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nrt::graphics::Camera Class Reference

#include <nrt/Graphics/Camera.H>

A quaternion based camera class for OpenGL.

Based off of the implementation found at www.dhpoware.com/demos/glCamera3.html

The camera is defined by an origin (the eye), a local coordinate frame (its axes), and a view direction along that axes. Generally the view direction will be aligned with the Z axis but in the opposite direction. The camera exists in a right-handed coordinate system.

The OpenGL coordinate system faces this same direction, with negative Z being deeper in the screen.

The initial camera coordinate system faces away from the world origin.

In general, we assume that the camera coordinate system faces away from the object of interest and we look behind us. Thus increasing in Z moves us towards the screen (positive world Z) while decreasing Z moves us further into the screen (negative world Z) (both examples assuming no rotation).

Definition at line 83 of file Camera.H.

Inheritance diagram for nrt::graphics::Camera:
nrt::Component nrt::Parameter< camera::fovx, camera::rangez, camera::aspect, camera::zoom > nrt::ParameterRegistry

Public Member Functions

 Camera (std::string const &instanceName="")
 Creates a camera at the origin facing along the world Z axis.
 
void lookAt (Eigen::Vector3d const &eye, Eigen::Vector3d const &target, Eigen::Vector3d const &up)
 Look at the target from the specified location. More...
 
Eigen::Matrix4d const & getProjectionMatrix ()
 Gets the current projection matrix.
 
Eigen::Matrix4d const & getViewMatrix () const
 Gets the current view matrix.
 
- Public Member Functions inherited from nrt::Component
 Component (std::string const &instanceName)
 Constructor. More...
 
void prepareForDeletion ()
 Prepare for deletion: uninit and disconnect from our parent. More...
 
virtual ~Component ()
 Virtual destructor for safe inheritance. More...
 
template<>
std::shared_ptr< ComponentgetSubComponent (std::string const &instanceName) const
 
template<class Comp >
std::shared_ptr< Comp > addSubComponent (std::string const &instanceName="")
 Pseudo-constructor: construct and add another component as a subcomponent of this one. More...
 
template<class Comp >
void removeSubComponent (std::shared_ptr< Comp > &component)
 Remove a sub-Component from this Component, by shared_ptr. More...
 
void removeSubComponent (std::string const &instanceName)
 Remove a sub-Component from this Component, by instance name.
 
template<class Comp = nrt::Component>
std::shared_ptr< Comp > getSubComponent (std::string const &instanceName) const
 Get a sub-component by instance name. More...
 
bool isTopLevel () const
 Returns true if this component is top-level, i.e., its parent is an nrt::Manager (including nrt::Blackboard)
 
bool initialized () const
 Has this component been initialized yet?
 
bool started () const
 Is this component started, i.e., it has passed the start() state and not yet entered the stop() state.
 
bool running () const
 Is this component running, i.e., has passed start() and been launch()ed and not yet entered the stop() state.
 
void wait ()
 Wait until all run() functions decide on their own that they are finished. More...
 
Component::MetaInfo const & meta () const
 Get the metainfo of this Component. More...
 
template<typename T >
std::vector< std::string > setParamVal (std::string const &paramdescriptor, T const &val)
 Set a parameter value. More...
 
template<typename T >
void setParamValUnique (std::string const &paramdescriptor, T const &val)
 Set a parameter value, simple version assuming only one parameter match. More...
 
template<typename T >
std::vector< std::pair
< std::string, T > > 
getParamVal (std::string const &paramdescriptor) const
 Get parameter(s) value(s) by descriptor. More...
 
template<typename T >
getParamValUnique (std::string const &paramdescriptor) const
 Get a parameter value, simple version assuming only one parameter match. More...
 
std::vector< std::string > setParamString (std::string const &paramdescriptor, std::string const &val)
 Set a parameter value, by string. More...
 
void setParamStringUnique (std::string const &paramdescriptor, std::string const &val)
 Set a parameter value by string, simple version assuming only one parameter match. More...
 
std::vector< std::pair
< std::string, std::string > > 
getParamString (std::string const &paramdescriptor) const
 Get a parameter value, by string. More...
 
std::string getParamStringUnique (std::string const &paramdescriptor) const
 Get a parameter value by string, simple version assuming only one parameter match. More...
 
std::string descriptor () const
 Get our full descriptor (including all parents) as [Classname-Instancename]:[...]:[...].
 
std::string parentModuleUID () const
 Get the ModuleUID (as string) of this Component's nearest parent Module, or an empty string.
 
void prettyPrintTree (std::ostream &os, int indent=0) const
 Produce a nice textual hierarchy of this Component's sub-tree.
 
std::vector< std::pair
< std::string,
nrt::ParameterSummary > > 
getParamSummary (std::string const &paramdescriptor) const
 Return a list of parameter summaries for a given descriptor. More...
 
std::vector< std::pair
< std::string,
nrt::ParameterSummary > > 
getParamSummary (bool skipsubmodules=false) const
 Return a list of parameter summaries for all parameters of this Component and its subcomponents. More...
 
void setPath (std::string const &path)
 Assign a filesystem path to this component.
 
std::string absolutePath (std::string const &path)
 If given path is relative (not starting with /), prepend the Component path to it; otherwise, no-op.
 
virtual void notifyAllParamChanged (nrt::ParameterState const state) const
 This method is called by the Blackboard to refresh a ParamChangedListener.
 
virtual void getAllParamSummaries (std::vector< nrt::ParameterSummary > &ps) const
 Recursively get all param summaries.
 
- Public Member Functions inherited from nrt::ParameterRegistry
void addParameter (ParameterBase *const param)
 The parameter class uses this method to register itself on construction with it's owning Component.
 
void removeParameter (ParameterBase *const param)
 The parameter class uses this method to un-register itself on destruction with it's owning Component.
 

Additional Inherited Members

- Protected Member Functions inherited from nrt::Component
virtual void preInit ()
 Called before all sub-Components are init()ed.
 
virtual void postInit ()
 Called after all sub-Components are init()ed.
 
virtual void preStart ()
 Called before all sub-Components are start()ed.
 
virtual void postStart ()
 Called after all sub-Components are start()ed.
 
virtual void run ()
 Called in its own thread after all Components have been start()ed. More...
 
virtual void preStop ()
 Called before all sub-Components are stop()ed.
 
virtual void postStop ()
 Called after all sub-Components are stop()ed.
 
virtual void preUninit ()
 Called before all sub-Components are uninit()ed.
 
virtual void postUninit ()
 Called after all sub-Components are uninit()ed.
 
virtual void notifyParamChanged (nrt::ParameterState const state, ParameterBase const *const param) const
 This method is called by a Parameter when it has been changed. Users should never overload this method.
 
void populateHelpMessage (std::string const &cname, std::unordered_map< std::string, std::unordered_map< std::string, std::vector< std::pair< std::string, std::string > > > > &helplist) const
 
- Protected Attributes inherited from nrt::Component
boost::shared_mutex itsMtx
 Mutex used to protect our internals other than subcomponents and parameters.
 
std::vector< std::shared_ptr
< Component > > 
itsSubComponents
 
boost::shared_mutex itsSubMtx
 
Component *const nrt_component_this
 

Member Function Documentation

void nrt::graphics::Camera::lookAt ( Eigen::Vector3d const &  eye,
Eigen::Vector3d const &  target,
Eigen::Vector3d const &  up 
)

Look at the target from the specified location.

Parameters
[in]eyeLocation to look from
[in]targetLocation to look at
[in]upDirection to consider up for camera

The documentation for this class was generated from the following file: