mirror of
https://github.com/introlab/rtabmap_ros.git
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59 lines
2.0 KiB
C++
59 lines
2.0 KiB
C++
/*
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* Copyright 2014 Google Inc. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef TANGO_GL_CAMERA_H_
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#define TANGO_GL_CAMERA_H_
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#include "tango-gl/transform.h"
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namespace tango_gl {
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class Camera : public Transform {
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public:
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Camera();
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Camera(const Camera& other) = delete;
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Camera& operator=(const Camera&) = delete;
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~Camera();
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void SetAspectRatio(const float aspect_ratio);
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void SetFieldOfView(const float fov);
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glm::mat4 GetViewMatrix();
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glm::mat4 GetProjectionMatrix();
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/**
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* Create an OpenGL perspective matrix from window size, camera intrinsics, and clip settings.
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*
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* @param width - The width of the camera image.
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* @param height - The height of the camera image.
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* @param fx - The x-axis focal length of the camera.
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* @param fy - The y-axis focal length of the camera.
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* @param cx - The x-coordinate principal point in pixels.
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* @param cy - The y-coordinate principal point in pixels.
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* @param near - The desired near z-clipping plane.
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* @param far - The desired far z-clipping plane.
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*/
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static glm::mat4 ProjectionMatrixForCameraIntrinsics(float width, float height,
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float fx, float fy,
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float cx, float cy,
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float near, float far);
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protected:
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float field_of_view_;
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float aspect_ratio_;
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float near_clip_plane_, far_clip_plane_;
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};
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} // namespace tango_gl
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#endif // TANGO_GL_CAMERA_H_
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