatrix()

◆ GetNDC()

◆ GetNear()

◆ GetPosition()

◆ GetProjection()

◆ GetProjectionMatrix()

◆ GetUpVector()

◆ GetViewMatrix()

◆ GetViewZ()

◆ LookAt()

◆ SetModelMatrix() [1/2]

◆ SetModelMatrix() [2/2]

◆ SetProjection() [1/3]

◆ SetProjection() [2/3]

◆ SetProjection() [3/3]

◆ SetupCameraAsPinholeCamera()

◆ Unproject()