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87 lines
2.4 KiB
87 lines
2.4 KiB
/* |
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* Camera.h |
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* |
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* Copyright (c) 2014-2015 SEACAVE |
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* |
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* Author(s): |
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* |
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* cDc <cdc.seacave@gmail.com> |
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* |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU Affero General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Affero General Public License for more details. |
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* |
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* You should have received a copy of the GNU Affero General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* |
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* Additional Terms: |
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* |
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* You are required to preserve legal notices and author attributions in |
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* that material or in the Appropriate Legal Notices displayed by works |
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* containing it. |
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*/ |
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#ifndef _VIEWER_CAMERA_H_ |
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#define _VIEWER_CAMERA_H_ |
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// I N C L U D E S ///////////////////////////////////////////////// |
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// D E F I N E S /////////////////////////////////////////////////// |
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// S T R U C T S /////////////////////////////////////////////////// |
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namespace VIEWER { |
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class Camera |
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{ |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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cv::Size size; |
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AABB3d boxScene; |
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Eigen::Vector3d centerScene; |
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Eigen::Quaterniond rotation; |
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Eigen::Vector3d center; |
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double dist, radius; |
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float fov, fovDef; |
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float scaleF, scaleFDef; |
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MVS::IIndex prevCamID, currentCamID, maxCamID; |
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public: |
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Camera(const AABB3d& _box=AABB3d(true), const Point3d& _center=Point3d::ZERO, float _scaleF=1, float _fov=40); |
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void Reset(); |
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void Resize(const cv::Size&); |
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void SetFOV(float _fov); |
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const cv::Size& GetSize() const { return size; } |
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Eigen::Vector3d GetPosition() const; |
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Eigen::Matrix3d GetRotation() const; |
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Eigen::Matrix4d GetLookAt() const; |
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void GetLookAt(Eigen::Vector3d& eye, Eigen::Vector3d& center, Eigen::Vector3d& up) const; |
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void Rotate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos); |
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void Translate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos); |
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bool IsCameraViewMode() const { return prevCamID != currentCamID && currentCamID != NO_ID; } |
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protected: |
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void ProjectOnSphere(double radius, Eigen::Vector3d& p) const; |
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}; |
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/*----------------------------------------------------------------*/ |
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} // namespace VIEWER |
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#endif // _VIEWER_CAMERA_H_
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