ufo::PerspectiveCamera Struct Reference

Perspective camera model for ray-generation and projection. More...

#include <lib/vision/include/ufo/vision/camera/perspective.hpp>

Public Member Functions
float	fx () const noexcept
float	fy () const noexcept
void	lookAt (Vec3f center, Vec3f const &target, Vec3f const &up)
	Orients the camera so it looks from center toward target.
Mat4f	projection () const
Image< Ray3f >	rays () const
template<class ExecutionPolicy >
Image< Ray3f >	rays (ExecutionPolicy &&policy) const
Mat4f	view () const

Public Attributes
float	far_clip
	Distance to the far clipping plane.
PerspectiveIntrinsics	intrinsics
	The intrinsic parameters of the camera.
float	near_clip
	Distance to the near clipping plane.
Transform3f	pose
	Camera-to-world pose transform.

Friends
bool	operator== (PerspectiveCamera const &, PerspectiveCamera const &) noexcept=default

Detailed Description

Perspective camera model for ray-generation and projection.

PerspectiveCamera stores the intrinsic parameters and the extrinsic pose (camera-to-world transform) needed to:

• build a 4×4 view or projection matrix (view(), projection()),
• cast a dense Image<Ray3f> of world-space rays through every pixel (rays(), rays(policy)).

The pose convention is camera-to-world: pose is the transform that maps a point from camera space to world space.

Coordinate conventions

• Camera space: Right-handed OpenCV convention (+X Right, +Y Down, +Z Forward).
• NDC space: x ∈ [-1, 1], y ∈ [-1, 1], z ∈ [0, 1].
• Image space: (row, col) with (0,0) at the top-left corner.

Definition at line 92 of file perspective.hpp.

Member Function Documentation

fx()

float ufo::PerspectiveCamera::fx ( ) const

inlinenoexcept

Definition at line 194 of file perspective.hpp.

fy()

float ufo::PerspectiveCamera::fy ( ) const

inlinenoexcept

Definition at line 201 of file perspective.hpp.

lookAt()

void ufo::PerspectiveCamera::lookAt ( Vec3f  center, Vec3f const &  target, Vec3f const &  up  )

inline

Orients the camera so it looks from center toward target.

Parameters

[in]	center	The new camera position in world space.
[in]	target	The point in world space to look at.
[in]	up	The world-space up vector.

Definition at line 116 of file perspective.hpp.

projection()

Mat4f ufo::PerspectiveCamera::projection ( ) const

inline

Definition at line 121 of file perspective.hpp.

rays() [1/2]

Image< Ray3f > ufo::PerspectiveCamera::rays ( ) const

inline

Definition at line 133 of file perspective.hpp.

rays() [2/2]

template<class ExecutionPolicy >

Image< Ray3f > ufo::PerspectiveCamera::rays ( ExecutionPolicy &&  policy ) const

inline

Definition at line 136 of file perspective.hpp.

view()

Mat4f ufo::PerspectiveCamera::view ( ) const

inline

Definition at line 131 of file perspective.hpp.

Member Data Documentation

far_clip

float ufo::PerspectiveCamera::far_clip

Distance to the far clipping plane.

Definition at line 108 of file perspective.hpp.

intrinsics

PerspectiveIntrinsics ufo::PerspectiveCamera::intrinsics

The intrinsic parameters of the camera.

Definition at line 100 of file perspective.hpp.

near_clip

float ufo::PerspectiveCamera::near_clip

Distance to the near clipping plane.

Definition at line 104 of file perspective.hpp.

pose

Transform3f ufo::PerspectiveCamera::pose

Camera-to-world pose transform.

Definition at line 96 of file perspective.hpp.

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

• lib/vision/include/ufo/vision/camera/perspective.hpp