99 lines
3.3 KiB
C
99 lines
3.3 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 <utils/Entity.h>
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#include "open3d/visualization/rendering/Camera.h"
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/// @cond
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namespace filament {
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class Camera;
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class Engine;
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} // namespace filament
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/// @endcond
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namespace open3d {
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namespace visualization {
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namespace rendering {
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class FilamentCamera : public Camera {
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public:
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explicit FilamentCamera(filament::Engine& engine);
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~FilamentCamera();
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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) override;
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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) override;
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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) override;
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void LookAt(const Eigen::Vector3f& center,
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const Eigen::Vector3f& eye,
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const Eigen::Vector3f& up) override;
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void SetModelMatrix(const Transform& view) override;
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void SetModelMatrix(const Eigen::Vector3f& forward,
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const Eigen::Vector3f& left,
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const Eigen::Vector3f& up) override;
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double GetNear() const override;
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double GetFar() const override;
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/// only valid if fov was passed to SetProjection()
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double GetFieldOfView() const override;
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/// only valid if fov was passed to SetProjection()
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FovType GetFieldOfViewType() const override;
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Eigen::Vector3f GetPosition() const override;
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Eigen::Vector3f GetForwardVector() const override;
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Eigen::Vector3f GetLeftVector() const override;
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Eigen::Vector3f GetUpVector() const override;
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Transform GetModelMatrix() const override;
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Transform GetViewMatrix() const override;
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ProjectionMatrix GetProjectionMatrix() const override;
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Transform GetCullingProjectionMatrix() const override;
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const ProjectionInfo& GetProjection() const override;
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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 override;
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Eigen::Vector2f GetNDC(const Eigen::Vector3f& pt) const override;
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double GetViewZ(float z_buffer) const override;
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void CopyFrom(const Camera* camera) override;
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filament::Camera* GetNativeCamera() const { return camera_; }
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private:
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filament::Camera* camera_ = nullptr;
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utils::Entity camera_entity_;
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filament::Engine& engine_;
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Camera::ProjectionInfo projection_;
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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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