178 lines
6.8 KiB
C
178 lines
6.8 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <Eigen/Geometry>
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namespace open3d {
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namespace geometry {
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class AxisAlignedBoundingBox;
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} // namespace geometry
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namespace visualization {
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namespace rendering {
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class Camera {
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public:
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enum class FovType { Vertical, Horizontal };
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enum class Projection { Perspective, Ortho };
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using Transform = Eigen::Transform<float, 3, Eigen::Affine>;
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using ProjectionMatrix = Eigen::Transform<float, 3, Eigen::Projective>;
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virtual ~Camera() = default;
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virtual void SetProjection(double fov,
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double aspect,
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double near,
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double far,
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FovType fov_type) = 0;
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/** Sets the projection matrix from a frustum defined by six planes.
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*
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* @param projection type of #Projection to use.
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*
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* @param left distance in world units from the camera to the left
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* plane, at the near plane.
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*
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* @param right distance in world units from the camera to the right
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* plane, at the near plane.
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*
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* @param bottom distance in world units from the camera to the bottom
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* plane, at the near plane.
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*
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* @param top distance in world units from the camera to the top
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* plane, at the near plane.
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*
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* @param near distance in world units from the camera to the near
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* plane. The near plane's
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*
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* @param far distance in world units from the camera to the far
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* plane. The far plane's
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*/
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virtual void SetProjection(Projection projection,
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double left,
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double right,
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double bottom,
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double top,
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double near,
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double far) = 0;
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virtual void SetProjection(const Eigen::Matrix3d& intrinsics,
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double near,
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double far,
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double width,
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double height) = 0;
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virtual void LookAt(const Eigen::Vector3f& center,
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const Eigen::Vector3f& eye,
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const Eigen::Vector3f& up) = 0;
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virtual void FromExtrinsics(const Eigen::Matrix4d& extrinsics);
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virtual void SetModelMatrix(const Transform& view) = 0;
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virtual void SetModelMatrix(const Eigen::Vector3f& forward,
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const Eigen::Vector3f& left,
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const Eigen::Vector3f& up) = 0;
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virtual double GetNear() const = 0;
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virtual double GetFar() const = 0;
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/// only valid if fov was passed to SetProjection()
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virtual double GetFieldOfView() const = 0;
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/// only valid if fov was passed to SetProjection()
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virtual FovType GetFieldOfViewType() const = 0;
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virtual Eigen::Vector3f GetPosition() const = 0;
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virtual Eigen::Vector3f GetForwardVector() const = 0;
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virtual Eigen::Vector3f GetLeftVector() const = 0;
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virtual Eigen::Vector3f GetUpVector() const = 0;
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virtual Transform GetModelMatrix() const = 0;
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virtual Transform GetViewMatrix() const = 0;
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virtual ProjectionMatrix GetProjectionMatrix() const = 0;
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virtual Transform GetCullingProjectionMatrix() const = 0;
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/// Returns world space coordinates given an x,y position in screen
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/// coordinates relative to upper left, the screen dimensions, and z is the
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/// depth value (0.0 - 1.0)
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virtual Eigen::Vector3f Unproject(float x,
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float y,
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float z,
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float view_width,
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float view_height) const = 0;
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// Returns the normalized device coordinates (NDC) of the specified point
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// given the view and projection matrices of the camera. The returned point
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// is in the range [-1, 1] if the point is in view, or outside the range if
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// the point is out of view.
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virtual Eigen::Vector2f GetNDC(const Eigen::Vector3f& pt) const = 0;
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/// Returns the view space depth (i.e., distance from camera) for the given
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/// Z-buffer value
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virtual double GetViewZ(float z_buffer) const = 0;
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struct ProjectionInfo {
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bool is_ortho;
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bool is_intrinsic;
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union {
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struct {
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Projection projection;
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double left;
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double right;
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double bottom;
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double top;
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double near_plane; // Windows #defines "near"
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double far_plane; // Windows #defines "far"
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} ortho;
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struct {
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FovType fov_type;
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double fov;
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double aspect;
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double near_plane;
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double far_plane;
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} perspective;
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struct {
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double fx;
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double fy;
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double cx;
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double cy;
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double near_plane;
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double far_plane;
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double width;
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double height;
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} intrinsics;
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} proj;
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};
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virtual const ProjectionInfo& GetProjection() const = 0;
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virtual void CopyFrom(const Camera* camera) = 0;
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/// Convenience function for configuring a camera as a pinhole camera.
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/// Configures the projection using the intrinsics and bounds,
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/// and the model matrix using the extrinsic matrix. Equivalent to calling
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/// SetProjection() and FromExtrinsics().
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static void SetupCameraAsPinholeCamera(
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rendering::Camera& camera,
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const Eigen::Matrix3d& intrinsic,
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const Eigen::Matrix4d& extrinsic,
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int intrinsic_width_px,
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int intrinsic_height_px,
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const geometry::AxisAlignedBoundingBox& scene_bounds);
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/// Returns a good value for the near plane.
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static float CalcNearPlane();
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/// Returns a value for the far plane that ensures that the entire bounds
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/// provided will not be clipped.
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static float CalcFarPlane(
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const rendering::Camera& camera,
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const geometry::AxisAlignedBoundingBox& scene_bounds);
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};
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} // namespace rendering
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} // namespace visualization
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} // namespace open3d
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