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https://gitlab.com/libeigen/eigen.git
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85fdcdf055
Removed default parameter from Transform. Removed the TransformXX typedefs. Removed references to TransformXX from unit tests and docs. Assigning Transforms to a sub-group is now forbidden at compile time. Products should now properly support the Isometry flag. Fixed alignment checks in MapBase.
134 lines
4.1 KiB
C++
134 lines
4.1 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
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//
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 3 of the License, or (at your option) any later version.
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//
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// Alternatively, you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of
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// the License, or (at your option) any later version.
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//
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// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License and a copy of the GNU General Public License along with
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// Eigen. If not, see <http://www.gnu.org/licenses/>.
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#ifndef EIGEN_CAMERA_H
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#define EIGEN_CAMERA_H
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#include <Eigen/Geometry>
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#include <QObject>
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// #include <frame.h>
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class Frame
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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inline Frame(const Eigen::Vector3f& pos = Eigen::Vector3f::Zero(),
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const Eigen::Quaternionf& o = Eigen::Quaternionf())
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: orientation(o), position(pos)
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{}
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Frame lerp(float alpha, const Frame& other) const
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{
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return Frame((1.f-alpha)*position + alpha * other.position,
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orientation.slerp(alpha,other.orientation));
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}
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Eigen::Quaternionf orientation;
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Eigen::Vector3f position;
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};
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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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Camera(void);
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Camera(const Camera& other);
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virtual ~Camera();
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Camera& operator=(const Camera& other);
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void setViewport(uint offsetx, uint offsety, uint width, uint height);
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void setViewport(uint width, uint height);
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inline uint vpX(void) const { return mVpX; }
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inline uint vpY(void) const { return mVpY; }
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inline uint vpWidth(void) const { return mVpWidth; }
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inline uint vpHeight(void) const { return mVpHeight; }
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inline float fovY(void) const { return mFovY; }
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void setFovY(float value);
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void setPosition(const Eigen::Vector3f& pos);
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inline const Eigen::Vector3f& position(void) const { return mFrame.position; }
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void setOrientation(const Eigen::Quaternionf& q);
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inline const Eigen::Quaternionf& orientation(void) const { return mFrame.orientation; }
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void setFrame(const Frame& f);
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const Frame& frame(void) const { return mFrame; }
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void setDirection(const Eigen::Vector3f& newDirection);
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Eigen::Vector3f direction(void) const;
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void setUp(const Eigen::Vector3f& vectorUp);
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Eigen::Vector3f up(void) const;
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Eigen::Vector3f right(void) const;
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void setTarget(const Eigen::Vector3f& target);
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inline const Eigen::Vector3f& target(void) { return mTarget; }
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const Eigen::Affine3f& viewMatrix(void) const;
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const Eigen::Matrix4f& projectionMatrix(void) const;
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void rotateAroundTarget(const Eigen::Quaternionf& q);
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void localRotate(const Eigen::Quaternionf& q);
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void zoom(float d);
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void localTranslate(const Eigen::Vector3f& t);
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/** Setup OpenGL matrices and viewport */
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void activateGL(void);
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Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth, const Eigen::Matrix4f& invModelview) const;
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Eigen::Vector3f unProject(const Eigen::Vector2f& uv, float depth) const;
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protected:
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void updateViewMatrix(void) const;
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void updateProjectionMatrix(void) const;
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protected:
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uint mVpX, mVpY;
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uint mVpWidth, mVpHeight;
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Frame mFrame;
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mutable Eigen::Affine3f mViewMatrix;
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mutable Eigen::Matrix4f mProjectionMatrix;
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mutable bool mViewIsUptodate;
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mutable bool mProjIsUptodate;
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// used by rotateAroundTarget
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Eigen::Vector3f mTarget;
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float mFovY;
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float mNearDist;
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float mFarDist;
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};
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#endif // EIGEN_CAMERA_H
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